Task: Put two rags, yellow and black, 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           0.0            0.899          -2.5           0              90             0
   1  Mug             3.064          0.540          -2.086         0              270            0              57
   2  Watch           -1.471         0.338          0.393          0              0              0              60
   3  Watch           -2.916         1.141          -2.682         0              90             0              44
   4  CD              2.962          0.791          -1.968         0              0              0              58
   5  Pencil          0.954          1.418          -2.025         0              270            0              37
   6  Pencil          3.147          0.797          -1.686         0              0              0              58
   7  KeyChain        -2.853         1.414          -2.390         0              90             0              39
   8  Book            -1.088         0.614          -0.598         0              0              0              31
   9  Book            -2.003         0.599          0.245          0              0              0              30
  10  Laptop          -0.784         0.614          -0.317         0              270            0              31
  11  KeyChain        3.209          0.794          -1.968         0              90             0              58
  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          -0.626         0.650          0.129          0              0              0              31
  17  TennisRacket    -3.018         0.301          -2.199         19.103         272.232        184.978
  18  Pencil          3.086          0.798          -0.838         0              0              0              58
  19  CreditCard      -1.453         0.613          0.300          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             3.024          0.798          -0.556         0              0              0              58
  23  Cloth           0.705          -0.001         -2.75          0              270            0
  24  AlarmClock      3.024          0.794          -2.250         0              0              0              58
  25  Watch           -1.731         0.614          0.543          0              180            0              62
  26  CellPhone       -0.936         0.616          -1.160         0              0              0              31
  27  CD              -2.979         1.141          -2.927         0              90             0              44
  28  Mug             -1.662         0.611          0.340          0              180            0              62
  29  Bowl            0.922          1.413          -1.668         0              270            0              43
  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: Back up from the shelves, turn right, turn left to face the shelves. | STEP 2: Pick up black rag from the floor. | STEP 3: Approach the piece of furniture with shelves. | STEP 4: Put the rag on the right hand bottom shelf above where it was on the floor. | STEP 5: Look at the rags on the floor. | STEP 6: Pick up the yellow rag from the floor. | STEP 7: Approach the piece of furniture with shelves. | STEP 8: Put the yellow cloth on top of the black one. | END