Task: get salt shaker from island to put away on shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          0.0            0              90             0
   1  Potato          -1.252         1.044          -1.638         0              90             0              70
   2  Pot             1.567          0.948          -0.757         0              0              0              46
   3  Fork            -0.064         0.765          -1.981         0              0              0              76
   4  Fork            0.294          0.931          0.305          0              0              0              81
   5  Egg             -0.064         0.818          -2.161         0              0              0              76
   6  Cup             1.256          0.119          -1.914         0              0              0              56
   7  Plate           0.444          1.662          -2.162         0              0              0              53
   8  Knife           0.522          0.953          0.076          0              270            0              81
   9  Knife           1.850          0.936          -2.085         0              0              0              64
  10  Tomato          1.828          0.965          -1.329         0              0              0              64
  11  SoapBottle      -0.346         0.912          -1.725         0              0              0              64
  12  SoapBottle      -0.772         0.912          -2.167         0              0              0              64
  13  Bowl            0.294          0.927          0.534          0              0              0              81
  14  Bowl            0.522          0.927          0.305          0              0              0              81
  15  Lettuce         -1.438         1.264          -0.702         0              90             0              72
  16  Lettuce         0.180          1.008          1.220          0              0              0              81
  17  SaltShaker      -1.316         1.655          -1.667         0              90             0              47
  18  SaltShaker      -0.657         0.108          -1.785         0              0              0              57
  19  PepperShaker    1.748          0.116          -1.200         0              270            0              56
  20  Mug             1.913          1.653          -1.117         0              270            0              55
  21  Mug             -1.284         2.142          -1.056         0              90             0              48
  22  Apple           -1.495         1.575          -0.392         0              90             0              72
  23  Potato          1.828          0.942          -1.563         0              0              0              64
  24  Bowl            1.871          1.654          -1.802         0              270            0              54
  25  SoapBottle      1.566          0.879          2.537          0              0              0              85
  26  Fork            0.408          0.927          0.991          0              0              0              81
  27  Ladle           1.572          0.164          -1.332         0              270            0              58
  28  Bread           0.066          0.975          0.762          0              0              0              81
  29  Lettuce         0.180          1.011          1.448          0              0              0              81
  30  WineBottle      0.408          0.931          0.076          0              0              0              81
  31  Spatula         0.522          0.941          0.762          0              0              0              81
  32  Plate           0.066          0.934          0.305          0              0              0              81
  33  SaltShaker      1.670          0.549          2.327          0              0              0              84
  34  Pot             -1.495         0.857          -0.806         0              180            0              72
  35  Cup             1.557          0.913          -1.212         0              0              0              64
  36  PepperShaker    -0.160         0.923          0.762          0              0              0              81
  37  Pan             1.824          0.945          -0.346         0              0              0              45
  38  ButterKnife     0.921          0.913          -1.834         0              0              0              64
  39  Tomato          -0.047         0.978          0.991          0              0              0              81
  40  DishSponge      -1.000         0.913          -2.115         0              0              0              64
  41  Egg             -0.210         0.818          -2.116         0              0              0              76
  42  Spoon           -0.283         0.765          -2.026         0              0              0              76
  43  Knife           -0.047         0.953          1.220          0              180            0              81
  44  Mug             -0.210         0.759          -1.981         0              0              0              76
  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  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: turn right, turn right, walk towards fridge, turn right, walk forward, stop to face island on the right | STEP 2: pick up salt shaker that is on the island | STEP 3: turn left, walk forward, turn right, turn right, turn left to face shelves | STEP 4: put salt shaker on to the shelf | END