Task: Put two 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           0.5            0.900          2.0            0              270            0
   1  SprayBottle     0.664          0.910          -1.448         0              0              0              77
   2  SprayBottle     -2.023         1.655          -1.926         0              90             0              58
   3  Pen             -2.445         0.913          0.291          0              0              0              79
   4  Potato          -1.835         0.952          0.549          0              0              0              79
   5  Potato          -1.957         0.952          0.032          0              0              0              79
   6  Ladle           1.093          0.159          -1.129         0              0              0              62
   7  Kettle          -1.081         0.949          -1.81          0              0              0              73
   8  ButterKnife     0.569          0.911          -1.874         0              0              0              77
   9  DishSponge      1.342          1.655          -0.421         0              0              0              65
  10  DishSponge      -1.712         0.910          0.549          0              0              0              79
  11  Glassbottle     0.973          0.115          -0.736         0              0              0              61
  12  Fork            -0.703         0.911          -1.704         0              0              0              77
  13  Fork            0.697          0.773          -1.533         0              0              0              81
  14  Spoon           -2.116         0.911          -1.448         0              0              0              75
  15  Spatula         0.183          0.934          -1.607         0              270            0              56
  16  Egg             -0.086         0.805          -1.634         0              270            0              98
  17  Knife           1.260          0.941          -1.672         0              90             0              77
  18  Knife           -1.957         0.940          0.204          0              0              0              79
  19  SoapBottle      -1.524         1.858          -1.838         0              0              0              70
  20  SoapBottle      0.475          0.911          -1.960         0              0              0              77
  21  PepperShaker    0.012          0.906          -1.436         0              0              0              77
  22  PepperShaker    -0.401         0.906          -1.448         0              0              0              77
  23  SaltShaker      -0.953         1.845          -1.802         0              0              0              57
  24  Bread           -2.323         0.988          0.291          0              0              0              79
  25  Mug             1.527          1.362          2.350          0              0              0              96
  26  Mug             0.407          0.112          -1.585         0              90             0              71
  27  Apple           1.341          0.249          1.022          0              0              0              94
  28  Tomato          0.569          0.951          -1.534         0              0              0              77
  29  Glassbottle     -2.140         0.112          -1.535         0              0              0              80
  30  Knife           -1.886         0.940          -1.707         0              180            0              75
  31  Plate           1.343          0.911          0.031          0              0              0              77
  32  Fork            -0.477         0.911          -1.704         0              180            0              77
  33  Ladle           0.852          0.955          -1.789         0              0              0              77
  34  Potato          1.426          1.409          1.976          0              270            0              96
  35  Lettuce         1.494          1.231          -1.688         0              0              0              83
  36  Kettle          -1.431         0.949          -1.525         0              0              0              85
  37  Pen             0.903          0.777          -0.732         0              270            0              68
  38  SaltShaker      1.454          1.157          -1.002         0              0              0              83
  39  Cup             1.376          1.265          0.188          0              270            0              99
  40  Egg             1.420          1.749          1.838          0              270            0              96
  41  Spatula         1.343          0.926          0.372          0              0              0              77
  42  Bowl            1.343          0.911          -1.331         0              0              0              77
  43  SprayBottle     0.200          1.654          -1.839         0              0              0              67
  44  Pan             -1.079         0.945          -1.528         0              0              0              78
  45  SoapBottle      1.335          1.162          -1.345         0              0              0              83
  46  Pot             0.967          0.9            0.249          0              0              0              77
  47  ButterKnife     -1.809         0.910          -1.448         0              0              0              75
  48  PepperShaker    -2.201         0.905          0.204          0              0              0              79
  49  DishSponge      -1.957         0.910          0.549          0              0              0              79
  50  Bread           -0.552         0.989          -1.789         0              0              0              77
  51  Apple           0.183          0.954          -1.758         0              270            0              56
  52  Spoon           0.320          0.920          -1.607         0              270            0              56
  53  Mug             1.388          1.715          2.026          0              270            0              96
  54  Drawer          0.860          0.75           0.430          0              0              0
  55  Drawer          0.871          0.75           -1.134         0              0              0
  56  Sink            0.156          0.817          -1.801         0              270            0
  57  Cabinet         -0.868         2.005          -1.690         0              0              0
  58  Cabinet         -1.661         2.059          -1.684         0              90             0
  59  Cabinet         -0.817         2.059          -1.689         0              0              0
  60  Cabinet         0.860          0.402          0.665          0              0              0
  61  Cabinet         0.860          0.402          -0.552         0              0              0
  62  Cabinet         0.860          0.402          -1.365         0              0              0
  63  Cabinet         -0.244         0.402          -1.389         0              0              0
  64  Cabinet         -0.815         0.402          -1.389         0              0              0
  65  Cabinet         1.159          2.059          -0.334         0              0              0
  66  Cabinet         0.488          2.059          -1.689         0              0              0
  67  Cabinet         -0.193         2.059          -1.689         0              0              0
  68  Drawer          0.860          0.75           -0.699         0              0              0
  69  Cabinet         1.159          2.059          -1.019         0              0              0
  70  Cabinet         -1.611         2.005          -1.690         0              0              0
  71  Cabinet         0.832          0.401          -1.393         0              90             0
  72  Drawer          -2.105         0.75           -1.389         0              0              0
  73  StoveBurner     -1.081         0.941          -1.809         0              0              0
  74  Cabinet         -0.202         0.401          -1.391         0              90             0
  75  CounterTop      -1.973         0.945          -1.707         0              0              0
  76  Drawer          -0.375         0.75           -1.389         0              0              0
  77  CounterTop      1.164          0.946          -0.649         0              0              0
  78  StoveBurner     -1.081         0.941          -1.527         0              0              0
  79  CounterTop      -2.096         0.945          0.291          0              0              0
  80  Cabinet         -2.237         0.402          -1.389         0              0              0
  81  Drawer          0.584          0.75           -1.389         0              0              0
  82  Drawer          -1.795         0.75           -1.389         0              0              0
  83  CounterTop      1.5            1.197          -0.654         0              0              0
  84  Cabinet         -1.667         0.402          -1.389         0              0              0
  85  StoveBurner     -1.430         0.941          -1.525         0              0              0
  86  Drawer          -0.685         0.75           -1.389         0              0              0
  87  StoveBurner     -1.430         0.941          -1.809         0              0              0
  88  LightSwitch     -2.539         1.289          2.568          0              90             0
  89  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  90  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  91  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  92  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  93  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  94  GarbageCan      1.343          0.015          1.041          0              0              0
  95  HousePlant      1.440          1.153          0.593          0              0              0
  96  Fridge          1.417          0.0            2.101          0              0              0
  97  Window          -0.486         1.452          3.302          90             0              0
  98  SinkBasin       -0.063         0.765          -1.713         0              270            0
  99  Microwave       1.422          1.150          0.022          0              270            0
 100  Toaster         -2.066         0.900          -1.848         0              0              0
 101  Stool           -1.994         0.010          0.882          0              0              0
 102  Faucet          -0.096         1.041          -1.867         0              270            0
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: Turn left, walk to the sink.  | STEP 2: Pick up the salt shaker in front of the sink.  | STEP 3: Turn to the right, walk to the end of the counter.  | STEP 4: Put the salt shaker in the bottom cabinet closest to the stove.  | STEP 5: Turn around to the other counter.  | STEP 6: Pick up the salt shaker by the bread.  | STEP 7: Turn back around to the other salt shaker.  | STEP 8: Put the salt shaker next to the other salt shaker in the bottom left cabinet.  | END