Task: Place the two shakers on the middle shelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.900          0.5            0              0              0
   1  Ladle           0.294          0.975          1.220          0              0              0              81
   2  DishSponge      1.872          0.086          0.044          0              0              0              65
   3  DishSponge      1.557          0.913          -1.446         0              0              0              64
   4  ButterKnife     1.828          0.913          -1.446         0              0              0              64
   5  WineBottle      0.119          0.914          -1.725         0              0              0              64
   6  WineBottle      1.259          0.881          2.483          0              0              0              85
   7  Spatula         0.180          0.945          0.305          0              0              0              81
   8  Spoon           0.180          0.928          0.534          0              180            0              81
   9  Spoon           0.522          0.931          1.220          0              0              0              81
  10  Fork            0.522          0.931          0.762          0              90             0              81
  11  Fork            1.828          0.914          -1.095         0              270            0              64
  12  Cup             -1.438         1.183          -0.495         0              90             0              72
  13  Plate           1.218          0.122          -1.914         0              0              0              56
  14  Plate           1.631          0.123          -1.397         0              270            0              58
  15  Knife           0.180          0.953          0.762          0              180            0              81
  16  Tomato          -0.210         0.816          -1.936         0              0              0              76
  17  Tomato          -1.495         0.911          -0.392         0              90             0              72
  18  PepperShaker    -1.036         0.909          -2.115         0              0              0              64
  19  Bread           -0.047         0.975          0.305          0              0              0              81
  20  Bread           0.066          0.975          0.762          0              0              0              81
  21  Mug             -1.036         0.908          -2.224         0              0              0              64
  22  Apple           0.408          0.997          0.991          0              0              0              81
  23  Potato          -1.284         1.044          -1.638         0              90             0              70
  24  Bowl            -1.284         2.144          -1.129         0              90             0              48
  25  SoapBottle      1.385          0.912          -1.751         0              0              0              64
  26  Fork            1.738          0.914          -1.797         0              0              0              64
  27  Ladle           0.481          0.947          1.420          0              0              346.772        81
  28  Bread           0.408          0.975          0.534          0              0              0              81
  29  Lettuce         -1.572         1.585          -0.910         0              90             0              72
  30  WineBottle      -0.616         0.914          -2.233         0              0              0              64
  31  Spatula         -0.230         0.928          -1.737         0              0              0              64
  32  Plate           -1.438         1.187          -0.806         0              90             0              72
  33  SaltShaker      0.066          0.923          1.448          0              0              0              81
  34  Pot             1.567          0.948          -0.757         0              0              0              46
  35  Cup             -1.355         1.659          -1.729         0              90             0              47
  36  PepperShaker    1.465          1.656          -2.086         0              0              0              51
  37  Pan             1.824          0.945          -0.346         0              0              0              45
  38  ButterKnife     0.457          0.913          -1.834         0              0              0              64
  39  Tomato          -0.160         0.982          0.762          0              0              0              81
  40  DishSponge      1.919          0.913          -1.212         0              0              0              64
  41  Egg             -1.667         1.237          -1.013         0              90             0              72
  42  Spoon           -0.113         0.914          -1.750         0              0              0              64
  43  Knife           -0.064         0.787          -2.026         0              0              0              76
  44  Mug             1.566          0.875          2.510          0              0              0              85
  45  StoveBurner     1.845          0.940          -0.355         0              0              0
  46  StoveBurner     1.567          0.940          -0.757         0              0              0
  47  Cabinet         -1.149         2.019          -1.979         0              90             0
  48  Cabinet         -1.149         2.265          -0.834         0              90             0
  49  Cabinet         -0.459         2.265          -2.0           0              0              0
  50  Cabinet         -1.100         2.019          -2.0           0              0              0
  51  Cabinet         1.719          2.019          -2.0           0              0              0
  52  Cabinet         1.179          2.019          -2.0           0              0              0
  53  Cabinet         0.199          2.019          -2.0           0              0              0
  54  Cabinet         1.75           2.019          -1.399         0              270            0
  55  Cabinet         1.75           2.019          -1.029         0              270            0
  56  Cabinet         1.379          0.469          -1.689         0              0              0
  57  Cabinet         -0.819         0.469          -1.689         0              0              0
  58  Cabinet         1.389          0.469          -1.059         0              270            0
  59  Cabinet         -0.839         0.469          -1.665         0              90             0
  60  StoveBurner     1.567          0.940          -0.355         0              0              0
  61  StoveBurner     1.845          0.940          -0.757         0              0              0
  62  Sink            -0.109         0.893          -2.009         0              0              0
  63  Drawer          -0.819         0.75           -1.690         0              0              0
  64  CounterTop      0.232          0.949          -2.002         0              0              0
  65  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  66  Vase            0.251          0.546          0.475          0              270            0
  67  Toaster         0.780          0.900          -2.080         0              0              0
  68  LightSwitch     0.108          1.315          2.75           0              180            0
  69  Vase            0.400          0.925          0.218          0              180            0
  70  Microwave       -1.233         0.900          -1.680         0              90             0
  71  Vase            1.465          1.662          -2.200         0              0              0
  72  Fridge          -1.495         0.0            -0.703         0              0              0
  73  Window          2.114          1.495          1.072          90             270            0
  74  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  75  Vase            0.333          0.546          1.272          0              270            0
  76  SinkBasin       -0.148         0.753          -2.026         0              0              0
  77  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  78  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  79  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  80  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  81  DiningTable     0.170          0.005          0.678          0              270            0
  82  Shelf           0.170          0.155          0.678          0              270            0
  83  Shelf           1.605          0.172          2.480          0              0              0
  84  Shelf           1.605          0.552          2.480          0              0              0
  85  Shelf           1.604          0.880          2.479          0              0              0
  86  ShelvingUnit    1.605          0.006          2.480          0              0              0
  87  Faucet          -0.143         1.028          -2.223         0              270            0
  88  Stool           -0.553         0.000          0.871          1.233          280.376        0
  89  Shelf           0.170          0.528          0.678          0              270            0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Turn around then head right then left.  | STEP 2: Grab the salt shaker in front of the cup. | STEP 3: Turn left then left again to reach the shelves. | STEP 4: Place the shaker on the middle shelf. | STEP 5: Turn back around and walk straight to the cabinets. | STEP 6: Open the leftmost cabinet and get the pepper shaker. | STEP 7: Turn around and head back to the shelves. | STEP 8: Place the pepper shaker to the right of the salt shaker. | END