Task: Wash the green sponge from the tub, put it back

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.75          0.902          0.0            0              180            0
   1  Cloth              -2.295         0.174          -0.586         0              180            0              32
   2  Cloth              -2.839         0.174          -0.683         0              180            0              34
   3  TissueBox          -1.892         0.704          -0.642         0              90             0              35
   4  SprayBottle        -0.857         0.951          -0.722         0              90             0              47
   5  SprayBottle        -1.437         0.700          -0.698         0              90             0              35
   6  Candle             -2.295         0.176          -0.732         0              90             0              32
   7  SoapBar            -2.440         0.175          -0.732         0              90             0              32
   8  SoapBar            -3.775         0.039          1.150          0              0              0              49
   9  DishSponge         -0.669         0.956          -0.802         0              90             0              47
  10  DishSponge         -3.861         0.040          0.224          0              0              0              40
  11  DishSponge         -3.145         0.613          -0.481         0              0              0              40
  12  SoapBottle         -0.544         0.956          -0.722         0              90             0              47
  13  SoapBottle         -3.176         0.615          1.094          0              0              0              40
  14  ToiletPaper        -2.694         0.438          -0.732         0              90             0              38
  15  Towel              -3.66          1.567          -0.459         0              0              0              42
  16  Candle             -3.215         0.611          1.571          0              0              0              40
  17  HandTowel          -2.576         1.683          2.244          0              0              0              44
  18  SoapBar            -2.694         0.175          -0.586         0              90             0              34
  19  ToiletPaper        -0.529         0.941          0.245          0              270            90             48
  20  Plunger            -1.088         0.000          -0.526         0              0              0              Floor|-02.42|
  21  SprayBottle        -1.892         0.700          -0.471         0              90             0              35
  22  SoapBottle         -1.665         0.706          -0.755         0              90             0              35
  23  TissueBox          -2.120         0.704          -0.642         0              90             0              35
  24  ToiletPaper        -2.120         0.700          -0.471         0              90             0              35
  25  PaperTowelRoll     -3.215         0.718          1.685          0              0              0              40
  26  ScrubBrush         -1.041         0.001          -0.707         0              0              0              Floor|-02.42|
  27  Cloth              -3.948         0.038          1.150          0              0              0              49
  28  DishSponge         -0.794         0.956          -0.802         0              90             0              47
  29  Drawer             -1.444         0.531          -0.620         0              90             0
  30  Sink               -1.919         0.441          2.032          0              180            0
  31  Drawer             -2.343         0.531          -0.620         0              90             0
  32  Drawer             -2.343         0.271          -0.620         0              90             0
  33  Drawer             -1.894         0.271          -0.620         0              90             0
  34  Drawer             -2.791         0.271          -0.620         0              90             0
  35  CounterTop         -2.799         0.001          -0.593         0              90             0
  36  Drawer             -1.894         0.531          -0.620         0              90             0
  37  Mirror             -1.909         1.748          2.280          0              0              0
  38  Drawer             -2.791         0.531          -0.620         0              90             0
  39  Drawer             -1.444         0.271          -0.620         0              90             0
  40  Bathtub            -3.706         0.342          0.636          0              0              0
  41  Faucet             -1.919         1.064          2.182          0              180            0
  42  TowelHolder        -3.660         1.552          -0.558         0              0              0
  43  GarbageCan         -1.560         -0.000         1.909          0              164.999        0
  44  HandTowelHolder    -2.575         1.784          2.282          0              90             0
  45  HandTowelHolder    -1.274         1.784          2.282          0              90             0
  46  LightSwitch        -0.558         1.282          2.281          0              180            0
  47  Toilet             -0.720         0.001          -0.310         0              0              0
  48  ToiletPaperHanger  -0.427         0.940          0.187          0              270            0
  49  BathtubBasin       -3.788         0.028          0.595          0              0              0
  50  SinkBasin          -1.908         1.011          1.981          0              180            0
  51  ShowerHead         -3.740         1.858          1.827          0              0              0
  52  ShowerCurtain      -3.039         2.229          1.720          0              180            0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: Turn around walk to the tub | STEP 2: Grab the green sponge from the tub | STEP 3: Turn right, walk to the sink | STEP 4: Put the sponge in the sink, turn on the faucet, wash the sponge, turn off the faucet, take the sponge out | STEP 5: Turn around, walk back to the tub | STEP 6: Put the green sponge back in the tub | END