Task: Put a 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           -1.25          0.900          0.75           0              0              0
   1  Ladle           1.218          0.163          -1.860         0              0              0              52
   2  Ladle           0.408          0.971          0.305          0              0              0              77
   3  WineBottle      -0.720         0.914          -2.200         0              0              0              60
   4  WineBottle      1.872          0.087          0.006          0              0              0              61
   5  Fork            0.522          0.931          0.534          0              0              0              77
   6  Egg             -1.219         1.069          -1.846         0              90             0              66
   7  Cup             1.669          0.881          2.456          0              0              0              81
   8  Cup             0.180          0.927          0.534          0              0              0              77
   9  Tomato          -0.283         0.816          -2.116         0              0              0              72
  10  Tomato          0.180          0.978          0.076          0              0              0              77
  11  SoapBottle      -1.036         0.912          -2.224         0              0              0              60
  12  SoapBottle      0.563          1.657          -2.087         0              0              0              49
  13  SaltShaker      -1.394         1.655          -1.604         0              90             0              43
  14  SaltShaker      -0.346         0.909          -1.725         0              0              0              60
  15  Mug             -0.160         0.925          0.762          0              0              0              77
  16  Apple           -1.495         1.254          -0.703         0              90             0              68
  17  Apple           1.919          0.984          -1.446         0              0              0              60
  18  Apple           -1.380         1.254          -0.599         0              90             0              68
  19  Potato          -0.160         0.959          0.991          0              0              0              77
  20  Bowl            0.408          0.923          1.448          0              0              0              77
  21  SoapBottle      1.828          0.912          -1.797         0              0              0              60
  22  Fork            0.066          0.927          0.305          0              180            0              77
  23  Ladle           0.294          0.975          1.220          0              0              0              77
  24  Bread           -0.047         0.975          0.305          0              0              0              77
  25  Lettuce         0.066          1.011          0.762          0              0              0              77
  26  WineBottle      0.522          0.927          0.305          0              0              0              77
  27  Spatula         -0.047         0.945          1.220          0              0              0              77
  28  Plate           0.408          0.934          0.076          0              0              0              77
  29  SaltShaker      0.294          0.923          0.991          0              0              0              77
  30  Pot             1.567          0.948          -0.757         0              0              0              42
  31  Cup             1.909          1.657          -1.673         0              270            0              50
  32  PepperShaker    1.255          0.549          2.327          0              0              0              80
  33  Pan             0.066          0.930          1.448          0              90             0              77
  34  ButterKnife     0.408          0.930          0.762          0              0              0              77
  35  Tomato          -0.137         0.816          -1.981         0              0              0              72
  36  DishSponge      -0.047         0.930          0.076          0              0              0              77
  37  Egg             -1.284         1.059          -1.742         0              90             0              66
  38  Spoon           -0.668         0.914          -2.134         0              180            0              60
  39  Knife           1.604          0.906          -1.582         270            225            0              60
  40  Mug             0.408          0.921          0.534          0              0              0              77
  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  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn around and face the right side of the white table. | STEP 2: Pick the sponge up from the white table. | STEP 3: Go to the right to face the sink. | STEP 4: Put the sponge in the sink and turn the water on and then turn the water off and pick the sponge up from the sink. | STEP 5: Turn left and then go left again and cross the room to face the brown shelves. | STEP 6: Put the sponge on the shelf next to the salt shaker. | END