Task: place bowl with green sponge on middle brown shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.900          -0.5           0              90             0
   1  Pan             1.567          0.948          -0.355         0              0              0              60
   2  Potato          -0.064         0.793          -2.116         0              0              0              76
   3  Potato          -1.553         1.212          -0.392         0              90             0              72
   4  Ladle           1.828          0.957          -1.446         0              0              0              64
   5  DishSponge      0.522          0.930          0.762          0              0              0              81
   6  ButterKnife     -0.720         0.913          -2.134         0              0              0              64
   7  Pot             0.408          0.928          1.220          0              90             0              81
   8  Spatula         0.180          0.945          0.991          0              0              0              81
   9  Spatula         0.457          0.928          -2.085         0              0              0              64
  10  Spoon           0.066          0.931          0.762          0              0              0              81
  11  Cup             -1.438         1.183          -0.806         0              90             0              72
  12  Cup             -0.047         0.930          0.762          0              0              0              81
  13  Plate           -1.028         0.129          -1.501         0              90             0              59
  14  Knife           0.066          0.950          0.534          0              0              0              81
  15  Tomato          -0.210         0.816          -1.981         0              0              0              76
  16  Tomato          -1.495         0.911          -0.910         0              90             0              72
  17  SoapBottle      -1.238         1.658          -1.667         0              90             0              47
  18  SoapBottle      0.325          1.657          -2.087         0              0              0              53
  19  Bowl            0.408          0.923          0.534          0              0              0              81
  20  SaltShaker      -0.927         0.909          -2.188         0              0              0              64
  21  PepperShaker    1.850          0.909          -2.002         0              0              0              64
  22  Apple           -0.356         0.835          -2.026         0              0              0              76
  23  Potato          1.647          0.942          -1.797         0              0              0              64
  24  Bowl            -0.160         0.923          1.220          0              0              0              81
  25  SoapBottle      0.180          0.925          0.305          0              0              0              81
  26  Fork            0.522          0.931          1.448          0              90             0              81
  27  Ladle           0.294          0.975          0.762          0              0              0              81
  28  Bread           0.399          0.964          0.110          0              0              1.601          81
  29  Lettuce         -1.429         0.925          -0.542         0              315            0              72
  30  WineBottle      -0.047         0.927          0.076          0              0              0              81
  31  Spatula         1.850          0.928          -2.002         0              0              0              64
  32  Plate           1.670          0.556          2.534          0              0              0              90
  33  SaltShaker      -1.036         0.909          -2.151         0              0              0              64
  34  Pot             -0.117         0.921          1.5            0              0              0              81
  35  Cup             -1.355         1.659          -1.792         0              90             0              47
  36  PepperShaker    -0.160         0.926          0.076          0              0              0              81
  37  Pan             1.572          0.120          -1.397         0              180            0              58
  38  ButterKnife     0.066          0.930          1.220          0              0              0              81
  39  Tomato          1.738          0.965          -1.095         0              0              0              64
  40  DishSponge      1.466          0.913          -1.680         0              0              0              64
  41  Egg             -0.160         0.980          0.305          0              0              0              81
  42  Spoon           -0.137         0.765          -2.026         0              180            0              76
  43  Knife           1.153          0.936          -1.751         0              0              0              64
  44  Mug             1.261          0.951          -1.934         0              0              0              74
  45  StoveBurner     1.845          0.940          -0.355         0              0              0
  46  StoveBurner     1.567          0.940          -0.757         0              0              0
  47  Cabinet         -1.149         2.019          -1.979         0              90             0
  48  Cabinet         -1.149         2.265          -0.834         0              90             0
  49  Cabinet         -0.459         2.265          -2.0           0              0              0
  50  Cabinet         -1.100         2.019          -2.0           0              0              0
  51  Cabinet         1.719          2.019          -2.0           0              0              0
  52  Cabinet         1.179          2.019          -2.0           0              0              0
  53  Cabinet         0.199          2.019          -2.0           0              0              0
  54  Cabinet         1.75           2.019          -1.399         0              270            0
  55  Cabinet         1.75           2.019          -1.029         0              270            0
  56  Cabinet         1.379          0.469          -1.689         0              0              0
  57  Cabinet         -0.819         0.469          -1.689         0              0              0
  58  Cabinet         1.389          0.469          -1.059         0              270            0
  59  Cabinet         -0.839         0.469          -1.665         0              90             0
  60  StoveBurner     1.567          0.940          -0.355         0              0              0
  61  StoveBurner     1.845          0.940          -0.757         0              0              0
  62  Sink            -0.109         0.893          -2.009         0              0              0
  63  Drawer          -0.819         0.75           -1.690         0              0              0
  64  CounterTop      0.232          0.949          -2.002         0              0              0
  65  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  66  Vase            0.251          0.546          0.475          0              270            0
  67  Toaster         0.780          0.900          -2.080         0              0              0
  68  LightSwitch     0.108          1.315          2.75           0              180            0
  69  Vase            0.400          0.925          0.218          0              180            0
  70  Microwave       -1.233         0.900          -1.680         0              90             0
  71  Vase            1.465          1.662          -2.200         0              0              0
  72  Fridge          -1.495         0.0            -0.703         0              0              0
  73  Window          2.114          1.495          1.072          90             270            0
  74  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  75  Vase            0.333          0.546          1.272          0              270            0
  76  SinkBasin       -0.148         0.753          -2.026         0              0              0
  77  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  78  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  79  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  80  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  81  DiningTable     0.170          0.005          0.678          0              270            0
  82  Shelf           0.170          0.155          0.678          0              270            0
  83  Shelf           1.605          0.172          2.480          0              0              0
  84  Shelf           1.605          0.552          2.480          0              0              0
  85  Shelf           1.604          0.880          2.479          0              0              0
  86  ShelvingUnit    1.605          0.006          2.480          0              0              0
  87  Faucet          -0.143         1.028          -2.223         0              270            0
  88  Stool           -0.553         0.000          0.871          1.233          280.376        0
  89  Shelf           0.170          0.528          0.678          0              270            0
  90
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: go around center counter to green sponge on counter | STEP 2: pick up green sponge from counter | STEP 3: go to silver bowl to the left | STEP 4: place green sponge in silver bowl | STEP 5: pick up bowl with sponge from counter | STEP 6: turn right, go to brown shelves in corner | STEP 7: place bowl with sponge on middle shelf to the left of gray plate | END