Task: Put a shaker on a shelf.

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          0.75           0              270            0
   1  Pan             1.845          0.948          -0.757         0              0              0              55
   2  Potato          -0.137         0.793          -2.116         0              0              0              70
   3  Potato          -1.380         0.888          -0.599         0              90             0              66
   4  Ladle           0.180          0.971          0.305          0              180            0              75
   5  ButterKnife     0.180          0.926          0.991          0              0              0              75
   6  Pot             1.567          0.948          -0.757         0              0              0              40
   7  Spoon           -0.668         0.914          -2.167         0              0              0              58
   8  Plate           1.218          0.122          -1.968         0              0              0              50
   9  Tomato          -1.553         0.911          -0.392         0              90             0              66
  10  SoapBottle      -0.047         0.929          0.305          0              0              0              75
  11  SoapBottle      0.522          0.925          0.762          0              0              0              75
  12  Lettuce         -0.160         1.011          0.305          0              0              0              75
  13  Lettuce         0.066          1.011          0.534          0              0              0              75
  14  SaltShaker      1.771          0.877          2.456          0              0              0              79
  15  SaltShaker      0.066          0.923          0.762          0              0              0              75
  16  Apple           0.008          0.835          -2.026         0              0              0              70
  17  Potato          -1.438         1.212          -0.495         0              90             0              66
  18  Bowl            -0.160         0.923          1.220          0              0              0              75
  19  SoapBottle      -1.313         2.146          -1.202         0              90             0              42
  20  Fork            0.408          0.931          0.762          0              90             0              75
  21  Ladle           1.850          0.957          -1.918         0              0              0              58
  22  Bread           0.399          0.964          0.110          0              0              1.601          75
  23  Lettuce         0.180          1.011          1.448          0              0              0              75
  24  WineBottle      1.464          0.881          2.483          0              0              0              79
  25  Spatula         0.002          0.928          -1.725         0              0              0              58
  26  Plate           -1.495         1.187          -0.703         0              90             0              66
  27  SaltShaker      1.218          0.115          -1.753         0              0              0              50
  28  Pot             0.294          0.928          1.220          0              0              0              75
  29  Cup             -1.380         0.859          -1.013         0              90             0              66
  30  PepperShaker    -0.160         0.926          0.762          0              0              0              75
  31  Pan             0.294          0.930          0.534          0              270            0              75
  32  ButterKnife     1.850          0.913          -2.169         0              0              0              58
  33  Tomato          -1.553         0.911          -1.013         0              90             0              66
  34  DishSponge      1.958          0.086          0.044          0              0              0              59
  35  Egg             1.557          0.967          -1.095         0              0              0              58
  36  Spoon           0.235          0.914          -1.737         0              0              0              58
  37  Knife           0.408          0.950          0.991          0              180            0              75
  38  Mug             1.773          0.548          2.586          0              0              0              84
  39  StoveBurner     1.845          0.940          -0.355         0              0              0
  40  StoveBurner     1.567          0.940          -0.757         0              0              0
  41  Cabinet         -1.149         2.019          -1.979         0              90             0
  42  Cabinet         -1.149         2.265          -0.834         0              90             0
  43  Cabinet         -0.459         2.265          -2.0           0              0              0
  44  Cabinet         -1.100         2.019          -2.0           0              0              0
  45  Cabinet         1.719          2.019          -2.0           0              0              0
  46  Cabinet         1.179          2.019          -2.0           0              0              0
  47  Cabinet         0.199          2.019          -2.0           0              0              0
  48  Cabinet         1.75           2.019          -1.399         0              270            0
  49  Cabinet         1.75           2.019          -1.029         0              270            0
  50  Cabinet         1.379          0.469          -1.689         0              0              0
  51  Cabinet         -0.819         0.469          -1.689         0              0              0
  52  Cabinet         1.389          0.469          -1.059         0              270            0
  53  Cabinet         -0.839         0.469          -1.665         0              90             0
  54  StoveBurner     1.567          0.940          -0.355         0              0              0
  55  StoveBurner     1.845          0.940          -0.757         0              0              0
  56  Sink            -0.109         0.893          -2.009         0              0              0
  57  Drawer          -0.819         0.75           -1.690         0              0              0
  58  CounterTop      0.232          0.949          -2.002         0              0              0
  59  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  60  Vase            0.251          0.546          0.475          0              270            0
  61  Toaster         0.780          0.900          -2.080         0              0              0
  62  LightSwitch     0.108          1.315          2.75           0              180            0
  63  Vase            0.400          0.925          0.218          0              180            0
  64  Microwave       -1.233         0.900          -1.680         0              90             0
  65  Vase            1.465          1.662          -2.200         0              0              0
  66  Fridge          -1.495         0.0            -0.703         0              0              0
  67  Window          2.114          1.495          1.072          90             270            0
  68  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  69  Vase            0.333          0.546          1.272          0              270            0
  70  SinkBasin       -0.148         0.753          -2.026         0              0              0
  71  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  72  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  73  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  74  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  75  DiningTable     0.170          0.005          0.678          0              270            0
  76  Shelf           0.170          0.155          0.678          0              270            0
  77  Shelf           1.605          0.172          2.480          0              0              0
  78  Shelf           1.605          0.552          2.480          0              0              0
  79  Shelf           1.604          0.880          2.479          0              0              0
  80  ShelvingUnit    1.605          0.006          2.480          0              0              0
  81  Faucet          -0.143         1.028          -2.223         0              270            0
  82  Stool           -0.553         0.000          0.871          1.233          280.376        0
  83  Shelf           0.170          0.528          0.678          0              270            0
  84
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Go left and the right and right again to face the white table. | STEP 2: Pick the shaker up that is close to the edge of the counter. | STEP 3: Go left and then right to face the brown shelves. | STEP 4: Put the shaker on the shelf. | END