Task: Wash sponge and place in tub.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              0.0            0.909          1.0            0              0              0
   1  SprayBottle        -2.607         0.599          1.426          0              0              0              39
   2  Candle             -2.710         0.597          1.301          0              0              0              39
   3  Candle             -0.625         1.069          0.271          0              0              0              44
   4  SoapBottle         -0.450         1.106          3.060          0              0              0              25
   5  SoapBottle         -2.178         0.056          3.020          0              0              0              31
   6  Towel              0.402          1.389          3.359          0              180            0              37
   7  ToiletPaper        -0.127         0.068          3.217          0              270            0              40
   8  HandTowel          -0.242         1.76           3.427          0              0              0              42
   9  Plunger            -0.219         0.026          0.490          0              0              0
  10  SoapBar            -1.761         0.054          3.223          0              0              0              27
  11  ToiletPaper        -1.173         0.051          3.155          0              0              0              30
  12  SoapBottle         -1.298         0.601          1.184          0              0              0              28
  13  ToiletPaper        -0.530         0.051          3.358          0              0              0              29
  14  Towel              0.861          1.358          2.855          0              270            0              36
  15  PaperTowelRoll     -3.017         0.704          1.467          0              0              0              39
  16  ScrubBrush         -0.351         0.026          0.353          0              0              0
  17  Cloth              -1.003         0.059          3.223          0              0              0              30
  18  Candle             -2.130         0.598          1.156          0              0              0              28
  19  DishSponge         -1.187         0.600          0.347          0              0              0              28
  20  SprayBottle        -0.888         1.072          0.424          0              0              0              44
  21  Window             -3.447         1.593          0.648          0              0              0
  22  Mirror             -1.386         1.595          3.464          0              0              0
  23  SinkBasin          -0.837         0.960          3.091          0              180            0
  24  ShowerDoor         -2.477         1.774          2.386          0              0              0
  25  CounterTop         -1.358         1.094          3.151          0              0              0
  26  Sink               -0.846         0.952          3.144          0              180            0
  27  Cabinet            -1.399         0.425          2.867          0              0              0
  28  Bathtub            -2.234         0.288          0.722          0              0              0
  29  Cabinet            -0.337         0.425          2.867          0              0              0
  30  Cabinet            -1.362         0.425          2.867          0              0              0
  31  Cabinet            -2.423         0.425          2.867          0              0              0
  32  ShowerGlass        -2.895         1.423          2.342          0              0              0
  33  Faucet             -0.853         1.094          3.367          0              180            0
  34  ShowerHead         -2.949         2.154          3.427          0              0              0
  35  Window             -2.190         1.550          0.086          0              0              0
  36  TowelHolder        0.967          1.343          2.855          0              270            0
  37  TowelHolder        0.402          1.375          3.466          0              180            0
  38  BathtubBasin       -2.322         0.096          0.634          0              0              0
  39  Shelf              -2.930         0.589          1.425          0              0              0
  40  GarbageCan         -0.061         -0.001         3.131          0              270            0
  41  LightSwitch        0.968          1.432          1.128          0              270            0
  42  HandTowelHolder    -0.241         1.861          3.466          0              90             0
  43  ToiletPaperHanger  -0.039         0.958          0.201          0              0              0
  44  Toilet             -0.694         0.026          0.656          0              90             0
  45  Faucet             -1.944         1.094          3.367          0              180            0
  46  Sink               -1.934         0.952          3.144          0              180            0
  47  SinkBasin          -1.926         0.960          3.091          0              180            0
  48  Faucet             -1.342         0.638          0.629          0              90             0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Turn left, walk to tub, turn left. | STEP 2: Pick up green sponge from far end of tub ledge. | STEP 3: Turn around, go to sink across room. | STEP 4: Put sponge in left side of sink, turn water on, turn water off, drain water.  Pick up sponge. | STEP 5: Turn around, go to center of tub. | STEP 6: Put sponge in tub, behind and slightly to right of candlestick. | END