Task: Wash a sponge and place 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           0.75           0.900          1.5            0              0              0
   1  Pan             -1.774         0.911          -2.146         0              0              0              84
   2  Vase            0.393          0.138          -2.436         0              0              0              76
   3  Potato          -1.999         0.257          1.168          0              90             0              92
   4  Potato          0.079          1.142          -0.253         0              0              0              59
   5  CreditCard      1.064          0.642          -2.417         0              0              0              64
   6  CreditCard      1.891          0.877          -2.590         0              180            0              86
   7  Plate           -0.335         1.108          -0.759         0              0              0              59
   8  Plate           -0.173         1.787          -2.546         0              0              0              85
   9  Tomato          -1.962         0.087          1.981          0              270            0              90
  10  SaltShaker      0.217          1.107          -0.506         0              0              0              59
  11  SaltShaker      1.789          0.877          -2.509         0              180            0              86
  12  PepperShaker    1.582          0.549          -2.666         0              180            0              89
  13  Lettuce         0.079          1.191          -0.001         0              0              0              59
  14  Apple           -2.163         0.591          0.920          0              90             0              92
  15  Fork            0.892          0.646          -2.417         0              0              0              64
  16  Fork            0.835          0.143          -2.431         0              90             0              79
  17  Mug             0.217          1.106          0.251          0              0              0              59
  18  Mug             0.840          0.905          -2.637         0              0              0              61
  19  Spatula         0.969          0.925          -2.484         0              270            0              61
  20  ButterKnife     0.969          0.910          -2.330         0              0              0              61
  21  ButterKnife     -1.963         0.769          -1.414         0              270            0              94
  22  Kettle          -1.715         0.130          0.158          0              90             0              65
  23  WineBottle      0.355          1.112          0.251          0              0              0              59
  24  Book            1.789          0.552          -2.562         0              180            0              61
  25  Glassbottle     -1.962         0.048          2.124          0              270            0              90
  26  Knife           -0.197         1.136          -0.253         0              0              0              59
  27  Bread           -0.335         1.184          0.757          0              0              0              59
  28  Fork            1.123          0.316          -2.431         0              90             0              63
  29  Potato          -0.328         1.820          -2.482         0              0              0              85
  30  SoapBottle      0.079          1.112          0.757          0              0              0              59
  31  Kettle          -0.465         0.950          -2.372         0              90             0              57
  32  Pan             0.721          0.9            -2.415         0              0              0              61
  33  Plate           -2.037         0.795          1.003          0              90             0              92
  34  Tomato          -2.122         1.542          0.925          0              90             0              92
  35  Vase            -1.143         0.913          -2.637         0              0              0              84
  36  Egg             -2.080         0.575          1.085          0              90             0              92
  37  CreditCard      -1.608         0.475          -0.245         0              90             0              74
  38  Statue          -0.335         1.110          -0.001         0              0              0              59
  39  WineBottle      0.505          1.660          -2.632         0              0              0              83
  40  Pot             -1.219         0.9            -2.356         0              0              0              84
  41  Spatula         0.893          0.330          -2.431         0              90             0              63
  42  PaperTowelRoll  1.478          0.657          -2.562         0              180            0              89
  43  Cup             -1.852         0.767          -1.328         0              90             0              94
  44  Vase            -1.774         0.909          -0.513         0              0              0              84
  45  Bowl            -0.059         1.108          -0.253         0              0              0              59
  46  SaltShaker      -1.824         0.474          -0.100         0              90             0              74
  47  PepperShaker    1.122          0.477          -2.380         0              0              0              67
  48  Lettuce         -0.848         0.991          -2.329         0              0              0              84
  49  ButterKnife     0.582          0.910          -2.407         0              0              0              61
  50  Apple           -1.797         0.820          -1.760         0              90             0              94
  51  DishSponge      0.453          0.910          -2.330         0              0              0              61
  52  Spoon           -0.995         0.912          -2.253         0              0              0              84
  53  Mug             -1.731         0.956          -0.168         0              90             0              93
  54  StoveBurner     -0.036         0.915          -2.372         0              0              0
  55  Drawer          0.949          0.832          -2.197         0              0              0
  56  Drawer          -1.560         0.839          0.204          0              90             0
  57  StoveBurner     -0.465         0.915          -2.371         0              180            0
  58  Drawer          -1.560         0.839          -0.197         0              90             0
  59  CounterTop      -0.079         1.147          -0.001         0              0              0
  60  Cabinet         -1.549         0.494          -1.964         0              90             0
  61  CounterTop      0.693          0.946          -2.483         0              0              0
  62  StoveBurner     -0.036         0.915          -2.576         0              0              0
  63  Drawer          0.949          0.393          -2.200         0              0              0
  64  Drawer          0.949          0.708          -2.200         0              0              0
  65  Cabinet         -1.549         0.494          0.379          0              90             0
  66  StoveKnob       -0.022         0.881          -2.187         45             0              0
  67  Drawer          0.949          0.560          -2.201         0              0              0
  68  StoveBurner     -0.465         0.915          -2.575         0              180            0
  69  Window          -2.230         1.429          -1.203         0              0              0
  70  StoveKnob       -0.483         0.881          -2.187         45             0              0
  71  Sink            -1.899         0.964          -1.5           0              90             0
  72  StoveKnob       -0.328         0.881          -2.187         45             0              0
  73  Cabinet         -0.727         2.015          -2.460         0              0              0
  74  Drawer          -1.560         0.655          -0.196         0              90             0
  75  Cabinet         -1.685         2.015          -2.461         0              0              0
  76  Cabinet         0.680          0.494          -2.200         0              0              0
  77  Cabinet         -1.179         0.494          -2.200         0              0              0
  78  Cabinet         -1.849         2.015          0.379          0              90             0
  79  Drawer          0.949          0.221          -2.200         0              0              0
  80  StoveKnob       -0.183         0.881          -2.187         45             0              0
  81  Cabinet         0.719          2.015          -2.460         0              0              0
  82  Drawer          -1.560         0.331          -0.196         0              90             0
  83  Cabinet         0.680          2.015          -2.460         0              0              0
  84  CounterTop      -1.868         0.946          -1.205         0              0              0
  85  Microwave       -0.236         1.689          -2.525         0              0              0
  86  Shelf           1.751          0.880          -2.560         0              0              0
  87  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  88  Toaster         -1.835         0.900          0.134          0              90             0
  89  Shelf           1.750          0.552          -2.559         0              0              0
  90  GarbageCan      -1.935         -0.002         2.029          0              270            0
  91  Shelf           1.750          0.172          -2.559         0              0              0
  92  Fridge          -2.096         0.0            1.088          0              0              0
  93  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  94  SinkBasin       -1.908         0.759          -1.488         0              90             0
  95  LightSwitch     2.329          1.309          -0.159         0              270            0
  96  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  97  Stool           0.702          0.000          -0.514         1.202          65.108         0
  98  Stool           0.743          0.000          0.563          1.227          106.706        0
  99  Faucet          -2.070         1.132          -1.514         0              0              0
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: Go to the counter near the stove | STEP 2: Pick up the sponge from the counter | STEP 3: Go to the sink | STEP 4: Wash the sponge in the sink | STEP 5: Go to the shelves next to the counter | STEP 6: Place the sponge on a shelf | END