Task: Place salt shakers in a cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.908          0.0            0              180            0
   1  DishSponge      1.200          0.885          2.477          0              0              0              100
   2  DishSponge      0.086          0.116          -0.446         0              0              0              63
   3  Glassbottle     1.263          2.157          0.511          0              0              0              59
   4  Kettle          -1.012         0.750          2.273          0              0              0              49
   5  Spoon           -0.144         0.759          -0.612         0              0              0              95
   6  Fork            1.450          0.886          2.692          0              90             0              100
   7  Fork            -1.197         0.750          2.830          0              0              0              49
   8  Spatula         1.200          0.901          2.692          0              0              0              100
   9  Pot             0.502          0.939          -0.740         0              90             0              75
  10  Egg             1.444          0.945          0.706          0              0              0              68
  11  Egg             -1.383         0.783          2.830          0              0              0              49
  12  Cup             -1.320         0.750          0.778          0              90             0              88
  13  Cup             -1.206         1.420          0.988          0              90             0              88
  14  Knife           1.286          0.933          -0.144         0              0              0              68
  15  Tomato          1.207          0.961          0.139          0              0              0              68
  16  SoapBottle      1.297          1.661          0.253          0              0              0              50
  17  Bread           -1.012         0.813          2.644          0              0              0              49
  18  PepperShaker    -1.383         0.745          2.459          0              0              0              49
  19  PepperShaker    -1.290         0.745          2.459          0              0              0              49
  20  Mug             -1.475         0.743          2.459          0              0              0              49
  21  Apple           -1.329         1.075          -0.109         0              90             0              94
  22  Apple           -1.433         0.972          -0.907         0              0              0              74
  23  Bread           1.367          0.949          2.261          0              0              0              100
  24  Glassbottle     -1.320         0.751          1.302          0              90             0              88
  25  Fork            -1.012         0.750          1.902          0              0              0              49
  26  Kettle          1.034          0.887          2.153          0              0              0              100
  27  Tomato          1.357          0.135          1.440          0              0              0              89
  28  Plate           0.994          2.156          -0.787         0              0              0              52
  29  CellPhone       1.099          0.773          0.403          0              0              0              82
  30  Lettuce         -1.383         0.820          2.644          0              0              0              49
  31  Pot             0.802          0.939          -0.740         0              90             0              77
  32  SoapBottle      -1.264         0.118          0.289          0              180            0              71
  33  WineBottle      -1.060         0.913          -0.817         0              0              0              74
  34  Spatula         1.286          0.926          0.139          0              180            0              68
  35  Bowl            -0.503         0.910          -0.509         0              0              0              74
  36  Apple           -0.968         0.972          -0.828         0              0              0              74
  37  Cup             -0.082         0.757          -0.573         0              0              0              95
  38  Knife           1.117          0.908          2.369          0              0              0              100
  39  Egg             -1.206         0.785          1.197          0              90             0              88
  40  SaltShaker      0.238          0.908          -0.933         0              0              0              74
  41  PepperShaker    -0.813         0.908          -0.589         0              0              0              74
  42  Potato          -1.320         1.681          1.086          0              90             0              88
  43  ButterKnife     -1.105         0.749          3.015          0              0              0              49
  44  DishSponge      0.103          0.758          -0.533         0              0              0              95
  45  Pan             -1.332         0.9            -0.699         0              345.0          0              74
  46  Spoon           0.041          0.759          -0.651         0              0              0              95
  47  SprayBottle     -0.170         0.116          -0.533         0              0              0              63
  48  Mug             -1.278         0.907          -0.430         0              0              0              74
  49  DiningTable     -1.182         0.006          2.414          0              90             0
  50  Cabinet         1.184          2.059          0.375          0              0              0
  51  Cabinet         1.184          2.059          -0.635         0              0              0
  52  Cabinet         0.591          2.309          -0.645         0              0              0
  53  Cabinet         -0.574         2.059          -0.644         0              0              0
  54  Cabinet         -1.103         2.059          -0.644         0              0              0
  55  Cabinet         -1.185         2.059          -0.331         0              0              0
  56  Cabinet         -1.185         2.059          -0.281         0              0              0
  57  Cabinet         -1.185         2.059          0.375          0              0              0
  58  Cabinet         1.184          2.309          1.174          0              0              0
  59  Cabinet         1.184          2.309          0.424          0              0              0
  60  Cabinet         0.988          0.402          0.581          0              0              0
  61  Cabinet         0.988          0.402          0.531          0              0              0
  62  Cabinet         0.988          0.402          -0.178         0              0              0
  63  Cabinet         0.335          0.402          -0.348         0              0              0
  64  Cabinet         -0.374         0.402          -0.348         0              0              0
  65  Cabinet         0.988          0.402          1.231          0              0              0
  66  Cabinet         -1.185         2.309          1.374          0              0              0
  67  Cabinet         -1.185         2.309          0.424          0              0              0
  68  CounterTop      1.274          0.947          0.064          0              0              0
  69  Drawer          1.116          0.792          -0.015         0              0              0
  70  Drawer          -1.116         0.792          0.210          0              180            0
  71  Cabinet         -0.990         0.402          0.374          0              180            0
  72  Drawer          -1.116         0.792          -0.170         0              180            0
  73  Cabinet         -0.990         0.402          -0.335         0              180            0
  74  CounterTop      -1.001         0.947          -0.669         0              0              0
  75  StoveBurner     0.502          0.932          -0.740         0              90             0
  76  StoveBurner     0.801          0.932          -0.473         0              0              0
  77  StoveBurner     0.801          0.932          -0.740         0              90             0
  78  Drawer          1.116          0.792          1.081          0              0              0
  79  Sink            -0.013         0.912          -0.615         0              0              0
  80  Drawer          1.116          0.792          0.732          0              0              0
  81  StoveBurner     0.502          0.932          -0.469         0              0              0
  82  Drawer          1.116          0.792          0.367          0              0              0
  83  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  84  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  85  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  86  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  87  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  88  Fridge          -1.300         0.008          0.987          0              90             0
  89  GarbageCan      1.296          -0.024         1.465          0              0              0
  90  Window          -0.012         1.641          -0.972         90             0              0
  91  Window          1.598          1.646          2.489          90             270            0
  92  Toaster         1.356          0.900          1.044          0              270            0
  93  LightSwitch     0.118          1.353          3.799          0              180            0
  94  Microwave       -1.343         0.900          0.053          0              90             0
  95  SinkBasin       -0.029         0.748          -0.612         0              0              0
  96  Faucet          -0.026         0.927          -0.808         0              0              0
  97  Shelf           -1.182         0.127          2.414          0              90             0
  98  Stool           1.140          0.007          3.262          1.206          20.753         0
  99  Shelf           -1.182         0.435          2.414          0              90             0
 100  DiningTable     1.169          0.014          2.569          0              0              1.896
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: Take a step to the right and face the counter to the right of the sink | STEP 2: Pick up the salt shaker that is on the counter | STEP 3: Turn around and walk to the fridge then take a right and talk to the counter across the room | STEP 4: Open the second cabinet from the left and place the salt shaker in the cabinet then shut the door | STEP 5: Turn around and walk to the white table across the room | STEP 6: Pick up the left salt shaker | STEP 7: Turn to your left and walk to the fridge the turn left and walk to the counter across the room | STEP 8: Open the second cabinet from the left and then place the salt shaker to the right of the salt shaker that's already there then close the door | END