Task: Place a towel 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           -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 left, hang a left at the wall and walk to the wooden shelves ahead. | STEP 2: Pick up the gray towel on the floor in front of the wooden shelves. | STEP 3: Look up at the wooden shelves next to the wall. | STEP 4: Put the gray towel in the middle of the bottom right shelf. | END