Task: Set a salt shaker on top of the black shelving unit.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.869          -0.75          0              270            0
   1  Potato          0.149          0.933          1.187          0              270            0              69
   2  Potato          0.669          1.191          -2.113         0              270            0              63
   3  DishSponge      0.994          1.463          0.473          0              0              0              55
   4  ButterKnife     0.729          0.883          0.029          0              0              0              43
   5  ButterKnife     0.757          0.772          -0.680         0              270            0              66
   6  Spatula         0.623          0.774          -0.124         0              90             0              42
   7  Spoon           -1.056         0.901          1.101          0              270            0              69
   8  Spoon           -2.054         0.702          -1.416         0              90             0              79
   9  Fork            0.720          0.760          0.002          0              270            0              42
  10  Cup             -2.137         0.700          -1.416         0              0              0              79
  11  Cup             -1.556         0.698          -3.361         0              0              0              70
  12  Plate           -1.719         0.705          -1.199         0              0              0              79
  13  Plate           -1.056         0.904          0.843          0              270            0              69
  14  SoapBottle      -1.187         0.051          -3.611         0              270            0              58
  15  SoapBottle      0.721          0.663          0.569          0              0              0              48
  16  PepperShaker    0.566          0.012          -0.768         0              0              0              46
  17  SaltShaker      0.994          1.460          0.596          0              0              0              55
  18  Bread           -0.252         0.944          0.843          0              270            0              69
  19  Mug             0.746          0.660          -2.035         0              270            0              63
  20  Apple           0.781          0.718          0.326          0              0              0              48
  21  Pot             -2.071         0.927          0.772          0              266.284        0              45
  22  Plate           0.676          0.019          -0.119         0              0              0              53
  23  Fork            0.799          0.773          -0.625         0              0              0              66
  24  SoapBottle      -1.719         0.701          -1.524         0              0              0              79
  25  Apple           0.799          0.826          -0.790         0              270            0              66
  26  Pan             -1.555         0.930          1.049          0              0              0              52
  27  Egg             -1.886         0.738          -1.416         0              0              0              79
  28  Spatula         -0.453         0.915          1.272          0              0              0              69
  29  Potato          0.708          1.407          -1.802         0              270            0              63
  30  Cup             0.961          0.664          0.326          0              0              0              48
  31  SaltShaker      0.676          0.012          -0.768         0              0              0              46
  32  PepperShaker    0.566          0.012          -0.571         0              0              0              46
  33  ButterKnife     0.877          0.883          -0.245         0              0              0              43
  34  DishSponge      0.661          0.664          0.326          0              0              0              48
  35  Bread           -0.252         0.944          1.101          0              270            0              69
  36  Lettuce         0.901          0.752          0.569          0              0              0              48
  37  Tomato          -1.578         0.748          -3.529         0              0              0              70
  38  Spoon           0.721          0.666          0.387          0              0              0              48
  39  Knife           0.866          0.783          0.002          0              270            0              42
  40  Mug             0.698          0.941          -1.360         0              270            0              56
  41  Bowl            0.803          0.882          -0.108         0              180            0              43
  42  Drawer          0.706          0.766          -0.125         0              0              0
  43  CounterTop      0.792          0.919          -0.108         0              0              0
  44  Mirror          1.093          1.602          -0.643         0              0              0
  45  StoveBurner     -2.096         0.890          0.785          0              0              0
  46  Cabinet         0.507          0.345          -0.426         0              0              0
  47  StoveBurner     -1.552         0.890          0.785          0              0              0
  48  SideTable       0.770          -0.030         0.443          0              0              0
  49  Sink            0.753          0.882          -0.680         0              0              0
  50  StoveBurner     -2.096         0.890          1.049          0              0              0
  51  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  52  StoveBurner     -1.554         0.890          1.049          0              0              0
  53  Cabinet         0.507          0.345          0.156          0              0              0
  54  Cabinet         0.717          1.822          -0.398         0              0              0
  55  Cabinet         0.717          1.822          0.669          0              0              0
  56  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  57  Toaster         -0.522         0.886          1.081          0              180            0
  58  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  59  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  60  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  61  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  62  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  63  Fridge          0.680          -0.031         -1.957         0              0              0
  64  Window          -2.424         1.639          -2.453         90             270            0
  65  Microwave       -1.994         0.690          -3.651         0              0              0
  66  SinkBasin       0.757          0.762          -0.688         0              270            0
  67  LightSwitch     1.102          1.368          -3.737         0              270            0
  68  Shelf           -0.350         0.124          0.857          0              0              0
  69  DiningTable     -0.350         -0.025         0.857          0              0              0
  70  DiningTable     -1.909         -0.032         -3.507         0              0              0
  71  Blinds          -2.343         2.151          -2.437         0              270            0
  72  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  73  AluminumFoil    0.751          0.225          0.287          0              0              0
  74  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  75  Shelf           0.771          0.226          0.445          0              0              0
  76  Shelf           0.771          0.456          0.446          0              0              0
  77  Faucet          1.025          0.873          -0.678         270            180            0
  78  Shelf           -0.350         0.497          0.857          0              0              0
  79  DiningTable     -1.929         -0.035         -1.398         0              90             0
  80  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: Turn around and walk to the sink on the other side of the room. | STEP 2: Open the cabinet below the sink and take out the salt shaker on the right closest to the door. | STEP 3: Take a couple steps to the left and stop in front of the black 3 tiered shelf. | STEP 4: Put the salt shaker on the top shelf to the left of the green sponge. | END