Task: Clean up salt shakers and put them on to the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.869          -3.0           0              90             0
   1  Potato          0.841          0.697          0.326          0              0              0              48
   2  DishSponge      -1.556         0.699          -3.361         0              0              0              70
   3  ButterKnife     0.781          0.664          0.387          0              0              0              48
   4  Spatula         0.803          0.898          -0.039         0              180            0              43
   5  Spoon           0.799          0.773          -0.570         0              270            0              66
   6  Pot             -2.097         0.930          1.049          0              0              0              50
   7  Egg             -1.151         0.088          -3.647         0              270            0              58
   8  Tomato          -1.803         0.750          -1.199         0              0              0              79
   9  SoapBottle      0.149          0.899          0.758          0              270            0              69
  10  SoapBottle      -1.578         0.699          -3.614         0              0              0              70
  11  Bowl            -1.056         0.899          1.187          0              270            0              69
  12  PepperShaker    0.994          1.460          0.411          0              0              0              55
  13  PepperShaker    0.676          0.012          -0.315         0              0              0              53
  14  SaltShaker      0.877          0.879          -0.245         0              0              0              43
  15  SaltShaker      0.661          0.660          0.630          0              0              0              48
  16  Bread           0.661          0.708          0.387          0              0              0              48
  17  Lettuce         0.708          0.751          -1.802         0              270            0              63
  18  Mug             -2.054         0.794          -3.640         0              0              0              65
  19  Apple           0.799          0.826          -0.790         0              270            0              66
  20  Apple           -1.556         0.750          -3.276         0              0              0              70
  21  Pot             -1.555         0.930          1.049          0              0              0              52
  22  Plate           -2.024         0.692          -1.447         0              0              0              79
  23  Fork            0.866          0.760          -0.252         0              90             0              42
  24  SoapBottle      0.901          0.663          0.448          0              0              0              48
  25  Apple           -1.719         0.755          -1.091         0              0              0              79
  26  Pan             0.740          -0.007         -0.596         0              0              0              46
  27  Egg             0.630          0.809          -0.515         0              270            0              66
  28  Spatula         -0.855         0.915          1.272          0              180            0              69
  29  Potato          0.672          0.805          -0.735         0              270            0              66
  30  Cup             0.785          0.663          -2.035         0              270            0              63
  31  SaltShaker      0.950          0.879          -0.176         0              0              0              43
  32  PepperShaker    0.994          1.460          -0.084         0              0              0              54
  33  ButterKnife     0.877          0.883          0.029          0              0              0              43
  34  DishSponge      -1.224         0.051          -3.647         0              270            0              58
  35  Bread           -0.873         0.931          0.978          0              24.231         0              69
  36  Lettuce         -0.051         0.987          1.015          0              270            0              69
  37  Tomato          0.669          0.713          -1.957         0              270            0              63
  38  Spoon           0.901          0.665          0.630          0              0              0              48
  39  Knife           -1.803         0.724          -0.983         0              90             0              79
  40  Mug             0.787          0.010          -0.184         0              0              0              53
  41  Bowl            -2.038         0.691          -1.003         0              0              0              79
  42  Drawer          0.706          0.766          -0.125         0              0              0
  43  CounterTop      0.792          0.919          -0.108         0              0              0
  44  Mirror          1.093          1.602          -0.643         0              0              0
  45  StoveBurner     -2.096         0.890          0.785          0              0              0
  46  Cabinet         0.507          0.345          -0.426         0              0              0
  47  StoveBurner     -1.552         0.890          0.785          0              0              0
  48  SideTable       0.770          -0.030         0.443          0              0              0
  49  Sink            0.753          0.882          -0.680         0              0              0
  50  StoveBurner     -2.096         0.890          1.049          0              0              0
  51  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  52  StoveBurner     -1.554         0.890          1.049          0              0              0
  53  Cabinet         0.507          0.345          0.156          0              0              0
  54  Cabinet         0.717          1.822          -0.398         0              0              0
  55  Cabinet         0.717          1.822          0.669          0              0              0
  56  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  57  Toaster         -0.522         0.886          1.081          0              180            0
  58  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  59  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  60  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  61  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  62  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  63  Fridge          0.680          -0.031         -1.957         0              0              0
  64  Window          -2.424         1.639          -2.453         90             270            0
  65  Microwave       -1.994         0.690          -3.651         0              0              0
  66  SinkBasin       0.757          0.762          -0.688         0              270            0
  67  LightSwitch     1.102          1.368          -3.737         0              270            0
  68  Shelf           -0.350         0.124          0.857          0              0              0
  69  DiningTable     -0.350         -0.025         0.857          0              0              0
  70  DiningTable     -1.909         -0.032         -3.507         0              0              0
  71  Blinds          -2.343         2.151          -2.437         0              270            0
  72  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  73  AluminumFoil    0.751          0.225          0.287          0              0              0
  74  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  75  Shelf           0.771          0.226          0.445          0              0              0
  76  Shelf           0.771          0.456          0.446          0              0              0
  77  Faucet          1.025          0.873          -0.678         270            180            0
  78  Shelf           -0.350         0.497          0.857          0              0              0
  79  DiningTable     -1.929         -0.035         -1.398         0              90             0
  80  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: turn left and walk straight towards the table then turn right and walk straight towards the sink | STEP 2: open the cabinet door and remove the salt shaker and close the door | STEP 3: turn around and walk straight then turn right and walk straight towards the table | STEP 4: put the salt shaker down on the table next to the spray bottle | STEP 5: turn right and then look up at the cabinet | STEP 6: open the cabinet door and remove the salt shaker then close the door | STEP 7: turn around then walk straight then turn right at the white table | STEP 8: put down the salt shaker to the left of the other salt shaker | END