Task: To move two salt shakers to the cabinet.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            1.124          0.0            0              180            0
   1  Pan             0.506          1.322          -2.053         0              0              0              52
   2  Potato          0.563          1.362          -2.678         0              0              0              52
   3  DishSponge      1.025          0.742          0.682          0              0              0              82
   4  Fork            1.155          1.323          -2.053         0              0              0              52
   5  Fork            0.766          1.323          -2.794         0              0              0              52
   6  Spatula         0.563          1.337          -3.343         0              0              0              52
   7  Spatula         -1.660         1.337          -2.461         0              90             0              52
   8  Egg             -1.890         1.091          -0.405         0              0              0              70
   9  Egg             1.181          1.351          1.016          0              270            0              77
  10  Cup             1.095          1.754          2.171          0              270            0              65
  11  Cup             -1.749         0.341          0.211          0              0              0              50
  12  Knife           -1.790         1.352          -1.681         0              0              0              52
  13  Knife           -1.790         1.352          0.445          0              0              0              52
  14  Tomato          -1.530         1.356          0.445          0              0              0              52
  15  Bowl            -2.093         1.332          -1.186         0              0              0              59
  16  Bowl            -1.681         0.342          0.613          0              0              0              50
  17  SaltShaker      1.276          1.202          1.238          0              0              0              77
  18  SaltShaker      -1.730         0.417          -0.430         0              0              0              56
  19  Bread           -1.530         1.397          -2.721         0              0              0              52
  20  Bread           -1.401         1.397          2.069          0              0              0              52
  21  Lettuce         -2.049         1.399          1.094          0              0              0              52
  22  Mug             -1.818         0.338          1.627          0              0              0              53
  23  Mug             0.965          1.371          -1.534         0              270            0              73
  24  Bread           0.896          1.397          -2.424         0              0              0              52
  25  Pot             0.976          0.351          -2.267         0              180            0              51
  26  Knife           -1.826         1.358          -0.911         0              180            0              59
  27  Bowl            -1.886         0.342          1.420          0              0              0              53
  28  Potato          -1.660         1.362          -1.941         0              0              0              52
  29  SoapBottle      -1.614         0.344          0.311          0              0              0              50
  30  Fork            -2.049         1.323          2.069          0              0              0              52
  31  Cup             1.181          1.307          0.810          0              270            0              77
  32  Kettle          -1.691         1.310          -3.156         0              150.000        0              52
  33  Egg             1.246          1.351          0.965          0              270            0              77
  34  Pan             -0.630         1.331          -3.301         0              180            0              49
  35  SaltShaker      1.193          1.202          1.238          0              0              0              77
  36  WineBottle      -1.886         0.344          1.110          0              0              0              53
  37  Lettuce         -1.891         1.400          -1.073         1.017          0              355.727        59
  38  Spatula         -1.730         0.435          -0.495         0              180            0              56
  39  PaperTowelRoll  -1.610         0.384          2.316          0              270            0              67
  40  Tomato          -1.657         0.314          2.193          0              270            0              67
  41  Plate           -1.467         1.311          0.244          0              0              0              52
  42  PepperShaker    0.861          1.202          1.238          0              0              0              77
  43  DishSponge      -1.750         0.343          1.213          0              0              0              53
  44  Spoon           -2.018         1.053          -0.542         0              90             0              70
  45  Apple           -1.237         1.371          -2.760         0              0              0              52
  46  Mug             -1.451         1.318          -3.092         0              0              0              52
  47  StoveBurner     -0.239         1.325          -3.301         0              180            0
  48  Cabinet         -1.461         0.775          -2.002         0              0              0
  49  StoveBurner     -0.630         1.325          -3.301         0              180            0
  50  Cabinet         -1.461         0.775          0.470          0              0              0
  51  Cabinet         0.578          0.776          -2.054         0              0              0
  52  CounterTop      -1.809         1.358          1.182          0              0              0
  53  Cabinet         -1.461         0.775          1.310          0              0              0
  54  Faucet          -2.063         1.362          -0.726         0              39.391         0
  55  StoveBurner     -0.749         1.325          -2.973         0              0              0
  56  Drawer          -1.610         0.681          -0.430         0              0              0
  57  Window          -2.566         1.799          -0.822         270            0              0
  58  Drawer          -1.610         0.681          -1.217         0              0              0
  59  Sink            -1.990         1.143          -0.975         0              0              0
  60  StoveBurner     -0.125         1.325          -2.973         0              0              0
  61  StoveKnob       -0.185         1.338          -2.741         0              270            180
  62  StoveKnob       -0.336         1.338          -2.741         0              270            180
  63  StoveKnob       -0.569         1.338          -2.741         0              270            180
  64  StoveKnob       -0.707         1.338          -2.741         0              270            180
  65  Fridge          1.013          0.227          1.917          0              270            0
  66  Microwave       0.994          1.310          -2.163         0              270            0
  67  GarbageCan      -1.633         0.212          2.192          0              270            0
  68  LightSwitch     1.386          1.565          -0.657         0              270            0
  69  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  70  SinkBasin       -1.835         1.039          -0.542         0              0              0
  71  ButterKnife     0.873          0.468          0.651          0              0              0
  72  Toaster         -1.885         1.310          -2.512         0              90             0
  73  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  74  Drawer          0.647          1.061          0.680          0              270            0
  75  Drawer          0.648          1.061          1.020          0              270            0
  76  Drawer          0.648          0.843          1.020          0              270            0
  77  SideTable       0.975          0.220          0.869          0              270            0
  78  Drawer          0.648          0.602          0.680          0              270            0
  79  Drawer          0.648          0.596          1.020          0              270            0
  80  Drawer          0.648          0.843          0.680          0              270            0
  81  Stool           0.606          0.222          -1.084         1.233          280.489        0
  82
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Turn around and walk to the counter with the microwave on it on the right.  | STEP 2: Pick up the salt shaker from the counter to the left of the microwave.  | STEP 3: Turn around and face the cabinet below the counter with the loaf of bread on it.  | STEP 4: Open the cabinet door, place the salt shaker inside the cabinet, close the door.  | STEP 5: Turn around and walk back to the counter with the microwave on it.  | STEP 6: Pick up another salt shaker to the left of the microwave.  | STEP 7: Walk back over to the cabinet below the counter.  | STEP 8: Open the cabinet door, put the salt shaker in the cabinet to the left of the first one, and close the door.  | END