Task: Place salt shakers in 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           0.5            0.900          0.25           0              0              0
   1  Potato          -1.413         0.943          -0.048         0              0              0              77
   2  Ladle           -0.991         0.922          -0.174         348.525        0              350.197        77
   3  Ladle           -0.985         0.173          -0.296         0              90             0              71
   4  Kettle          -1.289         0.957          -0.756         0              180            0              59
   5  Kettle          -1.056         0.956          -1.127         0              0              0              81
   6  Spatula         -1.045         1.146          0.441          0              0              0              80
   7  Fork            -0.252         0.696          0.139          0              90             0              83
   8  Spoon           -0.290         0.764          -2.063         0              0              0              94
   9  Spoon           -0.117         0.764          -1.952         0              0              0              94
  10  Egg             0.071          1.165          0.706          0              0              0              80
  11  Plate           1.846          1.013          -1.245         0              270            0              89
  12  SoapBottle      -1.072         0.136          -0.342         0              0              0              71
  13  SoapBottle      1.924          0.063          0.080          0              0              0              87
  14  Bowl            2.694          0.549          0.038          0              180            0              90
  15  Bowl            -1.317         1.655          -1.789         0              0              0              66
  16  SaltShaker      -1.391         1.657          -0.353         0              0              0              67
  17  SaltShaker      -1.157         0.907          -1.806         0              0              0              84
  18  SaltShaker      3.005          0.548          0.297          0              180            0              90
  19  PepperShaker    -1.138         0.907          -1.929         0              0              0              84
  20  PepperShaker    -0.679         0.690          0.102          0              180            0              78
  21  Bread           1.419          0.993          -1.929         0              0              0              84
  22  Lettuce         -0.993         0.987          -1.384         0              90             0              84
  23  Lettuce         1.945          1.504          -0.644         0              90             0              91
  24  Apple           1.836          0.865          -0.830         0              270            0              91
  25  Apple           -0.849         0.962          0.294          0              0              0              77
  26  Pan             1.743          0.9            -1.969         0              308.846        0              84
  27  Knife           0.071          1.155          0.485          0              0              0              80
  28  Bowl            1.836          1.095          -0.644         0              270            0              91
  29  Fork            0.055          0.763          -2.008         0              0              0              94
  30  Cup             0.101          0.750          -1.938         0              0              0              94
  31  Ladle           -1.423         1.699          -0.043         0              90             0              68
  32  Apple           1.945          0.865          -0.830         0              270            0              91
  33  Kettle          1.194          0.912          -1.844         0              0              0              84
  34  Vase            1.571          0.119          -1.332         0              0              0              58
  35  Potato          1.845          0.093          0.166          0              0              0              87
  36  Pot             -1.289         0.957          -1.02          0              0              0              74
  37  Bread           -1.191         1.005          -0.183         0              2.444          28.147         77
  38  Plate           -0.375         1.129          0.529          0              0              0              80
  39  Spatula         -0.822         1.146          0.485          0              180            0              80
  40  PaperTowelRoll  2.491          0.984          0.195          0              180            0              88
  41  Vase            -1.278         0.919          0.135          0              0              0              77
  42  Egg             2.042          0.096          0.080          0              0              0              87
  43  SoapBottle      0.969          0.911          -1.760         0              0              0              84
  44  SaltShaker      -0.152         1.127          0.529          0              0              0              80
  45  Lettuce         1.891          1.504          -0.458         0              270            0              91
  46  PepperShaker    -1.163         0.909          -0.414         0              0              0              77
  47  ButterKnife     -0.290         0.763          -2.008         0              0              0              94
  48  DishSponge      -0.822         1.131          0.662          0              0              0              80
  49  Vase            2.979          0.539          0.128          0              0              0              90
  50  Spoon           0.012          0.696          0.139          0              180            0              83
  51  Tomato          -1.045         1.181          0.573          0              0              0              80
  52  Mug             1.836          1.093          -0.830         0              270            0              91
  53  Statue          3.002          0.886          0.168          0              180            0              88
  54  Drawer          -0.819         0.75           -1.690         0              0              0
  55  Cabinet         -1.149         2.264          -0.838         0              90             0
  56  StoveBurner     -1.056         0.949          -0.671         0              180            0
  57  Cabinet         1.738          2.019          -2.000         0              0              0
  58  Cabinet         1.389          0.469          -1.059         0              0              0
  59  StoveBurner     -1.289         0.949          -0.755         0              180            0
  60  Faucet          -0.157         1.052          -2.196         0              270            0
  61  Cabinet         1.75           2.019          -1.029         0              0              0
  62  Cabinet         1.75           2.019          -1.399         0              0              0
  63  Cabinet         1.179          2.019          -2.0           0              0              0
  64  Cabinet         0.199          2.019          -2.0           0              0              0
  65  Cabinet         -1.100         2.019          -2.0           0              0              0
  66  Cabinet         -1.149         2.019          -1.979         0              0              0
  67  Cabinet         -1.149         2.019          -0.770         0              0              0
  68  Cabinet         -1.149         2.019          0.380          0              0              0
  69  Cabinet         -0.819         0.469          -1.689         0              0              0
  70  Cabinet         -0.839         0.469          -1.664         0              0              0
  71  Cabinet         -0.839         0.469          -0.049         0              0              0
  72  Cabinet         -0.414         0.370          -0.009         0              0              0
  73  Sink            -0.118         0.875          -2.009         0              0              0
  74  StoveBurner     -1.289         0.949          -1.019         0              0              0
  75  Cabinet         0.119          2.264          -2.0           0              0              0
  76  Cabinet         -0.459         2.264          -2.0           0              0              0
  77  CounterTop      -0.665         0.949          0.188          0              0              0
  78  Drawer          -0.449         0.75           -0.010         0              180            0
  79  Cabinet         -0.450         0.469          -0.009         0              0              0
  80  CounterTop      -0.630         1.167          0.573          0              0              0
  81  StoveBurner     -1.056         0.949          -1.126         0              0              0
  82  Cabinet         1.376          0.460          -1.685         0              0              0
  83  Drawer          -0.070         0.75           -0.009         0              180            0
  84  CounterTop      1.159          0.946          -2.013         0              0              0
  85  Cabinet         -1.150         2.264          -1.418         0              90             0
  86  HousePlant      -1.246         1.108          0.606          0              0              0
  87  GarbageCan      1.923          -0.010         0.137          0              0              0
  88  Shelf           2.759          0.880          0.144          0              0              0
  89  Microwave       1.827          0.900          -1.354         0              270            0
  90  Shelf           2.759          0.552          0.145          0              0              0
  91  Fridge          1.975          0.0            -0.537         0              0              0
  92  LightSwitch     0.404          1.297          2.0            0              180            0
  93  Shelf           2.760          0.172          0.145          0              0              0
  94  SinkBasin       -0.129         0.752          -2.007         0              0              0
  95  StoveKnob       -0.873         0.903          -0.827         45             90             0
  96  StoveKnob       -0.873         0.903          -0.676         45             90             0
  97  StoveKnob       -0.873         0.903          -0.966         45             90             0
  98  StoveKnob       -0.873         0.903          -1.123         45             90             0
  99  Toaster         0.840          0.900          -2.057         0              0              0
 100  CoffeeMachine   0.501          0.900          -2.125         0              0              0
 101  ShelvingUnit    2.760          0.006          0.144          0              0              0
 102  Stool           -0.826         0.010          0.908          0              347.513        0
 103  Stool           -0.132         0.010          0.883          0              71.555         0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Turn around to go to the counter left of the stove | STEP 2: Pick up the salt shaker. | STEP 3: Go to the counter with drawers on the right.  | STEP 4: Place the salt shaker in the top drawer on the right side of the counter next to the spoon. | STEP 5: Turn left and go to the counter on the right of the stove.  | STEP 6: Open the cupboard above the counter and remove the salt shaker. | STEP 7: Turn around to go back to the counter with the drawer with salt shaker in it. | STEP 8: Place the salt shaker behind the first salt shaker in the drawer. | END