Task: Put a clean sponge on the shelf of a wooden shelving unit.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          0.75           0              0              0
   1  Ladle           -0.668         0.957          -2.134         0              0              0              60
   2  Ladle           1.403          1.704          -2.162         0              0              0              47
   3  ButterKnife     0.294          0.930          0.762          0              0              0              77
   4  Spatula         -0.230         0.928          -1.713         0              0              0              60
   5  Egg             -0.463         0.967          -1.725         0              0              0              60
   6  Egg             1.829          0.140          0.006          0              0              0              61
   7  Cup             0.180          0.930          0.305          0              0              0              77
   8  Plate           1.462          0.556          2.482          0              0              0              80
   9  Tomato          -1.000         0.965          -2.224         0              0              0              60
  10  Tomato          -1.380         0.911          -1.013         0              90             0              68
  11  Bowl            -0.160         0.923          0.305          0              0              0              77
  12  Bowl            1.850          0.910          -1.834         0              0              0              60
  13  SaltShaker      1.913          1.654          -1.240         0              270            0              51
  14  SaltShaker      -1.072         0.122          -1.501         0              90             0              53
  15  PepperShaker    1.873          0.877          2.429          0              0              0              86
  16  Bread           0.066          0.975          0.991          0              0              0              77
  17  Apple           0.408          0.997          0.534          0              0              0              77
  18  Apple           -1.553         1.254          -1.013         0              90             0              68
  19  Potato          -1.284         1.044          -1.846         0              90             0              66
  20  Bowl            -0.160         0.923          0.991          0              0              0              77
  21  SoapBottle      1.838          1.656          -1.117         0              270            0              51
  22  Fork            -0.210         0.765          -2.071         0              0              0              72
  23  Ladle           0.294          0.971          1.220          0              0              0              77
  24  Bread           0.399          0.964          0.111          0              0              1.601          77
  25  Lettuce         -1.429         0.925          -0.542         0              315            0              68
  26  WineBottle      1.566          0.881          2.429          0              0              0              81
  27  Spatula         0.180          0.945          1.448          0              0              0              77
  28  Plate           0.444          1.662          -2.162         0              0              0              49
  29  SaltShaker      -1.000         0.909          -2.115         0              0              0              60
  30  Pot             1.738          0.911          -1.446         0              180            0              60
  31  Cup             -0.137         0.764          -1.936         0              0              0              72
  32  PepperShaker    0.066          0.926          0.534          0              0              0              77
  33  Pan             1.824          0.945          -0.346         0              0              0              41
  34  ButterKnife     0.180          0.926          1.448          0              0              0              77
  35  Tomato          -1.495         1.556          -0.910         0              90             0              68
  36  DishSponge      0.408          0.930          1.448          0              0              0              77
  37  Egg             1.647          0.967          -1.095         0              0              0              60
  38  Spoon           1.557          0.914          -1.680         0              0              0              60
  39  Knife           -0.160         0.950          0.762          0              270            0              77
  40  Mug             -1.355         1.654          -1.542         0              180            0              43
  41  StoveBurner     1.845          0.940          -0.355         0              0              0
  42  StoveBurner     1.567          0.940          -0.757         0              0              0
  43  Cabinet         -1.149         2.019          -1.979         0              90             0
  44  Cabinet         -1.149         2.265          -0.834         0              90             0
  45  Cabinet         -0.459         2.265          -2.0           0              0              0
  46  Cabinet         -1.100         2.019          -2.0           0              0              0
  47  Cabinet         1.719          2.019          -2.0           0              0              0
  48  Cabinet         1.179          2.019          -2.0           0              0              0
  49  Cabinet         0.199          2.019          -2.0           0              0              0
  50  Cabinet         1.75           2.019          -1.399         0              270            0
  51  Cabinet         1.75           2.019          -1.029         0              270            0
  52  Cabinet         1.379          0.469          -1.689         0              0              0
  53  Cabinet         -0.819         0.469          -1.689         0              0              0
  54  Cabinet         1.389          0.469          -1.059         0              270            0
  55  Cabinet         -0.839         0.469          -1.665         0              90             0
  56  StoveBurner     1.567          0.940          -0.355         0              0              0
  57  StoveBurner     1.845          0.940          -0.757         0              0              0
  58  Sink            -0.109         0.893          -2.009         0              0              0
  59  Drawer          -0.819         0.75           -1.690         0              0              0
  60  CounterTop      0.232          0.949          -2.002         0              0              0
  61  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  62  Vase            0.251          0.546          0.475          0              270            0
  63  Toaster         0.780          0.900          -2.080         0              0              0
  64  LightSwitch     0.108          1.315          2.75           0              180            0
  65  Vase            0.400          0.925          0.218          0              180            0
  66  Microwave       -1.233         0.900          -1.680         0              90             0
  67  Vase            1.465          1.662          -2.200         0              0              0
  68  Fridge          -1.495         0.0            -0.703         0              0              0
  69  Window          2.114          1.495          1.072          90             270            0
  70  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  71  Vase            0.333          0.546          1.272          0              270            0
  72  SinkBasin       -0.148         0.753          -2.026         0              0              0
  73  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  74  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  75  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  76  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  77  DiningTable     0.170          0.005          0.678          0              270            0
  78  Shelf           0.170          0.155          0.678          0              270            0
  79  Shelf           1.605          0.172          2.480          0              0              0
  80  Shelf           1.605          0.552          2.480          0              0              0
  81  Shelf           1.604          0.880          2.479          0              0              0
  82  ShelvingUnit    1.605          0.006          2.480          0              0              0
  83  Faucet          -0.143         1.028          -2.223         0              270            0
  84  Stool           -0.553         0.000          0.871          1.233          280.376        0
  85  Shelf           0.170          0.528          0.678          0              270            0
  86
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Walk towards the door, then hang a right and walk to the far side of the kitchen island. | STEP 2: Pick up the sponge off of the kitchen island. | STEP 3: Turn left and walk over to the kitchen sink. | STEP 4: Put the sponge in the sink then turn on the water, after a couple seconds turn the water off and remove the now clean sponge. | STEP 5: Turn left and walk over to the counter, then hang a left and walk over to the wooden shelving unit in the corner of the room. | STEP 6: Put the clean sponge on the middle shelf of the wooden shelving unit in front of the grey plate. | END