Task: put two salt shakers on kitchen shelves

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           0.869          -2.75          0              90             0
   1  Pan             0.746          0.664          -1.880         0              0              0              65
   2  Potato          -0.855         0.933          1.187          0              270            0              71
   3  DishSponge      0.621          0.015          0.011          0              0              0              55
   4  ButterKnife     -1.719         0.701          -0.875         0              0              0              81
   5  Spoon           0.623          0.760          -0.124         0              180            0              44
   6  Fork            0.574          0.761          0.002          0              270            0              44
   7  Egg             0.961          0.701          0.387          0              0              0              50
   8  Egg             -1.578         0.736          -3.614         0              0              0              72
   9  Cup             -1.056         0.899          0.758          0              270            0              71
  10  Tomato          0.785          1.423          -1.725         0              270            0              65
  11  SoapBottle      -1.803         0.701          -1.199         0              0              0              81
  12  SoapBottle      0.149          0.899          1.015          0              270            0              71
  13  Bowl            -1.719         0.700          -1.416         0              0              0              81
  14  Bowl            0.721          0.663          0.387          0              0              0              50
  15  PepperShaker    0.803          0.879          0.098          0              0              0              45
  16  PepperShaker    0.732          0.012          -0.571         0              0              0              48
  17  SaltShaker      -1.556         0.696          -3.361         0              0              0              72
  18  SaltShaker      -1.599         0.696          -3.529         0              0              0              72
  19  Bread           0.149          0.944          0.843          0              270            0              71
  20  Lettuce         -0.252         0.987          1.101          0              270            0              71
  21  Apple           0.961          0.718          0.508          0              0              0              50
  22  Apple           0.757          0.826          -0.790         0              270            0              68
  23  Pot             -2.097         0.930          1.049          0              0              0              52
  24  Plate           -2.023         0.692          -1.447         0              0              0              81
  25  Fork            -1.970         0.702          -0.983         0              0              0              81
  26  SoapBottle      0.842          0.014          -0.250         0              0              0              55
  27  Apple           -1.297         0.105          -3.647         0              270            0              60
  28  Pan             -1.555         0.930          1.049          0              0              0              54
  29  Egg             0.630          1.411          -1.880         0              270            0              65
  30  Spatula         0.866          0.774          0.002          0              270            0              44
  31  Potato          1.024          0.916          -0.314         0              0              0              45
  32  Cup             0.746          1.373          -1.958         0              270            0              65
  33  SaltShaker      0.803          0.879          -0.245         0              0              0              45
  34  PepperShaker    0.949          1.460          0.411          0              0              0              57
  35  ButterKnife     0.754          0.755          -0.743         0              45             0              68
  36  DishSponge      0.715          0.772          -0.570         0              270            0              68
  37  Bread           -0.873         0.931          0.978          0              24.231         0              71
  38  Lettuce         -0.051         0.987          1.015          0              270            0              71
  39  Tomato          -0.051         0.949          1.187          0              270            0              71
  40  Spoon           0.671          0.760          0.002          0              0              0              44
  41  Knife           0.877          0.906          -0.176         0              90             0              45
  42  Mug             -1.719         0.696          -1.091         0              90             0              81
  43  Bowl            0.949          1.462          -0.084         0              0              0              56
  44  Drawer          0.706          0.766          -0.125         0              0              0
  45  CounterTop      0.792          0.919          -0.108         0              0              0
  46  Mirror          1.093          1.602          -0.643         0              0              0
  47  StoveBurner     -2.096         0.890          0.785          0              0              0
  48  Cabinet         0.507          0.345          -0.426         0              0              0
  49  StoveBurner     -1.552         0.890          0.785          0              0              0
  50  SideTable       0.770          -0.030         0.443          0              0              0
  51  Sink            0.753          0.882          -0.680         0              0              0
  52  StoveBurner     -2.096         0.890          1.049          0              0              0
  53  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  54  StoveBurner     -1.554         0.890          1.049          0              0              0
  55  Cabinet         0.507          0.345          0.156          0              0              0
  56  Cabinet         0.717          1.822          -0.398         0              0              0
  57  Cabinet         0.717          1.822          0.669          0              0              0
  58  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  59  Toaster         -0.522         0.886          1.081          0              180            0
  60  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  61  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  62  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  63  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  64  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  65  Fridge          0.680          -0.031         -1.957         0              0              0
  66  Window          -2.424         1.639          -2.453         90             270            0
  67  Microwave       -1.994         0.690          -3.651         0              0              0
  68  SinkBasin       0.757          0.762          -0.688         0              270            0
  69  LightSwitch     1.102          1.368          -3.737         0              270            0
  70  Shelf           -0.350         0.124          0.857          0              0              0
  71  DiningTable     -0.350         -0.025         0.857          0              0              0
  72  DiningTable     -1.909         -0.032         -3.507         0              0              0
  73  Blinds          -2.343         2.151          -2.437         0              270            0
  74  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  75  AluminumFoil    0.751          0.225          0.287          0              0              0
  76  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  77  Shelf           0.771          0.226          0.445          0              0              0
  78  Shelf           0.771          0.456          0.446          0              0              0
  79  Faucet          1.025          0.873          -0.678         270            180            0
  80  Shelf           -0.350         0.497          0.857          0              0              0
  81  DiningTable     -1.929         -0.035         -1.398         0              90             0
  82  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: turn to face table next to garbage can | STEP 2: pick up salt shaker from table | STEP 3: walk forward to face small black shelves  | STEP 4: put shaker on shelves | STEP 5: move slightly right to face counter to right of shelves | STEP 6: pick up salt shaker from counter | STEP 7: move left to face black shelves | STEP 8: put shaker on shelves | END