Task: Place a rinsed sponge on a shelf.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.75          0.901          1.0            0              270            0
   1  SoapBar            0.484          0.630          0.627          0              0              0              26
   2  Candle             0.398          0.632          1.865          0              317.956        0              26
   3  Candle             -0.773         0.632          0.321          0              0              0              26
   4  SprayBottle        -3.319         0.864          0.156          0              270            0              42
   5  SprayBottle        0.385          1.048          3.034          0              270            0              38
   6  SoapBottle         0.447          1.049          3.231          0              270            0              38
   7  Towel              -2.05          1.059          -0.183         0              0              0              28
   8  HandTowel          -3.420         1.356          0.816          0              270            0              37
   9  Plunger            0.362          0.000          2.468          0              0              0              Floor|-01.44|
  10  SoapBar            0.025          0.052          1.114          0              0              0              23
  11  ToiletPaper        0.355          1.043          3.166          0              270            0              38
  12  SoapBottle         -0.819         0.045          3.914          0              0              0              35
  13  ToiletPaper        -2.310         0.777          3.875          0              0              0              31
  14  Cloth              0.025          0.053          0.423          0              0              0              23
  15  PaperTowelRoll     -2.480         1.649          3.970          0              0              0              34
  16  Candle             -3.263         0.236          0.078          0              270            0              42
  17  SprayBottle        0.355          1.048          2.903          0              270            0              38
  18  ScrubBrush         0.397          0.000          2.694          0              0              0              Floor|-01.44|
  19  DishSponge         -0.819         0.044          3.832          0              0              0              35
  20  Faucet             -0.141         0.524          -0.211         0              0              0
  21  Window             -1.507         1.322          -0.364         0              0              0
  22  Faucet             -3.401         1.017          1.531          0              90             0
  23  BathtubBasin       -0.155         0.042          0.884          0              0              0
  24  ShowerCurtain      -0.886         2.196          -0.169         0              0              0
  25  ShowerHead         -0.126         1.447          2.047          0              270            0
  26  Bathtub            -0.205         0.359          0.924          0              0              0
  27  Mirror             -3.447         1.575          1.516          0              0              0
  28  TowelHolder        -2.049         1.045          -0.290         0              0              0
  29  TowelHolder        -1.304         1.045          -0.290         0              0              0
  30  ToiletPaperHanger  -0.425         0.783          2.278          0              0              0
  31  Shelf              -2.587         0.778          3.909          0              0              0
  32  Shelf              -2.587         1.287          3.941          0              0              0
  33  Shelf              -2.587         1.032          3.941          0              0              0
  34  Shelf              -2.587         1.534          3.909          0              0              0
  35  GarbageCan         0.047          -0.002         3.878          0              0              0
  36  HandTowelHolder    -3.459         1.458          2.098          0              0              0
  37  HandTowelHolder    -3.459         1.458          0.816          0              0              0
  38  Toilet             0.063          0.002          3.096          0              0              0
  39  LightSwitch        -3.459         1.437          2.496          0              90             0
  40  Sink               -3.115         -0.013         1.531          0              90             0
  41  SinkBasin          -3.081         0.935          1.537          0              90             0
  42  SideTable          -3.171         0.002          0.170          0              270            0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Turn right and walk ahead to the black container on the floor against the wall. | STEP 2: Pick up the green sponge from inside the container. | STEP 3: Turn around, hang a right at the tub and walk to the sink. | STEP 4: Put the sponge in the sink, rinse it a few seconds and pick it back up. | STEP 5: Turn right and walk to the white shelves ahead against the wall. | STEP 6: Put the rinsed sponge on the bottom shelf to the left of the gold roll. | END