Task: put two salt shakers on a counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.931          -0.25          0              270            0
   1  Pan             1.512          1.019          -1.484         0              270            0              56
   2  Pan             -1.300         1.227          1.974          0              270            0              65
   3  Potato          -1.051         0.760          2.331          0              90             0              65
   4  Potato          -1.303         1.542          1.974          0              90             0              65
   5  DishSponge      -1.416         0.202          -1.265         0              0              0              58
   6  ButterKnife     1.514          1.043          0.589          0              0              0              52
   7  Kettle          0.065          1.044          0.307          0              0              0              52
   8  Pot             1.188          1.566          -1.689         0              90             0              54
   9  Fork            0.657          1.047          -1.129         0              0              0              50
  10  Spoon           1.015          1.044          0.763          0              0              0              52
  11  Spatula         0.682          1.058          0.720          0              0              0              52
  12  Spatula         1.155          1.061          -1.397         0              90             0              50
  13  Cup             -1.064         0.964          2.242          0              90             0              65
  14  Plate           -0.548         1.577          -1.693         0              0              0              55
  15  Knife           1.072          1.072          -1.397         0              90             0              50
  16  Tomato          1.523          1.094          0.199          0              0              0              52
  17  Tomato          -1.423         1.764          2.331          0              90             0              65
  18  SoapBottle      -0.432         1.047          -1.289         0              0              0              50
  19  SaltShaker      -0.760         0.198          -1.481         0              0              0              59
  20  SaltShaker      1.894          0.199          -1.335         0              0              0              60
  21  PepperShaker    0.801          0.194          -1.195         0              0              0              61
  22  Mug             1.765          1.081          0.331          0              270            0              68
  23  Mug             -1.194         1.711          -1.331         0              0              0              64
  24  SoapBottle      0.936          1.056          0.281          0              90             0              48
  25  Apple           -1.342         1.532          2.331          0              90             0              65
  26  Potato          1.181          1.096          0.589          0              0              0              52
  27  Fork            -0.346         1.047          -1.505         0              0              0              50
  28  Kettle          -1.184         2.029          -1.264         0              0              0              57
  29  Pan             -0.401         0.203          -1.481         0              180            0              59
  30  Tomato          -1.268         1.999          2.153          0              90             0              65
  31  SaltShaker      -0.580         0.198          -1.625         0              0              0              59
  32  Egg             1.514          1.097          0.763          0              0              0              52
  33  Cup             -1.276         1.713          2.153          0              90             0              65
  34  Spatula         1.347          1.058          0.720          0              0              0              52
  35  Knife           0.877          1.042          -1.362         90             315            0              50
  36  Lettuce         1.155          1.106          -1.612         0              0              0              50
  37  ButterKnife     0.109          1.031          0.368          0              0              0              52
  38  PepperShaker    0.712          0.194          -1.339         0              0              0              61
  39  DishSponge      -0.030         1.042          0.630          0              0              0              52
  40  Plate           -0.689         1.059          -1.397         0              0              0              50
  41  Bread           0.405          1.104          0.352          0              337.138        0              52
  42  Spoon           1.015          1.044          0.589          0              0              0              52
  43  Pot             0.389          1.053          -1.630         0              0              0              46
  44  Mug             1.790          1.038          0.738          0              0              0              52
  45  Bowl            -1.183         0.201          -1.338         0              0              0              58
  46  StoveBurner     0.389          1.043          -1.630         0              0              0
  47  SinkBasin       1.211          0.882          0.236          0              90             0
  48  Sink            0.928          0.941          0.324          0              90             0
  49  StoveBurner     0.000          1.048          -1.399         0              0              0
  50  CounterTop      0.196          1.082          -1.504         0              0              0
  51  StoveBurner     0.5            1.048          -1.399         0              0              0
  52  CounterTop      0.968          1.078          0.415          0              0              0
  53  StoveBurner     0.120          1.043          -1.630         0              0              0
  54  Cabinet         1.322          1.955          -1.309         0              0              0
  55  Cabinet         -0.866         1.955          -1.309         0              0              0
  56  Cabinet         1.993          1.403          -1.110         0              0              0
  57  Cabinet         -1.547         2.001          -1.110         0              0              0
  58  Cabinet         -1.526         0.593          -1.110         0              0              0
  59  Cabinet         -0.852         0.589          -1.110         0              0              0
  60  Cabinet         1.990          0.593          -1.110         0              0              0
  61  Cabinet         1.336          0.589          -1.110         0              0              0
  62  StoveBurner     0.250          1.048          -1.399         0              0              0
  63  Toaster         -0.550         1.035          -1.776         0              0              0
  64  Microwave       -1.189         1.624          -1.284         0              0              0
  65  Fridge          -1.286         0.020          1.832          0              90             0
  66  GarbageCan      1.856          -0.019         2.386          0              270            0
  67  LightSwitch     1.016          1.360          2.619          0              180            0
  68  CoffeeMachine   1.929          1.031          0.440          0              270            0
  69  StoveKnob       0.0            1.046          -1.220         0              0              0
  70  StoveKnob       0.090          1.046          -1.220         0              0              0
  71  StoveKnob       0.246          1.046          -1.220         0              0              0
  72  StoveKnob       0.490          1.046          -1.220         0              0              0
  73  StoveKnob       0.389          1.046          -1.220         0              0              0
  74  Faucet          1.277          1.265          0.384          0              90             0
  75  Chair           0.343          0.031          0.976          0              166.747        0
  76  Chair           1.008          0.031          1.034          0              180            0
  77  Chair           1.575          0.031          1.050          0              210.000        0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: turn to face the stove and counter top to the left of the stove | STEP 2: open the left cabinet door below the counter, pick up the left salt shaker, close the door | STEP 3: walk right to the counter on the right of the stove | STEP 4: put the salt shaker on the counter | STEP 5: turn left, walk to face the stove and counter top to the left of the stove | STEP 6: open the left cabinet door below the counter, pick up the salt shaker, close the door | STEP 7: walk right to the counter on the right of the stove | STEP 8: put the salt shaker on the right of the counter | END