Task: get a sponge from the counter, wash it, then put it in the tub

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.25          0.902          0.5            0              180            0
   1  Cloth              -2.701         1.206          1.460          0              270            0              33
   2  SprayBottle        -2.549         0.093          2.757          0              0              0              31
   3  SprayBottle        -0.183         0.052          0.245          0              270            0              38
   4  Towel              -0.106         1.510          1.943          0              270            0              34
   5  Candle             -2.520         1.214          1.430          0              270            0              33
   6  SoapBottle         -2.872         1.077          0.521          0              90             0              42
   7  HandTowel          -2.698         1.521          2.867          0              0              0              35
   8  Plunger            -2.837         0.001          0.131          0              0              0              Floor|-00.99|
   9  SoapBar            -2.736         0.937          2.156          0              90             0              40
  10  ToiletPaper        -2.429         1.202          1.520          0              270            0              33
  11  Cloth              -2.601         0.745          3.167          0              0              0              28
  12  ToiletPaper        -2.927         1.197          1.459          0              0              0              33
  13  SprayBottle        -2.779         1.665          3.402          0              0              0              29
  14  PaperTowelRoll     -2.678         1.034          2.776          0              0              0              32
  15  ScrubBrush         -2.831         0.001          0.295          0              0              0              Floor|-00.99|
  16  DishSponge         -2.826         0.930          2.734          0              0              0              32
  17  Cabinet            -2.410         0.371          2.862          0              0              0
  18  Mirror             -2.973         1.613          2.265          0              0              0
  19  Bathtub            -0.435         0.182          1.575          0              0              0
  20  Cabinet            -2.410         0.371          3.570          0              0              0
  21  Cabinet            -2.410         0.371          2.040          0              0              0
  22  Cabinet            -2.410         1.261          2.913          0              0              0
  23  Faucet             -0.769         0.416          1.0            0              9.958          0
  24  Cabinet            -2.410         1.261          3.570          0              0              0
  25  Sink               -2.723         0.862          2.231          0              90             0
  26  Cabinet            -2.410         2.022          2.913          0              0              0
  27  Cabinet            -2.410         0.371          1.585          0              0              0
  28  Drawer             -2.638         0.767          3.239          0              0              0
  29  Cabinet            -2.410         2.022          3.570          0              0              0
  30  Faucet             -2.928         0.978          2.231          0              90             0
  31  Cabinet            -2.410         0.371          2.913          0              0              0
  32  CounterTop         -2.688         0.966          2.260          0              0              0
  33  CounterTop         -2.611         1.243          1.455          0              270            0
  34  TowelHolder        0.0            1.496          1.942          0              270            0
  35  HandTowelHolder    -2.698         1.623          2.906          0              90             0
  36  Window             -2.256         1.656          -0.021         90             0              0
  37  ToiletPaperHanger  -2.288         0.910          0.000          0              0              0
  38  GarbageCan         -0.403         -0.027         0.241          0              0              0
  39  BathtubBasin       -0.435         0.185          1.544          0              0              0
  40  SinkBasin          -2.736         0.929          2.241          0              90             0
  41  LightSwitch        -1.675         1.442          3.610          0              180            0
  42  Toilet             -2.579         0.032          0.656          0              180            0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: go to the counter to the right of the sink | STEP 2: pick up the green sponge from the counter | STEP 3: take the sponge over to the sink | STEP 4: clean the sponge in the sink with the soap | STEP 5: walk the clean sponge over to the tub basin | STEP 6: stand the sponge up on it's end in the tub | END