Task: Put a clean sponge on the shelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          1.25           0              90             0
   1  Statue          0.453          0.909          -2.484         0              180            0              63
   2  Potato          0.969          0.941          -2.714         0              0              0              63
   3  Potato          -0.059         1.142          -0.506         0              0              0              61
   4  CreditCard      1.007          0.139          -2.479         0              0              0              81
   5  CreditCard      -1.611         0.791          0.287          0              90             0              58
   6  Egg             0.453          0.945          -2.253         0              0              0              63
   7  Tomato          -1.982         1.345          0.841          0              90             0              94
   8  SoapBottle      0.450          0.141          -2.387         0              0              0              78
   9  SoapBottle      -1.755         0.137          -1.506         0              90             0              62
  10  SaltShaker      -0.473         1.107          0.251          0              0              0              61
  11  PepperShaker    -1.609         0.150          -0.245         0              90             0              84
  12  Knife           -1.438         0.936          -2.637         0              90             0              86
  13  Fork            -1.694         0.478          -0.245         0              90             0              76
  14  Mug             -1.982         1.301          1.176          0              90             0              94
  15  Mug             -1.797         0.764          -1.760         0              90             0              96
  16  Spatula         0.355          1.126          -0.253         0              0              0              61
  17  Pot             0.079          1.115          -0.759         0              0              0              61
  18  Pot             -0.465         0.950          -2.576         0              90             0              70
  19  ButterKnife     -1.856         0.911          -0.698         0              0              0              86
  20  Kettle          -0.036         0.950          -2.576         0              270            0              64
  21  Kettle          -0.036         0.950          -2.372         0              270            0              56
  22  DishSponge      -0.197         1.111          -0.001         0              0              0              61
  23  DishSponge      -1.935         0.047          1.933          0              270            0              92
  24  Bowl            -1.852         0.766          -1.501         0              90             0              96
  25  Bowl            -2.078         0.795          1.168          0              90             0              94
  26  Book            0.155          1.1            0.617          0              315            0              61
  27  Glassbottle     0.341          1.660          -2.632         0              0              0              85
  28  Knife           -1.597         0.936          -1.682         0              90             0              96
  29  Bread           -0.473         1.184          0.757          0              0              0              61
  30  Fork            0.969          0.911          -2.253         0              0              0              63
  31  Potato          -2.018         0.800          -1.414         0              90             0              96
  32  SoapBottle      0.783          1.661          -2.673         0              0              0              83
  33  Kettle          -1.755         0.137          -1.156         0              90             0              62
  34  Pan             0.721          0.9            -2.415         0              0              0              63
  35  Plate           -1.296         0.133          -2.402         0              0              0              79
  36  Tomato          -1.907         0.087          2.076          0              270            0              92
  37  Vase            2.042          0.540          -2.495         0              0              0              91
  38  Egg             0.355          1.146          -0.759         0              0              0              61
  39  CreditCard      -1.825         0.790          0.067          0              90             0              58
  40  Statue          -0.335         1.110          -0.759         0              0              0              61
  41  WineBottle      1.891          0.881          -2.590         0              180            0              88
  42  Pot             -1.219         0.9            -2.356         0              0              0              86
  43  Spatula         1.008          0.330          -2.383         0              0              0              65
  44  PaperTowelRoll  -0.059         1.215          0.251          0              0              0              61
  45  Cup             0.279          0.138          -2.436         0              0              0              78
  46  Vase            0.324          0.908          -2.330         0              0              0              63
  47  Bowl            -1.457         1.654          -2.641         0              0              0              77
  48  SaltShaker      0.840          0.907          -2.560         0              0              0              63
  49  PepperShaker    -1.905         0.132          -1.273         0              90             0              62
  50  Lettuce         -1.774         0.991          -0.513         0              0              0              86
  51  ButterKnife     -1.908         0.769          -1.328         0              90             0              96
  52  Apple           -1.997         0.591          1.085          0              90             0              94
  53  DishSponge      -0.335         1.111          0.251          0              0              0              61
  54  Spoon           0.892          0.647          -2.375         0              0              0              66
  55  Mug             1.098          0.905          -2.407         0              0              0              63
  56  StoveBurner     -0.036         0.915          -2.372         0              0              0
  57  Drawer          0.949          0.832          -2.197         0              0              0
  58  Drawer          -1.560         0.839          0.204          0              90             0
  59  StoveBurner     -0.465         0.915          -2.371         0              180            0
  60  Drawer          -1.560         0.839          -0.197         0              90             0
  61  CounterTop      -0.079         1.147          -0.001         0              0              0
  62  Cabinet         -1.549         0.494          -1.964         0              90             0
  63  CounterTop      0.693          0.946          -2.483         0              0              0
  64  StoveBurner     -0.036         0.915          -2.576         0              0              0
  65  Drawer          0.949          0.393          -2.200         0              0              0
  66  Drawer          0.949          0.708          -2.200         0              0              0
  67  Cabinet         -1.549         0.494          0.379          0              90             0
  68  StoveKnob       -0.022         0.881          -2.187         45             0              0
  69  Drawer          0.949          0.560          -2.201         0              0              0
  70  StoveBurner     -0.465         0.915          -2.575         0              180            0
  71  Window          -2.230         1.429          -1.203         0              0              0
  72  StoveKnob       -0.483         0.881          -2.187         45             0              0
  73  Sink            -1.899         0.964          -1.5           0              90             0
  74  StoveKnob       -0.328         0.881          -2.187         45             0              0
  75  Cabinet         -0.727         2.015          -2.460         0              0              0
  76  Drawer          -1.560         0.655          -0.196         0              90             0
  77  Cabinet         -1.685         2.015          -2.461         0              0              0
  78  Cabinet         0.680          0.494          -2.200         0              0              0
  79  Cabinet         -1.179         0.494          -2.200         0              0              0
  80  Cabinet         -1.849         2.015          0.379          0              90             0
  81  Drawer          0.949          0.221          -2.200         0              0              0
  82  StoveKnob       -0.183         0.881          -2.187         45             0              0
  83  Cabinet         0.719          2.015          -2.460         0              0              0
  84  Drawer          -1.560         0.331          -0.196         0              90             0
  85  Cabinet         0.680          2.015          -2.460         0              0              0
  86  CounterTop      -1.868         0.946          -1.205         0              0              0
  87  Microwave       -0.236         1.689          -2.525         0              0              0
  88  Shelf           1.751          0.880          -2.560         0              0              0
  89  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  90  Toaster         -1.835         0.900          0.134          0              90             0
  91  Shelf           1.750          0.552          -2.559         0              0              0
  92  GarbageCan      -1.935         -0.002         2.029          0              270            0
  93  Shelf           1.750          0.172          -2.559         0              0              0
  94  Fridge          -2.096         0.0            1.088          0              0              0
  95  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  96  SinkBasin       -1.908         0.759          -1.488         0              90             0
  97  LightSwitch     2.329          1.309          -0.159         0              270            0
  98  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  99  Stool           0.702          0.000          -0.514         1.202          65.108         0
 100  Stool           0.743          0.000          0.563          1.227          106.706        0
 101  Faucet          -2.070         1.132          -1.514         0              0              0
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: Turn around, go forward to the fridge, turn left, move forward, then turn left to face the kitchen island. | STEP 2: Pick up the rightmost sponge on the kitchen island. | STEP 3: Turn right and move forward until you reach the sink, then turn right to face it. | STEP 4: Wash the sponge in the sink. | STEP 5: Turn around and go forward, then turn right at the shelves. | STEP 6: Put the sponge on the middle shelf, to the right. | END