Task: Put two salt shakers in the bottom right cabinet under the sink.

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          -3.25          0              180            0
   1  Potato          0.824          1.191          -1.802         0              270            0              61
   2  Potato          -1.535         0.729          -3.698         0              0              0              68
   3  ButterKnife     0.149          0.900          0.843          0              270            0              67
   4  Spatula         -0.051         0.915          1.187          0              270            0              67
   5  Spoon           0.149          0.901          0.843          0              270            0              67
   6  Spoon           -1.535         0.701          -3.529         0              90             0              68
   7  Pot             -2.097         0.930          0.785          0              0              0              43
   8  Egg             -1.599         0.733          -3.614         0              0              0              68
   9  Knife           0.769          0.782          -0.061         0              0              0              40
  10  Knife           0.866          0.783          0.002          0              270            0              40
  11  Tomato          0.901          0.712          0.569          0              0              0              46
  12  SoapBottle      0.950          0.882          -0.108         0              0              0              41
  13  Bowl            0.799          0.770          -0.735         0              270            0              64
  14  Bowl            0.746          1.373          -1.958         0              270            0              61
  15  SaltShaker      0.803          0.879          -0.245         0              0              0              41
  16  Lettuce         0.721          0.751          0.569          0              0              0              46
  17  Mug             0.661          0.660          0.265          0              0              0              46
  18  Mug             0.812          1.458          0.349          0              0              0              53
  19  Pot             -1.552         0.930          0.785          0              0              0              45
  20  Plate           0.676          0.019          -0.053         0              0              0              51
  21  Fork            -2.054         0.702          -1.416         0              0              0              77
  22  SoapBottle      0.781          0.663          0.387          0              0              0              46
  23  Apple           0.746          0.718          -1.880         0              270            0              61
  24  Pan             0.740          -0.007         -0.596         0              0              0              44
  25  Egg             -1.056         0.937          1.101          0              270            0              67
  26  Spatula         0.950          0.898          -0.314         0              0              0              41
  27  Potato          -1.261         0.085          -3.574         0              270            0              56
  28  Cup             0.901          0.663          0.387          0              0              0              46
  29  SaltShaker      -0.252         0.896          1.272          0              270            0              67
  30  PepperShaker    -0.252         0.896          1.015          0              270            0              67
  31  ButterKnife     -1.719         0.701          -1.199         0              0              0              77
  32  DishSponge      0.858          1.463          0.473          0              0              0              53
  33  Bread           -0.873         0.931          0.978          0              24.231         0              67
  34  Lettuce         0.149          0.987          1.015          0              270            0              67
  35  Tomato          0.746          0.514          -1.802         0              270            0              61
  36  Spoon           0.715          0.773          -0.570         0              270            0              64
  37  Knife           0.769          0.782          -0.252         0              90             0              40
  38  Mug             0.732          0.010          -0.571         0              270            0              44
  39  Bowl            0.903          1.462          -0.084         0              0              0              52
  40  Drawer          0.706          0.766          -0.125         0              0              0
  41  CounterTop      0.792          0.919          -0.108         0              0              0
  42  Mirror          1.093          1.602          -0.643         0              0              0
  43  StoveBurner     -2.096         0.890          0.785          0              0              0
  44  Cabinet         0.507          0.345          -0.426         0              0              0
  45  StoveBurner     -1.552         0.890          0.785          0              0              0
  46  SideTable       0.770          -0.030         0.443          0              0              0
  47  Sink            0.753          0.882          -0.680         0              0              0
  48  StoveBurner     -2.096         0.890          1.049          0              0              0
  49  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  50  StoveBurner     -1.554         0.890          1.049          0              0              0
  51  Cabinet         0.507          0.345          0.156          0              0              0
  52  Cabinet         0.717          1.822          -0.398         0              0              0
  53  Cabinet         0.717          1.822          0.669          0              0              0
  54  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  55  Toaster         -0.522         0.886          1.081          0              180            0
  56  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  57  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  58  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  59  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  60  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  61  Fridge          0.680          -0.031         -1.957         0              0              0
  62  Window          -2.424         1.639          -2.453         90             270            0
  63  Microwave       -1.994         0.690          -3.651         0              0              0
  64  SinkBasin       0.757          0.762          -0.688         0              270            0
  65  LightSwitch     1.102          1.368          -3.737         0              270            0
  66  Shelf           -0.350         0.124          0.857          0              0              0
  67  DiningTable     -0.350         -0.025         0.857          0              0              0
  68  DiningTable     -1.909         -0.032         -3.507         0              0              0
  69  Blinds          -2.343         2.151          -2.437         0              270            0
  70  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  71  AluminumFoil    0.751          0.225          0.287          0              0              0
  72  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  73  Shelf           0.771          0.226          0.445          0              0              0
  74  Shelf           0.771          0.456          0.446          0              0              0
  75  Faucet          1.025          0.873          -0.678         270            180            0
  76  Shelf           -0.350         0.497          0.857          0              0              0
  77  DiningTable     -1.929         -0.035         -1.398         0              90             0
  78  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Turn right for two steps, turn right and walk straight to the white table and stop. | STEP 2: Pick up the salt shaker that is closest to the wall. | STEP 3: Turn left for one step, turn left for two steps, turn left to face the sink cabinet. | STEP 4: Open the bottom right cabinet under the sink, put the salt shaker in the cabinet in front of the pan in it, and shut the door. | STEP 5: Take three steps forward and stand in front of the sink cabinet. | STEP 6: Pick up the salt shaker by the spatula. | STEP 7: Turn around and walk three steps, turn around again and stop. | STEP 8: Open the bottom right cabinet door, place the salt shaker in about six inches from the existing salt shaker then shut the door. | END