Task: Move two saltshakers out of cupboards onto the countertop

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          2.0            0              90             0
   1  Pan             -0.244         0.829          2.075          0              180            0              43
   2  Ladle           -1.481         0.746          0.295          0              90             0              75
   3  DishSponge      -2.619         1.848          2.030          0              0              0              42
   4  ButterKnife     -2.840         0.823          0.278          0              0              0              48
   5  ButterKnife     -0.496         0.694          1.252          0              90             0              44
   6  Fork            -2.530         0.692          1.474          0              90             0              53
   7  Spoon           -0.832         0.711          0.378          0              90             0              51
   8  Spatula         -2.044         0.838          0.528          0              0              0              48
   9  Egg             -2.777         0.945          1.178          0              90             0              67
  10  Egg             -2.724         0.847          0.055          0              0              0              48
  11  Plate           -2.781         0.829          2.045          0              90             0              66
  12  SoapBottle      -2.881         1.433          0.674          0              0              0              57
  13  SoapBottle      -0.169         0.821          1.214          0              0              0              48
  14  Bowl            -1.943         0.121          0.401          0              0              0              60
  15  Bowl            -2.781         1.140          2.045          0              90             0              66
  16  SaltShaker      -1.522         0.120          0.518          0              180            0              61
  17  SaltShaker      -2.835         1.429          1.264          0              0              0              56
  18  SaltShaker      -2.397         1.431          0.169          0              0              0              55
  19  Apple           -0.395         0.129          2.539          0              90             0              68
  20  Apple           -0.362         0.129          2.674          0              90             0              68
  21  Fork            -2.957         0.824          0.278          0              90             0              48
  22  Ladle           -0.371         0.738          0.879          0              45             0              50
  23  Pan             -0.244         0.829          1.684          0              0              0              47
  24  SoapBottle      -0.477         0.821          1.326          0              0              0              48
  25  Pot             -0.531         0.822          2.096          0              0              0              45
  26  Tomato          -2.892         1.193          2.485          0              90             0              66
  27  Potato          -2.616         1.182          2.485          0              90             0              66
  28  SaltShaker      -2.569         0.116          1.431          0              0              0              59
  29  Plate           -2.375         0.828          0.203          0              0              0              48
  30  Spatula         -2.491         0.838          0.352          0              0              0              48
  31  Knife           -1.207         0.849          0.539          0              0              0              48
  32  Egg             -1.550         0.721          0.253          0              0              0              75
  33  Cup             -2.782         1.445          2.397          0              90             0              66
  34  ButterKnife     -2.493         0.812          0.476          0              50.734         0              48
  35  Lettuce         -1.836         0.741          0.238          0              55.910         0              75
  36  PepperShaker    -1.695         0.120          0.518          0              180            0              61
  37  DishSponge      -2.504         0.823          0.953          0              0              0              48
  38  Bread           -0.979         0.855          0.249          0              29.999         0              48
  39  Spoon           -0.360         0.696          1.252          0              0              0              44
  40  Mug             -2.877         0.916          1.284          0              180            0              67
  41  Bowl            -2.784         1.431          0.293          0              45             0              54
  42  Cabinet         -2.377         2.015          1.720          0              0              0
  43  StoveBurner     -0.244         0.820          2.075          0              180            0
  44  Drawer          -0.402         0.703          1.252          0              0              0
  45  StoveBurner     -0.518         0.820          2.075          0              180            0
  46  Sink            -1.838         0.726          0.343          0              180            0
  47  StoveBurner     -0.244         0.820          1.684          0              0              0
  48  CounterTop      -1.557         0.859          0.277          0              0              0
  49  StoveBurner     -0.518         0.820          1.684          0              0              0
  50  Drawer          -0.404         0.704          0.912          0              0              0
  51  Drawer          -0.861         0.709          0.420          0              0              0
  52  Drawer          -1.133         0.706          0.418          0              0              0
  53  Drawer          -2.589         0.703          1.511          0              0              0
  54  Cabinet         -2.772         1.803          0.508          0              0              0
  55  Cabinet         -2.460         1.803          0.231          0              0              0
  56  Cabinet         -2.781         1.798          0.825          0              0              0
  57  Cabinet         -2.781         1.798          0.815          0              0              0
  58  Cabinet         -2.377         2.009          2.581          0              0              0
  59  Cabinet         -2.442         0.385          1.672          0              0              0
  60  Cabinet         -2.238         0.385          0.564          0              0              0
  61  Cabinet         -1.286         0.385          0.564          0              0              0
  62  Cabinet         -1.262         0.385          0.565          0              0              0
  63  Cabinet         -0.734         0.385          0.565          0              0              0
  64  Cabinet         -0.549         0.385          0.751          0              0              0
  65  Cabinet         -0.549         0.385          1.412          0              0              0
  66  Fridge          -2.782         0.0            2.221          0              0              0
  67  Microwave       -2.794         0.812          1.348          0              90             0
  68  GarbageCan      -0.329         2.205          2.606          0              0              0
  69  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  70  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  71  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  72  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  73  Window          -1.720         1.342          -0.208         90             0              0
  74  Toaster         -0.171         0.812          0.735          0              270            0
  75  SinkBasin       -1.745         0.687          0.295          0              0              0
  76  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  77  LightSwitch     -0.615         1.378          3.0            0              180            0
  78  Faucet          -1.686         0.954          0.176          0              236.223        0
  79  Stool           -1.008         0.008          1.955          0              18.279         0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Go to the cupboard above the microwave | STEP 2: Take a saltshaker out | STEP 3: Turn to the sink | STEP 4: Put the saltshaker on the counter | STEP 5: Look at the cupboard above the sink | STEP 6: Take saltshaker out of the cupboard above the sink | STEP 7: Turn around and look at the sink | STEP 8: Put the saltshaker on the counter | END