Task: Put two rags on the shelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.899          -2.75          0              180            0
   1  Mug             -2.979         1.139          -2.133         0              90             0              38
   2  Mug             3.064          0.540          -2.368         0              270            0              57
   3  Bowl            3.024          0.792          -0.838         0              0              0              58
   4  Bowl            -2.916         1.413          -2.326         0              90             0              39
   5  Watch           -1.731         0.614          0.340          0              180            0              62
   6  CellPhone       -1.471         0.338          0.371          0              0              0              60
   7  Pencil          0.859          1.418          -1.546         0              270            0              43
   8  Book            -2.003         0.599          -0.598         0              0              0              30
   9  Book            -0.784         0.614          -1.160         0              0              0              31
  10  Laptop          -0.479         0.614          -1.442         0              270            0              31
  11  KeyChain        -3.011         1.414          -1.832         0              180            0              39
  12  Cloth           0.970          -0.001         -2.404         0              0              0
  13  BaseballBat     -2.982         0.015          -2.698         270            350.597        0
  14  BasketBall      -2.718         0.118          -1.925         0              0              0
  15  Pillow          -2.465         0.661          0.110          0              0              0              30
  16  Pillow          -2.307         0.678          -1.160         0              0              0              30
  17  TennisRacket    -3.018         0.301          -2.199         19.103         272.232        184.978
  18  Pencil          3.024          0.797          -1.686         0              0              0              58
  19  CreditCard      -1.453         0.613          0.543          0              180            0              62
  20  Cloth           0.911          0.025          -2.702         0              0              0
  21  TeddyBear       -2.645         0.624          -0.402         0              286.876        0              30
  22  Pen             -1.523         0.619          0.381          0              180            0              62
  23  Cloth           0.705          -0.001         -2.75          0              270            0
  24  AlarmClock      -2.916         1.142          -2.261         0              90             0              38
  25  Watch           -1.592         0.614          0.300          0              180            0              62
  26  CellPhone       3.024          0.791          -1.968         0              0              0              58
  27  CD              3.209          0.791          -1.968         0              0              0              58
  28  Mug             -1.453         0.611          0.340          0              270            0              62
  29  Bowl            -2.916         1.413          -2.866         0              90             0              42
  30  Bed             -2.455         -0.000         -0.572         0              0              0
  31  Bed             -0.634         -0.000         -0.567         0              0              0
  32  Chair           2.828          -0.002         -0.004         0              245.795        0
  33  Chair           2.727          -0.002         -1.210         0              95.225         0
  34  GarbageCan      1.707          -0.003         -2.785         0              59.967         0
  35  Shelf           0.922          1.133          -2.163         0              270            0
  36  Shelf           -2.948         1.405          -1.621         0              90             0
  37  Shelf           0.922          1.405          -2.163         0              270            0
  38  Shelf           -2.948         1.133          -2.188         0              90             0
  39  Shelf           -2.948         1.405          -2.188         0              90             0
  40  Shelf           0.922          1.133          -2.729         0              270            0
  41  Shelf           0.922          1.133          -1.616         0              270            0
  42  Shelf           -2.948         1.405          -2.735         0              90             0
  43  Shelf           0.922          1.405          -1.616         0              270            0
  44  Shelf           -2.948         1.133          -2.735         0              90             0
  45  Shelf           0.922          1.405          -2.729         0              270            0
  46  Shelf           -2.948         1.133          -1.621         0              90             0
  47  LightSwitch     -0.142         1.328          0.600          0              180            0
  48  Poster          3.400          1.863          -1.976         90             90             0
  49  Poster          3.400          1.702          -0.792         90             90             0
  50  DeskLamp        3.126          0.789          -0.638         0              3.649          0
  51  Mirror          0.453          1.491          0.616          0              0              0
  52  Window          2.278          0.925          -3.184         90             0              0
  53  Window          -1.019         0.925          -3.184         90             0              0
  54  Blinds          -1.003         2.072          -3.177         0              0              0
  55  Blinds          2.292          2.072          -3.177         0              0              0
  56  Shelf           3.124          0.633          -0.564         0              270            0
  57  Shelf           3.124          0.633          -2.267         0              270            0
  58  Desk            3.141          -0.000         -1.414         0              270            0
  59  Desktop         3.101          0.792          -1.236         358.565        270            0
  60  Drawer          -1.523         0.408          0.346          0              180            0
  61  Drawer          -1.523         0.141          0.346          0              180            0
  62  SideTable       -1.522         -0.001         0.411          0              180            0
  63  NorthWall
  64  EastWall
  65  SouthWall
  66  WestWall

Plan:
STEP 1: Turn left and go forward to the shelves, then look down. | STEP 2: Pick up the black rag from the floor. | STEP 3: Look up to the shelves. | STEP 4: Put the black rag on the bottom shelf. | STEP 5: Look back down to the floor. | STEP 6: Pick up the yellow rag on the floor. | STEP 7: Look up to the shelves. | STEP 8: Put the yellow rag on the bottom shelf, on top of the black rag. | END