Task: put a gray rag 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           -1.5           0.899          -0.5           0              270            0
   1  Mug             3.086          0.790          -0.556         0              0              0              57
   2  Bowl            0.891          1.141          -2.089         0              270            0              34
   3  CellPhone       -1.625         0.338          0.371          0              0              0              59
   4  Pen             -2.916         1.147          -2.133         0              90             0              37
   5  Pencil          -2.916         1.418          -1.698         0              90             0              45
   6  Pencil          -1.453         0.619          0.300          0              180            0              61
   7  AlarmClock      -1.522         0.615          0.503          0              180            0              61
   8  Book            3.18           0.785          -1.541         0              21.311         0              57
   9  Laptop          -0.936         0.614          -0.879         0              0              0              30
  10  KeyChain        3.024          0.793          -1.121         0              0              0              57
  11  Cloth           0.970          -0.001         -2.404         0              0              0
  12  BaseballBat     -2.982         0.015          -2.698         270            350.597        0
  13  BasketBall      -2.718         0.118          -1.925         0              0              0
  14  Pillow          -0.327         0.693          -0.598         0              0              0              30
  15  Pillow          -0.626         0.650          0.129          0              0              0              30
  16  TennisRacket    -3.018         0.301          -2.199         19.103         272.232        184.978
  17  Pencil          0.891          1.147          -1.485         0              270            0              40
  18  CreditCard      -1.662         0.613          0.300          0              180            0              61
  19  Cloth           0.911          0.025          -2.702         0              0              0
  20  TeddyBear       -2.645         0.624          -0.402         0              286.876        0              29
  21  Pen             -1.383         0.619          0.422          0              180            0              61
  22  Cloth           0.705          -0.001         -2.75          0              270            0
  23  AlarmClock      3.209          0.794          -1.968         0              0              0              57
  24  Watch           -1.314         0.614          0.503          0              180            0              61
  25  CellPhone       3.024          0.792          -2.250         0              0              0              57
  26  CD              -2.979         1.141          -2.866         0              90             0              43
  27  Mug             3.332          0.790          -1.121         0              0              0              57
  28  Bowl            3.041          0.541          -2.199         0              270            0              56
  29  Bed             -2.455         -0.000         -0.572         0              0              0
  30  Bed             -0.634         -0.000         -0.567         0              0              0
  31  Chair           2.828          -0.002         -0.004         0              245.795        0
  32  Chair           2.727          -0.002         -1.210         0              95.225         0
  33  GarbageCan      1.707          -0.003         -2.785         0              59.967         0
  34  Shelf           0.922          1.133          -2.163         0              270            0
  35  Shelf           -2.948         1.405          -1.621         0              90             0
  36  Shelf           0.922          1.405          -2.163         0              270            0
  37  Shelf           -2.948         1.133          -2.188         0              90             0
  38  Shelf           -2.948         1.405          -2.188         0              90             0
  39  Shelf           0.922          1.133          -2.729         0              270            0
  40  Shelf           0.922          1.133          -1.616         0              270            0
  41  Shelf           -2.948         1.405          -2.735         0              90             0
  42  Shelf           0.922          1.405          -1.616         0              270            0
  43  Shelf           -2.948         1.133          -2.735         0              90             0
  44  Shelf           0.922          1.405          -2.729         0              270            0
  45  Shelf           -2.948         1.133          -1.621         0              90             0
  46  LightSwitch     -0.142         1.328          0.600          0              180            0
  47  Poster          3.400          1.863          -1.976         90             90             0
  48  Poster          3.400          1.702          -0.792         90             90             0
  49  DeskLamp        3.126          0.789          -0.638         0              3.649          0
  50  Mirror          0.453          1.491          0.616          0              0              0
  51  Window          2.278          0.925          -3.184         90             0              0
  52  Window          -1.019         0.925          -3.184         90             0              0
  53  Blinds          -1.003         2.072          -3.177         0              0              0
  54  Blinds          2.292          2.072          -3.177         0              0              0
  55  Shelf           3.124          0.633          -0.564         0              270            0
  56  Shelf           3.124          0.633          -2.267         0              270            0
  57  Desk            3.141          -0.000         -1.414         0              270            0
  58  Desktop         3.101          0.792          -1.236         358.565        270            0
  59  Drawer          -1.523         0.408          0.346          0              180            0
  60  Drawer          -1.523         0.141          0.346          0              180            0
  61  SideTable       -1.522         -0.001         0.411          0              180            0
  62  NorthWall
  63  EastWall
  64  SouthWall
  65  WestWall

Plan:
STEP 1: turn to the left and move forward across the room to the glass door, turn to the left and move forward to the three colored rags on the floor on the floor | STEP 2: pick up the gray rag from the floor | STEP 3: move forward to the shelf above the rags on the floor | STEP 4: put the gray rag on to the shelf | END