Task: Place two salt shakers the middle shelf of a wooden 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           1.25           0.900          1.25           0              90             0
   1  Potato          -1.000         0.942          -2.188         0              0              0              68
   2  Potato          -1.380         1.212          -0.599         0              90             0              76
   3  Ladle           1.528          1.704          -2.162         0              0              0              55
   4  DishSponge      1.985          1.657          -1.737         0              270            0              58
   5  WineBottle      -0.772         0.914          -2.167         0              0              0              68
   6  Spoon           0.408          0.928          0.076          0              0              0              85
   7  Spoon           1.557          0.914          -1.329         0              0              0              68
   8  Egg             -1.610         1.558          -0.910         0              90             0              76
   9  Cup             0.294          0.930          0.991          0              0              0              85
  10  Cup             0.408          0.930          1.220          0              0              0              85
  11  Plate           -1.438         1.187          -0.910         0              90             0              76
  12  Plate           -1.495         0.862          -0.599         0              90             0              76
  13  Knife           0.180          0.950          0.534          0              90             0              85
  14  Knife           -0.210         0.787          -2.026         0              180            0              80
  15  Tomato          0.522          0.978          0.305          0              0              0              85
  16  SoapBottle      0.457          0.912          -1.751         0              0              0              68
  17  SoapBottle      1.738          0.912          -1.446         0              0              0              68
  18  Bowl            1.828          0.910          -1.212         0              0              0              68
  19  Lettuce         -0.160         1.011          0.305          0              0              0              85
  20  SaltShaker      0.066          0.926          0.076          0              0              0              85
  21  SaltShaker      0.066          0.926          1.448          0              0              0              85
  22  SaltShaker      -1.277         1.655          -1.604         0              90             0              51
  23  PepperShaker    -0.890         0.909          -2.151         0              0              0              68
  24  PepperShaker    2.009          0.909          -1.446         0              0              0              68
  25  Bread           0.066          0.975          0.991          0              0              0              85
  26  Apple           -1.533         1.575          -0.392         0              90             0              76
  27  Potato          -1.610         1.533          -0.599         0              90             0              76
  28  Bowl            0.066          0.927          0.534          0              0              0              85
  29  SoapBottle      0.294          0.925          1.220          0              0              0              85
  30  Fork            -0.668         0.914          -2.200         0              0              0              68
  31  Ladle           0.408          0.971          0.991          0              0              0              85
  32  Bread           0.408          0.975          0.534          0              0              0              85
  33  Lettuce         0.522          1.008          0.076          0              0              0              85
  34  WineBottle      1.829          0.087          0.160          0              0              0              69
  35  Spatula         -0.627         0.9            -2.177         0              333.192        0              68
  36  Plate           1.631          0.123          -1.397         0              270            0              62
  37  SaltShaker      0.444          1.655          -2.200         0              0              0              57
  38  Pot             1.845          0.948          -0.355         0              0              0              49
  39  Cup             0.689          0.913          -1.751         0              0              0              68
  40  PepperShaker    -1.343         2.143          -1.129         0              90             0              52
  41  Pan             1.567          0.948          -0.757         0              0              0              50
  42  ButterKnife     -0.230         0.913          -1.750         0              0              0              68
  43  Tomato          -0.160         0.982          0.991          0              0              0              85
  44  DishSponge      -1.254         2.147          -0.983         0              90             0              52
  45  Egg             -0.283         0.818          -1.936         0              0              0              80
  46  Spoon           -0.963         0.914          -2.115         0              0              0              68
  47  Knife           0.180          0.953          1.448          0              0              0              85
  48  Mug             2.009          0.908          -1.680         0              0              0              68
  49  StoveBurner     1.845          0.940          -0.355         0              0              0
  50  StoveBurner     1.567          0.940          -0.757         0              0              0
  51  Cabinet         -1.149         2.019          -1.979         0              90             0
  52  Cabinet         -1.149         2.265          -0.834         0              90             0
  53  Cabinet         -0.459         2.265          -2.0           0              0              0
  54  Cabinet         -1.100         2.019          -2.0           0              0              0
  55  Cabinet         1.719          2.019          -2.0           0              0              0
  56  Cabinet         1.179          2.019          -2.0           0              0              0
  57  Cabinet         0.199          2.019          -2.0           0              0              0
  58  Cabinet         1.75           2.019          -1.399         0              270            0
  59  Cabinet         1.75           2.019          -1.029         0              270            0
  60  Cabinet         1.379          0.469          -1.689         0              0              0
  61  Cabinet         -0.819         0.469          -1.689         0              0              0
  62  Cabinet         1.389          0.469          -1.059         0              270            0
  63  Cabinet         -0.839         0.469          -1.665         0              90             0
  64  StoveBurner     1.567          0.940          -0.355         0              0              0
  65  StoveBurner     1.845          0.940          -0.757         0              0              0
  66  Sink            -0.109         0.893          -2.009         0              0              0
  67  Drawer          -0.819         0.75           -1.690         0              0              0
  68  CounterTop      0.232          0.949          -2.002         0              0              0
  69  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  70  Vase            0.251          0.546          0.475          0              270            0
  71  Toaster         0.780          0.900          -2.080         0              0              0
  72  LightSwitch     0.108          1.315          2.75           0              180            0
  73  Vase            0.400          0.925          0.218          0              180            0
  74  Microwave       -1.233         0.900          -1.680         0              90             0
  75  Vase            1.465          1.662          -2.200         0              0              0
  76  Fridge          -1.495         0.0            -0.703         0              0              0
  77  Window          2.114          1.495          1.072          90             270            0
  78  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  79  Vase            0.333          0.546          1.272          0              270            0
  80  SinkBasin       -0.148         0.753          -2.026         0              0              0
  81  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  82  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  83  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  84  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  85  DiningTable     0.170          0.005          0.678          0              270            0
  86  Shelf           0.170          0.155          0.678          0              270            0
  87  Shelf           1.605          0.172          2.480          0              0              0
  88  Shelf           1.605          0.552          2.480          0              0              0
  89  Shelf           1.604          0.880          2.479          0              0              0
  90  ShelvingUnit    1.605          0.006          2.480          0              0              0
  91  Faucet          -0.143         1.028          -2.223         0              270            0
  92  Stool           -0.553         0.000          0.871          1.233          280.376        0
  93  Shelf           0.170          0.528          0.678          0              270            0
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Turn left and walk over to the wooden shelving unit against the wall, then turn left again and walk to the closest end of the kitchen island. | STEP 2: Pick up the salt shaker that is closest to you off of the kitchen island. | STEP 3: Turn left and walk over to the wooden shelving unit in the corner of the room. | STEP 4: Place the salt shaker on the middle of the left side of the middle shelf. | STEP 5: Turn around and begin walking across the room, then turn left again and walk over to far side of the kitchen island where the second salt shaker is. | STEP 6: Pick up the salt shaker off of the edge of the kitchen island. | STEP 7: Turn right and walk back to the wooden shelving unit. | STEP 8: Place the salt shaker on the middle shelf just to the right of the salt shaker that is already there. | END