Task: Place clean sponge on black plate on second shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.900          1.75           0              0              0
   1  Potato          -1.284         1.044          -1.846         0              90             0              68
   2  Ladle           0.002          0.957          -1.725         0              0              0              62
   3  Ladle           -1.316         1.704          -1.792         0              90             0              45
   4  DishSponge      1.255          0.552          2.431          0              0              0              88
   5  DishSponge      0.180          0.930          0.076          0              0              0              79
   6  DishSponge      1.566          0.880          2.483          0              0              0              82
   7  Spatula         -0.047         0.945          0.076          0              0              0              79
   8  Spoon           0.457          0.914          -1.834         0              0              0              62
   9  Spoon           0.180          0.928          1.448          0              0              0              79
  10  Fork            -0.346         0.914          -1.713         0              0              0              62
  11  Fork            -0.064         0.765          -2.026         0              0              0              74
  12  Egg             0.066          0.984          0.534          0              0              0              79
  13  Cup             0.408          0.930          0.991          0              0              0              79
  14  Plate           1.850          0.916          -2.085         0              0              0              62
  15  Knife           0.294          0.953          0.762          0              0              0              79
  16  PepperShaker    1.362          0.877          2.429          0              0              0              83
  17  Mug             -0.210         0.759          -1.981         0              0              0              74
  18  Apple           -0.927         0.984          -2.224         0              0              0              62
  19  Apple           1.786          0.157          0.083          0              0              0              63
  20  Apple           -0.668         0.984          -2.167         0              0              0              62
  21  Potato          0.008          0.793          -2.161         0              90             0              74
  22  Bowl            1.403          1.656          -2.200         0              90             0              49
  23  SoapBottle      0.294          0.925          0.991          0              0              0              79
  24  Fork            0.921          0.914          -2.085         0              90             0              62
  25  Ladle           -0.047         0.975          0.991          0              0              0              79
  26  Bread           0.408          0.975          1.220          0              0              0              79
  27  Lettuce         0.294          1.011          0.534          0              0              0              79
  28  WineBottle      1.669          0.881          2.510          0              0              0              89
  29  Spatula         0.066          0.941          1.220          0              0              0              79
  30  Plate           1.773          0.556          2.431          0              0              0              82
  31  SaltShaker      0.408          0.926          1.448          0              0              0              79
  32  Pot             1.567          0.948          -0.757         0              0              0              44
  33  Cup             1.218          0.119          -2.022         0              0              0              54
  34  PepperShaker    -0.160         0.926          0.534          0              0              0              79
  35  Pan             1.845          0.948          -0.757         0              0              0              59
  36  ButterKnife     0.294          0.930          0.076          0              0              0              79
  37  Tomato          -1.438         0.911          -0.910         0              90             0              70
  38  DishSponge      1.590          1.659          -2.162         0              0              0              49
  39  Egg             -0.356         0.818          -2.116         0              0              0              74
  40  Spoon           0.180          0.931          0.305          0              0              0              79
  41  Knife           -0.047         0.950          0.762          0              0              0              79
  42  Mug             1.153          0.908          -1.751         0              0              0              62
  43  StoveBurner     1.845          0.940          -0.355         0              0              0
  44  StoveBurner     1.567          0.940          -0.757         0              0              0
  45  Cabinet         -1.149         2.019          -1.979         0              90             0
  46  Cabinet         -1.149         2.265          -0.834         0              90             0
  47  Cabinet         -0.459         2.265          -2.0           0              0              0
  48  Cabinet         -1.100         2.019          -2.0           0              0              0
  49  Cabinet         1.719          2.019          -2.0           0              0              0
  50  Cabinet         1.179          2.019          -2.0           0              0              0
  51  Cabinet         0.199          2.019          -2.0           0              0              0
  52  Cabinet         1.75           2.019          -1.399         0              270            0
  53  Cabinet         1.75           2.019          -1.029         0              270            0
  54  Cabinet         1.379          0.469          -1.689         0              0              0
  55  Cabinet         -0.819         0.469          -1.689         0              0              0
  56  Cabinet         1.389          0.469          -1.059         0              270            0
  57  Cabinet         -0.839         0.469          -1.665         0              90             0
  58  StoveBurner     1.567          0.940          -0.355         0              0              0
  59  StoveBurner     1.845          0.940          -0.757         0              0              0
  60  Sink            -0.109         0.893          -2.009         0              0              0
  61  Drawer          -0.819         0.75           -1.690         0              0              0
  62  CounterTop      0.232          0.949          -2.002         0              0              0
  63  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  64  Vase            0.251          0.546          0.475          0              270            0
  65  Toaster         0.780          0.900          -2.080         0              0              0
  66  LightSwitch     0.108          1.315          2.75           0              180            0
  67  Vase            0.400          0.925          0.218          0              180            0
  68  Microwave       -1.233         0.900          -1.680         0              90             0
  69  Vase            1.465          1.662          -2.200         0              0              0
  70  Fridge          -1.495         0.0            -0.703         0              0              0
  71  Window          2.114          1.495          1.072          90             270            0
  72  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  73  Vase            0.333          0.546          1.272          0              270            0
  74  SinkBasin       -0.148         0.753          -2.026         0              0              0
  75  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  76  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  77  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  78  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  79  DiningTable     0.170          0.005          0.678          0              270            0
  80  Shelf           0.170          0.155          0.678          0              270            0
  81  Shelf           1.605          0.172          2.480          0              0              0
  82  Shelf           1.605          0.552          2.480          0              0              0
  83  Shelf           1.604          0.880          2.479          0              0              0
  84  ShelvingUnit    1.605          0.006          2.480          0              0              0
  85  Faucet          -0.143         1.028          -2.223         0              270            0
  86  Stool           -0.553         0.000          0.871          1.233          280.376        0
  87  Shelf           0.170          0.528          0.678          0              270            0
  88
  89
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: turn around, go to end of center counter with green sponge | STEP 2: pick up green sponge from center counter | STEP 3: turn around, go forward to sink | STEP 4: place green sponge in sink to the right of white coffee mug, turn on water, pick up green sponge from sink | STEP 5: turn around, go forward past stove to black shelves in the right corner | STEP 6: place green sponge on front edge of black plate on second shelf | END