Task: Take the salt shaker out of the cupboard and set it on the table.

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          0.901          3.75           0              270            0
   1  Pan             -2.583         0.900          2.573          0              90             0              74
   2  Potato          -1.770         0.954          0.433          0              0              0              53
   3  Potato          -0.572         0.926          2.932          0              0              0              76
   4  DishSponge      -2.037         0.927          0.433          0              0              0              53
   5  DishSponge      -0.218         0.661          0.464          0              0              0              42
   6  ButterKnife     -1.904         0.928          0.602          0              0              0              53
   7  ButterKnife     -2.303         0.928          0.602          0              0              0              53
   8  Spatula         -1.662         0.677          0.355          0              90             0              56
   9  Fork            -2.377         0.662          0.519          0              270            0              61
  10  Plate           -0.249         1.777          0.160          0              0              0              52
  11  Tomato          -2.849         0.117          0.300          0              26.101         0              67
  12  Bowl            -2.995         0.897          1.913          0              0              0              74
  13  Bowl            -2.738         0.295          4.352          0              90             0              70
  14  PepperShaker    -0.228         0.896          2.731          0              0              0              76
  15  Bread           -0.400         0.957          2.329          0              0              0              76
  16  Lettuce         -0.657         0.980          3.535          0              0              0              76
  17  Mug             -2.706         0.930          3.209          0              0              0              60
  18  Mug             -2.686         0.895          2.177          0              0              0              74
  19  Apple           -2.925         0.355          4.649          0              90             0              Floor|-00.05|
  20  Apple           -0.350         1.074          0.140          0              0              0              72
  21  Egg             -2.686         0.933          1.913          0              0              0              74
  22  Plate           -2.191         1.777          0.160          0              0              0              49
  23  Fork            -2.864         0.936          3.209          0              0              0              60
  24  Bread           -2.805         1.243          4.427          0              90             0              70
  25  Apple           -0.403         1.074          0.235          0              0              0              72
  26  Lettuce         -0.486         0.980          2.731          0              180            0              76
  27  Spatula         -0.314         0.915          2.731          0              0              0              76
  28  Knife           -2.628         0.961          3.580          0              90             0              60
  29  Potato          -2.888         0.658          4.204          0              90             0              70
  30  Tomato          -2.549         0.999          3.673          0              0              0              60
  31  Cup             -1.637         0.927          0.602          0              0              0              53
  32  SaltShaker      -1.856         1.769          0.205          0              0              0              48
  33  PepperShaker    -0.572         0.896          3.133          0              0              0              76
  34  ButterKnife     -0.228         0.900          2.932          0              0              0              76
  35  SoapBottle      -0.657         0.900          2.530          0              0              0              76
  36  Pan             -0.535         0.928          4.274          0              0              0              57
  37  DishSponge      -2.377         0.900          2.706          0              0              0              74
  38  Pot             -2.476         0.889          2.050          0              0              0              74
  39  Spoon           -2.789         0.901          2.045          0              0              0              74
  40  Mug             -1.007         0.790          0.281          0              0              0              71
  41  Bowl            -2.892         0.897          2.309          0              0              0              74
  42  Drawer          -0.325         0.696          0.413          0              0              0
  43  Cabinet         -0.595         0.490          0.648          0              0              0
  44  Cabinet         -0.555         0.490          0.646          0              0              0
  45  Cabinet         -1.591         0.490          0.646          0              0              0
  46  Cabinet         -1.554         0.490          0.646          0              0              0
  47  Cabinet         -2.550         0.490          0.646          0              0              0
  48  Cabinet         -1.514         2.046          0.392          0              0              0
  49  Cabinet         -2.474         2.046          0.392          0              0              0
  50  Cabinet         -1.478         2.046          0.392          0              0              0
  51  Cabinet         -0.518         2.046          0.392          0              0              0
  52  Cabinet         -0.479         2.046          0.392          0              0              0
  53  CounterTop      -1.366         0.952          0.349          0              0              0
  54  Sink            -1.108         0.926          0.340          0              0              0
  55  StoveBurner     -0.254         0.922          4.672          0              0              0
  56  Drawer          -1.824         0.696          0.413          0              0              0
  57  StoveBurner     -0.535         0.922          4.274          0              0              0
  58  StoveBurner     -0.254         0.922          4.274          0              0              0
  59  StoveBurner     -0.536         0.922          4.672          0              0              0
  60  CounterTop      -2.780         0.971          3.487          0              0              0
  61  Drawer          -2.323         0.696          0.413          0              0              0
  62  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  63  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  65  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  66  Toaster         -0.286         0.861          3.520          0              270            0
  67  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  68  LightSwitch     -0.064         1.447          1.996          0              270            0
  69  Window          -3.075         1.593          1.361          90             90             0
  70  Fridge          -2.802         0.0            4.427          0              0              0
  71  SinkBasin       -1.106         0.785          0.337          0              0              0
  72  Microwave       -0.358         0.917          0.224          0              0              0
  73  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  74  DiningTable     -2.733         -0.003         2.607          0              270            0
  75  Faucet          -1.077         0.920          0.028          270            270            0
  76  DiningTable     -0.488         -0.003         3.182          0              270            0
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: Turn left and go towards the cupboards above the sink. | STEP 2: Open the cupboard and take out the salt shaker from the cupboard. | STEP 3: Turn around and go to the first table on the left. | STEP 4: Set the salt shaker down on the table. | END