Task: Place two sponges in the shelf rack

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.5           0.901          3.0            0              0              0
   1  SoapBar            -0.678         0.630          1.828          0              227.956        0              28
   2  Candle             -3.037         0.864          0.312          0              270            0              44
   3  SprayBottle        0.447          1.048          2.969          0              270            0              40
   4  DishSponge         -3.007         0.856          1.491          0              90             0              43
   5  DishSponge         -2.574         1.544          3.940          0              0              0              36
   6  DishSponge         0.289          0.632          1.987          0              317.956        0              28
   7  SoapBottle         -2.667         0.790          3.879          0              0              0              33
   8  Towel              -2.05          1.059          -0.183         0              0              0              30
   9  Towel              -1.304         1.059          -0.183         0              0              0              31
  10  HandTowel          -3.419         1.338          2.102          0              270            0              38
  11  Plunger            0.362          0.000          2.468          0              0              0              Floor|-01.44|
  12  SoapBar            -3.093         0.233          0.000          0              270            0              44
  13  ToiletPaper        -0.482         0.784          2.361          0              0              270            32
  14  SoapBottle         -3.376         0.235          0.078          0              270            0              44
  15  ToiletPaper        0.355          1.043          3.034          0              270            0              40
  16  Cloth              -3.319         0.235          0.312          0              270            0              44
  17  PaperTowelRoll     -2.387         1.649          3.849          0              0              0              36
  18  Candle             -2.761         1.544          3.818          0              0              0              36
  19  SprayBottle        0.355          1.048          3.231          0              270            0              40
  20  ScrubBrush         0.397          0.000          2.694          0              0              0              Floor|-01.44|
  21  DishSponge         -0.962         0.044          3.832          0              0              0              37
  22  Faucet             -0.141         0.524          -0.211         0              0              0
  23  Window             -1.507         1.322          -0.364         0              0              0
  24  Faucet             -3.401         1.017          1.531          0              90             0
  25  BathtubBasin       -0.155         0.042          0.884          0              0              0
  26  ShowerCurtain      -0.886         2.196          -0.169         0              0              0
  27  ShowerHead         -0.126         1.447          2.047          0              270            0
  28  Bathtub            -0.205         0.359          0.924          0              0              0
  29  Mirror             -3.447         1.575          1.516          0              0              0
  30  TowelHolder        -2.049         1.045          -0.290         0              0              0
  31  TowelHolder        -1.304         1.045          -0.290         0              0              0
  32  ToiletPaperHanger  -0.425         0.783          2.278          0              0              0
  33  Shelf              -2.587         0.778          3.909          0              0              0
  34  Shelf              -2.587         1.287          3.941          0              0              0
  35  Shelf              -2.587         1.032          3.941          0              0              0
  36  Shelf              -2.587         1.534          3.909          0              0              0
  37  GarbageCan         0.047          -0.002         3.878          0              0              0
  38  HandTowelHolder    -3.459         1.458          2.098          0              0              0
  39  HandTowelHolder    -3.459         1.458          0.816          0              0              0
  40  Toilet             0.063          0.002          3.096          0              0              0
  41  LightSwitch        -3.459         1.437          2.496          0              90             0
  42  Sink               -3.115         -0.013         1.531          0              90             0
  43  SinkBasin          -3.081         0.935          1.537          0              90             0
  44  SideTable          -3.171         0.002          0.170          0              270            0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Turn around and go to the sink | STEP 2: Pick up the sponge from the sink | STEP 3: Turn left, go to the end, and turn right to face the shelf rack | STEP 4: Put the sponge in the shelf | STEP 5: Turn to your right, go across the room to face the white cupboard | STEP 6: Pick up the sponge from the top shelf of the cupboard | STEP 7: Go back to the  shelf rack | STEP 8: Place the second sponge to the right of the first sponge on the shelf | END