Task: Place a sponge on a wire shelf.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -1.5           0.901          2.25           0              90             0
   1  Cloth              -0.227         0.053          0.654          0              0              0              25
   2  SoapBar            0.416          1.046          2.903          0              270            0              40
   3  Candle             0.416          1.048          3.034          0              270            0              40
   4  SprayBottle        -3.150         0.234          0.078          0              270            0              44
   5  SprayBottle        -3.263         0.864          0.000          0              270            0              44
   6  DishSponge         -2.387         1.544          3.879          0              0              0              36
   7  SoapBottle         -0.723         0.045          3.832          0              0              0              37
   8  ToiletPaper        -3.037         0.232          0.312          0              270            0              44
   9  Towel              -1.304         1.059          -0.183         0              0              0              31
  10  HandTowel          -3.419         1.338          2.102          0              270            0              38
  11  Plunger            0.362          0.000          2.468          0              0              0              Floor|-01.44|
  12  SoapBar            -0.867         0.042          3.832          0              0              0              37
  13  ToiletPaper        0.324          1.043          3.231          0              270            0              40
  14  SoapBottle         -0.914         0.045          3.914          0              0              0              37
  15  ToiletPaper        -3.376         0.229          0.390          0              270            0              44
  16  Cloth              -0.058         0.053          0.884          0              0              0              25
  17  PaperTowelRoll     -2.761         1.649          3.909          0              0              0              36
  18  Candle             -2.761         1.298          3.987          0              0              0              36
  19  SprayBottle        -3.093         0.234          0.000          0              270            0              44
  20  ScrubBrush         0.397          0.000          2.694          0              0              0              Floor|-01.44|
  21  DishSponge         -0.702         0.632          1.854          0              227.956        0              28
  22  Faucet             -0.141         0.524          -0.211         0              0              0
  23  Window             -1.507         1.322          -0.364         0              0              0
  24  Faucet             -3.401         1.017          1.531          0              90             0
  25  BathtubBasin       -0.155         0.042          0.884          0              0              0
  26  ShowerCurtain      -0.886         2.196          -0.169         0              0              0
  27  ShowerHead         -0.126         1.447          2.047          0              270            0
  28  Bathtub            -0.205         0.359          0.924          0              0              0
  29  Mirror             -3.447         1.575          1.516          0              0              0
  30  TowelHolder        -2.049         1.045          -0.290         0              0              0
  31  TowelHolder        -1.304         1.045          -0.290         0              0              0
  32  ToiletPaperHanger  -0.425         0.783          2.278          0              0              0
  33  Shelf              -2.587         0.778          3.909          0              0              0
  34  Shelf              -2.587         1.287          3.941          0              0              0
  35  Shelf              -2.587         1.032          3.941          0              0              0
  36  Shelf              -2.587         1.534          3.909          0              0              0
  37  GarbageCan         0.047          -0.002         3.878          0              0              0
  38  HandTowelHolder    -3.459         1.458          2.098          0              0              0
  39  HandTowelHolder    -3.459         1.458          0.816          0              0              0
  40  Toilet             0.063          0.002          3.096          0              0              0
  41  LightSwitch        -3.459         1.437          2.496          0              90             0
  42  Sink               -3.115         -0.013         1.531          0              90             0
  43  SinkBasin          -3.081         0.935          1.537          0              90             0
  44  SideTable          -3.171         0.002          0.170          0              270            0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Turn right and walk to the tub on the left. | STEP 2: Pick up the green sponge from the edge of the tub on the left side. | STEP 3: Turn right, hang a right at the towel and walk to the rack of wire shelves. | STEP 4: Put the sponge on the middle shelf of the wire rack. | END