Task: Place a clean sponge on a plate 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          0.75           0              0              0
   1  Ladle           -0.668         0.957          -2.134         0              0              0              60
   2  Ladle           1.403          1.704          -2.162         0              0              0              47
   3  ButterKnife     0.294          0.930          0.762          0              0              0              77
   4  Spatula         -0.230         0.928          -1.713         0              0              0              60
   5  Egg             -0.463         0.967          -1.725         0              0              0              60
   6  Egg             1.829          0.140          0.006          0              0              0              61
   7  Cup             0.180          0.930          0.305          0              0              0              77
   8  Plate           1.462          0.556          2.482          0              0              0              80
   9  Tomato          -1.000         0.965          -2.224         0              0              0              60
  10  Tomato          -1.380         0.911          -1.013         0              90             0              68
  11  Bowl            -0.160         0.923          0.305          0              0              0              77
  12  Bowl            1.850          0.910          -1.834         0              0              0              60
  13  SaltShaker      1.913          1.654          -1.240         0              270            0              51
  14  SaltShaker      -1.072         0.122          -1.501         0              90             0              53
  15  PepperShaker    1.873          0.877          2.429          0              0              0              86
  16  Bread           0.066          0.975          0.991          0              0              0              77
  17  Apple           0.408          0.997          0.534          0              0              0              77
  18  Apple           -1.553         1.254          -1.013         0              90             0              68
  19  Potato          -1.284         1.044          -1.846         0              90             0              66
  20  Bowl            -0.160         0.923          0.991          0              0              0              77
  21  SoapBottle      1.838          1.656          -1.117         0              270            0              51
  22  Fork            -0.210         0.765          -2.071         0              0              0              72
  23  Ladle           0.294          0.971          1.220          0              0              0              77
  24  Bread           0.399          0.964          0.111          0              0              1.601          77
  25  Lettuce         -1.429         0.925          -0.542         0              315            0              68
  26  WineBottle      1.566          0.881          2.429          0              0              0              81
  27  Spatula         0.180          0.945          1.448          0              0              0              77
  28  Plate           0.444          1.662          -2.162         0              0              0              49
  29  SaltShaker      -1.000         0.909          -2.115         0              0              0              60
  30  Pot             1.738          0.911          -1.446         0              180            0              60
  31  Cup             -0.137         0.764          -1.936         0              0              0              72
  32  PepperShaker    0.066          0.926          0.534          0              0              0              77
  33  Pan             1.824          0.945          -0.346         0              0              0              41
  34  ButterKnife     0.180          0.926          1.448          0              0              0              77
  35  Tomato          -1.495         1.556          -0.910         0              90             0              68
  36  DishSponge      0.408          0.930          1.448          0              0              0              77
  37  Egg             1.647          0.967          -1.095         0              0              0              60
  38  Spoon           1.557          0.914          -1.680         0              0              0              60
  39  Knife           -0.160         0.950          0.762          0              270            0              77
  40  Mug             -1.355         1.654          -1.542         0              180            0              43
  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
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Move towards the door, then turn right and move towards the brown shelves in the corner of the room, the turn right and face the kitchen island. | STEP 2: Pick up the green sponge between the ladle and the spatula from the kitchen island. | STEP 3: Turn left and move towards the white range then turn right and move to the sink between the dishwasher and the refrigerator. | STEP 4: Place the sponge in the sink to the right of the glass, immerse it in water, let the water drain, and then pick up the clean sponge. | STEP 5: Turn left and move towards the green bin at the end of the kitchen counter and in front of the window, then turn left and move to the brown shelves in the corner. | STEP 6: Place the sponge on the plate on the second shelf from the bottom. | END