Task: put a square dish and sponge into a sink basin

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.901          2.75           0              0              0
   1  DishSponge      -0.414         1.773          0.160          0              0              0              49
   2  DishSponge      -2.583         0.900          2.045          0              0              0              72
   3  Spatula         -2.480         0.915          2.441          0              90             0              72
   4  Fork            -2.943         0.936          3.209          0              0              0              58
   5  Pot             -1.770         0.927          0.433          0              90             0              51
   6  Pot             -0.535         0.928          4.274          0              0              0              55
   7  Egg             -0.228         0.933          2.731          0              0              0              74
   8  Egg             -0.657         0.933          2.329          0              0              0              74
   9  Cup             -2.805         1.186          4.649          0              90             0              68
  10  Plate           -2.301         1.777          0.160          0              0              0              47
  11  Knife           -1.770         0.953          0.602          0              0              0              51
  12  Knife           -0.272         0.688          0.409          0              0              0              40
  13  Bowl            -2.738         0.295          4.278          0              90             0              68
  14  Bowl            -0.400         0.897          2.530          0              0              0              74
  15  SaltShaker      -2.892         0.896          2.441          0              0              0              72
  16  PepperShaker    -2.323         0.658          0.409          0              0              0              59
  17  PepperShaker    -0.139         1.769          0.160          0              0              0              49
  18  Apple           -0.403         1.074          0.203          0              0              0              70
  19  Egg             -2.785         0.332          4.501          0              90             0              68
  20  Plate           -1.691         1.777          0.205          0              0              0              46
  21  Fork            -2.706         0.936          3.302          0              0              0              58
  22  Bread           -2.864         0.940          1.983          0              0              0              72
  23  Apple           -2.549         0.991          3.580          0              0              0              58
  24  Lettuce         -0.228         0.980          2.932          0              0              0              74
  25  Spatula         -2.485         0.677          0.519          0              270            0              59
  26  Knife           -2.686         0.926          2.573          0              0              0              72
  27  Potato          -2.995         0.926          2.706          0              0              0              72
  28  Tomato          -2.764         1.250          4.204          0              90             0              68
  29  Cup             -2.722         1.186          4.501          0              90             0              68
  30  SaltShaker      -0.218         0.658          0.409          0              0              0              40
  31  PepperShaker    -1.878         0.658          0.245          0              0              0              54
  32  ButterKnife     -0.314         0.900          2.731          0              0              0              74
  33  SoapBottle      -0.143         0.900          3.133          0              0              0              74
  34  Pan             -0.250         0.926          4.651          0              0              0              53
  35  DishSponge      -0.400         0.900          3.334          0              0              0              74
  36  Pot             -0.486         0.900          3.133          0              0              0              74
  37  Spoon           -2.628         0.936          3.766          0              0              0              58
  38  Mug             -2.778         1.001          3.714          0              90             0              71
  39  Bowl            -1.193         1.770          0.114          0              0              0              48
  40  Drawer          -0.325         0.696          0.413          0              0              0
  41  Cabinet         -0.595         0.490          0.648          0              0              0
  42  Cabinet         -0.555         0.490          0.646          0              0              0
  43  Cabinet         -1.591         0.490          0.646          0              0              0
  44  Cabinet         -1.554         0.490          0.646          0              0              0
  45  Cabinet         -2.550         0.490          0.646          0              0              0
  46  Cabinet         -1.514         2.046          0.392          0              0              0
  47  Cabinet         -2.474         2.046          0.392          0              0              0
  48  Cabinet         -1.478         2.046          0.392          0              0              0
  49  Cabinet         -0.518         2.046          0.392          0              0              0
  50  Cabinet         -0.479         2.046          0.392          0              0              0
  51  CounterTop      -1.366         0.952          0.349          0              0              0
  52  Sink            -1.108         0.926          0.340          0              0              0
  53  StoveBurner     -0.254         0.922          4.672          0              0              0
  54  Drawer          -1.824         0.696          0.413          0              0              0
  55  StoveBurner     -0.535         0.922          4.274          0              0              0
  56  StoveBurner     -0.254         0.922          4.274          0              0              0
  57  StoveBurner     -0.536         0.922          4.672          0              0              0
  58  CounterTop      -2.780         0.971          3.487          0              0              0
  59  Drawer          -2.323         0.696          0.413          0              0              0
  60  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  61  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  62  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  63  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  64  Toaster         -0.286         0.861          3.520          0              270            0
  65  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  66  LightSwitch     -0.064         1.447          1.996          0              270            0
  67  Window          -3.075         1.593          1.361          90             90             0
  68  Fridge          -2.802         0.0            4.427          0              0              0
  69  SinkBasin       -1.106         0.785          0.337          0              0              0
  70  Microwave       -0.358         0.917          0.224          0              0              0
  71  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  72  DiningTable     -2.733         -0.003         2.607          0              270            0
  73  Faucet          -1.077         0.920          0.028          270            270            0
  74  DiningTable     -0.488         -0.003         3.182          0              270            0
  75  NorthWall
  76  EastWall
  77  SouthWall
  78  WestWall

Plan:
STEP 1: walk to face the white table with toaster on top | STEP 2: pick up the green sponge from the table top | STEP 3: step back from table with the green sponge | STEP 4: put the sponge into the square dish to the right on the white table | STEP 5: pick up the square dish from the white table | STEP 6: walk to face the microwave and sink | STEP 7: put the square dish into the sink basin | END