Task: To move the salt from the counter to the brown shelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          1.5            0              90             0
   1  Ladle           0.294          0.971          0.991          0              0              0              84
   2  DishSponge      0.066          0.930          1.220          0              0              0              84
   3  DishSponge      1.359          0.552          2.534          0              0              0              87
   4  ButterKnife     0.522          0.926          1.448          0              90             0              84
   5  ButterKnife     0.294          0.930          0.762          0              0              0              84
   6  WineBottle      1.557          0.914          -1.680         0              0              0              67
   7  Spatula         0.119          0.928          -1.713         0              0              0              67
   8  Spatula         0.180          0.928          0.076          0              180            0              84
   9  Spoon           0.180          0.928          0.534          0              0              0              84
  10  Fork            0.066          0.931          0.991          0              180            0              84
  11  Cup             -0.356         0.764          -1.936         0              0              0              79
  12  Cup             0.180          0.927          0.991          0              0              0              84
  13  Knife           -0.210         0.787          -2.026         0              180            0              79
  14  Knife           0.066          0.950          0.305          0              0              0              84
  15  Tomato          -1.438         1.235          -1.013         0              90             0              75
  16  Tomato          0.180          0.978          1.448          0              0              0              84
  17  Bowl            -0.047         0.923          0.991          0              0              0              84
  18  Lettuce         -1.438         1.264          -0.702         0              90             0              75
  19  SaltShaker      -1.072         0.909          -2.188         0              0              0              67
  20  SaltShaker      -0.876         0.909          -2.267         0              0              0              67
  21  SaltShaker      -0.876         0.909          -2.167         0              0              0              67
  22  PepperShaker    -0.963         0.909          -2.188         0              0              0              67
  23  PepperShaker    -0.242         2.147          -2.094         0              0              0              52
  24  Apple           1.919          0.984          -1.797         0              0              0              67
  25  Apple           0.457          0.984          -2.085         0              0              0              67
  26  Potato          0.008          0.793          -2.071         0              0              0              79
  27  Bowl            0.522          0.923          0.534          0              0              0              84
  28  SoapBottle      1.738          0.912          -1.797         0              0              0              67
  29  Fork            1.738          0.914          -1.212         0              0              0              67
  30  Ladle           1.690          0.164          -1.332         0              270            0              61
  31  Bread           0.411          0.966          0.111          0              0              357.414        84
  32  Lettuce         1.919          0.994          -1.446         0              0              0              67
  33  WineBottle      -1.394         1.660          -1.729         0              90             0              50
  34  Spatula         0.180          0.945          0.762          0              0              0              84
  35  Plate           1.670          0.556          2.482          0              0              0              93
  36  SaltShaker      1.631          0.116          -1.463         0              270            0              59
  37  Pot             1.567          0.948          -0.757         0              0              0              49
  38  Cup             1.833          1.657          -1.479         0              270            0              57
  39  PepperShaker    -0.720         0.909          -2.233         0              0              0              67
  40  Pan             -1.495         0.859          -0.495         0              0              0              75
  41  ButterKnife     -0.113         0.913          -1.750         0              0              0              67
  42  Tomato          1.738          0.965          -1.563         0              0              0              67
  43  DishSponge      1.876          1.657          -1.240         0              270            0              58
  44  Egg             -0.210         0.818          -1.936         0              0              0              79
  45  Spoon           -1.000         0.914          -2.079         0              0              0              67
  46  Knife           -0.047         0.950          0.762          0              270            0              84
  47  Mug             1.261          0.951          -1.934         0              0              0              77
  48  StoveBurner     1.845          0.940          -0.355         0              0              0
  49  StoveBurner     1.567          0.940          -0.757         0              0              0
  50  Cabinet         -1.149         2.019          -1.979         0              90             0
  51  Cabinet         -1.149         2.265          -0.834         0              90             0
  52  Cabinet         -0.459         2.265          -2.0           0              0              0
  53  Cabinet         -1.100         2.019          -2.0           0              0              0
  54  Cabinet         1.719          2.019          -2.0           0              0              0
  55  Cabinet         1.179          2.019          -2.0           0              0              0
  56  Cabinet         0.199          2.019          -2.0           0              0              0
  57  Cabinet         1.75           2.019          -1.399         0              270            0
  58  Cabinet         1.75           2.019          -1.029         0              270            0
  59  Cabinet         1.379          0.469          -1.689         0              0              0
  60  Cabinet         -0.819         0.469          -1.689         0              0              0
  61  Cabinet         1.389          0.469          -1.059         0              270            0
  62  Cabinet         -0.839         0.469          -1.665         0              90             0
  63  StoveBurner     1.567          0.940          -0.355         0              0              0
  64  StoveBurner     1.845          0.940          -0.757         0              0              0
  65  Sink            -0.109         0.893          -2.009         0              0              0
  66  Drawer          -0.819         0.75           -1.690         0              0              0
  67  CounterTop      0.232          0.949          -2.002         0              0              0
  68  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  69  Vase            0.251          0.546          0.475          0              270            0
  70  Toaster         0.780          0.900          -2.080         0              0              0
  71  LightSwitch     0.108          1.315          2.75           0              180            0
  72  Vase            0.400          0.925          0.218          0              180            0
  73  Microwave       -1.233         0.900          -1.680         0              90             0
  74  Vase            1.465          1.662          -2.200         0              0              0
  75  Fridge          -1.495         0.0            -0.703         0              0              0
  76  Window          2.114          1.495          1.072          90             270            0
  77  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  78  Vase            0.333          0.546          1.272          0              270            0
  79  SinkBasin       -0.148         0.753          -2.026         0              0              0
  80  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  81  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  82  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  83  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  84  DiningTable     0.170          0.005          0.678          0              270            0
  85  Shelf           0.170          0.155          0.678          0              270            0
  86  Shelf           1.605          0.172          2.480          0              0              0
  87  Shelf           1.605          0.552          2.480          0              0              0
  88  Shelf           1.604          0.880          2.479          0              0              0
  89  ShelvingUnit    1.605          0.006          2.480          0              0              0
  90  Faucet          -0.143         1.028          -2.223         0              270            0
  91  Stool           -0.553         0.000          0.871          1.233          280.376        0
  92  Shelf           0.170          0.528          0.678          0              270            0
  93
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Turn right and head to the counter. | STEP 2: Pick up the salt on the counter.  | STEP 3: Turn left, then left again around the white table to get to the brown shelf. | STEP 4: Put the salt on the shelf. | STEP 5: Turn around, then right to pick up the salt near the microwave on the counter. | STEP 6: Pick up the salt on the counter.  | STEP 7: Turn left, then left again to get to the brown shelf. | STEP 8: Put the salt on the brown shelf. | END