Task: Move a salt shaker to the drawer

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.75          0.899          3.0            0              90             0
   1  Pencil          -3.830         0.747          5.133          0              180            0              76
   2  Pencil          -3.748         0.068          6.375          0              270            0              99
   3  Potato          -0.242         1.104          3.479          0              270            0              106
   4  Potato          -0.565         0.958          5.603          0              0              0              58
   5  DishSponge      -0.202         2.133          3.326          0              180            0              75
   6  DishSponge      -0.532         0.745          6.074          0              270            0              84
   7  ButterKnife     -0.488         0.925          4.944          0              0              0              58
   8  ButterKnife     -0.334         0.925          4.615          0              0              0              58
   9  WineBottle      -4.033         0.924          4.640          0              90             0              73
  10  Fork            -0.181         0.925          5.932          0              0              0              58
  11  Fork            -4.159         0.791          3.097          0              0              0              105
  12  Cup             -0.334         0.923          4.944          0              0              0              58
  13  Cup             -2.688         1.545          1.633          0              0              0              103
  14  Plate           -4.102         0.924          2.183          0              0              0              73
  15  Knife           -3.255         0.953          5.182          0              90             0              73
  16  SoapBottle      -4.312         0.923          2.300          0              90             0              73
  17  SoapBottle      -1.777         0.923          1.724          0              0              0              55
  18  Bowl            -0.301         1.332          3.231          0              270            0              106
  19  SaltShaker      -3.251         0.078          1.812          0              0              0              48
  20  PepperShaker    -1.943         0.919          1.573          0              0              0              55
  21  Lettuce         -0.258         1.020          5.603          0              0              0              58
  22  Bread           -0.488         1.004          5.273          0              0              0              58
  23  Egg             -2.688         1.582          1.731          0              0              0              103
  24  Apple           -2.583         1.599          1.731          0              0              0              103
  25  Knife           -1.860         0.953          1.875          0              0              0              55
  26  Potato          -1.943         0.956          1.951          0              0              0              55
  27  Fork            -4.249         0.754          2.590          0              90             0              53
  28  Bowl            -3.258         1.456          5.512          0              90             0              59
  29  Plate           -4.159         0.791          3.347          0              270            0              105
  30  Lettuce         -3.675         0.164          6.416          0              0              0              99
  31  Bread           -0.301         1.415          3.479          0              270            0              106
  32  Tomato          -0.342         1.742          3.733          0              270            0              106
  33  WineBottle      -3.340         0.924          2.026          0              0              0              73
  34  Spatula         -0.181         0.940          5.273          0              0              0              58
  35  PaperTowelRoll  -2.109         1.027          2.026          0              0              0              55
  36  Cup             -1.610         0.922          1.724          0              0              0              55
  37  Pencil          -4.108         0.923          4.122          0              90             0              73
  38  Pan             -2.924         0.930          1.712          0              180            0              70
  39  Pot             -2.469         0.930          1.712          0              270            0              88
  40  SaltShaker      -4.094         0.751          2.413          0              0              0              53
  41  SoapBottle      -0.181         0.924          4.615          0              0              0              58
  42  PepperShaker    -3.475         0.078          1.850          0              0              0              48
  43  ButterKnife     -1.693         0.923          1.724          0              0              0              55
  44  DishSponge      -0.532         0.745          5.919          0              270            0              84
  45  Spoon           -4.335         0.924          4.381          0              90             0              73
  46  Mug             -0.409         0.955          6.557          0              270            0              94
  47  Cabinet         -3.203         1.931          1.777          0              0              0
  48  Cabinet         -3.187         0.390          2.089          0              0              0
  49  Cabinet         -0.637         0.387          6.882          0              180            0
  50  Drawer          -3.797         0.781          1.961          0              0              0
  51  Cabinet         -3.036         0.387          5.029          0              90             0
  52  Drawer          -0.509         0.775          5.268          0              270            0
  53  Drawer          -4.125         0.798          2.499          0              0              0
  54  Cabinet         -0.331         2.249          4.308          0              180            0
  55  CounterTop      -1.872         0.958          1.799          0              0              0
  56  StoveBurner     -2.924         0.924          2.012          0              0              0
  57  Cabinet         -0.331         2.249          6.806          0              180            0
  58  CounterTop      -0.345         0.960          5.603          0              0              0
  59  Cabinet         -3.039         1.935          5.321          0              90             0
  60  Cabinet         -3.922         0.397          2.088          0              0              0
  61  StoveBurner     -2.467         0.924          2.012          0              0              0
  62  Cabinet         -0.331         2.249          5.505          0              180            0
  63  Drawer          -0.509         0.775          4.617          0              270            0
  64  Drawer          -3.509         0.777          5.157          0              180            0
  65  Cabinet         -3.961         0.388          2.878          0              0              0
  66  Cabinet         -3.961         0.388          4.342          0              0              0
  67  Cabinet         -0.637         0.387          5.582          0              180            0
  68  Cabinet         -0.637         0.388          4.299          0              180            0
  69  Cabinet         -0.637         0.388          5.599          0              180            0
  70  StoveBurner     -2.924         0.924          1.712          0              180            0
  71  Drawer          -1.859         0.775          1.961          0              0              0
  72  Cabinet         -0.331         2.249          5.609          0              180            0
  73  CounterTop      -4.260         0.958          4.943          0              90             0
  74  Cabinet         -4.284         1.931          2.226          0              0              0
  75  Cabinet         -0.331         2.249          3.010          0              180            0
  76  Drawer          -3.801         0.777          5.157          0              180            0
  77  Cabinet         -4.112         1.935          5.321          0              90             0
  78  Cabinet         -3.968         0.388          3.662          0              0              0
  79  Drawer          -3.418         0.777          1.961          0              0              0
  80  Drawer          -4.090         0.777          4.661          0              90             0
  81  Faucet          -4.441         0.909          3.288          270            0              0
  82  Cabinet         -0.331         2.249          4.207          0              180            0
  83  Cabinet         -3.961         0.388          2.119          0              0              0
  84  Drawer          -0.509         0.775          5.920          0              270            0
  85  Drawer          -3.193         0.777          5.157          0              180            0
  86  Cabinet         -3.968         0.388          2.894          0              0              0
  87  Cabinet         -3.667         0.387          5.029          0              90             0
  88  StoveBurner     -2.469         0.924          1.712          0              270            0
  89  Cabinet         -1.539         0.388          2.090          0              0              0
  90  Sink            -4.190         0.921          3.279          0              0              0
  91  Cabinet         -3.641         0.387          5.029          0              90             0
  92  Cabinet         -1.583         1.931          1.777          0              0              0
  93  Drawer          -0.509         0.775          6.568          0              270            0
  94  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  95  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  96  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  97  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  98  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  99  GarbageCan      -3.711         -0.030         6.376          0              270            0
 100  Toaster         -3.578         0.912          1.763          0              0              0
 101  Curtains        -4.522         2.252          3.391          90             90             0
 102  Window          -4.868         1.629          3.309          90             270            0
 103  Microwave       -2.693         1.430          1.689          0              0              0
 104  LightSwitch     -1.588         1.169          1.506          0              0              0
 105  SinkBasin       -4.196         0.780          3.276          0              270            0
 106  Fridge          -0.324         -0.001         3.602          0              0              0
 107  NorthWall
 108  EastWall
 109  SouthWall
 110  WestWall

Plan:
STEP 1: Turn around then face the cupboard under the toaster to the right of the oven | STEP 2: Open the cupboard and remove the salt inside then shut the cupboard door | STEP 3: Move to face the drawer directly above the cupboard | STEP 4: Place the salt inside the drawer, shut the drawer | END