Task: Putting salt shakers on a table

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          0.901          -0.75          0              180            0
   1  Potato          -0.158         1.056          -0.950         0              270            0              77
   2  DishSponge      -3.167         0.713          -0.797         0              225            0              84
   3  DishSponge      -3.082         0.746          -2.912         0              0              0              62
   4  ButterKnife     -2.733         0.713          -0.628         0              315            0              84
   5  Spoon           -2.865         0.718          -0.922         0              0              0              84
   6  Spoon           -0.854         0.914          -3.878         0              0              0              40
   7  Fork            -3.054         0.717          -0.483         0              225            0              84
   8  Fork            -2.928         0.717          -0.638         0              180            0              84
   9  Egg             -0.065         1.048          -0.802         0              270            0              77
  10  Cup             -3.079         1.399          -2.125         0              90             0              81
  11  Cup             -2.808         0.914          -3.952         0              0              0              40
  12  Plate           -3.275         1.866          -2.508         0              0              0              49
  13  Knife           -0.530         0.778          -0.685         0              90             0              66
  14  SoapBottle      -0.338         0.915          -0.524         0              0              0              67
  15  PepperShaker    -0.095         0.912          -0.524         0              0              0              67
  16  PepperShaker    -0.144         1.290          -1.201         0              0              0              46
  17  PepperShaker    -0.382         0.743          -1.253         0              0              0              63
  18  Apple           -3.346         0.956          -3.655         0              0              0              40
  19  Pot             -0.165         0.975          -2.030         0              180            0              71
  20  Egg             -1.569         0.826          -3.832         0              0              0              82
  21  Cup             -0.102         1.868          -1.942         0              0              0              58
  22  Bread           -0.327         0.948          -3.681         0              298.222        0              40
  23  Fork            -2.652         0.717          -0.105         0              225            0              84
  24  Pan             -0.376         0.975          -2.451         0              0              0              65
  25  Potato          -0.076         0.957          -2.911         0              0              0              40
  26  Lettuce         -1.369         0.983          -3.705         19.398         245.805        313.404        40
  27  Tomato          -3.234         1.063          -2.002         0              90             0              81
  28  Apple           -3.130         0.683          -2.002         0              90             0              81
  29  SoapBottle      -0.500         0.915          -1.677         0              0              0              67
  30  Spatula         -1.058         0.911          -3.804         358.871        0              0              40
  31  SaltShaker      -2.564         0.710          -0.797         0              135            0              84
  32  Knife           -2.765         0.749          -0.395         0              225            0              84
  33  PepperShaker    -0.102         1.864          -2.415         0              0              0              59
  34  ButterKnife     -0.095         0.916          -1.493         0              0              0              67
  35  Plate           -3.111         0.715          -0.652         0              225            0              84
  36  DishSponge      -3.292         0.716          -0.620         0              270            0              84
  37  Spoon           -0.530         0.747          -1.563         0              90             0              63
  38  Mug             -0.257         0.911          -1.616         0              0              0              67
  39  Bowl            -0.095         0.913          -1.370         0              0              0              67
  40  CounterTop      -1.789         0.949          -3.803         0              0              0
  41  Cabinet         -0.577         0.388          -3.476         0              0              0
  42  Cabinet         -0.605         0.388          -3.511         0              0              0
  43  Cabinet         -2.976         0.388          -3.201         0              0              0
  44  Cabinet         -0.577         0.388          -0.447         0              0              0
  45  Cabinet         -0.577         0.388          -1.725         0              0              0
  46  Cabinet         -0.226         1.803          -1.743         0              0              0
  47  Cabinet         -0.228         1.799          -0.447         0              0              0
  48  Cabinet         -6.010         1.139          -6.019         0              0              0
  49  Cabinet         -3.022         2.098          -2.681         0              0              0
  50  Cabinet         -3.022         2.098          -1.743         0              0              0
  51  Cabinet         -0.577         0.388          -2.736         0              0              0
  52  Cabinet         -3.232         1.803          -3.343         0              0              0
  53  Cabinet         -2.811         1.810          -3.764         0              0              0
  54  Cabinet         -1.233         1.810          -3.764         0              0              0
  55  Cabinet         -1.364         0.388          -3.511         0              0              0
  56  Cabinet         -1.380         0.388          -3.511         0              0              0
  57  Cabinet         -0.226         1.803          -2.725         0              0              0
  58  Cabinet         -0.236         2.098          -1.767         0              0              0
  59  Cabinet         -0.236         2.098          -2.705         0              0              0
  60  Cabinet         -0.193         1.210          -4.239         0              0              0
  61  Cabinet         -2.148         0.388          -3.511         0              0              0
  62  Drawer          -3.104         0.797          -2.968         0              0              0
  63  Drawer          -0.449         0.797          -1.410         0              0              0
  64  Sink            -1.786         0.902          -3.748         0              0              0
  65  StoveBurner     -0.376         0.936          -2.451         0              0              0
  66  Drawer          -0.449         0.797          -0.762         0              0              0
  67  CounterTop      -0.268         0.951          -1.089         0              0              0
  68  Drawer          -0.449         0.797          -3.348         0              0              0
  69  StoveBurner     -0.376         0.936          -2.031         0              180            0
  70  Drawer          -0.449         0.797          -2.968         0              0              0
  71  StoveBurner     -0.165         0.936          -2.030         0              180            0
  72  StoveBurner     -0.165         0.936          -2.450         0              0              0
  73  StoveKnob       -0.568         0.903          -2.313         45             270            0
  74  StoveKnob       -0.568         0.903          -2.470         45             270            0
  75  StoveKnob       -0.568         0.903          -2.166         45             270            0
  76  StoveKnob       -0.568         0.903          -2.003         45             270            0
  77  Microwave       -0.143         0.903          -0.908         0              270            0
  78  LightSwitch     -1.108         1.457          0.338          0              180            0
  79  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  80  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  81  Fridge          -3.188         0.0            -2.184         0              0              0
  82  SinkBasin       -1.786         0.779          -3.747         0              0              0
  83  Toaster         -0.230         0.903          -3.406         0              270            0
  84  DiningTable     -2.800         0.003          -0.505         0              0              0
  85  Chair           -3.044         0.003          -1.223         0              32.194         0
  86  Faucet          -1.791         1.136          -3.913         0              270            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Turn to your left and stand in front of the microwave | STEP 2: Open the cabinet that's on the top right of the microwave and grab the salt shaker | STEP 3: Turn around and head to the table | STEP 4: Place the salt shaker on the table to the left of the spoon | STEP 5: Turn to your right and head to the left of the microwave | STEP 6: Grab the salt shaker that's to the left of the microwave | STEP 7: Turn around and head to the table | STEP 8: Place the salt shaker on the table to the right of the spoon | END