Task: Put a wet sponge on the metal rack.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.75          0.901          0.5            0              90             0
   1  Cloth              -3.206         0.863          0.156          0              270            0              48
   2  Cloth              -2.387         1.543          3.879          0              0              0              40
   3  SoapBar            -3.376         1.041          1.352          0              0              0              46
   4  SoapBar            -2.667         1.543          3.879          0              0              0              40
   5  SprayBottle        0.416          1.048          2.903          0              270            0              44
   6  SprayBottle        -3.093         0.864          0.390          0              270            0              48
   7  DishSponge         -0.311         0.054          1.345          0              0              0              29
   8  DishSponge         0.355          1.048          3.034          0              270            0              44
   9  DishSponge         -0.227         0.054          1.575          0              0              0              29
  10  SoapBottle         -0.867         0.045          3.887          0              0              0              41
  11  Towel              -1.304         1.059          -0.183         0              0              0              35
  12  HandTowel          -3.420         1.356          0.817          0              270            0              43
  13  Towel              -2.05          1.059          -0.183         0              0              0              34
  14  HandTowel          -3.419         1.338          2.102          0              270            0              42
  15  Plunger            0.362          0.000          2.468          0              0              0              Floor|-01.44|
  16  SoapBar            -3.399         1.041          1.801          0              0              0              46
  17  ToiletPaper        -0.482         0.784          2.361          0              0              270            36
  18  SoapBottle         -3.037         0.866          0.234          0              270            0              48
  19  ToiletPaper        -2.310         0.777          3.875          0              0              0              37
  20  Cloth              -3.263         0.235          0.234          0              270            0              48
  21  PaperTowelRoll     0.324          1.152          3.166          0              270            0              44
  22  Candle             0.386          1.048          3.231          0              270            0              44
  23  SprayBottle        0.447          1.048          3.166          0              270            0              44
  24  ScrubBrush         0.397          0.000          2.694          0              0              0              Floor|-01.44|
  25  DishSponge         -0.227         0.054          0.884          0              0              0              29
  26  Faucet             -0.141         0.524          -0.211         0              0              0
  27  Window             -1.507         1.322          -0.364         0              0              0
  28  Faucet             -3.401         1.017          1.531          0              90             0
  29  BathtubBasin       -0.155         0.042          0.884          0              0              0
  30  ShowerCurtain      -0.886         2.196          -0.169         0              0              0
  31  ShowerHead         -0.126         1.447          2.047          0              270            0
  32  Bathtub            -0.205         0.359          0.924          0              0              0
  33  Mirror             -3.447         1.575          1.516          0              0              0
  34  TowelHolder        -2.049         1.045          -0.290         0              0              0
  35  TowelHolder        -1.304         1.045          -0.290         0              0              0
  36  ToiletPaperHanger  -0.425         0.783          2.278          0              0              0
  37  Shelf              -2.587         0.778          3.909          0              0              0
  38  Shelf              -2.587         1.287          3.941          0              0              0
  39  Shelf              -2.587         1.032          3.941          0              0              0
  40  Shelf              -2.587         1.534          3.909          0              0              0
  41  GarbageCan         0.047          -0.002         3.878          0              0              0
  42  HandTowelHolder    -3.459         1.458          2.098          0              0              0
  43  HandTowelHolder    -3.459         1.458          0.816          0              0              0
  44  Toilet             0.063          0.002          3.096          0              0              0
  45  LightSwitch        -3.459         1.437          2.496          0              90             0
  46  Sink               -3.115         -0.013         1.531          0              90             0
  47  SinkBasin          -3.081         0.935          1.537          0              90             0
  48  SideTable          -3.171         0.002          0.170          0              270            0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Move to the tub. | STEP 2: Pick up the sponge on the left from the tub.  | STEP 3: Bring the sponge to the sink. | STEP 4: Wet the sponge in the sink with water.  | STEP 5: Bring the sponge to the metal rack. | STEP 6: Put the sponge on the top metal rack.  | END