Task: Place two salt shakers next to each other on a shelf in the corner of the room.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          1.5            0              90             0
   1  Potato          0.294          0.959          0.534          0              0              0              81
   2  DishSponge      1.670          0.552          2.482          0              0              0              84
   3  DishSponge      1.557          0.913          -1.095         0              0              0              64
   4  WineBottle      1.947          1.658          -1.802         0              270            0              54
   5  WineBottle      -0.737         0.112          -1.917         0              0              0              57
   6  Spatula         1.738          0.928          -1.797         0              0              0              64
   7  Fork            -0.064         0.765          -2.026         0              0              0              76
   8  Fork            0.294          0.927          1.220          0              0              0              81
   9  Cup             1.771          0.881          2.510          0              0              0              90
  10  Cup             -1.495         1.504          -0.392         0              90             0              72
  11  Plate           1.828          0.916          -1.212         0              0              0              64
  12  Knife           1.153          0.936          -2.085         0              0              0              64
  13  Knife           -0.047         0.950          1.220          0              180            0              81
  14  SoapBottle      1.913          1.656          -1.281         0              270            0              55
  15  Bowl            -0.283         0.761          -2.071         0              0              0              76
  16  SaltShaker      -0.657         0.108          -2.005         0              0              0              57
  17  SaltShaker      1.690          0.116          -1.463         0              270            0              56
  18  SaltShaker      -0.230         0.909          -1.713         0              0              0              64
  19  PepperShaker    0.408          0.926          0.534          0              0              0              81
  20  Bread           -0.047         0.975          0.762          0              0              0              81
  21  Mug             -1.380         0.854          -1.013         0              90             0              72
  22  Apple           -1.219         1.086          -1.846         0              90             0              70
  23  Potato          0.180          0.959          0.762          0              0              0              81
  24  Bowl            -1.495         1.180          -0.599         0              90             0              72
  25  SoapBottle      1.466          0.912          -1.446         0              0              0              64
  26  Fork            1.618          0.914          -2.085         0              180            0              64
  27  Ladle           0.384          1.703          -2.162         0              0              0              53
  28  Bread           0.399          0.964          0.110          0              0              1.601          81
  29  Lettuce         -0.160         1.011          1.448          0              0              0              81
  30  WineBottle      -0.160         0.931          0.305          0              0              0              81
  31  Spatula         -0.346         0.928          -1.713         0              0              0              64
  32  Plate           1.359          0.556          2.431          0              0              0              84
  33  SaltShaker      -0.890         0.909          -2.115         0              0              0              64
  34  Pot             1.567          0.948          -0.757         0              0              0              46
  35  Cup             -1.438         1.183          -0.392         0              90             0              72
  36  PepperShaker    -0.047         0.926          0.305          0              0              0              81
  37  Pan             1.845          0.948          -0.757         0              0              0              61
  38  ButterKnife     0.119          0.913          -1.713         0              0              0              64
  39  Tomato          -1.438         1.235          -0.806         0              90             0              72
  40  DishSponge      1.362          0.880          2.510          0              0              0              84
  41  Egg             -1.317         1.069          -1.794         0              90             0              70
  42  Spoon           0.377          0.9            -1.968         0              0              0              64
  43  Knife           0.066          0.950          0.991          0              180            0              81
  44  Mug             -1.495         1.178          -1.013         0              90             0              72
  45  StoveBurner     1.845          0.940          -0.355         0              0              0
  46  StoveBurner     1.567          0.940          -0.757         0              0              0
  47  Cabinet         -1.149         2.019          -1.979         0              90             0
  48  Cabinet         -1.149         2.265          -0.834         0              90             0
  49  Cabinet         -0.459         2.265          -2.0           0              0              0
  50  Cabinet         -1.100         2.019          -2.0           0              0              0
  51  Cabinet         1.719          2.019          -2.0           0              0              0
  52  Cabinet         1.179          2.019          -2.0           0              0              0
  53  Cabinet         0.199          2.019          -2.0           0              0              0
  54  Cabinet         1.75           2.019          -1.399         0              270            0
  55  Cabinet         1.75           2.019          -1.029         0              270            0
  56  Cabinet         1.379          0.469          -1.689         0              0              0
  57  Cabinet         -0.819         0.469          -1.689         0              0              0
  58  Cabinet         1.389          0.469          -1.059         0              270            0
  59  Cabinet         -0.839         0.469          -1.665         0              90             0
  60  StoveBurner     1.567          0.940          -0.355         0              0              0
  61  StoveBurner     1.845          0.940          -0.757         0              0              0
  62  Sink            -0.109         0.893          -2.009         0              0              0
  63  Drawer          -0.819         0.75           -1.690         0              0              0
  64  CounterTop      0.232          0.949          -2.002         0              0              0
  65  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  66  Vase            0.251          0.546          0.475          0              270            0
  67  Toaster         0.780          0.900          -2.080         0              0              0
  68  LightSwitch     0.108          1.315          2.75           0              180            0
  69  Vase            0.400          0.925          0.218          0              180            0
  70  Microwave       -1.233         0.900          -1.680         0              90             0
  71  Vase            1.465          1.662          -2.200         0              0              0
  72  Fridge          -1.495         0.0            -0.703         0              0              0
  73  Window          2.114          1.495          1.072          90             270            0
  74  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  75  Vase            0.333          0.546          1.272          0              270            0
  76  SinkBasin       -0.148         0.753          -2.026         0              0              0
  77  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  78  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  79  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  80  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  81  DiningTable     0.170          0.005          0.678          0              270            0
  82  Shelf           0.170          0.155          0.678          0              270            0
  83  Shelf           1.605          0.172          2.480          0              0              0
  84  Shelf           1.605          0.552          2.480          0              0              0
  85  Shelf           1.604          0.880          2.479          0              0              0
  86  ShelvingUnit    1.605          0.006          2.480          0              0              0
  87  Faucet          -0.143         1.028          -2.223         0              270            0
  88  Stool           -0.553         0.000          0.871          1.233          280.376        0
  89  Shelf           0.170          0.528          0.678          0              270            0
  90
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: Turn right, walk past the stool across the room to the counter | STEP 2: Pick up the salt shaker on the counter next to the microwave. | STEP 3: Turn left and walk to the stove. Turn left and walk to the shelves across the room. | STEP 4: Set the salt shaker down on the middle shelf between the plate and the sponge | STEP 5: Turn around and walk back over to the counter behind you and follow it back to the refrigerator. | STEP 6: Turn to your left and open the cabinet under the drawer and take the salt shaker out of the cabinet. | STEP 7: Turn left and walk to the stove and then turn left and walk to the shelves. | STEP 8: Set the salt shaker down on the second shelf in front of the sponge. | END