Task: Place two salt shakers on black shelves next to counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.5           0.900          -1.75          0              90             0
   1  Pan             -0.222         0.961          -2.243         0              0              0              68
   2  Potato          -0.587         0.845          -3.279         0              315            0              78
   3  DishSponge      -0.529         0.813          -3.221         0              315            0              78
   4  DishSponge      -0.173         1.502          -3.052         0              0              0              61
   5  Fork            -4.002         0.691          -0.248         0              180            0              84
   6  Fork            -0.473         0.942          -2.552         0              0              0              49
   7  Spoon           -3.942         0.691          -0.430         0              0              0              84
   8  Spoon           -2.560         0.895          -0.376         0              90             0              86
   9  Spatula         -0.078         0.956          -1.362         0              270            0              67
  10  Spatula         -0.236         0.956          -1.494         0              0              0              67
  11  Cup             -1.471         0.943          -3.517         0              0              0              49
  12  Plate           -0.212         1.516          -1.449         0              0              0              60
  13  SoapBottle      -2.354         0.097          -3.505         0              0              0              74
  14  Tomato          -3.882         0.741          -0.430         0              0              0              84
  15  Tomato          -2.761         0.945          -0.633         0              270            0              86
  16  Bowl            -0.376         1.284          -0.645         0              270            0              79
  17  Bowl            -0.293         1.284          -0.994         0              270            0              79
  18  Bread           -3.364         0.976          -0.633         0              270            0              86
  19  Lettuce         -0.359         1.579          -0.878         0              270            0              79
  20  SaltShaker      -3.565         0.890          -0.376         0              270            0              86
  21  SaltShaker      -1.216         0.750          -3.447         0              0              0              55
  22  PepperShaker    -0.436         0.743          -1.375         0              0              0              53
  23  PepperShaker    -0.963         0.938          -3.702         0              45             0              49
  24  PepperShaker    -0.240         0.938          -3.015         0              45             0              49
  25  Mug             -1.025         0.937          -3.764         0              225            0              49
  26  Apple           -0.321         1.550          -0.413         0              270            0              79
  27  Apple           -3.975         0.821          -3.396         0              109.125        0              85
  28  SoapBottle      -3.163         0.892          -0.548         0              90             0              86
  29  Pot             -0.222         0.961          -1.845         0              180            0              51
  30  Fork            -0.583         0.747          -1.413         0              270            0              53
  31  Cup             -0.769         0.081          -3.321         0              45             0              64
  32  Tomato          -3.562         0.810          -3.084         0              244.125        0              85
  33  Pan             -3.429         0.758          -3.572         0              154.125        0              85
  34  Plate           -3.163         0.908          -0.204         0              270            0              86
  35  Bread           -2.560         0.976          -0.462         0              270            0              86
  36  Spatula         -0.818         0.828          -3.510         0              225            0              78
  37  Knife           -0.244         0.967          -2.788         0              0              0              49
  38  SaltShaker      -3.364         0.890          -0.376         0              270            0              86
  39  PepperShaker    -0.173         1.498          -2.700         0              0              0              59
  40  ButterKnife     -2.139         0.942          -3.673         0              90             0              49
  41  Apple           -3.474         0.821          -3.765         0              334.125        0              85
  42  DishSponge      -0.566         0.813          -3.415         0              315            0              78
  43  Potato          -3.882         0.722          -0.187         0              0              0              84
  44  Egg             -0.201         1.616          -1.831         0              270            0              81
  45  Spoon           -2.359         0.895          -0.204         0              270            0              86
  46  Lettuce         -4.062         0.781          -0.309         0              0              0              84
  47  Mug             -2.514         0.972          -3.649         0              0              0              75
  48  Bowl            -0.234         1.573          -2.043         0              270            0              81
  49  CounterTop      -1.937         0.977          -3.673         0              0              0
  50  StoveBurner     -0.437         0.924          -1.845         0              180            0
  51  StoveBurner     -0.222         0.924          -1.845         0              180            0
  52  StoveBurner     -0.437         0.924          -2.243         0              0              0
  53  Drawer          -0.500         0.779          -1.450         0              0              0
  54  Drawer          -0.481         0.777          -2.739         0              0              0
  55  Drawer          -1.154         0.782          -3.499         0              0              0
  56  Cabinet         -0.337         2.110          -0.390         0              0              0
  57  Cabinet         -0.337         2.110          -1.272         0              0              0
  58  Cabinet         -0.337         2.110          -1.631         0              0              0
  59  Cabinet         -0.337         2.110          -2.497         0              0              0
  60  Cabinet         -0.337         1.891          -1.286         0              0              0
  61  Cabinet         -0.346         1.891          -3.293         0              0              0
  62  Cabinet         -0.629         0.388          -2.513         0              0              0
  63  Cabinet         -0.633         0.388          -3.008         0              0              0
  64  Cabinet         -1.010         0.388          -3.368         0              0              0
  65  Cabinet         -0.629         0.388          -1.614         0              0              0
  66  Cabinet         -0.327         1.886          -2.513         0              0              0
  67  CounterTop      -0.326         0.976          -1.450         0              0              0
  68  StoveBurner     -0.222         0.924          -2.243         0              0              0
  69  Sink            -0.600         0.929          -3.388         0              0              0
  70  StoveKnob       -0.617         0.899          -1.833         315            90             180
  71  StoveKnob       -0.617         0.899          -2.129         315            90             180
  72  StoveKnob       -0.617         0.899          -2.289         315            90             180
  73  StoveKnob       -0.617         0.899          -1.975         315            90             180
  74  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  75  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  76  Window          -1.389         1.610          -4.113         90             0              0
  77  LightSwitch     -4.372         1.493          -1.031         0              90             0
  78  SinkBasin       -0.614         0.802          -3.384         0              315            0
  79  Fridge          -0.314         0.0            -0.646         0              0              0
  80  Toaster         -1.970         0.930          -3.763         0              0              0
  81  Microwave       -0.216         1.470          -2.054         0              270            0
  82  Blinds          -1.373         2.205          -3.961         0              0              0
  83  Faucet          -0.393         0.930          -3.614         270            225            0
  84  SideTable       -4.030         0.002          -0.301         0              185.034        0
  85  DiningTable     -3.586         0.000          -3.258         0              0              0
  86  DiningTable     -3.224         -0.003         -0.453         0              0              0
  87  Shelf           -4.030         0.259          -0.301         0              185.034        0
  88  Shelf           -4.030         0.489          -0.301         0              185.034        0
  89  EastWall
  90  EastWall
  91  SouthWall

Plan:
STEP 1: go to upper cabinet to the right of stove | STEP 2: open upper cabinet, pick up salt shaker, close cabinet | STEP 3: turn around, go to black shelves with green melon to the right | STEP 4: set salt on top shelf to the left of tomato | STEP 5: turn around, go to counter on left side of sink | STEP 6: pick up salt shaker to the left of sink | STEP 7: turn around, go to black shelves with green melon to the right | STEP 8: set salt on top shelf to the left of salt shaker | END