Task: To put two shaker on the kitchen table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          2.25           0              0              0
   1  Pan             1.562          0.988          3.848          0              0              0              55
   2  Potato          1.135          1.027          4.624          0              0              0              62
   3  DishSponge      1.135          0.992          4.762          0              0              0              62
   4  ButterKnife     -0.459         0.992          0.303          0              0              0              61
   5  ButterKnife     -0.549         0.772          0.451          0              0              0              57
   6  Spoon           -0.003         0.761          6.354          0              270            0              97
   7  Spoon           1.236          0.772          3.291          0              0              0              54
   8  Spatula         -0.278         0.786          0.620          0              270            0              57
   9  Fork            1.293          0.771          4.753          0              270            0              51
  10  Cup             2.009          1.511          5.626          0              270            0              83
  11  Cup             -0.552         0.140          0.506          0              0              0              69
  12  Knife           0.192          0.801          0.507          0              0              0              58
  13  Knife           1.387          0.920          2.576          0              270            0              84
  14  Tomato          -0.034         0.809          6.169          0              0              0              97
  15  Bowl            -0.467         0.759          6.604          0              270            0              97
  16  Bowl            1.314          0.140          4.724          0              0              0              63
  17  PepperShaker    1.582          0.987          3.417          0              0              0              61
  18  PepperShaker    -0.459         0.987          0.486          0              0              0              61
  19  PepperShaker    1.358          2.202          3.840          0              0              0              65
  20  SaltShaker      1.621          2.202          3.654          0              0              0              52
  21  Bread           -0.611         1.062          0.395          0              0              0              61
  22  Mug             -0.034         0.755          6.941          0              0              0              97
  23  Mug             0.305          0.755          6.479          0              270            0              97
  24  Apple           0.064          1.171          0.180          0              0              0              77
  25  Apple           2.009          1.590          5.251          0              270            0              83
  26  Bowl            2.009          1.514          6.001          0              270            0              83
  27  Bread           0.104          0.829          6.653          0              225            0              97
  28  Egg             0.256          0.810          6.240          0              135            0              97
  29  Knife           0.803          0.802          0.507          0              0              0              53
  30  Fork            0.123          0.760          6.107          0              135            0              97
  31  Apple           -0.096         0.834          6.787          0              0              0              97
  32  Kettle          -0.344         0.145          0.506          0              0              0              69
  33  Plate           1.403          0.993          0.440          0              0              0              61
  34  SaltShaker      0.897          1.574          0.251          0              0              0              75
  35  Lettuce         -0.574         0.848          6.240          0              225            0              97
  36  SoapBottle      -0.308         0.992          0.578          0              0              0              61
  37  Spatula         -0.481         0.786          0.563          0              0              0              57
  38  PaperTowelRoll  1.403          1.096          3.137          0              0              0              61
  39  Pot             0.734          0.981          0.38           0              0              0              61
  40  Potato          -0.284         0.794          6.941          0              0              0              97
  41  ButterKnife     -0.481         0.771          0.563          0              90             0              57
  42  PepperShaker    1.135          0.987          3.231          0              0              0              61
  43  Pan             1.32           0.988          3.848          0              0              0              60
  44  Tomato          1.442          0.940          2.679          0              90             0              84
  45  DishSponge      1.657          0.140          2.233          0              0              0              73
  46  Cup             0.923          0.988          0.578          0              0              0              61
  47  Spoon           -0.180         0.761          6.677          0              135            0              97
  48  Mug             -0.312         0.755          6.354          0              270            0              97
  49  Cabinet         1.307          2.455          4.360          0              0              0
  50  Cabinet         1.054          0.422          1.710          0              0              0
  51  Drawer          1.280          0.808          4.718          0              0              0
  52  Cabinet         1.307          2.455          3.607          0              0              0
  53  Drawer          0.736          0.802          0.521          0              0              0
  54  Drawer          1.276          0.802          3.291          0              0              0
  55  StoveBurner     1.562          0.982          3.848          0              0              0
  56  StoveBurner     1.317          0.982          4.294          0              0              0
  57  Drawer          -0.482         0.802          0.521          0              0              0
  58  Drawer          0.124          0.802          0.521          0              0              0
  59  StoveBurner     1.559          0.982          4.294          0              0              0
  60  StoveBurner     1.320          0.982          3.848          0              0              0
  61  CounterTop      1.391          1.028          0.897          0              0              0
  62  CounterTop      1.391          1.028          4.716          0              0              0
  63  Cabinet         1.054          0.422          4.548          0              0              0
  64  Cabinet         1.317          2.134          0.517          0              0              0
  65  Cabinet         1.317          2.134          4.889          0              0              0
  66  Cabinet         1.317          2.134          3.095          0              0              0
  67  Cabinet         0.443          0.422          0.743          0              0              0
  68  Cabinet         1.270          2.134          0.434          0              0              0
  69  Cabinet         -0.775         0.422          0.743          0              0              0
  70  Cabinet         -0.168         0.422          0.743          0              0              0
  71  Cabinet         1.317          2.134          1.534          0              0              0
  72  Cabinet         1.054          0.422          2.990          0              0              0
  73  Cabinet         1.054          0.422          2.944          0              0              0
  74  Cabinet         -0.263         2.134          0.434          0              0              0
  75  Cabinet         0.252          2.134          0.434          0              0              0
  76  Sink            1.391          1.006          2.326          0              0              0
  77  Microwave       0.108          0.981          0.262          0              0              0
  78  HousePlant      -0.165         0.826          6.444          0              0              0
  79  CoffeeMachine   1.551          0.982          0.953          0              270            0
  80  Toaster         1.473          0.981          4.715          0              270            0
  81  Window          -2.065         1.916          3.626          90             90             0
  82  Window          1.763          2.007          2.299          90             270            0
  83  Fridge          2.035          0.0            5.625          0              0              0
  84  SinkBasin       1.387          0.880          2.338          0              90             0
  85  GarbageCan      2.001          -0.044         6.503          0              0              0
  86  StoveKnob       1.140          0.934          3.987          45             270            0
  87  StoveKnob       1.140          0.934          4.309          45             270            0
  88  StoveKnob       1.140          0.934          4.140          45             270            0
  89  StoveKnob       1.140          0.934          3.824          45             270            0
  90  Vase            -0.226         0.834          6.993          0              0              0
  91  Vase            2.098          0.043          7.070          0              257.232        0
  92  Vase            -0.594         0.835          6.130          0              225            0
  93  LightSwitch     -2.0           1.549          6.045          0              90             0
  94  Safe            2.046          1.072          7.054          0              257.232        0
  95  Faucet          1.534          1.025          2.371          0              294.391        0
  96  Blinds          1.738          2.563          2.312          0              90             0
  97  DiningTable     -0.156         0.000          6.474          0              0              0
  98  Chair           0.291          0.002          6.142          0              310.162        0
  99  GarbageBag      -1.092         0.318          0.268          270            90             83.492
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: Take a step forward and turn to the right and walk forward to face the counter to the right of the sink. | STEP 2: Pick up the shaker on the counter. | STEP 3: Turn left and walk across the room then turn left to face the kitchen table. | STEP 4: Place the shaker on the kitchen table to the left of the cup. | STEP 5: Turn left and walk halfway across the room, then turn left to face the counter. | STEP 6: Pick up the shaker on the counter. | STEP 7: Turn left and walk across the room then turn left to face the kitchen table. | STEP 8: Place the shaker on the kitchen table to the right of the cup. | END