Task: place two salt in lower cabinet to the left of sink

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           0.869          -3.0           0              0              0
   1  DishSponge      0.841          0.772          -0.735         0              270            0              62
   2  DishSponge      0.877          0.883          -0.245         0              0              0              39
   3  ButterKnife     0.769          0.760          -0.124         0              0              0              38
   4  Spoon           0.841          0.666          0.326          0              0              0              44
   5  Fork            0.623          0.761          0.002          0              270            0              38
   6  Egg             0.877          0.920          -0.039         0              0              0              39
   7  Knife           0.720          0.782          -0.252         0              90             0              38
   8  Knife           -1.886         0.724          -0.983         0              0              0              75
   9  Tomato          -1.719         0.750          -1.199         0              0              0              75
  10  Tomato          -1.599         0.748          -3.445         0              0              0              66
  11  PepperShaker    0.858          1.460          0.288          0              0              0              51
  12  PepperShaker    -1.803         0.698          -1.307         0              0              0              75
  13  SaltShaker      0.803          0.879          0.029          0              0              0              39
  14  Lettuce         0.661          0.751          0.326          0              0              0              44
  15  Apple           0.669          0.718          -2.113         0              270            0              59
  16  Apple           -1.556         0.750          -3.614         0              0              0              66
  17  Pot             -1.555         0.930          1.049          0              0              0              48
  18  Plate           -2.023         0.692          -1.447         0              0              0              75
  19  Fork            0.901          0.665          0.569          0              0              0              44
  20  SoapBottle      0.842          0.014          -0.833         0              0              0              42
  21  Apple           0.757          0.826          -0.845         0              270            0              62
  22  Pan             0.740          -0.007         -0.596         0              0              0              42
  23  Egg             -1.224         0.088          -3.537         0              270            0              54
  24  Spatula         -1.803         0.716          -1.524         0              180            0              75
  25  Potato          0.669          1.191          -2.113         0              270            0              59
  26  Cup             -0.855         0.899          1.187          0              270            0              65
  27  SaltShaker      -1.970         0.698          -1.199         0              0              0              75
  28  PepperShaker    0.661          0.660          0.569          0              0              0              44
  29  ButterKnife     -0.252         0.900          0.843          0              270            0              65
  30  DishSponge      -1.578         0.699          -3.698         0              0              0              66
  31  Bread           -1.056         0.944          1.101          0              270            0              65
  32  Lettuce         0.746          1.461          -2.035         0              270            0              59
  33  Tomato          -1.297         0.100          -3.611         0              270            0              54
  34  Spoon           0.757          0.773          -0.735         0              270            0              62
  35  Knife           -0.051         0.923          1.015          0              270            0              65
  36  Mug             0.824          0.460          -2.113         0              270            0              59
  37  Bowl            0.858          1.462          -0.146         0              0              0              50
  38  Drawer          0.706          0.766          -0.125         0              0              0
  39  CounterTop      0.792          0.919          -0.108         0              0              0
  40  Mirror          1.093          1.602          -0.643         0              0              0
  41  StoveBurner     -2.096         0.890          0.785          0              0              0
  42  Cabinet         0.507          0.345          -0.426         0              0              0
  43  StoveBurner     -1.552         0.890          0.785          0              0              0
  44  SideTable       0.770          -0.030         0.443          0              0              0
  45  Sink            0.753          0.882          -0.680         0              0              0
  46  StoveBurner     -2.096         0.890          1.049          0              0              0
  47  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  48  StoveBurner     -1.554         0.890          1.049          0              0              0
  49  Cabinet         0.507          0.345          0.156          0              0              0
  50  Cabinet         0.717          1.822          -0.398         0              0              0
  51  Cabinet         0.717          1.822          0.669          0              0              0
  52  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  53  Toaster         -0.522         0.886          1.081          0              180            0
  54  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  55  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  56  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  57  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  58  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  59  Fridge          0.680          -0.031         -1.957         0              0              0
  60  Window          -2.424         1.639          -2.453         90             270            0
  61  Microwave       -1.994         0.690          -3.651         0              0              0
  62  SinkBasin       0.757          0.762          -0.688         0              270            0
  63  LightSwitch     1.102          1.368          -3.737         0              270            0
  64  Shelf           -0.350         0.124          0.857          0              0              0
  65  DiningTable     -0.350         -0.025         0.857          0              0              0
  66  DiningTable     -1.909         -0.032         -3.507         0              0              0
  67  Blinds          -2.343         2.151          -2.437         0              270            0
  68  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  69  AluminumFoil    0.751          0.225          0.287          0              0              0
  70  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  71  Shelf           0.771          0.226          0.445          0              0              0
  72  Shelf           0.771          0.456          0.446          0              0              0
  73  Faucet          1.025          0.873          -0.678         270            180            0
  74  Shelf           -0.350         0.497          0.857          0              0              0
  75  DiningTable     -1.929         -0.035         -1.398         0              90             0
  76  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: go forward to counter with egg to the left of sink | STEP 2: pick salt from counter | STEP 3: go to lower cabinet below counter with egg to the left of sink | STEP 4: open cabinet, place salt in front right corner of cabinet, close cabinet | STEP 5: turn around, go to right side of white table with tomato | STEP 6: pick up salt on the right next to yellow handle knife | STEP 7: turn left, go to lower cabinet below counter with egg to the left of sink | STEP 8: place salt to the left of salt in cabinet, close cabinet | END