Task: Put salt and pepper in the kitchen cabinet

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           0.908          3.25           0              270            0
   1  SprayBottle     -1.012         0.748          2.273          0              0              0              53
   2  SprayBottle     -1.513         0.911          -0.902         0              0              0              78
   3  Potato          -1.320         1.681          0.781          0              90             0              92
   4  ButterKnife     1.117          0.886          2.369          0              0              0              104
   5  ButterKnife     -1.105         0.749          2.459          0              0              0              53
   6  Glassbottle     -1.437         0.912          -0.477         0              0              0              78
   7  WineBottle      1.200          0.887          2.153          0              0              0              104
   8  WineBottle      1.133          0.087          1.377          0              0              0              93
   9  Pot             0.502          0.939          -0.469         0              0              0              85
  10  Egg             -0.082         0.792          -0.533         0              0              0              99
  11  Cup             1.365          0.910          0.139          0              0              0              72
  12  Cup             -1.378         1.420          0.778          0              90             0              92
  13  Plate           1.131          0.117          -0.052         0              0              0              66
  14  Plate           1.034          0.887          2.692          0              0              0              104
  15  Knife           -1.197         0.770          2.644          0              180            0              53
  16  Tomato          1.444          0.961          -0.428         0              0              0              72
  17  Tomato          -1.105         0.799          2.087          0              0              0              53
  18  SoapBottle      -0.955         1.657          -0.817         0              0              0              58
  19  Bowl            -1.361         1.013          0.046          0              90             0              98
  20  Bread           1.367          0.949          2.261          0              0              0              104
  21  Lettuce         -1.263         0.822          0.988          0              90             0              92
  22  SaltShaker      -1.475         0.745          2.087          0              0              0              53
  23  SaltShaker      -1.357         1.652          -0.128         0              0              0              60
  24  PepperShaker    1.286          0.907          -0.428         0              0              0              72
  25  Mug             0.103          0.753          -0.533         0              0              0              99
  26  Apple           -0.020         0.818          -0.651         0              0              0              99
  27  Bread           -1.290         0.813          2.459          0              0              0              53
  28  Glassbottle     -0.968         0.912          -0.669         0              0              0              78
  29  Fork            -1.197         0.749          1.902          0              0              0              53
  30  Kettle          -1.357         0.739          3.024          0              240.000        0              53
  31  Tomato          1.357          0.135          1.440          0              0              0              93
  32  Plate           1.325          1.656          -0.333         0              0              0              54
  33  CellPhone       1.523          0.909          0.422          0              0              0              72
  34  Lettuce         -1.206         1.707          0.984          0              90             0              92
  35  Pot             0.802          0.939          -0.740         0              90             0              81
  36  SoapBottle      -1.132         0.118          0.248          0              180            0              75
  37  WineBottle      -1.149         0.752          1.302          0              90             0              92
  38  Spatula         1.200          0.901          2.584          0              90             0              104
  39  Bowl            1.207          0.909          0.706          0              0              0              72
  40  Apple           -1.135         0.972          -0.732         0              0              0              78
  41  Cup             -0.919         0.748          2.830          0              0              0              53
  42  Knife           1.365          0.933          0.422          0              0              0              72
  43  Egg             -0.144         0.792          -0.730         0              0              0              99
  44  SaltShaker      1.175          0.112          0.968          0              0              0              64
  45  PepperShaker    -1.105         0.745          1.902          0              0              0              53
  46  Potato          -1.149         1.466          1.092          0              90             0              92
  47  ButterKnife     1.365          0.911          0.706          0              0              0              72
  48  DishSponge      0.103          0.758          -0.651         0              0              0              99
  49  Pan             0.502          0.939          -0.740         0              90             0              79
  50  Spoon           -0.919         0.750          1.902          0              0              0              53
  51  SprayBottle     -1.475         0.749          2.273          0              0              0              53
  52  Mug             1.262          0.110          1.119          0              0              0              69
  53  DiningTable     -1.182         0.006          2.414          0              90             0
  54  Cabinet         1.184          2.059          0.375          0              0              0
  55  Cabinet         1.184          2.059          -0.635         0              0              0
  56  Cabinet         0.591          2.309          -0.645         0              0              0
  57  Cabinet         -0.574         2.059          -0.644         0              0              0
  58  Cabinet         -1.103         2.059          -0.644         0              0              0
  59  Cabinet         -1.185         2.059          -0.331         0              0              0
  60  Cabinet         -1.185         2.059          -0.281         0              0              0
  61  Cabinet         -1.185         2.059          0.375          0              0              0
  62  Cabinet         1.184          2.309          1.174          0              0              0
  63  Cabinet         1.184          2.309          0.424          0              0              0
  64  Cabinet         0.988          0.402          0.581          0              0              0
  65  Cabinet         0.988          0.402          0.531          0              0              0
  66  Cabinet         0.988          0.402          -0.178         0              0              0
  67  Cabinet         0.335          0.402          -0.348         0              0              0
  68  Cabinet         -0.374         0.402          -0.348         0              0              0
  69  Cabinet         0.988          0.402          1.231          0              0              0
  70  Cabinet         -1.185         2.309          1.374          0              0              0
  71  Cabinet         -1.185         2.309          0.424          0              0              0
  72  CounterTop      1.274          0.947          0.064          0              0              0
  73  Drawer          1.116          0.792          -0.015         0              0              0
  74  Drawer          -1.116         0.792          0.210          0              180            0
  75  Cabinet         -0.990         0.402          0.374          0              180            0
  76  Drawer          -1.116         0.792          -0.170         0              180            0
  77  Cabinet         -0.990         0.402          -0.335         0              180            0
  78  CounterTop      -1.001         0.947          -0.669         0              0              0
  79  StoveBurner     0.502          0.932          -0.740         0              90             0
  80  StoveBurner     0.801          0.932          -0.473         0              0              0
  81  StoveBurner     0.801          0.932          -0.740         0              90             0
  82  Drawer          1.116          0.792          1.081          0              0              0
  83  Sink            -0.013         0.912          -0.615         0              0              0
  84  Drawer          1.116          0.792          0.732          0              0              0
  85  StoveBurner     0.502          0.932          -0.469         0              0              0
  86  Drawer          1.116          0.792          0.367          0              0              0
  87  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  88  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  89  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  90  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  91  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  92  Fridge          -1.300         0.008          0.987          0              90             0
  93  GarbageCan      1.296          -0.024         1.465          0              0              0
  94  Window          -0.012         1.641          -0.972         90             0              0
  95  Window          1.598          1.646          2.489          90             270            0
  96  Toaster         1.356          0.900          1.044          0              270            0
  97  LightSwitch     0.118          1.353          3.799          0              180            0
  98  Microwave       -1.343         0.900          0.053          0              90             0
  99  SinkBasin       -0.029         0.748          -0.612         0              0              0
 100  Faucet          -0.026         0.927          -0.808         0              0              0
 101  Shelf           -1.182         0.127          2.414          0              90             0
 102  Stool           1.140          0.007          3.262          1.206          20.753         0
 103  Shelf           -1.182         0.435          2.414          0              90             0
 104  DiningTable     1.169          0.014          2.569          0              0              1.896
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: Walk left as far as you can, then turn left again and walk to the counter | STEP 2: Pick up the salt shaker from the counter | STEP 3: Turn around and turn right three times until you are facing the edge of the counter | STEP 4: Open the cabinet door, place the salt in the cabinet and close the door | STEP 5: Turn around and face the white table | STEP 6: Pick up the pepper shaker off of the table | STEP 7: Turn around the face the kitchen cabinet again | STEP 8: Open the cabinet door, place the pepper in the cabinet and close the door | END