Task: take the black cloth from the desk, put it on the desk 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          0.899          -2.25          0              180            0
   1  Mug             3.024          0.789          -1.968         0              0              0              65
   2  Mug             0.922          1.139          -1.424         0              270            0              50
   3  Watch           -1.676         0.075          0.328          0              0              0              68
   4  Watch           -1.592         0.614          0.503          0              180            0              69
   5  CellPhone       2.962          0.792          -0.838         0              0              0              65
   6  Pen             3.209          0.798          -1.686         0              0              0              65
   7  Pencil          3.064          0.547          -2.368         0              270            0              64
   8  Pencil          -2.948         1.147          -2.326         0              90             0              45
   9  CreditCard      -1.592         0.613          0.422          0              180            0              69
  10  CreditCard      -3.011         1.413          -1.430         0              90             0              46
  11  KeyChain        -1.731         0.615          0.300          0              180            0              69
  12  KeyChain        3.332          0.794          -1.403         0              0              0              65
  13  Book            -2.003         0.599          0.245          0              0              0              37
  14  AlarmClock      -2.916         1.414          -2.068         0              90             0              46
  15  Laptop          -0.327         0.614          -1.442         0              0              0              38
  16  Book            -2.003         0.599          -0.879         0              0              0              37
  17  Laptop          3.154          0.785          -2.267         0              270            0              65
  18  KeyChain        3.332          0.793          -1.686         0              0              0              65
  19  Cloth           0.970          -0.001         -2.404         0              0              0
  20  BaseballBat     -2.982         0.015          -2.698         270            350.597        0
  21  BasketBall      -2.718         0.118          -1.925         0              0              0
  22  Pillow          -2.465         0.661          0.110          0              0              0              37
  23  Pillow          -0.626         0.650          0.129          0              0              0              38
  24  TennisRacket    -3.018         0.301          -2.199         19.103         272.232        184.978
  25  Pencil          -1.522         0.619          0.422          0              180            0              69
  26  CreditCard      -1.662         0.613          0.503          0              180            0              69
  27  Cloth           0.911          0.025          -2.702         0              0              0
  28  TeddyBear       -2.645         0.624          -0.402         0              286.876        0              37
  29  Pen             -2.885         1.147          -2.682         0              90             0              51
  30  Cloth           0.705          -0.001         -2.75          0              270            0
  31  AlarmClock      3.024          0.792          -0.556         0              0              0              65
  32  Watch           -1.574         0.075          0.393          0              0              0              68
  33  CellPhone       -2.979         1.413          -1.564         0              90             0              53
  34  CD              -3.011         1.413          -2.744         0              90             0              49
  35  Mug             0.859          1.139          -2.653         0              270            0              47
  36  Bowl            3.086          0.792          -1.121         0              0              0              65
  37  Bed             -2.455         -0.000         -0.572         0              0              0
  38  Bed             -0.634         -0.000         -0.567         0              0              0
  39  Chair           2.828          -0.002         -0.004         0              245.795        0
  40  Chair           2.727          -0.002         -1.210         0              95.225         0
  41  GarbageCan      1.707          -0.003         -2.785         0              59.967         0
  42  Shelf           0.922          1.133          -2.163         0              270            0
  43  Shelf           -2.948         1.405          -1.621         0              90             0
  44  Shelf           0.922          1.405          -2.163         0              270            0
  45  Shelf           -2.948         1.133          -2.188         0              90             0
  46  Shelf           -2.948         1.405          -2.188         0              90             0
  47  Shelf           0.922          1.133          -2.729         0              270            0
  48  Shelf           0.922          1.133          -1.616         0              270            0
  49  Shelf           -2.948         1.405          -2.735         0              90             0
  50  Shelf           0.922          1.405          -1.616         0              270            0
  51  Shelf           -2.948         1.133          -2.735         0              90             0
  52  Shelf           0.922          1.405          -2.729         0              270            0
  53  Shelf           -2.948         1.133          -1.621         0              90             0
  54  LightSwitch     -0.142         1.328          0.600          0              180            0
  55  Poster          3.400          1.863          -1.976         90             90             0
  56  Poster          3.400          1.702          -0.792         90             90             0
  57  DeskLamp        3.126          0.789          -0.638         0              3.649          0
  58  Mirror          0.453          1.491          0.616          0              0              0
  59  Window          2.278          0.925          -3.184         90             0              0
  60  Window          -1.019         0.925          -3.184         90             0              0
  61  Blinds          -1.003         2.072          -3.177         0              0              0
  62  Blinds          2.292          2.072          -3.177         0              0              0
  63  Shelf           3.124          0.633          -0.564         0              270            0
  64  Shelf           3.124          0.633          -2.267         0              270            0
  65  Desk            3.141          -0.000         -1.414         0              270            0
  66  Desktop         3.101          0.792          -1.236         358.565        270            0
  67  Drawer          -1.523         0.408          0.346          0              180            0
  68  Drawer          -1.523         0.141          0.346          0              180            0
  69  SideTable       -1.522         -0.001         0.411          0              180            0
  70  NorthWall
  71  EastWall
  72  SouthWall
  73  WestWall

Plan:
STEP 1: turn to the left | STEP 2:  head to the desk | STEP 3: take the black cloth from the desk | STEP 4: put the cloth on the desk shelf | END