Task: Pick up a sponge, put it in a bowl, put the bowl 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           0.25           0.900          2.0            0              270            0
   1  Potato          -1.553         0.888          -0.495         0              90             0              74
   2  Ladle           0.384          1.703          -2.162         0              0              0              55
   3  WineBottle      1.647          0.914          -1.212         0              0              0              66
   4  Spatula         1.647          0.928          -1.797         0              90             0              66
   5  Spatula         0.119          0.928          -1.713         0              0              0              66
   6  Spoon           0.522          0.928          0.762          0              0              0              83
   7  Spoon           0.294          0.928          1.448          0              0              0              83
   8  Cup             0.294          0.927          1.220          0              0              0              83
   9  Plate           1.403          1.663          -2.162         0              0              0              53
  10  Knife           0.180          0.953          0.991          0              0              0              83
  11  Tomato          -0.283         0.816          -1.936         0              0              0              78
  12  Tomato          0.408          0.982          0.534          0              0              0              83
  13  Bowl            -0.160         0.927          1.220          0              0              0              83
  14  Bowl            -0.668         0.910          -2.200         0              0              0              66
  15  Bowl            -1.438         1.180          -0.495         0              90             0              74
  16  Lettuce         -1.553         1.264          -0.806         0              90             0              74
  17  SaltShaker      -1.355         1.655          -1.604         0              90             0              49
  18  SaltShaker      -0.160         0.923          0.534          0              0              0              83
  19  PepperShaker    1.738          0.909          -1.563         0              0              0              66
  20  PepperShaker    -1.036         0.909          -2.260         0              0              0              66
  21  Bread           1.850          0.958          -2.085         0              0              0              66
  22  Mug             0.066          0.921          0.534          0              0              0              83
  23  Mug             -0.210         0.759          -2.071         0              180            0              78
  24  Apple           -1.495         0.930          -0.599         0              90             0              74
  25  Potato          0.522          0.956          0.076          0              0              0              83
  26  Bowl            0.408          0.923          0.305          0              0              0              83
  27  SoapBottle      1.915          0.085          0.083          0              0              0              67
  28  Fork            0.522          0.927          0.991          0              0              0              83
  29  Ladle           -1.028         0.170          -1.501         0              90             0              61
  30  Bread           -0.047         0.975          0.762          0              0              0              83
  31  Lettuce         -1.553         0.940          -0.910         0              90             0              74
  32  WineBottle      -0.963         0.914          -2.188         0              0              0              66
  33  Spatula         1.919          0.928          -1.212         0              0              0              66
  34  Plate           1.218          0.122          -1.860         0              0              0              58
  35  SaltShaker      2.009          0.909          -1.329         0              0              0              66
  36  Pot             1.567          0.948          -0.757         0              0              0              48
  37  Cup             0.180          0.930          1.220          0              0              0              83
  38  PepperShaker    -0.876         0.909          -2.267         0              0              0              66
  39  Pan             1.824          0.945          -0.346         0              0              0              47
  40  ButterKnife     -0.791         0.9            -2.186         0              164.999        0              66
  41  Tomato          -1.572         1.556          -1.013         0              90             0              74
  42  DishSponge      -1.277         1.659          -1.854         0              90             0              49
  43  Egg             -0.047         0.980          1.448          0              0              0              83
  44  Spoon           0.066          0.928          1.220          0              0              0              83
  45  Knife           -0.064         0.787          -1.981         0              270            0              78
  46  Mug             0.066          0.925          0.305          0              0              0              83
  47  StoveBurner     1.845          0.940          -0.355         0              0              0
  48  StoveBurner     1.567          0.940          -0.757         0              0              0
  49  Cabinet         -1.149         2.019          -1.979         0              90             0
  50  Cabinet         -1.149         2.265          -0.834         0              90             0
  51  Cabinet         -0.459         2.265          -2.0           0              0              0
  52  Cabinet         -1.100         2.019          -2.0           0              0              0
  53  Cabinet         1.719          2.019          -2.0           0              0              0
  54  Cabinet         1.179          2.019          -2.0           0              0              0
  55  Cabinet         0.199          2.019          -2.0           0              0              0
  56  Cabinet         1.75           2.019          -1.399         0              270            0
  57  Cabinet         1.75           2.019          -1.029         0              270            0
  58  Cabinet         1.379          0.469          -1.689         0              0              0
  59  Cabinet         -0.819         0.469          -1.689         0              0              0
  60  Cabinet         1.389          0.469          -1.059         0              270            0
  61  Cabinet         -0.839         0.469          -1.665         0              90             0
  62  StoveBurner     1.567          0.940          -0.355         0              0              0
  63  StoveBurner     1.845          0.940          -0.757         0              0              0
  64  Sink            -0.109         0.893          -2.009         0              0              0
  65  Drawer          -0.819         0.75           -1.690         0              0              0
  66  CounterTop      0.232          0.949          -2.002         0              0              0
  67  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  68  Vase            0.251          0.546          0.475          0              270            0
  69  Toaster         0.780          0.900          -2.080         0              0              0
  70  LightSwitch     0.108          1.315          2.75           0              180            0
  71  Vase            0.400          0.925          0.218          0              180            0
  72  Microwave       -1.233         0.900          -1.680         0              90             0
  73  Vase            1.465          1.662          -2.200         0              0              0
  74  Fridge          -1.495         0.0            -0.703         0              0              0
  75  Window          2.114          1.495          1.072          90             270            0
  76  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  77  Vase            0.333          0.546          1.272          0              270            0
  78  SinkBasin       -0.148         0.753          -2.026         0              0              0
  79  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  80  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  81  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  82  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  83  DiningTable     0.170          0.005          0.678          0              270            0
  84  Shelf           0.170          0.155          0.678          0              270            0
  85  Shelf           1.605          0.172          2.480          0              0              0
  86  Shelf           1.605          0.552          2.480          0              0              0
  87  Shelf           1.604          0.880          2.479          0              0              0
  88  ShelvingUnit    1.605          0.006          2.480          0              0              0
  89  Faucet          -0.143         1.028          -2.223         0              270            0
  90  Stool           -0.553         0.000          0.871          1.233          280.376        0
  91  Shelf           0.170          0.528          0.678          0              270            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Walk in the direction of the wall to the left and perpendicular to the door on your right, hang a left to the cupboard directly above the microwave oven on the other side of the room. | STEP 2: Open the cupboard door and pick up the green and yellow sponge, close the cupboard. | STEP 3: Turn around and walk to the stool to the left of the table in the center of the room. | STEP 4: Place the sponge in the bowl on the table directly in front of the stool. | STEP 5: Pick up the bowl with the sponge in it. | STEP 6: Walk toward the direction of the door, hang a right and walk toward the window. | STEP 7: Place the bowl with the sponge in it on the second shelf from the bottom to the left of the window. | END