Task: Put two salts into the cupboard

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          1.124          -0.25          0              270            0
   1  DishSponge      0.506          1.322          -2.053         0              0              0              53
   2  WineBottle      -1.818         0.344          1.110          0              0              0              54
   3  Kettle          -0.239         1.331          -3.301         0              180            0              48
   4  Kettle          -1.401         1.324          -2.201         0              0              0              53
   5  Fork            -1.645         0.420          -0.364         0              0              0              57
   6  Spatula         -1.530         1.337          -1.681         0              0              0              53
   7  Spatula         -1.790         1.337          1.744          0              0              0              53
   8  Pot             0.492          1.329          -2.789         0              0              0              53
   9  Cup             -1.681         0.341          0.110          0              0              0              51
  10  Cup             1.285          1.320          -0.942         0              0              0              53
  11  Plate           -1.380         1.323          -3.314         0              0              0              53
  12  Knife           -1.826         1.362          -1.255         0              180            0              60
  13  Tomato          0.911          2.062          2.288          0              270            0              66
  14  Tomato          1.285          1.356          -2.053         0              0              0              53
  15  Bowl            -1.401         1.321          -2.461         0              0              0              53
  16  SaltShaker      0.861          1.202          1.222          0              0              0              78
  17  SaltShaker      1.110          1.202          1.238          0              0              0              78
  18  PepperShaker    -1.546         0.338          1.317          0              0              0              54
  19  PepperShaker    1.053          0.339          -2.267         0              180            0              52
  20  Bread           -2.049         1.397          -3.241         0              0              0              53
  21  Bread           -2.049         1.397          0.445          0              0              0              53
  22  Mug             0.920          1.519          1.848          0              270            0              66
  23  Mug             1.056          1.752          2.171          0              270            0              66
  24  Apple           -1.657         0.329          2.193          0              270            0              68
  25  Bread           -1.513         1.380          0.662          0              0              0              53
  26  Pot             0.824          0.351          -1.957         0              180            0              52
  27  Knife           0.636          1.352          -0.942         0              0              0              53
  28  Bowl            -1.884         0.342          0.512          0              0              0              51
  29  Potato          0.982          1.985          1.553          0              270            0              66
  30  SoapBottle      -1.614         0.344          0.713          0              0              0              51
  31  Fork            -1.826         1.064          -0.496         0              0              0              71
  32  Cup             0.747          0.342          -2.371         0              180            0              52
  33  Kettle          -1.237         1.324          -2.760         0              0              0              53
  34  Egg             1.021          1.565          1.601          0              270            0              66
  35  Pan             -0.630         1.331          -3.301         0              180            0              50
  36  SaltShaker      -1.451         1.318          -2.760         0              0              0              53
  37  WineBottle      -1.165         1.323          -3.314         0              0              0              53
  38  Lettuce         -1.530         1.399          1.094          0              0              0              53
  39  Spatula         -1.954         1.066          -0.587         0              90             0              71
  40  PaperTowelRoll  1.193          1.312          1.238          0              0              0              78
  41  Tomato          0.563          1.356          -3.232         0              0              0              53
  42  Plate           -2.049         1.323          1.094          0              0              0              53
  43  PepperShaker    0.747          0.339          -2.267         0              180            0              52
  44  DishSponge      -1.602         0.343          -1.863         0              0              0              49
  45  Spoon           -1.687         0.421          -1.086         0              0              0              59
  46  Apple           1.181          1.359          0.965          0              270            0              78
  47  Mug             -1.681         0.338          0.613          0              0              0              51
  48  StoveBurner     -0.239         1.325          -3.301         0              180            0
  49  Cabinet         -1.461         0.775          -2.002         0              0              0
  50  StoveBurner     -0.630         1.325          -3.301         0              180            0
  51  Cabinet         -1.461         0.775          0.470          0              0              0
  52  Cabinet         0.578          0.776          -2.054         0              0              0
  53  CounterTop      -1.809         1.358          1.182          0              0              0
  54  Cabinet         -1.461         0.775          1.310          0              0              0
  55  Faucet          -2.063         1.362          -0.726         0              39.391         0
  56  StoveBurner     -0.749         1.325          -2.973         0              0              0
  57  Drawer          -1.610         0.681          -0.430         0              0              0
  58  Window          -2.566         1.799          -0.822         270            0              0
  59  Drawer          -1.610         0.681          -1.217         0              0              0
  60  Sink            -1.990         1.143          -0.975         0              0              0
  61  StoveBurner     -0.125         1.325          -2.973         0              0              0
  62  StoveKnob       -0.185         1.338          -2.741         0              270            180
  63  StoveKnob       -0.336         1.338          -2.741         0              270            180
  64  StoveKnob       -0.569         1.338          -2.741         0              270            180
  65  StoveKnob       -0.707         1.338          -2.741         0              270            180
  66  Fridge          1.013          0.227          1.917          0              270            0
  67  Microwave       0.994          1.310          -2.163         0              270            0
  68  GarbageCan      -1.633         0.212          2.192          0              270            0
  69  LightSwitch     1.386          1.565          -0.657         0              270            0
  70  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  71  SinkBasin       -1.835         1.039          -0.542         0              0              0
  72  ButterKnife     0.873          0.468          0.651          0              0              0
  73  Toaster         -1.885         1.310          -2.512         0              90             0
  74  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  75  Drawer          0.647          1.061          0.680          0              270            0
  76  Drawer          0.648          1.061          1.020          0              270            0
  77  Drawer          0.648          0.843          1.020          0              270            0
  78  SideTable       0.975          0.220          0.869          0              270            0
  79  Drawer          0.648          0.602          0.680          0              270            0
  80  Drawer          0.648          0.596          1.020          0              270            0
  81  Drawer          0.648          0.843          0.680          0              270            0
  82  Stool           0.606          0.222          -1.084         1.233          280.489        0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Turn right, go forward, turn right and go to the counter | STEP 2: Pick up the salt on the counter | STEP 3: Turn around, go forward | STEP 4: Put the salt in the cupboard  | STEP 5: Turn around, go forward to the counter | STEP 6: Pick up the salt  | STEP 7: Turn around, go forward | STEP 8: Put the salt in the cupboard  | END