Task: Put a clean 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           -1.0           0.900          -1.25          0              180            0
   1  Plate           -2.121         0.537          1.003          0              90             0              97
   2  Plate           0.969          0.907          -2.560         0              0              0              66
   3  Cup             -2.158         1.307          0.925          0              90             0              97
   4  Cup             -2.040         1.500          0.925          0              90             0              97
   5  SaltShaker      -1.738         0.474          -0.245         0              90             0              79
   6  SaltShaker      0.892          0.138          -2.382         0              0              0              84
   7  PepperShaker    0.783          1.657          -2.564         0              0              0              86
   8  Bread           -0.197         1.184          0.757          0              0              0              64
   9  Bread           -2.019         0.983          -0.513         0              0              0              89
  10  Apple           -0.473         1.162          0.251          0              0              0              64
  11  Apple           -1.963         0.820          -1.501         0              90             0              99
  12  Knife           -0.995         0.936          -2.483         0              0              0              89
  13  Knife           -1.852         0.795          -1.587         0              0              0              99
  14  Fork            0.892          0.646          -2.333         0              0              0              69
  15  Fork            -1.696         0.154          -0.245         0              90             0              87
  16  Pot             0.969          0.914          -2.330         0              0              0              66
  17  Pot             0.450          0.144          -2.436         0              0              0              81
  18  ButterKnife     -0.059         1.111          0.251          0              0              0              64
  19  ButterKnife     0.582          0.910          -2.330         0              0              0              66
  20  Kettle          -0.036         0.950          -2.576         0              270            0              67
  21  Glassbottle     1.993          0.881          -2.563         0              180            0              91
  22  Glassbottle     1.582          0.553          -2.666         0              180            0              94
  23  WineBottle      -1.346         1.659          -2.567         0              0              0              80
  24  WineBottle      -0.782         1.657          -2.532         0              0              0              78
  25  DishSponge      1.478          0.552          -2.666         0              180            0              94
  26  DishSponge      1.789          0.880          -2.590         0              180            0              94
  27  DishSponge      0.893          0.480          -2.429         0              0              0              72
  28  Bowl            -0.225         1.787          -2.546         0              0              0              90
  29  Book            0.155          1.1            0.617          0              315            0              64
  30  Glassbottle     2.100          0.553          -2.666         0              180            0              94
  31  Knife           0.217          1.136          0.251          0              180            0              64
  32  Bread           -1.143         0.983          -2.637         0              0              0              89
  33  Fork            -1.774         0.911          -2.585         0              0              0              89
  34  Potato          0.324          0.941          -2.330         0              0              0              66
  35  SoapBottle      -1.962         0.048          2.172          0              270            0              95
  36  Kettle          -0.465         0.950          -2.576         0              90             0              73
  37  Pan             0.721          0.9            -2.415         0              0              0              66
  38  Plate           0.582          0.907          -2.637         0              0              0              66
  39  Tomato          -1.982         1.345          0.841          0              90             0              97
  40  Vase            -1.071         1.658          -2.604         0              0              0              78
  41  Egg             0.840          0.945          -2.253         0              0              0              66
  42  CreditCard      -2.100         0.908          -0.698         0              0              0              89
  43  Statue          0.217          1.110          -0.506         0              0              0              64
  44  WineBottle      -1.935         0.048          2.076          0              270            0              95
  45  Pot             -1.219         0.9            -2.356         0              0              0              89
  46  Spatula         -1.963         0.784          -1.673         0              180            0              99
  47  PaperTowelRoll  0.453          1.014          -2.407         0              0              0              66
  48  Cup             -1.814         0.127          0.203          0              90             0              70
  49  Vase            -0.335         1.109          0.251          0              0              0              64
  50  Bowl            -1.852         0.766          -1.328         0              90             0              99
  51  SaltShaker      1.482          0.877          -2.617         0              180            0              91
  52  PepperShaker    1.478          0.549          -2.511         0              180            0              94
  53  Lettuce         -0.059         1.191          -0.759         0              0              0              64
  54  ButterKnife     -1.438         0.911          -2.329         0              0              0              89
  55  Apple           -1.907         0.098          1.933          0              270            0              95
  56  DishSponge      -0.059         1.111          -0.253         0              0              0              64
  57  Spoon           1.007          0.143          -2.334         0              0              0              84
  58  Mug             1.996          0.548          -2.459         0              180            0              94
  59  StoveBurner     -0.036         0.915          -2.372         0              0              0
  60  Drawer          0.949          0.832          -2.197         0              0              0
  61  Drawer          -1.560         0.839          0.204          0              90             0
  62  StoveBurner     -0.465         0.915          -2.371         0              180            0
  63  Drawer          -1.560         0.839          -0.197         0              90             0
  64  CounterTop      -0.079         1.147          -0.001         0              0              0
  65  Cabinet         -1.549         0.494          -1.964         0              90             0
  66  CounterTop      0.693          0.946          -2.483         0              0              0
  67  StoveBurner     -0.036         0.915          -2.576         0              0              0
  68  Drawer          0.949          0.393          -2.200         0              0              0
  69  Drawer          0.949          0.708          -2.200         0              0              0
  70  Cabinet         -1.549         0.494          0.379          0              90             0
  71  StoveKnob       -0.022         0.881          -2.187         45             0              0
  72  Drawer          0.949          0.560          -2.201         0              0              0
  73  StoveBurner     -0.465         0.915          -2.575         0              180            0
  74  Window          -2.230         1.429          -1.203         0              0              0
  75  StoveKnob       -0.483         0.881          -2.187         45             0              0
  76  Sink            -1.899         0.964          -1.5           0              90             0
  77  StoveKnob       -0.328         0.881          -2.187         45             0              0
  78  Cabinet         -0.727         2.015          -2.460         0              0              0
  79  Drawer          -1.560         0.655          -0.196         0              90             0
  80  Cabinet         -1.685         2.015          -2.461         0              0              0
  81  Cabinet         0.680          0.494          -2.200         0              0              0
  82  Cabinet         -1.179         0.494          -2.200         0              0              0
  83  Cabinet         -1.849         2.015          0.379          0              90             0
  84  Drawer          0.949          0.221          -2.200         0              0              0
  85  StoveKnob       -0.183         0.881          -2.187         45             0              0
  86  Cabinet         0.719          2.015          -2.460         0              0              0
  87  Drawer          -1.560         0.331          -0.196         0              90             0
  88  Cabinet         0.680          2.015          -2.460         0              0              0
  89  CounterTop      -1.868         0.946          -1.205         0              0              0
  90  Microwave       -0.236         1.689          -2.525         0              0              0
  91  Shelf           1.751          0.880          -2.560         0              0              0
  92  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  93  Toaster         -1.835         0.900          0.134          0              90             0
  94  Shelf           1.750          0.552          -2.559         0              0              0
  95  GarbageCan      -1.935         -0.002         2.029          0              270            0
  96  Shelf           1.750          0.172          -2.559         0              0              0
  97  Fridge          -2.096         0.0            1.088          0              0              0
  98  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  99  SinkBasin       -1.908         0.759          -1.488         0              90             0
 100  LightSwitch     2.329          1.309          -0.159         0              270            0
 101  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 102  Stool           0.702          0.000          -0.514         1.202          65.108         0
 103  Stool           0.743          0.000          0.563          1.227          106.706        0
 104  Faucet          -2.070         1.132          -1.514         0              0              0
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: Turn around and walk forward, then turn right to face the kitchen island. | STEP 2: Pick up the sponge off of the island. | STEP 3: Turn right and walk over to the sink. | STEP 4: Put the sponge in the sink and turn on the water, after a couple seconds turn off the water and remove the now clean sponge. | STEP 5: Turn around and across the room, then turn right to face the wooden shelving unit to the left of the counter. | STEP 6: Put the clean sponge on the front right edge of the middle shelf. | END