Task: Wash a sponge to place 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              -1.5           0.902          0.5            0              180            0
   1  SoapBar            -0.207         0.056          0.274          0              270            0              39
   2  SoapBar            -2.736         0.937          2.380          0              90             0              41
   3  DishSponge         -2.712         0.746          3.312          0              0              0              29
   4  SoapBottle         -2.613         0.093          3.404          0              0              0              21
   5  Towel              -0.106         1.510          1.943          0              270            0              35
   6  Candle             -2.671         0.098          2.372          0              0              0              22
   7  SoapBottle         -2.794         0.092          2.662          0              0              0              22
   8  HandTowel          -2.698         1.521          2.867          0              0              0              36
   9  Plunger            -2.837         0.001          0.131          0              0              0              Floor|-00.99|
  10  SoapBar            -0.230         0.056          0.187          0              270            0              39
  11  ToiletPaper        -2.456         0.925          2.691          0              0              0              33
  12  Cloth              -2.604         0.929          2.776          0              0              0              33
  13  ToiletPaper        -2.328         0.791          0.079          0              0              270            38
  14  SprayBottle        -2.839         1.665          3.327          0              0              0              30
  15  PaperTowelRoll     -2.964         1.183          0.783          0              180            0              43
  16  ScrubBrush         -2.831         0.001          0.295          0              0              0              Floor|-00.99|
  17  DishSponge         -2.900         0.930          2.691          0              0              0              33
  18  Cabinet            -2.410         0.371          2.862          0              0              0
  19  Mirror             -2.973         1.613          2.265          0              0              0
  20  Bathtub            -0.435         0.182          1.575          0              0              0
  21  Cabinet            -2.410         0.371          3.570          0              0              0
  22  Cabinet            -2.410         0.371          2.040          0              0              0
  23  Cabinet            -2.410         1.261          2.913          0              0              0
  24  Faucet             -0.769         0.416          1.0            0              9.958          0
  25  Cabinet            -2.410         1.261          3.570          0              0              0
  26  Sink               -2.723         0.862          2.231          0              90             0
  27  Cabinet            -2.410         2.022          2.913          0              0              0
  28  Cabinet            -2.410         0.371          1.585          0              0              0
  29  Drawer             -2.638         0.767          3.239          0              0              0
  30  Cabinet            -2.410         2.022          3.570          0              0              0
  31  Faucet             -2.928         0.978          2.231          0              90             0
  32  Cabinet            -2.410         0.371          2.913          0              0              0
  33  CounterTop         -2.688         0.966          2.260          0              0              0
  34  CounterTop         -2.611         1.243          1.455          0              270            0
  35  TowelHolder        0.0            1.496          1.942          0              270            0
  36  HandTowelHolder    -2.698         1.623          2.906          0              90             0
  37  Window             -2.256         1.656          -0.021         90             0              0
  38  ToiletPaperHanger  -2.288         0.910          0.000          0              0              0
  39  GarbageCan         -0.403         -0.027         0.241          0              0              0
  40  BathtubBasin       -0.435         0.185          1.544          0              0              0
  41  SinkBasin          -2.736         0.929          2.241          0              90             0
  42  LightSwitch        -1.675         1.442          3.610          0              180            0
  43  Toilet             -2.579         0.032          0.656          0              180            0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Move to the right side of the counter top of the right of the sink | STEP 2: Pick up the green sponge on the counter | STEP 3: Carry the green sponge to the grey bathroom sink | STEP 4: Place the sponge in the sink and wash it then pick it up | STEP 5: Carry the sponge to the large white bath tub | STEP 6: Place the green sponge inside of the bath tub | END