Task: To move two salt shakers to the cabinet below the counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           1.124          0.25           0              90             0
   1  Pan             -1.920         1.322          0.445          0              180            0              56
   2  DishSponge      0.857          0.460          0.681          0              0              0              82
   3  DishSponge      -1.614         0.343          1.007          0              0              0              57
   4  WineBottle      -1.920         1.323          -1.681         0              0              0              56
   5  WineBottle      -1.681         0.344          0.713          0              0              0              54
   6  Kettle          -1.308         1.324          -3.203         0              0              0              56
   7  Fork            1.023          0.741          0.983          0              90             0              80
   8  Fork            -1.530         1.323          -1.681         0              0              0              56
   9  Spatula         1.025          1.337          -0.942         0              180            0              56
  10  Spatula         -1.954         1.066          -0.451         0              270            0              74
  11  Pot             -0.125         1.332          -2.973         0              0              0              64
  12  Pot             -0.749         1.332          -2.973         0              0              0              59
  13  Egg             -1.826         1.373          -1.186         0              0              0              63
  14  Egg             0.861          1.248          1.238          0              0              0              81
  15  Cup             -1.817         0.341          0.512          0              0              0              54
  16  Cup             -2.093         1.331          -1.117         0              0              0              63
  17  Knife           -1.737         1.358          -1.117         0              180            0              63
  18  SoapBottle      -1.915         1.335          -1.186         0              0              0              63
  19  SoapBottle      1.027          1.207          1.222          0              0              0              81
  20  SaltShaker      0.420          1.318          -3.232         0              0              0              56
  21  SaltShaker      0.896          1.318          -2.794         0              0              0              56
  22  PepperShaker    0.420          1.318          -3.121         0              0              0              56
  23  PepperShaker    -1.603         0.415          -0.430         0              0              0              60
  24  Lettuce         -1.401         1.399          1.744          0              0              0              56
  25  Mug             -1.727         0.338          -1.863         0              90             0              52
  26  Mug             0.492          1.318          -3.343         0              0              0              56
  27  Apple           -1.451         1.371          -2.870         0              0              0              56
  28  Bread           -1.513         1.380          0.662          0              0              0              56
  29  Pot             -0.239         1.331          -3.301         0              180            0              51
  30  Knife           -1.660         1.352          -2.461         0              90             0              56
  31  Bowl            0.824          0.343          -1.751         0              180            0              55
  32  Potato          -2.049         1.362          0.770          0              0              0              56
  33  SoapBottle      -1.645         0.422          -1.348         0              0              0              62
  34  Fork            1.285          1.323          -0.942         0              90             0              56
  35  Cup             -1.530         1.320          -2.721         0              0              0              56
  36  Kettle          -1.818         0.344          1.420          0              0              0              57
  37  Egg             1.213          1.351          0.810          0              270            0              81
  38  Pan             -1.881         0.327          -2.035         0              0              0              52
  39  SaltShaker      1.025          1.318          -2.424         0              0              0              56
  40  WineBottle      -1.530         1.323          1.094          0              0              0              56
  41  Lettuce         -1.826         1.140          -0.542         0              0              0              74
  42  Spatula         -1.648         1.343          -0.911         0              0              0              63
  43  PaperTowelRoll  0.944          1.312          1.222          0              0              0              81
  44  Tomato          -1.790         1.356          1.094          0              0              0              56
  45  Plate           0.900          0.345          -2.061         0              180            0              55
  46  PepperShaker    -1.540         0.338          -1.863         0              270            0              52
  47  DishSponge      -1.790         1.322          -2.721         0              0              0              56
  48  Spoon           0.506          1.324          -1.683         0              0              0              56
  49  Apple           -1.634         0.329          2.193          0              270            0              71
  50  Mug             1.213          1.305          0.965          0              270            0              81
  51  StoveBurner     -0.239         1.325          -3.301         0              180            0
  52  Cabinet         -1.461         0.775          -2.002         0              0              0
  53  StoveBurner     -0.630         1.325          -3.301         0              180            0
  54  Cabinet         -1.461         0.775          0.470          0              0              0
  55  Cabinet         0.578          0.776          -2.054         0              0              0
  56  CounterTop      -1.809         1.358          1.182          0              0              0
  57  Cabinet         -1.461         0.775          1.310          0              0              0
  58  Faucet          -2.063         1.362          -0.726         0              39.391         0
  59  StoveBurner     -0.749         1.325          -2.973         0              0              0
  60  Drawer          -1.610         0.681          -0.430         0              0              0
  61  Window          -2.566         1.799          -0.822         270            0              0
  62  Drawer          -1.610         0.681          -1.217         0              0              0
  63  Sink            -1.990         1.143          -0.975         0              0              0
  64  StoveBurner     -0.125         1.325          -2.973         0              0              0
  65  StoveKnob       -0.185         1.338          -2.741         0              270            180
  66  StoveKnob       -0.336         1.338          -2.741         0              270            180
  67  StoveKnob       -0.569         1.338          -2.741         0              270            180
  68  StoveKnob       -0.707         1.338          -2.741         0              270            180
  69  Fridge          1.013          0.227          1.917          0              270            0
  70  Microwave       0.994          1.310          -2.163         0              270            0
  71  GarbageCan      -1.633         0.212          2.192          0              270            0
  72  LightSwitch     1.386          1.565          -0.657         0              270            0
  73  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  74  SinkBasin       -1.835         1.039          -0.542         0              0              0
  75  ButterKnife     0.873          0.468          0.651          0              0              0
  76  Toaster         -1.885         1.310          -2.512         0              90             0
  77  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  78  Drawer          0.647          1.061          0.680          0              270            0
  79  Drawer          0.648          1.061          1.020          0              270            0
  80  Drawer          0.648          0.843          1.020          0              270            0
  81  SideTable       0.975          0.220          0.869          0              270            0
  82  Drawer          0.648          0.602          0.680          0              270            0
  83  Drawer          0.648          0.596          1.020          0              270            0
  84  Drawer          0.648          0.843          0.680          0              270            0
  85  Stool           0.606          0.222          -1.084         1.233          280.489        0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn right and walk to the counter to the left of the stove.  | STEP 2: Pick up the salt shaker behind the pepper mill on the counter.  | STEP 3: Turn left and look down at the cabinet below the counter.  | STEP 4: Open the cabinet door, place the salt shaker in the cabinet, close the door.  | STEP 5: Walk up to the counter.  | STEP 6: Pick up the salt shaker on the right.  | STEP 7: Look down at the cabinet below the counter.  | STEP 8: Open the door, place the salt shaker inside the cabinet, close the door.  | END