Task: put the salt into the cabinet that is under  the sink

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          0.869          -1.0           0              90             0
   1  Pan             -0.855         0.899          1.101          0              0              0              65
   2  Potato          -1.297         0.085          -3.537         0              270            0              54
   3  DishSponge      0.149          0.900          1.187          0              270            0              65
   4  DishSponge      0.732          0.015          -0.119         0              0              0              49
   5  ButterKnife     -0.051         0.900          1.101          0              270            0              65
   6  Spatula         -1.056         0.915          1.101          0              270            0              65
   7  Spatula         -1.886         0.716          -0.983         0              0              0              75
   8  Tomato          0.901          0.712          0.448          0              0              0              44
   9  Tomato          0.669          1.423          -1.957         0              270            0              59
  10  SoapBottle      -2.054         0.701          -1.091         0              0              0              75
  11  Bowl            0.949          1.462          -0.207         0              0              0              50
  12  Bowl            0.746          0.464          -2.113         0              270            0              59
  13  PepperShaker    0.961          0.661          0.630          0              0              0              44
  14  SaltShaker      -1.719         0.698          -1.091         0              0              0              75
  15  Lettuce         -0.252         0.987          1.101          0              270            0              65
  16  Apple           -1.224         0.105          -3.647         0              270            0              54
  17  Pot             -2.071         0.927          0.772          0              266.284        0              41
  18  Plate           -2.023         0.692          -1.447         0              0              0              75
  19  Fork            0.781          0.665          0.326          0              90             0              44
  20  SoapBottle      0.901          0.663          0.326          0              0              0              44
  21  Apple           0.715          0.826          -0.680         0              270            0              62
  22  Pan             -1.552         0.930          0.785          0              0              0              43
  23  Egg             0.721          0.702          0.326          0              0              0              44
  24  Spatula         0.574          0.775          -0.188         0              90             0              38
  25  Potato          0.679          0.218          -1.802         0              270            0              59
  26  Cup             0.708          1.373          -1.725         0              270            0              59
  27  SaltShaker      0.601          0.661          0.630          0              0              0              44
  28  PepperShaker    0.721          0.661          0.448          0              0              0              44
  29  ButterKnife     -1.719         0.701          -0.875         0              0              0              75
  30  DishSponge      -0.453         0.900          0.758          0              270            0              65
  31  Bread           -0.051         0.944          0.843          0              270            0              65
  32  Lettuce         0.746          0.751          -2.035         0              270            0              59
  33  Tomato          0.757          0.820          -0.790         0              270            0              62
  34  Spoon           0.866          0.761          -0.188         0              90             0              38
  35  Knife           0.781          0.687          0.569          0              180            0              44
  36  Mug             0.841          0.767          -0.680         0              90             0              62
  37  Bowl            0.903          1.462          0.473          0              0              0              51
  38  Drawer          0.706          0.766          -0.125         0              0              0
  39  CounterTop      0.792          0.919          -0.108         0              0              0
  40  Mirror          1.093          1.602          -0.643         0              0              0
  41  StoveBurner     -2.096         0.890          0.785          0              0              0
  42  Cabinet         0.507          0.345          -0.426         0              0              0
  43  StoveBurner     -1.552         0.890          0.785          0              0              0
  44  SideTable       0.770          -0.030         0.443          0              0              0
  45  Sink            0.753          0.882          -0.680         0              0              0
  46  StoveBurner     -2.096         0.890          1.049          0              0              0
  47  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  48  StoveBurner     -1.554         0.890          1.049          0              0              0
  49  Cabinet         0.507          0.345          0.156          0              0              0
  50  Cabinet         0.717          1.822          -0.398         0              0              0
  51  Cabinet         0.717          1.822          0.669          0              0              0
  52  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  53  Toaster         -0.522         0.886          1.081          0              180            0
  54  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  55  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  56  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  57  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  58  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  59  Fridge          0.680          -0.031         -1.957         0              0              0
  60  Window          -2.424         1.639          -2.453         90             270            0
  61  Microwave       -1.994         0.690          -3.651         0              0              0
  62  SinkBasin       0.757          0.762          -0.688         0              270            0
  63  LightSwitch     1.102          1.368          -3.737         0              270            0
  64  Shelf           -0.350         0.124          0.857          0              0              0
  65  DiningTable     -0.350         -0.025         0.857          0              0              0
  66  DiningTable     -1.909         -0.032         -3.507         0              0              0
  67  Blinds          -2.343         2.151          -2.437         0              270            0
  68  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  69  AluminumFoil    0.751          0.225          0.287          0              0              0
  70  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  71  Shelf           0.771          0.226          0.445          0              0              0
  72  Shelf           0.771          0.456          0.446          0              0              0
  73  Faucet          1.025          0.873          -0.678         270            180            0
  74  Shelf           -0.350         0.497          0.857          0              0              0
  75  DiningTable     -1.929         -0.035         -1.398         0              90             0
  76  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1:  turn and walk to the table  with the chair | STEP 2:  pick up the salt  that is on the table | STEP 3:  turn and walk to the sink  | STEP 4:   put the salt  into the cabinet that is under  the sink | STEP 5: turn to the little table  to the left of the sink | STEP 6: pick up the salt that is on the table | STEP 7: turn back to the sink  | STEP 8:   put the salt  into the cabinet that is under  the sink | END