Task: Place salt shakers on a shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.75           0.900          1.5            0              270            0
   1  Potato          -1.495         1.533          -0.702         0              90             0              68
   2  DishSponge      -1.355         1.659          -1.854         0              90             0              43
   3  ButterKnife     0.294          0.926          0.762          0              0              0              77
   4  Spatula         0.689          0.928          -1.751         0              0              0              60
   5  Spoon           -0.210         0.765          -1.981         0              0              0              72
   6  Cup             0.294          0.930          1.220          0              0              0              77
   7  Cup             1.466          0.913          -1.797         0              0              0              60
   8  Plate           1.572          0.123          -1.332         0              270            0              54
   9  Tomato          -0.064         0.816          -1.936         0              0              0              72
  10  Tomato          -1.495         1.235          -1.013         0              90             0              68
  11  SoapBottle      0.408          0.929          0.534          0              0              0              77
  12  Bowl            -0.047         0.923          0.305          0              0              0              77
  13  Bowl            -1.438         1.180          -0.599         0              90             0              68
  14  Lettuce         0.180          1.008          1.448          0              0              0              77
  15  SaltShaker      0.180          0.926          0.991          0              0              0              77
  16  SaltShaker      -0.463         0.909          -1.713         0              0              0              60
  17  PepperShaker    -0.927         0.909          -2.260         0              0              0              60
  18  Apple           -0.047         1.001          0.534          0              0              0              77
  19  Potato          -1.648         1.533          -0.392         0              90             0              68
  20  Bowl            -0.160         0.927          0.762          0              0              0              77
  21  SoapBottle      0.002          0.912          -1.725         0              0              0              60
  22  Fork            0.235          0.914          -1.713         0              0              0              60
  23  Ladle           0.066          0.971          0.991          0              0              0              77
  24  Bread           0.399          0.964          0.110          0              0              1.601          77
  25  Lettuce         -1.438         1.264          -0.806         0              90             0              68
  26  WineBottle      0.180          0.931          0.076          0              0              0              77
  27  Spatula         1.919          0.928          -1.797         0              0              0              60
  28  Plate           0.481          0.923          1.077          0              0              0              77
  29  SaltShaker      1.143          0.115          -1.968         0              0              0              52
  30  Pot             1.567          0.948          -0.757         0              0              0              42
  31  Cup             -1.238         1.659          -1.792         0              90             0              43
  32  PepperShaker    0.066          0.926          0.076          0              0              0              77
  33  Pan             1.738          0.913          -1.212         0              0              0              60
  34  ButterKnife     1.647          0.913          -1.446         0              0              0              60
  35  Tomato          -1.495         1.556          -1.013         0              90             0              68
  36  DishSponge      -0.137         0.764          -2.116         0              0              0              72
  37  Egg             0.066          0.980          0.534          0              0              0              77
  38  Spoon           1.557          0.914          -1.680         0              0              0              60
  39  Knife           0.081          0.787          -2.071         0              90             0              72
  40  Mug             0.921          0.908          -1.751         0              0              0              60
  41  StoveBurner     1.845          0.940          -0.355         0              0              0
  42  StoveBurner     1.567          0.940          -0.757         0              0              0
  43  Cabinet         -1.149         2.019          -1.979         0              90             0
  44  Cabinet         -1.149         2.265          -0.834         0              90             0
  45  Cabinet         -0.459         2.265          -2.0           0              0              0
  46  Cabinet         -1.100         2.019          -2.0           0              0              0
  47  Cabinet         1.719          2.019          -2.0           0              0              0
  48  Cabinet         1.179          2.019          -2.0           0              0              0
  49  Cabinet         0.199          2.019          -2.0           0              0              0
  50  Cabinet         1.75           2.019          -1.399         0              270            0
  51  Cabinet         1.75           2.019          -1.029         0              270            0
  52  Cabinet         1.379          0.469          -1.689         0              0              0
  53  Cabinet         -0.819         0.469          -1.689         0              0              0
  54  Cabinet         1.389          0.469          -1.059         0              270            0
  55  Cabinet         -0.839         0.469          -1.665         0              90             0
  56  StoveBurner     1.567          0.940          -0.355         0              0              0
  57  StoveBurner     1.845          0.940          -0.757         0              0              0
  58  Sink            -0.109         0.893          -2.009         0              0              0
  59  Drawer          -0.819         0.75           -1.690         0              0              0
  60  CounterTop      0.232          0.949          -2.002         0              0              0
  61  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  62  Vase            0.251          0.546          0.475          0              270            0
  63  Toaster         0.780          0.900          -2.080         0              0              0
  64  LightSwitch     0.108          1.315          2.75           0              180            0
  65  Vase            0.400          0.925          0.218          0              180            0
  66  Microwave       -1.233         0.900          -1.680         0              90             0
  67  Vase            1.465          1.662          -2.200         0              0              0
  68  Fridge          -1.495         0.0            -0.703         0              0              0
  69  Window          2.114          1.495          1.072          90             270            0
  70  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  71  Vase            0.333          0.546          1.272          0              270            0
  72  SinkBasin       -0.148         0.753          -2.026         0              0              0
  73  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  74  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  75  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  76  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  77  DiningTable     0.170          0.005          0.678          0              270            0
  78  Shelf           0.170          0.155          0.678          0              270            0
  79  Shelf           1.605          0.172          2.480          0              0              0
  80  Shelf           1.605          0.552          2.480          0              0              0
  81  Shelf           1.604          0.880          2.479          0              0              0
  82  ShelvingUnit    1.605          0.006          2.480          0              0              0
  83  Faucet          -0.143         1.028          -2.223         0              270            0
  84  Stool           -0.553         0.000          0.871          1.233          280.376        0
  85  Shelf           0.170          0.528          0.678          0              270            0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Head to the table in front of you, then hang a left and talk to the end of the table on the right | STEP 2: Pick up the salt shaker that is on the table | STEP 3: Turn right and walk to the cabinet, then turn left and cross the room to the brown shelf | STEP 4: Place the salt shaker on the middle shelf | STEP 5: Turn around and cross the room to the sink | STEP 6: Pick up the salt shaker that is against the wall to the right of the sink | STEP 7: Turn around and head to the brown shelf that is across the room | STEP 8: Place the salt shaker on the middle shelf to the right of the shaker that is already there | END