Task: Wet a sponge to put in bath 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: Turn and go to the bathroom counter to the right of the sink. | STEP 2: Pick up the sponge that is to the right of the sink. | STEP 3: Take the sponge with you and move so you are in front of the sink. | STEP 4: Place the sponge to the right of the soap that is in the sink.  Turn the water on to get the sponge wet.  Turn the water off and pick up the sponge. | STEP 5: With the sponge in hand move to the bath tub. | STEP 6: Place the sponge in the center of the bath tub. | END