Task: To put two salts in the cabinet above the right side of the microwave.

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           0.901          3.5            0              180            0
   1  Pan             -0.254         0.928          4.672          0              0              0              47
   2  Pan             -0.535         0.928          4.274          0              0              0              49
   3  Potato          -2.583         0.926          2.706          0              0              0              66
   4  Potato          -0.350         1.044          0.235          0              0              0              64
   5  DishSponge      -2.191         1.773          0.160          0              0              0              41
   6  Spatula         -2.628         0.950          3.209          0              0              0              52
   7  Egg             -1.770         0.961          0.348          0              0              0              45
   8  SoapBottle      -0.228         0.900          2.731          0              0              0              68
   9  SaltShaker      -0.657         0.896          2.731          0              0              0              68
  10  Bread           -2.785         0.356          4.427          0              90             0              62
  11  Lettuce         -2.583         0.980          2.309          0              0              0              66
  12  Apple           -0.572         0.956          3.535          0              0              0              68
  13  Egg             -0.244         1.051          0.299          0              0              0              64
  14  Plate           -2.892         0.904          2.045          0              0              0              66
  15  Fork            -0.380         0.662          0.300          0              90             0              34
  16  Bread           -0.572         0.957          2.530          0              0              0              68
  17  Apple           -2.847         1.242          4.575          0              90             0              62
  18  Lettuce         -2.847         1.266          4.352          0              90             0              62
  19  Spatula         -2.377         0.915          2.573          0              0              0              66
  20  Knife           -1.824         0.688          0.355          0              90             0              48
  21  Potato          -2.377         0.926          2.309          0              0              0              66
  22  Tomato          -2.303         0.992          0.602          0              0              0              45
  23  Cup             -2.831         0.298          4.649          0              90             0              62
  24  SaltShaker      -0.657         0.896          2.329          0              0              0              68
  25  PepperShaker    -0.164         0.658          0.573          0              0              0              34
  26  ButterKnife     -2.864         0.935          3.209          0              0              0              52
  27  SoapBottle      -1.193         1.773          0.251          0              0              0              42
  28  Pan             -2.805         0.632          4.427          0              180            0              62
  29  DishSponge      -2.849         0.053          0.300          0              26.101         0              59
  30  Pot             -2.476         0.889          2.050          0              0              0              66
  31  Spoon           -0.380         0.663          0.519          0              0              0              34
  32  Mug             -0.921         0.790          0.337          0              0              0              63
  33  Bowl            -2.789         0.897          2.309          0              0              0              66
  34  Drawer          -0.325         0.696          0.413          0              0              0
  35  Cabinet         -0.595         0.490          0.648          0              0              0
  36  Cabinet         -0.555         0.490          0.646          0              0              0
  37  Cabinet         -1.591         0.490          0.646          0              0              0
  38  Cabinet         -1.554         0.490          0.646          0              0              0
  39  Cabinet         -2.550         0.490          0.646          0              0              0
  40  Cabinet         -1.514         2.046          0.392          0              0              0
  41  Cabinet         -2.474         2.046          0.392          0              0              0
  42  Cabinet         -1.478         2.046          0.392          0              0              0
  43  Cabinet         -0.518         2.046          0.392          0              0              0
  44  Cabinet         -0.479         2.046          0.392          0              0              0
  45  CounterTop      -1.366         0.952          0.349          0              0              0
  46  Sink            -1.108         0.926          0.340          0              0              0
  47  StoveBurner     -0.254         0.922          4.672          0              0              0
  48  Drawer          -1.824         0.696          0.413          0              0              0
  49  StoveBurner     -0.535         0.922          4.274          0              0              0
  50  StoveBurner     -0.254         0.922          4.274          0              0              0
  51  StoveBurner     -0.536         0.922          4.672          0              0              0
  52  CounterTop      -2.780         0.971          3.487          0              0              0
  53  Drawer          -2.323         0.696          0.413          0              0              0
  54  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  55  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  56  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  57  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  58  Toaster         -0.286         0.861          3.520          0              270            0
  59  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  60  LightSwitch     -0.064         1.447          1.996          0              270            0
  61  Window          -3.075         1.593          1.361          90             90             0
  62  Fridge          -2.802         0.0            4.427          0              0              0
  63  SinkBasin       -1.106         0.785          0.337          0              0              0
  64  Microwave       -0.358         0.917          0.224          0              0              0
  65  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  66  DiningTable     -2.733         -0.003         2.607          0              270            0
  67  Faucet          -1.077         0.920          0.028          270            270            0
  68  DiningTable     -0.488         -0.003         3.182          0              270            0
  69  NorthWall
  70  EastWall
  71  SouthWall
  72  WestWall

Plan:
STEP 1: Turn left to face the salt on the white table. | STEP 2: Pick up the salt on the table. | STEP 3: Turn right and walk across the room to face the cabinet above the right side of the microwave. | STEP 4: Place the salt in the cabinet above the right side of the microwave. | STEP 5: Turn around and step forward to face the end of the white table. | STEP 6: Pick up the salt on the white table. | STEP 7: Turn right and walk across the room to face the cabinet above the right side of the microwave. | STEP 8: Place the salt in the cabinet above the right side of the microwave with the other salt. | END