Task: Put two sponges into the 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              -1.0           0.902          1.75           0              0              0
   1  Cloth              -3.602         0.038          0.780          0              0              0              44
   2  SprayBottle        -2.120         0.700          -0.698         0              90             0              30
   3  Candle             -1.348         0.442          -0.732         0              90             0              24
   4  Candle             -3.176         0.611          0.183          0              0              0              35
   5  SoapBar            -2.120         0.703          -0.585         0              90             0              30
   6  SoapBar            -2.391         0.441          -0.732         0              90             0              26
   7  DishSponge         -2.347         0.704          -0.698         0              90             0              30
   8  DishSponge         -0.669         0.955          -0.748         0              90             0              42
   9  HandTowel          -2.576         1.683          2.244          0              0              0              39
  10  Towel              -3.66          1.567          -0.459         0              0              0              37
  11  Candle             -1.749         0.442          -0.489         0              90             0              31
  12  HandTowel          -1.275         1.683          2.244          0              0              0              40
  13  SoapBar            -3.861         0.039          0.595          0              0              0              44
  14  ToiletPaper        -0.529         0.941          0.245          0              270            90             43
  15  Plunger            -1.088         0.000          -0.526         0              0              0              Floor|-02.42|
  16  SprayBottle        -0.857         0.951          -0.668         0              180            0              42
  17  SoapBottle         -3.250         0.615          1.685          0              0              0              35
  18  TissueBox          -1.444         0.177          -0.683         0              90             0              34
  19  ToiletPaper        -2.343         0.172          -0.635         0              90             0              27
  20  PaperTowelRoll     -1.527         0.135          2.030          0              180            0              38
  21  ScrubBrush         -1.041         0.001          -0.707         0              0              0              Floor|-02.42|
  22  Cloth              -1.894         0.441          -0.683         0              90             0              31
  23  DishSponge         -2.075         1.021          2.010          0              180            0              45
  24  Drawer             -1.444         0.531          -0.620         0              90             0
  25  Sink               -1.919         0.441          2.032          0              180            0
  26  Drawer             -2.343         0.531          -0.620         0              90             0
  27  Drawer             -2.343         0.271          -0.620         0              90             0
  28  Drawer             -1.894         0.271          -0.620         0              90             0
  29  Drawer             -2.791         0.271          -0.620         0              90             0
  30  CounterTop         -2.799         0.001          -0.593         0              90             0
  31  Drawer             -1.894         0.531          -0.620         0              90             0
  32  Mirror             -1.909         1.748          2.280          0              0              0
  33  Drawer             -2.791         0.531          -0.620         0              90             0
  34  Drawer             -1.444         0.271          -0.620         0              90             0
  35  Bathtub            -3.706         0.342          0.636          0              0              0
  36  Faucet             -1.919         1.064          2.182          0              180            0
  37  TowelHolder        -3.660         1.552          -0.558         0              0              0
  38  GarbageCan         -1.560         -0.000         1.909          0              164.999        0
  39  HandTowelHolder    -2.575         1.784          2.282          0              90             0
  40  HandTowelHolder    -1.274         1.784          2.282          0              90             0
  41  LightSwitch        -0.558         1.282          2.281          0              180            0
  42  Toilet             -0.720         0.001          -0.310         0              0              0
  43  ToiletPaperHanger  -0.427         0.940          0.187          0              270            0
  44  BathtubBasin       -3.788         0.028          0.595          0              0              0
  45  SinkBasin          -1.908         1.011          1.981          0              180            0
  46  ShowerHead         -3.740         1.858          1.827          0              0              0
  47  ShowerCurtain      -3.039         2.229          1.720          0              180            0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: Turn left, move to the shower, turn left, move to the counter | STEP 2: Take the yellow and green sponge from on the counter | STEP 3: Turn around, move to the center of the bath tub, turn left | STEP 4: Put the yellow and green sponge in the bath tub | STEP 5: Turn around, move to the center of the room, turn left, move to the sink | STEP 6: Take the yellow and green sponge from in the sink | STEP 7: Turn around, move to the center of the room, turn right, move to the center of the bath tub | STEP 8: Put the yellow and green sponge in the bath tub | END