Task: Put two sponges in the bathroom into the trash bin.

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           0.900          2.75           0              0              0
   1  Cloth              -0.246         0.206          3.012          0              0              0              21
   2  SoapBar            -0.204         0.828          1.724          0              0              0              43
   3  SprayBottle        -0.289         0.813          2.083          0              180            0              22
   4  DishSponge         -0.414         0.512          3.012          0              0              0              20
   5  DishSponge         -0.482         0.813          3.201          0              0              0              22
   6  DishSponge         -0.246         0.208          1.408          0              0              0              25
   7  HandTowel          -0.036         1.658          3.443          0              90             0              36
   8  SoapBar            -0.204         0.828          1.820          0              0              0              43
   9  ToiletPaper        -0.097         0.809          2.190          0              0              0              22
  10  Plunger            -0.139         -0.000         3.369          0              0              0              Floor|+00.00|
  11  Candle             -0.225         0.812          3.085          0              0              0              22
  12  SoapBottle         -0.144         0.804          1.325          0              0              0              22
  13  ToiletPaper        -0.353         0.809          3.114          0              0              0              22
  14  SprayBottle        -0.353         0.813          1.316          0              0              0              22
  15  Towel              -1.106         1.151          1.289          0              0              0              34
  16  Cloth              -0.358         0.206          2.495          0              0              0              29
  17  ScrubBrush         -0.346         -0.000         3.341          0              0              0              Floor|+00.00|
  18  DishSponge         -0.417         0.813          2.243          0              0              0              22
  19  Sink               -0.299         0.807          2.754          0              270            0
  20  Drawer             -0.319         0.615          3.012          0              0              0
  21  Drawer             -0.319         0.316          3.012          0              0              0
  22  CounterTop         -0.349         0.004          1.453          0              0              0
  23  Drawer             -0.319         0.615          1.978          0              0              0
  24  Drawer             -0.319         0.316          1.978          0              0              0
  25  Drawer             -0.319         0.316          1.463          0              0              0
  26  Drawer             -0.319         0.615          2.495          0              0              0
  27  ShowerDoor         -1.514         0.910          1.167          0              0              0
  28  Drawer             -0.319         0.615          1.463          0              0              0
  29  Drawer             -0.319         0.316          2.495          0              0              0
  30  Faucet             -0.076         0.805          2.757          0              0              0
  31  Mirror             -0.228         0.465          1.453          0              0              0
  32  ShowerGlass        -0.766         0.541          0.485          0              0              0
  33  ToiletPaperHanger  -1.200         0.897          4.0            0              180            0
  34  TowelHolder        -1.105         1.136          1.183          0              0              0
  35  GarbageCan         -2.041         -0.000         3.724          0              45             0
  36  HandTowelHolder    0.001          1.759          3.443          0              180            0
  37  Toilet             -0.600         -0.000         3.671          0              270            0
  38  LightSwitch        -2.312         1.386          3.296          0              90             0
  39  Faucet             -0.076         0.805          1.733          0              0              0
  40  SinkBasin          -0.304         0.819          2.753          0              0              0
  41  Sink               -0.298         0.807          1.725          0              270            0
  42  ShowerHead         -0.083         1.248          0.522          0              0              0
  43  SinkBasin          -0.304         0.819          1.723          0              0              0
  44  NorthWall
  45  SouthWall
  46  SouthWall

Plan:
STEP 1: Turn right, move forward to the basin. | STEP 2: Face down and pick up the sponge. | STEP 3: Turn around, move forward to the door, turn right, move forward to the bin and turn down. | STEP 4: Put the sponge in the bin. | STEP 5: Turn around, move forward to between the two basins on the left, turn left, move forward to the counter, face down. | STEP 6: Pick up the sponge. | STEP 7: Face up, turn around, move to the wall, turn right, move forward to the bin, turn down. | STEP 8: Put the sponge in the bin. | END