Task: put away the salt shakers in the cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.901          3.25           0              90             0
   1  Potato          -0.191         1.049          0.140          0              0              0              78
   2  DishSponge      -2.782         0.053          0.437          0              26.101         0              73
   3  DishSponge      -0.326         0.661          0.409          0              0              0              48
   4  Spoon           -0.572         0.901          3.535          0              0              0              82
   5  Spoon           -1.716         0.663          0.519          0              0              0              62
   6  Fork            -0.272         0.662          0.464          0              0              0              48
   7  Fork            -2.480         0.901          1.913          0              0              0              80
   8  Pot             -0.535         0.928          4.274          0              0              0              63
   9  Egg             -0.228         0.933          3.133          0              0              0              82
  10  Egg             -2.706         0.968          3.395          0              0              0              66
  11  Cup             -0.359         1.773          0.251          0              0              0              58
  12  Cup             -2.888         1.186          4.501          0              90             0              76
  13  Plate           -0.228         0.904          2.329          0              0              0              82
  14  Knife           -1.662         0.688          0.355          0              90             0              62
  15  Knife           -2.215         0.688          0.464          0              270            0              67
  16  Tomato          -1.007         0.859          0.392          0              0              0              77
  17  Tomato          -2.764         0.696          4.649          0              90             0              76
  18  Bowl            -2.805         1.182          4.352          0              90             0              76
  19  SaltShaker      -2.628         0.931          3.673          0              0              0              66
  20  PepperShaker    -0.657         0.896          2.932          0              0              0              82
  21  PepperShaker    -0.747         1.769          0.297          0              0              0              57
  22  Bread           -2.789         0.957          2.309          0              0              0              80
  23  Lettuce         -0.572         0.980          2.731          0              180            0              82
  24  Mug             -2.805         0.627          4.352          0              90             0              76
  25  Mug             -2.831         0.294          4.278          0              90             0              76
  26  Apple           -1.266         0.852          0.337          0              180            0              77
  27  Egg             -1.353         0.830          0.281          0              0              0              77
  28  Plate           -2.831         0.303          4.575          0              90             0              76
  29  Fork            -0.228         0.901          2.731          0              0              0              82
  30  Bread           -2.864         0.940          1.983          0              0              0              80
  31  Apple           -0.228         0.956          2.932          0              0              0              82
  32  Lettuce         -2.480         0.980          2.441          0              0              0              80
  33  Spatula         -1.878         0.677          0.355          0              180            0              62
  34  Knife           -0.228         0.926          2.530          0              0              0              82
  35  Potato          -2.549         0.961          3.580          0              0              0              66
  36  Tomato          -2.888         0.696          4.501          0              90             0              76
  37  Cup             -0.486         0.900          3.334          0              0              0              82
  38  SaltShaker      -2.170         0.924          0.348          0              0              0              59
  39  PepperShaker    -0.686         0.924          0.650          0              0              0              59
  40  ButterKnife     -2.943         0.935          3.209          0              0              0              66
  41  SoapBottle      -2.583         0.900          2.706          0              0              0              80
  42  Pan             -0.250         0.926          4.651          0              0              0              61
  43  DishSponge      -1.932         0.661          0.355          0              0              0              62
  44  Pot             -1.770         0.927          0.518          0              90             0              59
  45  Spoon           -2.377         0.901          2.573          0              0              0              80
  46  Mug             -0.403         1.018          0.171          0              0              0              78
  47  Bowl            -2.246         1.770          0.251          0              0              0              55
  48  Drawer          -0.325         0.696          0.413          0              0              0
  49  Cabinet         -0.595         0.490          0.648          0              0              0
  50  Cabinet         -0.555         0.490          0.646          0              0              0
  51  Cabinet         -1.591         0.490          0.646          0              0              0
  52  Cabinet         -1.554         0.490          0.646          0              0              0
  53  Cabinet         -2.550         0.490          0.646          0              0              0
  54  Cabinet         -1.514         2.046          0.392          0              0              0
  55  Cabinet         -2.474         2.046          0.392          0              0              0
  56  Cabinet         -1.478         2.046          0.392          0              0              0
  57  Cabinet         -0.518         2.046          0.392          0              0              0
  58  Cabinet         -0.479         2.046          0.392          0              0              0
  59  CounterTop      -1.366         0.952          0.349          0              0              0
  60  Sink            -1.108         0.926          0.340          0              0              0
  61  StoveBurner     -0.254         0.922          4.672          0              0              0
  62  Drawer          -1.824         0.696          0.413          0              0              0
  63  StoveBurner     -0.535         0.922          4.274          0              0              0
  64  StoveBurner     -0.254         0.922          4.274          0              0              0
  65  StoveBurner     -0.536         0.922          4.672          0              0              0
  66  CounterTop      -2.780         0.971          3.487          0              0              0
  67  Drawer          -2.323         0.696          0.413          0              0              0
  68  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  69  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  70  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  71  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  72  Toaster         -0.286         0.861          3.520          0              270            0
  73  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  74  LightSwitch     -0.064         1.447          1.996          0              270            0
  75  Window          -3.075         1.593          1.361          90             90             0
  76  Fridge          -2.802         0.0            4.427          0              0              0
  77  SinkBasin       -1.106         0.785          0.337          0              0              0
  78  Microwave       -0.358         0.917          0.224          0              0              0
  79  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  80  DiningTable     -2.733         -0.003         2.607          0              270            0
  81  Faucet          -1.077         0.920          0.028          270            270            0
  82  DiningTable     -0.488         -0.003         3.182          0              270            0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: turn right and walk towards the counter then turn right towards the window then left again towards the counter | STEP 2: pick up the salt shaker from the counter | STEP 3: turn left then turn right near the pan on the counter and look up | STEP 4: open the cabinet door and put the salt inside then close the door | STEP 5: look down and turn right then turn right again and walk towards the coffee machine and turn left | STEP 6: pick up the salt by the coffee machine  | STEP 7: turn around then turn right and walk straight towards the counter top and look up | STEP 8: open the cabinet and put the salt next to the other salt on the right of it and close the cabinet door | END