Task: put a salt shaker into a kitchen drawer

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.899          5.5            0              180            0
   1  Potato          -0.401         1.104          3.479          0              270            0              99
   2  DishSponge      -3.374         0.923          5.489          0              90             0              66
   3  DishSponge      -0.565         0.924          5.603          0              0              0              51
   4  WineBottle      -4.128         0.078          4.660          0              0              0              59
   5  WineBottle      -4.116         1.457          1.959          0              45             0              67
   6  Fork            -1.860         0.924          2.026          0              0              0              48
   7  Fork            -1.693         0.924          2.026          0              0              0              48
   8  Cup             -4.093         0.082          2.992          0              0              0              79
   9  Cup             -0.488         0.923          4.944          0              0              0              51
  10  Egg             -0.295         1.106          3.850          0              270            0              99
  11  Egg             -0.401         1.106          3.231          0              270            0              99
  12  Knife           -3.494         0.953          5.259          0              90             0              66
  13  Bowl            -4.411         0.920          5.159          0              90             0              66
  14  Bowl            -2.026         0.920          1.875          0              0              0              48
  15  Apple           -1.693         0.976          1.724          0              0              0              48
  16  Egg             -0.488         0.960          5.273          0              0              0              51
  17  Apple           -3.675         0.122          6.292          0              270            0              92
  18  Knife           -1.860         0.953          1.724          0              0              0              48
  19  Potato          -1.777         0.956          1.951          0              0              0              48
  20  Fork            -4.249         0.756          2.501          0              90             0              46
  21  Bowl            -0.259         1.682          3.733          0              270            0              99
  22  Plate           -3.748         1.459          5.475          0              90             0              70
  23  Lettuce         -4.381         1.018          2.649          0              180            0              66
  24  Bread           -4.108         1.003          5.418          0              90             0              66
  25  Tomato          -0.242         1.127          3.231          0              270            0              99
  26  WineBottle      -2.013         0.082          1.971          0              0              0              82
  27  Spatula         -4.451         0.938          2.300          0              90             0              66
  28  PaperTowelRoll  -4.242         1.027          2.300          0              0              0              66
  29  Cup             -2.635         1.545          1.666          0              0              0              96
  30  Pencil          -3.675         0.068          6.416          0              270            0              92
  31  Pan             -2.924         0.930          1.712          0              180            0              63
  32  Pot             -2.467         0.930          2.012          0              0              0              54
  33  SaltShaker      -0.562         0.742          4.693          0              270            0              56
  34  SoapBottle      -2.057         1.452          1.573          0              0              0              85
  35  PepperShaker    -4.032         0.919          2.649          0              0              0              66
  36  ButterKnife     -0.488         0.925          5.603          0              0              0              51
  37  DishSponge      -4.121         0.790          3.222          0              270            0              98
  38  Spoon           -4.196         0.792          3.347          0              270            0              98
  39  Mug             -4.271         0.785          3.159          0              270            0              98
  40  Cabinet         -3.203         1.931          1.777          0              0              0
  41  Cabinet         -3.187         0.390          2.089          0              0              0
  42  Cabinet         -0.637         0.387          6.882          0              180            0
  43  Drawer          -3.797         0.781          1.961          0              0              0
  44  Cabinet         -3.036         0.387          5.029          0              90             0
  45  Drawer          -0.509         0.775          5.268          0              270            0
  46  Drawer          -4.125         0.798          2.499          0              0              0
  47  Cabinet         -0.331         2.249          4.308          0              180            0
  48  CounterTop      -1.872         0.958          1.799          0              0              0
  49  StoveBurner     -2.924         0.924          2.012          0              0              0
  50  Cabinet         -0.331         2.249          6.806          0              180            0
  51  CounterTop      -0.345         0.960          5.603          0              0              0
  52  Cabinet         -3.039         1.935          5.321          0              90             0
  53  Cabinet         -3.922         0.397          2.088          0              0              0
  54  StoveBurner     -2.467         0.924          2.012          0              0              0
  55  Cabinet         -0.331         2.249          5.505          0              180            0
  56  Drawer          -0.509         0.775          4.617          0              270            0
  57  Drawer          -3.509         0.777          5.157          0              180            0
  58  Cabinet         -3.961         0.388          2.878          0              0              0
  59  Cabinet         -3.961         0.388          4.342          0              0              0
  60  Cabinet         -0.637         0.387          5.582          0              180            0
  61  Cabinet         -0.637         0.388          4.299          0              180            0
  62  Cabinet         -0.637         0.388          5.599          0              180            0
  63  StoveBurner     -2.924         0.924          1.712          0              180            0
  64  Drawer          -1.859         0.775          1.961          0              0              0
  65  Cabinet         -0.331         2.249          5.609          0              180            0
  66  CounterTop      -4.260         0.958          4.943          0              90             0
  67  Cabinet         -4.284         1.931          2.226          0              0              0
  68  Cabinet         -0.331         2.249          3.010          0              180            0
  69  Drawer          -3.801         0.777          5.157          0              180            0
  70  Cabinet         -4.112         1.935          5.321          0              90             0
  71  Cabinet         -3.968         0.388          3.662          0              0              0
  72  Drawer          -3.418         0.777          1.961          0              0              0
  73  Drawer          -4.090         0.777          4.661          0              90             0
  74  Faucet          -4.441         0.909          3.288          270            0              0
  75  Cabinet         -0.331         2.249          4.207          0              180            0
  76  Cabinet         -3.961         0.388          2.119          0              0              0
  77  Drawer          -0.509         0.775          5.920          0              270            0
  78  Drawer          -3.193         0.777          5.157          0              180            0
  79  Cabinet         -3.968         0.388          2.894          0              0              0
  80  Cabinet         -3.667         0.387          5.029          0              90             0
  81  StoveBurner     -2.469         0.924          1.712          0              270            0
  82  Cabinet         -1.539         0.388          2.090          0              0              0
  83  Sink            -4.190         0.921          3.279          0              0              0
  84  Cabinet         -3.641         0.387          5.029          0              90             0
  85  Cabinet         -1.583         1.931          1.777          0              0              0
  86  Drawer          -0.509         0.775          6.568          0              270            0
  87  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  88  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  89  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  90  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  91  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  92  GarbageCan      -3.711         -0.030         6.376          0              270            0
  93  Toaster         -3.578         0.912          1.763          0              0              0
  94  Curtains        -4.522         2.252          3.391          90             90             0
  95  Window          -4.868         1.629          3.309          90             270            0
  96  Microwave       -2.693         1.430          1.689          0              0              0
  97  LightSwitch     -1.588         1.169          1.506          0              0              0
  98  SinkBasin       -4.196         0.780          3.276          0              270            0
  99  Fridge          -0.324         -0.001         3.602          0              0              0
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: walk to face counter to the left of the sink | STEP 2: pick up the salt shaker from the counter | STEP 3: step back slightly to view cabinets and drawers under counter left of sink | STEP 4: put salt shaker into top drawer under counter | END