Task: pick up two salt shakers and put them in a cabinet below the toaster

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.908          2.75           0              180            0
   1  Pan             0.502          0.939          -0.469         0              0              0              84
   2  SprayBottle     -1.012         0.749          2.273          0              0              0              52
   3  Potato          1.117          0.931          2.692          0              0              0              103
   4  CellPhone       0.951          0.884          2.584          0              0              0              103
   5  ButterKnife     1.284          0.886          2.261          0              0              0              103
   6  Glassbottle     -1.099         0.342          1.197          0              90             0              91
   7  Spoon           1.444          0.912          -0.428         0              0              0              71
   8  Fork            -1.105         0.749          2.644          0              0              0              52
   9  Fork            -1.197         0.750          2.273          0              0              0              52
  10  Egg             1.523          0.945          -0.428         0              0              0              71
  11  Plate           -0.082         0.759          -0.612         0              0              0              98
  12  Knife           -1.197         0.771          2.830          0              0              0              52
  13  Knife           -1.012         0.770          2.087          0              0              0              52
  14  SoapBottle      1.450          0.887          2.153          0              0              0              103
  15  SoapBottle      1.049          0.912          0.139          0              0              0              71
  16  Bowl            -1.320         1.419          1.197          0              90             0              91
  17  Bowl            -1.012         0.748          2.459          0              0              0              52
  18  Bread           -1.320         1.700          0.781          0              90             0              91
  19  SaltShaker      -0.813         0.908          -0.828         0              0              0              77
  20  SaltShaker      -0.968         0.908          -0.669         0              0              0              77
  21  PepperShaker    1.049          0.907          -0.428         0              0              0              71
  22  PepperShaker    1.367          0.882          2.369          0              0              0              103
  23  Mug             -1.130         0.336          1.302          0              90             0              91
  24  Mug             1.215          0.943          -0.633         0              320.314        0              90
  25  Apple           -0.919         0.809          2.644          0              0              0              52
  26  Bread           -1.206         0.814          0.883          0              90             0              91
  27  Glassbottle     1.365          0.912          0.706          0              0              0              71
  28  Fork            -1.290         0.749          2.644          0              90             0              52
  29  Kettle          1.117          0.887          2.477          0              0              0              103
  30  Tomato          -1.513         0.961          -0.732         0              0              0              77
  31  Plate           1.286          0.912          0.422          0              0              0              71
  32  CellPhone       1.207          0.909          -0.428         0              0              0              71
  33  Lettuce         1.128          0.982          0.706          0              0              0              71
  34  Pot             0.802          0.939          -0.740         0              90             0              80
  35  SoapBottle      -1.383         0.750          2.644          0              0              0              52
  36  WineBottle      -1.475         0.750          2.273          0              0              0              52
  37  Spatula         -1.383         0.764          2.087          0              90             0              52
  38  Bowl            1.117          0.884          2.261          0              0              0              103
  39  Apple           1.357          0.146          1.472          0              0              0              92
  40  Cup             -1.378         1.636          1.086          0              90             0              91
  41  Knife           1.286          0.933          0.139          0              0              0              71
  42  Egg             -1.361         1.049          -0.005         0              90             0              97
  43  SaltShaker      -1.123         0.908          -0.748         0              0              0              77
  44  PepperShaker    -0.919         0.745          2.273          0              0              0              52
  45  Potato          -1.378         1.333          0.987          0              90             0              91
  46  ButterKnife     1.367          0.886          2.692          0              0              0              103
  47  DishSponge      1.099          0.776          0.332          0              0              0              85
  48  Pan             -1.197         0.749          3.015          0              90             0              52
  49  Spoon           1.212          0.777          0.701          0              90             0              83
  50  SprayBottle     -0.658         0.911          -0.669         0              0              0              77
  51  Mug             -1.427         1.010          -0.109         0              180            0              97
  52  DiningTable     -1.182         0.006          2.414          0              90             0
  53  Cabinet         1.184          2.059          0.375          0              0              0
  54  Cabinet         1.184          2.059          -0.635         0              0              0
  55  Cabinet         0.591          2.309          -0.645         0              0              0
  56  Cabinet         -0.574         2.059          -0.644         0              0              0
  57  Cabinet         -1.103         2.059          -0.644         0              0              0
  58  Cabinet         -1.185         2.059          -0.331         0              0              0
  59  Cabinet         -1.185         2.059          -0.281         0              0              0
  60  Cabinet         -1.185         2.059          0.375          0              0              0
  61  Cabinet         1.184          2.309          1.174          0              0              0
  62  Cabinet         1.184          2.309          0.424          0              0              0
  63  Cabinet         0.988          0.402          0.581          0              0              0
  64  Cabinet         0.988          0.402          0.531          0              0              0
  65  Cabinet         0.988          0.402          -0.178         0              0              0
  66  Cabinet         0.335          0.402          -0.348         0              0              0
  67  Cabinet         -0.374         0.402          -0.348         0              0              0
  68  Cabinet         0.988          0.402          1.231          0              0              0
  69  Cabinet         -1.185         2.309          1.374          0              0              0
  70  Cabinet         -1.185         2.309          0.424          0              0              0
  71  CounterTop      1.274          0.947          0.064          0              0              0
  72  Drawer          1.116          0.792          -0.015         0              0              0
  73  Drawer          -1.116         0.792          0.210          0              180            0
  74  Cabinet         -0.990         0.402          0.374          0              180            0
  75  Drawer          -1.116         0.792          -0.170         0              180            0
  76  Cabinet         -0.990         0.402          -0.335         0              180            0
  77  CounterTop      -1.001         0.947          -0.669         0              0              0
  78  StoveBurner     0.502          0.932          -0.740         0              90             0
  79  StoveBurner     0.801          0.932          -0.473         0              0              0
  80  StoveBurner     0.801          0.932          -0.740         0              90             0
  81  Drawer          1.116          0.792          1.081          0              0              0
  82  Sink            -0.013         0.912          -0.615         0              0              0
  83  Drawer          1.116          0.792          0.732          0              0              0
  84  StoveBurner     0.502          0.932          -0.469         0              0              0
  85  Drawer          1.116          0.792          0.367          0              0              0
  86  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  87  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  88  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  89  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  90  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  91  Fridge          -1.300         0.008          0.987          0              90             0
  92  GarbageCan      1.296          -0.024         1.465          0              0              0
  93  Window          -0.012         1.641          -0.972         90             0              0
  94  Window          1.598          1.646          2.489          90             270            0
  95  Toaster         1.356          0.900          1.044          0              270            0
  96  LightSwitch     0.118          1.353          3.799          0              180            0
  97  Microwave       -1.343         0.900          0.053          0              90             0
  98  SinkBasin       -0.029         0.748          -0.612         0              0              0
  99  Faucet          -0.026         0.927          -0.808         0              0              0
 100  Shelf           -1.182         0.127          2.414          0              90             0
 101  Stool           1.140          0.007          3.262          1.206          20.753         0
 102  Shelf           -1.182         0.435          2.414          0              90             0
 103  DiningTable     1.169          0.014          2.569          0              0              1.896
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: walk straight into the kitchen, turn right at the stove and face the counter | STEP 2: pick up the salt shaker | STEP 3: turn to the right and spin around until you face the counter with the toaster on it | STEP 4: open the right, bottom cabinet, and put the salt  in it, close the door | STEP 5: turn left, walk straight, turn right and face the white table | STEP 6: pick up another salt shaker from the white table | STEP 7: turn left and walk until facing the cabinet with the toaster on top | STEP 8: open the right, bottom cabinet, put the salt shaker to the right of the other one there, close the door | END