Task: Put two sponges in a garbage can.

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          1.75           0              180            0
   1  SoapBar            -0.302         0.510          1.978          0              0              0              21
   2  SoapBar            -0.246         0.205          1.867          0              0              0              23
   3  Candle             -0.289         0.812          1.316          0              0              0              20
   4  DishSponge         -0.268         0.829          1.820          0              0              0              41
   5  HandTowel          -0.036         1.658          3.443          0              90             0              34
   6  SoapBar            -0.161         0.812          3.172          0              0              0              20
   7  ToiletPaper        -0.134         0.509          3.012          0              0              0              18
   8  Plunger            -0.139         -0.000         3.369          0              0              0              Floor|+00.00|
   9  Candle             -0.097         0.812          2.083          0              0              0              20
  10  SoapBottle         -0.161         0.954          3.533          0              0              0              35
  11  ToiletPaper        -1.156         0.897          3.925          0              180            90             31
  12  SprayBottle        -0.482         0.813          3.085          0              0              0              20
  13  Towel              -1.106         1.151          1.289          0              0              0              32
  14  Cloth              -0.246         0.205          1.408          0              0              0              26
  15  ScrubBrush         -0.346         -0.000         3.341          0              0              0              Floor|+00.00|
  16  DishSponge         -0.363         0.829          1.627          0              0              0              41
  17  Sink               -0.299         0.807          2.754          0              270            0
  18  Drawer             -0.319         0.615          3.012          0              0              0
  19  Drawer             -0.319         0.316          3.012          0              0              0
  20  CounterTop         -0.349         0.004          1.453          0              0              0
  21  Drawer             -0.319         0.615          1.978          0              0              0
  22  Drawer             -0.319         0.316          1.978          0              0              0
  23  Drawer             -0.319         0.316          1.463          0              0              0
  24  Drawer             -0.319         0.615          2.495          0              0              0
  25  ShowerDoor         -1.514         0.910          1.167          0              0              0
  26  Drawer             -0.319         0.615          1.463          0              0              0
  27  Drawer             -0.319         0.316          2.495          0              0              0
  28  Faucet             -0.076         0.805          2.757          0              0              0
  29  Mirror             -0.228         0.465          1.453          0              0              0
  30  ShowerGlass        -0.766         0.541          0.485          0              0              0
  31  ToiletPaperHanger  -1.200         0.897          4.0            0              180            0
  32  TowelHolder        -1.105         1.136          1.183          0              0              0
  33  GarbageCan         -2.041         -0.000         3.724          0              45             0
  34  HandTowelHolder    0.001          1.759          3.443          0              180            0
  35  Toilet             -0.600         -0.000         3.671          0              270            0
  36  LightSwitch        -2.312         1.386          3.296          0              90             0
  37  Faucet             -0.076         0.805          1.733          0              0              0
  38  SinkBasin          -0.304         0.819          2.753          0              0              0
  39  Sink               -0.298         0.807          1.725          0              270            0
  40  ShowerHead         -0.083         1.248          0.522          0              0              0
  41  SinkBasin          -0.304         0.819          1.723          0              0              0
  42  NorthWall
  43  SouthWall
  44  SouthWall

Plan:
STEP 1: Turn to the left, go forward to the sink that has the two sponges in it.  | STEP 2: Pick up the rightmost sponge that is in the sink.  | STEP 3: Turn around, go to the wall, hang a right, go to the garbage can.  | STEP 4: Put the sponge in the garbage can.  | STEP 5: Turn around, go to the shower, hang a left, go to the sink that has the sponge in it.  | STEP 6: Pick up the sponge that is in the sink. | STEP 7: Turn around, go to the wall, hang a right, go to the garbage can.  | STEP 8: Put the sponge in the garbage can. | END