Task: Put two salt shakers on a table.

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          -1.0           0              270            0
   1  Potato          0.708          1.191          -2.035         0              270            0              66
   2  DishSponge      0.803          0.883          -0.039         0              0              0              46
   3  DishSponge      0.842          0.015          -0.768         0              0              0              49
   4  ButterKnife     -0.855         0.891          1.187          0              270            0              72
   5  ButterKnife     0.721          0.665          0.630          0              0              0              51
   6  Spatula         0.841          0.787          -0.625         0              0              0              69
   7  Spatula         0.866          0.775          0.002          0              270            0              45
   8  Pot             0.746          0.465          -2.035         0              180            0              66
   9  Pot             0.746          1.373          -2.035         0              180            0              66
  10  Egg             -1.970         0.738          -1.524         0              0              0              82
  11  Cup             -1.599         0.698          -3.614         0              0              0              73
  12  Cup             -0.252         0.899          1.101          0              270            0              72
  13  Plate           -0.051         0.904          0.843          0              270            0              72
  14  Knife           0.574          0.782          -0.188         0              90             0              45
  15  Knife           0.623          0.783          -0.252         0              90             0              45
  16  Tomato          0.669          1.207          -1.880         0              270            0              66
  17  PepperShaker    -1.535         0.692          -3.782         0              0              0              73
  18  PepperShaker    0.901          0.660          0.569          0              0              0              51
  19  SaltShaker      0.949          1.460          0.349          0              0              0              58
  20  SaltShaker      0.858          1.460          0.596          0              0              0              58
  21  SaltShaker      1.040          0.879          -0.913         0              0              0              46
  22  Apple           0.841          0.826          -0.845         0              270            0              69
  23  Apple           -1.949         0.852          -3.705         0              0              0              68
  24  Pot             -1.552         0.930          0.785          0              0              0              50
  25  Plate           -1.803         0.705          -1.091         0              0              0              82
  26  Fork            -2.054         0.702          -1.524         0              0              0              82
  27  SoapBottle      -2.054         0.701          -1.307         0              0              0              82
  28  Apple           0.785          0.718          -1.880         0              270            0              66
  29  Pan             -2.097         0.930          1.049          0              0              0              53
  30  Egg             -1.261         0.088          -3.501         0              270            0              61
  31  Spatula         0.671          0.774          -0.188         0              90             0              45
  32  Potato          -1.334         0.085          -3.647         0              270            0              61
  33  Cup             0.824          0.663          -2.190         0              270            0              66
  34  SaltShaker      0.676          0.012          -0.833         0              0              0              49
  35  PepperShaker    0.781          0.660          0.387          0              0              0              51
  36  ButterKnife     0.601          0.665          0.508          0              90             0              51
  37  DishSponge      -1.224         0.051          -3.611         0              270            0              61
  38  Bread           -0.873         0.931          0.976          0              24.080         0              72
  39  Lettuce         -1.158         0.973          0.988          37.660         45             71.410         72
  40  Tomato          0.661          0.712          0.448          0              0              0              51
  41  Spoon           -1.056         0.890          0.843          0              270            0              72
  42  Knife           0.769          0.783          -0.252         0              90             0              45
  43  Mug             0.698          0.941          -1.360         0              270            0              59
  44  Bowl            0.858          1.462          -0.146         0              0              0              57
  45  Drawer          0.706          0.766          -0.125         0              0              0
  46  CounterTop      0.792          0.919          -0.108         0              0              0
  47  Mirror          1.093          1.602          -0.643         0              0              0
  48  StoveBurner     -2.096         0.890          0.785          0              0              0
  49  Cabinet         0.507          0.345          -0.426         0              0              0
  50  StoveBurner     -1.552         0.890          0.785          0              0              0
  51  SideTable       0.770          -0.030         0.443          0              0              0
  52  Sink            0.753          0.882          -0.680         0              0              0
  53  StoveBurner     -2.096         0.890          1.049          0              0              0
  54  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  55  StoveBurner     -1.554         0.890          1.049          0              0              0
  56  Cabinet         0.507          0.345          0.156          0              0              0
  57  Cabinet         0.717          1.822          -0.398         0              0              0
  58  Cabinet         0.717          1.822          0.669          0              0              0
  59  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  60  Toaster         -0.522         0.886          1.081          0              180            0
  61  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  62  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  63  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  64  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  65  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  66  Fridge          0.680          -0.031         -1.957         0              0              0
  67  Window          -2.424         1.639          -2.453         90             270            0
  68  Microwave       -1.994         0.690          -3.651         0              0              0
  69  SinkBasin       0.757          0.762          -0.688         0              270            0
  70  LightSwitch     1.102          1.368          -3.737         0              270            0
  71  Shelf           -0.350         0.124          0.857          0              0              0
  72  DiningTable     -0.350         -0.025         0.857          0              0              0
  73  DiningTable     -1.909         -0.032         -3.507         0              0              0
  74  Blinds          -2.343         2.151          -2.437         0              270            0
  75  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  76  AluminumFoil    0.751          0.225          0.287          0              0              0
  77  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  78  Shelf           0.771          0.226          0.445          0              0              0
  79  Shelf           0.771          0.456          0.446          0              0              0
  80  Faucet          1.025          0.873          -0.678         270            180            0
  81  Shelf           -0.350         0.497          0.857          0              0              0
  82  DiningTable     -1.929         -0.035         -1.398         0              90             0
  83  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: Go right and then right again to face the cabinet above the small black table. | STEP 2: Open the upper cabinet on the left and take the salt shaker on the right out of the cabinet. | STEP 3: Move back and face the small black table to the left of the counter. | STEP 4: Put the salt shaker down on the black table. | STEP 5: Face the cabinet above the black table. | STEP 6: Take the salt shaker out of the cabinet above the black table. | STEP 7: Back up to face the black table again. | STEP 8: Put the salt shaker on the black table. | END