Task: To place 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           -2.0           0.901          3.0            0              180            0
   1  DishSponge      -1.180         0.795          0.226          0              0              0              70
   2  ButterKnife     -2.892         0.900          2.441          0              0              0              73
   3  ButterKnife     -0.314         0.900          2.932          0              0              0              75
   4  Spatula         -1.932         0.677          0.519          0              270            0              55
   5  Spoon           -2.480         0.901          2.045          0              0              0              73
   6  Egg             -2.764         0.665          4.352          0              90             0              69
   7  Cup             -1.904         0.927          0.602          0              0              0              52
   8  Plate           -2.246         1.777          0.251          0              0              0              48
   9  SoapBottle      -2.789         0.900          2.309          0              0              0              73
  10  Tomato          -1.007         0.859          0.337          0              0              0              70
  11  Tomato          -2.377         0.964          2.573          0              0              0              73
  12  SaltShaker      -0.143         0.896          2.530          0              0              0              75
  13  SaltShaker      -2.549         0.931          3.209          0              0              0              59
  14  SaltShaker      -2.706         0.931          3.209          0              0              0              59
  15  PepperShaker    -2.628         0.931          3.580          0              0              0              59
  16  Bread           -2.583         0.957          2.309          0              0              0              73
  17  Lettuce         -0.228         0.980          2.731          0              0              0              75
  18  Lettuce         -2.847         1.266          4.575          0              90             0              69
  19  Mug             -2.864         0.930          3.209          0              0              0              59
  20  Egg             -0.456         1.051          0.108          0              0              0              71
  21  Plate           -1.193         1.777          0.160          0              0              0              49
  22  Fork            -1.716         0.662          0.519          0              270            0              55
  23  Bread           -2.864         0.940          1.983          0              0              0              73
  24  Apple           -2.170         0.984          0.518          0              0              0              52
  25  Lettuce         -0.486         0.980          2.530          0              0              0              75
  26  Spatula         -2.549         0.950          3.580          0              90             0              59
  27  Knife           -0.380         0.688          0.355          0              90             0              41
  28  Potato          -0.350         1.044          0.171          0              0              0              71
  29  Tomato          -2.888         1.250          4.427          0              90             0              69
  30  Cup             -1.266         0.795          0.447          0              0              0              70
  31  SaltShaker      -0.657         0.896          2.932          0              0              0              75
  32  PepperShaker    -2.995         0.896          2.309          0              0              0              73
  33  ButterKnife     -1.094         0.795          0.337          0              0              0              70
  34  SoapBottle      -0.692         1.773          0.160          0              0              0              50
  35  Pan             -0.250         0.926          4.651          0              0              0              54
  36  DishSponge      -1.358         1.773          0.297          0              0              0              49
  37  Pot             -0.535         0.928          4.274          0              0              0              56
  38  Spoon           -1.353         0.798          0.281          0              90             0              70
  39  Mug             -2.778         1.001          3.714          0              90             0              72
  40  Bowl            -2.738         0.295          4.501          0              90             0              69
  41  Drawer          -0.325         0.696          0.413          0              0              0
  42  Cabinet         -0.595         0.490          0.648          0              0              0
  43  Cabinet         -0.555         0.490          0.646          0              0              0
  44  Cabinet         -1.591         0.490          0.646          0              0              0
  45  Cabinet         -1.554         0.490          0.646          0              0              0
  46  Cabinet         -2.550         0.490          0.646          0              0              0
  47  Cabinet         -1.514         2.046          0.392          0              0              0
  48  Cabinet         -2.474         2.046          0.392          0              0              0
  49  Cabinet         -1.478         2.046          0.392          0              0              0
  50  Cabinet         -0.518         2.046          0.392          0              0              0
  51  Cabinet         -0.479         2.046          0.392          0              0              0
  52  CounterTop      -1.366         0.952          0.349          0              0              0
  53  Sink            -1.108         0.926          0.340          0              0              0
  54  StoveBurner     -0.254         0.922          4.672          0              0              0
  55  Drawer          -1.824         0.696          0.413          0              0              0
  56  StoveBurner     -0.535         0.922          4.274          0              0              0
  57  StoveBurner     -0.254         0.922          4.274          0              0              0
  58  StoveBurner     -0.536         0.922          4.672          0              0              0
  59  CounterTop      -2.780         0.971          3.487          0              0              0
  60  Drawer          -2.323         0.696          0.413          0              0              0
  61  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  62  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  63  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  65  Toaster         -0.286         0.861          3.520          0              270            0
  66  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  67  LightSwitch     -0.064         1.447          1.996          0              270            0
  68  Window          -3.075         1.593          1.361          90             90             0
  69  Fridge          -2.802         0.0            4.427          0              0              0
  70  SinkBasin       -1.106         0.785          0.337          0              0              0
  71  Microwave       -0.358         0.917          0.224          0              0              0
  72  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  73  DiningTable     -2.733         -0.003         2.607          0              270            0
  74  Faucet          -1.077         0.920          0.028          270            270            0
  75  DiningTable     -0.488         -0.003         3.182          0              270            0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Turn right and step forward to face the salt on the corner of the table the coffee maker is on. | STEP 2: Pick up the salt on the corner of the table. | STEP 3: Turn left and walk forward and look up to face the cabinet above the right side of the microwave. | STEP 4: Place the salt in the cabinet above the left side of the microwave. | STEP 5: Turn around and walk around the white table to face the salt in the center of the table. | STEP 6: Pick up the salt in the center of the white table. | STEP 7: Turn right and walk forward and look up to face the cabinet above the right side of the microwave. | STEP 8: Place the salt in the cabinet above the left side of the microwave next to the first salt. | END