Task: place a sponge in 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           2.75           0.900          0.75           0              90             0
   1  Statue          -1.278         0.920          0.241          0              180            0              67
   2  Potato          -0.117         0.793          -2.118         0              0              0              84
   3  Ladle           -0.319         0.733          0.181          0              270            0              73
   4  DishSponge      2.002          0.062          0.138          0              0              0              77
   5  Pot             1.419          0.912          -2.183         0              0              0              74
   6  Spatula         -0.152         1.146          0.573          0              0              0              70
   7  Egg             -0.910         0.944          -1.469         0              0              0              74
   8  Plate           1.194          0.909          -1.844         0              0              0              74
   9  Knife           -0.376         0.786          -2.063         0              90             0              84
  10  Bowl            1.846          1.012          -1.350         0              270            0              79
  11  PepperShaker    0.012          0.691          0.263          0              180            0              73
  12  PepperShaker    3.109          0.548          0.193          0              180            0              80
  13  Lettuce         2.000          1.175          -0.551         0              270            0              81
  14  Mug             -0.897         0.906          -2.014         0              90             0              74
  15  Apple           1.845          0.111          0.138          0              0              0              77
  16  Pan             1.945          1.427          -0.458         0              0              0              81
  17  Knife           -0.420         0.937          0.188          0              0              0              67
  18  Bowl            1.836          0.814          -0.644         0              270            0              81
  19  Fork            -0.611         0.694          0.190          0              270            0              68
  20  Cup             0.101          0.750          -1.938         0              0              0              84
  21  Ladle           -0.031         0.800          -2.063         0              90             0              84
  22  Apple           1.910          1.064          -1.192         0              270            0              79
  23  Kettle          -1.056         0.956          -0.672         0              180            0              46
  24  Vase            -1.157         0.913          -1.469         0              0              0              74
  25  Potato          2.000          0.847          -0.365         0              270            0              81
  26  Pot             -1.289         0.957          -0.756         0              180            0              49
  27  Bread           -1.148         0.981          -0.192         0              0              0              67
  28  Plate           -0.598         1.129          0.529          0              0              0              70
  29  Spatula         -0.543         0.709          0.102          0              90             0              68
  30  PaperTowelRoll  3.005          0.656          0.142          0              180            0              80
  31  Vase            -0.777         0.917          -1.845         0              0              0              74
  32  Egg             1.945          1.132          -0.644         0              270            0              81
  33  SoapBottle      2.900          0.879          0.195          0              180            0              78
  34  SaltShaker      2.491          0.876          0.168          0              180            0              78
  35  Lettuce         -0.256         0.867          -1.969         327.984        40.845         31.472         84
  36  PepperShaker    -0.691         0.690          -1.802         0              0              0              44
  37  ButterKnife     -0.375         1.131          0.662          0              0              0              70
  38  DishSponge      -1.259         0.910          -1.760         0              0              0              74
  39  Vase            -0.993         0.908          -1.806         0              0              0              74
  40  Spoon           0.071          1.132          0.529          0              0              0              70
  41  Tomato          -0.822         1.181          0.573          0              0              0              70
  42  Mug             1.945          0.812          -0.458         0              270            0              81
  43  Statue          -1.330         0.920          -0.170         0              0              0              67
  44  Drawer          -0.819         0.75           -1.690         0              0              0
  45  Cabinet         -1.149         2.264          -0.838         0              90             0
  46  StoveBurner     -1.056         0.949          -0.671         0              180            0
  47  Cabinet         1.738          2.019          -2.000         0              0              0
  48  Cabinet         1.389          0.469          -1.059         0              0              0
  49  StoveBurner     -1.289         0.949          -0.755         0              180            0
  50  Faucet          -0.157         1.052          -2.196         0              270            0
  51  Cabinet         1.75           2.019          -1.029         0              0              0
  52  Cabinet         1.75           2.019          -1.399         0              0              0
  53  Cabinet         1.179          2.019          -2.0           0              0              0
  54  Cabinet         0.199          2.019          -2.0           0              0              0
  55  Cabinet         -1.100         2.019          -2.0           0              0              0
  56  Cabinet         -1.149         2.019          -1.979         0              0              0
  57  Cabinet         -1.149         2.019          -0.770         0              0              0
  58  Cabinet         -1.149         2.019          0.380          0              0              0
  59  Cabinet         -0.819         0.469          -1.689         0              0              0
  60  Cabinet         -0.839         0.469          -1.664         0              0              0
  61  Cabinet         -0.839         0.469          -0.049         0              0              0
  62  Cabinet         -0.414         0.370          -0.009         0              0              0
  63  Sink            -0.118         0.875          -2.009         0              0              0
  64  StoveBurner     -1.289         0.949          -1.019         0              0              0
  65  Cabinet         0.119          2.264          -2.0           0              0              0
  66  Cabinet         -0.459         2.264          -2.0           0              0              0
  67  CounterTop      -0.665         0.949          0.188          0              0              0
  68  Drawer          -0.449         0.75           -0.010         0              180            0
  69  Cabinet         -0.450         0.469          -0.009         0              0              0
  70  CounterTop      -0.630         1.167          0.573          0              0              0
  71  StoveBurner     -1.056         0.949          -1.126         0              0              0
  72  Cabinet         1.376          0.460          -1.685         0              0              0
  73  Drawer          -0.070         0.75           -0.009         0              180            0
  74  CounterTop      1.159          0.946          -2.013         0              0              0
  75  Cabinet         -1.150         2.264          -1.418         0              90             0
  76  HousePlant      -1.246         1.108          0.606          0              0              0
  77  GarbageCan      1.923          -0.010         0.137          0              0              0
  78  Shelf           2.759          0.880          0.144          0              0              0
  79  Microwave       1.827          0.900          -1.354         0              270            0
  80  Shelf           2.759          0.552          0.145          0              0              0
  81  Fridge          1.975          0.0            -0.537         0              0              0
  82  LightSwitch     0.404          1.297          2.0            0              180            0
  83  Shelf           2.760          0.172          0.145          0              0              0
  84  SinkBasin       -0.129         0.752          -2.007         0              0              0
  85  StoveKnob       -0.873         0.903          -0.827         45             90             0
  86  StoveKnob       -0.873         0.903          -0.676         45             90             0
  87  StoveKnob       -0.873         0.903          -0.966         45             90             0
  88  StoveKnob       -0.873         0.903          -1.123         45             90             0
  89  Toaster         0.840          0.900          -2.057         0              0              0
  90  CoffeeMachine   0.501          0.900          -2.125         0              0              0
  91  ShelvingUnit    2.760          0.006          0.144          0              0              0
  92  Stool           -0.826         0.010          0.908          0              347.513        0
  93  Stool           -0.132         0.010          0.883          0              71.555         0
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: turn around, head towards the shelf, turn left and locate the gas cooker | STEP 2: pick up the sponge from the gas cooker | STEP 3: turn right and head towards the table | STEP 4: open the shelf beneath it and place the sponge in it | END