Task: To move two pepper shakers from the counter to the cabinet below the counter.

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          1.75           0              0              0
   1  Pan             -1.081         0.949          -1.527         0              0              0              71
   2  Pan             -1.431         0.949          -1.81          0              0              0              80
   3  SprayBottle     -2.039         0.909          -1.448         0              0              0              68
   4  Pen             0.970          0.774          -0.699         0              0              0              61
   5  Potato          1.332          1.859          2.432          0              270            0              89
   6  Potato          1.375          1.203          -1.002         0              0              0              76
   7  Ladle           -1.039         1.894          -1.839         0              0              0              50
   8  DishSponge      0.217          0.919          -1.859         0              270            0              49
   9  Fork            -1.809         0.911          -1.793         0              0              0              68
  10  Spatula         0.199          0.926          -1.423         0              0              0              49
  11  Spatula         -2.323         0.925          0.377          0              0              0              72
  12  SoapBottle      1.335          1.162          -0.315         0              180            0              76
  13  SoapBottle      -1.860         0.116          -1.538         0              90             0              77
  14  Tomato          1.325          1.407          2.101          0              270            0              89
  15  Tomato          1.356          1.760          1.901          0              270            0              89
  16  PepperShaker    -2.079         0.905          0.291          0              0              0              72
  17  PepperShaker    1.414          1.157          -1.688         0              0              0              76
  18  SaltShaker      -2.323         0.905          0.032          0              0              0              72
  19  Mug             -0.652         0.106          -1.584         0              0              0              57
  20  Apple           -1.957         0.945          0.463          0              0              0              72
  21  Tomato          1.420          0.254          1.051          0              0              0              87
  22  Glassbottle     -1.835         0.911          0.549          0              0              0              72
  23  Knife           -1.809         0.940          -1.534         0              0              0              68
  24  Plate           1.150          0.118          0.489          0              0              0              53
  25  Fork            0.664          0.911          -1.448         0              0              0              70
  26  Ladle           -2.201         0.954          0.463          0              180            0              72
  27  Potato          -2.201         0.952          0.549          0              0              0              72
  28  Lettuce         1.343          0.980          0.031          0              0              0              70
  29  Kettle          0.770          0.9            -1.836         0              0              0              70
  30  Pen             1.102          0.774          -0.665         0              90             0              61
  31  SaltShaker      -2.201         0.905          0.032          0              0              0              72
  32  Cup             -0.552         0.911          -1.448         0              0              0              70
  33  Egg             1.441          1.294          -0.021         0              270            0              92
  34  Spatula         -1.886         0.925          -1.793         0              90             0              68
  35  Bowl            -1.957         0.911          0.118          0              0              0              72
  36  SprayBottle     1.176          0.910          -1.331         0              0              0              76
  37  Pan             -1.081         0.949          -1.81          0              0              0              66
  38  SoapBottle      1.093          0.115          -1.301         0              0              0              55
  39  Pot             0.967          0.9            0.249          0              0              0              70
  40  ButterKnife     -0.682         0.9            -1.71          0              14.999         0              70
  41  PepperShaker    -2.201         0.905          0.118          0              0              0              72
  42  DishSponge      -0.703         0.910          -1.534         0              0              0              70
  43  Bread           1.164          0.975          -0.16          0              300.000        0              70
  44  Apple           1.302          0.249          1.137          0              0              0              87
  45  Spoon           0.115          0.920          -1.808         0              90             0              49
  46  Mug             0.183          0.914          -1.708         0              270            0              49
  47  Drawer          0.860          0.75           0.430          0              0              0
  48  Drawer          0.871          0.75           -1.134         0              0              0
  49  Sink            0.156          0.817          -1.801         0              270            0
  50  Cabinet         -0.868         2.005          -1.690         0              0              0
  51  Cabinet         -1.661         2.059          -1.684         0              90             0
  52  Cabinet         -0.817         2.059          -1.689         0              0              0
  53  Cabinet         0.860          0.402          0.665          0              0              0
  54  Cabinet         0.860          0.402          -0.552         0              0              0
  55  Cabinet         0.860          0.402          -1.365         0              0              0
  56  Cabinet         -0.244         0.402          -1.389         0              0              0
  57  Cabinet         -0.815         0.402          -1.389         0              0              0
  58  Cabinet         1.159          2.059          -0.334         0              0              0
  59  Cabinet         0.488          2.059          -1.689         0              0              0
  60  Cabinet         -0.193         2.059          -1.689         0              0              0
  61  Drawer          0.860          0.75           -0.699         0              0              0
  62  Cabinet         1.159          2.059          -1.019         0              0              0
  63  Cabinet         -1.611         2.005          -1.690         0              0              0
  64  Cabinet         0.832          0.401          -1.393         0              90             0
  65  Drawer          -2.105         0.75           -1.389         0              0              0
  66  StoveBurner     -1.081         0.941          -1.809         0              0              0
  67  Cabinet         -0.202         0.401          -1.391         0              90             0
  68  CounterTop      -1.973         0.945          -1.707         0              0              0
  69  Drawer          -0.375         0.75           -1.389         0              0              0
  70  CounterTop      1.164          0.946          -0.649         0              0              0
  71  StoveBurner     -1.081         0.941          -1.527         0              0              0
  72  CounterTop      -2.096         0.945          0.291          0              0              0
  73  Cabinet         -2.237         0.402          -1.389         0              0              0
  74  Drawer          0.584          0.75           -1.389         0              0              0
  75  Drawer          -1.795         0.75           -1.389         0              0              0
  76  CounterTop      1.5            1.197          -0.654         0              0              0
  77  Cabinet         -1.667         0.402          -1.389         0              0              0
  78  StoveBurner     -1.430         0.941          -1.525         0              0              0
  79  Drawer          -0.685         0.75           -1.389         0              0              0
  80  StoveBurner     -1.430         0.941          -1.809         0              0              0
  81  LightSwitch     -2.539         1.289          2.568          0              90             0
  82  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  83  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  84  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  85  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  86  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  87  GarbageCan      1.343          0.015          1.041          0              0              0
  88  HousePlant      1.440          1.153          0.593          0              0              0
  89  Fridge          1.417          0.0            2.101          0              0              0
  90  Window          -0.486         1.452          3.302          90             0              0
  91  SinkBasin       -0.063         0.765          -1.713         0              270            0
  92  Microwave       1.422          1.150          0.022          0              270            0
  93  Toaster         -2.066         0.900          -1.848         0              0              0
  94  Stool           -1.994         0.010          0.882          0              0              0
  95  Faucet          -0.096         1.041          -1.867         0              270            0
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: Turn around, walk towards the stove, turn right at the stove, turn right to face the counter with the salt and pepper shakers on it.  | STEP 2: Pick up the pepper shaker to the left of the gray bowl and is directly behind another pepper shaker.  | STEP 3: Turn around and face the cabinets below the counter to the right of the stove.  | STEP 4: Open the cabinet door on the left, place the pepper shaker inside the cabinet in front of the lotion bottle, and close the door.  | STEP 5: Turn around and face the counter with the gray bowl and pepper shakers.  | STEP 6: Pick up the pepper shaker that's behind the gray bowl.  | STEP 7: Turn around and face the cabinets below the counter.  | STEP 8: Open the cabinet door on the left side, place the pepper shaker in the cabinet to the left of the first pepper shaker, and close the door.  | END