Task: Move a sponge to the wire shelf

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          3.25           0              0              0
   1  SoapBar            -0.962         0.042          3.805          0              0              0              33
   2  SoapBar            -3.376         1.041          1.801          0              0              0              38
   3  SprayBottle        -2.293         1.544          3.818          0              0              0              32
   4  DishSponge         0.355          1.048          2.903          0              270            0              36
   5  Towel              -1.304         1.059          -0.183         0              0              0              27
   6  HandTowel          -3.419         1.338          2.102          0              270            0              34
   7  Plunger            0.362          0.000          2.468          0              0              0              Floor|-01.44|
   8  SoapBar            -0.867         0.042          3.86           0              0              0              33
   9  ToiletPaper        -0.540         0.627          1.976          0              227.956        0              24
  10  SoapBottle         -3.150         0.866          0.156          0              270            0              40
  11  ToiletPaper        -2.310         0.777          3.875          0              0              0              29
  12  Cloth              0.025          0.053          0.193          0              0              0              21
  13  PaperTowelRoll     -0.771         0.149          3.914          0              0              0              33
  14  Candle             -3.206         0.864          0.234          0              270            0              40
  15  SprayBottle        0.355          1.048          3.231          0              270            0              36
  16  ScrubBrush         0.397          0.000          2.694          0              0              0              Floor|-01.44|
  17  DishSponge         0.385          1.048          3.034          0              270            0              36
  18  Faucet             -0.141         0.524          -0.211         0              0              0
  19  Window             -1.507         1.322          -0.364         0              0              0
  20  Faucet             -3.401         1.017          1.531          0              90             0
  21  BathtubBasin       -0.155         0.042          0.884          0              0              0
  22  ShowerCurtain      -0.886         2.196          -0.169         0              0              0
  23  ShowerHead         -0.126         1.447          2.047          0              270            0
  24  Bathtub            -0.205         0.359          0.924          0              0              0
  25  Mirror             -3.447         1.575          1.516          0              0              0
  26  TowelHolder        -2.049         1.045          -0.290         0              0              0
  27  TowelHolder        -1.304         1.045          -0.290         0              0              0
  28  ToiletPaperHanger  -0.425         0.783          2.278          0              0              0
  29  Shelf              -2.587         0.778          3.909          0              0              0
  30  Shelf              -2.587         1.287          3.941          0              0              0
  31  Shelf              -2.587         1.032          3.941          0              0              0
  32  Shelf              -2.587         1.534          3.909          0              0              0
  33  GarbageCan         0.047          -0.002         3.878          0              0              0
  34  HandTowelHolder    -3.459         1.458          2.098          0              0              0
  35  HandTowelHolder    -3.459         1.458          0.816          0              0              0
  36  Toilet             0.063          0.002          3.096          0              0              0
  37  LightSwitch        -3.459         1.437          2.496          0              90             0
  38  Sink               -3.115         -0.013         1.531          0              90             0
  39  SinkBasin          -3.081         0.935          1.537          0              90             0
  40  SideTable          -3.171         0.002          0.170          0              270            0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Move to face the back of the toilet against the wall | STEP 2: Pick up the sponge on top of the toilet tank on the left | STEP 3: Carry the sponge over to the wire shelving rack in the corner of the room | STEP 4: Place the sponge on the second shelf from the top on the shelving unit | END