Task: Put the salt shakers in the 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           -1.75          0.914          3.25           0              270            0
   1  Pan             -3.424         0.966          1.971          0              0              0              56
   2  DishSponge      -1.523         0.891          -0.053         0              90             0              84
   3  ButterKnife     -2.402         0.915          3.998          0              0              0              48
   4  ButterKnife     -1.787         0.891          0.049          0              90             0              84
   5  WineBottle      -3.272         0.916          1.607          0              0              0              57
   6  Kettle          -3.143         0.966          1.971          0              0              0              68
   7  Spatula         -3.272         0.930          3.499          0              180            0              48
   8  Spoon           -3.272         0.916          3.499          0              90             0              48
   9  Spoon           -2.402         0.916          3.998          0              0              0              48
  10  Fork            -3.214         0.746          1.279          0              90             0              49
  11  Fork            -2.804         0.916          4.214          0              270            0              48
  12  Egg             -1.259         0.926          -0.053         0              90             0              84
  13  Cup             -3.473         1.546          2.120          0              90             0              79
  14  Plate           -3.368         0.919          2.844          0              0              0              48
  15  Tomato          -1.259         0.960          0.358          0              90             0              84
  16  Tomato          -3.081         0.984          1.524          0              0              0              57
  17  Bowl            -1.259         0.890          0.152          0              90             0              84
  18  Bowl            -1.787         0.890          0.152          0              90             0              84
  19  SaltShaker      -1.655         0.887          0.358          0              90             0              84
  20  SaltShaker      -1.391         0.887          0.255          0              90             0              84
  21  Bread           -0.673         1.067          3.926          0              180            0              74
  22  Mug             -2.905         0.910          4.106          0              0              0              48
  23  Apple           -1.921         0.849          3.7            0              0              0              78
  24  Apple           -0.323         1.046          3.988          0              180            0              74
  25  Egg             -1.259         0.926          0.461          0              90             0              84
  26  Knife           -0.994         0.915          0.049          0              90             0              84
  27  Fork            -0.994         0.892          0.358          0              90             0              84
  28  Bread           -1.192         0.169          3.820          0              270            0              80
  29  Potato          -1.523         0.923          0.049          0              90             0              84
  30  Plate           -3.006         0.904          3.677          0              0              0              48
  31  Pot             -3.424         0.966          2.374          0              0              0              54
  32  Kettle          -3.368         0.916          1.440          0              0              0              57
  33  WineBottle      -3.081         0.916          1.106          0              0              0              57
  34  Bowl            -3.654         0.914          1.440          0              0              0              57
  35  Tomato          -0.994         0.960          0.461          0              90             0              84
  36  Cup             -2.302         0.915          3.890          0              0              0              48
  37  Spatula         -3.097         0.760          1.279          0              90             0              49
  38  SoapBottle      -1.523         0.891          0.358          0              90             0              84
  39  Lettuce         -0.994         0.977          0.255          0              90             0              84
  40  Pan             -2.614         0.902          3.620          0              0              0              48
  41  Apple           -3.368         0.975          1.189          0              0              0              57
  42  SaltShaker      -3.559         0.912          1.189          0              0              0              57
  43  PepperShaker    -3.559         0.912          1.607          0              0              0              57
  44  ButterKnife     -1.840         0.779          3.674          0              0              0              78
  45  DishSponge      -3.459         1.994          2.305          0              0              0              63
  46  Spoon           -1.919         0.916          4.146          0              0              0              48
  47  Mug             -1.127         0.886          -0.053         0              90             0              84
  48  CounterTop      -3.381         0.950          3.335          0              0              0
  49  Drawer          -3.121         0.775          1.357          0              0              0
  50  Drawer          -3.121         0.777          2.916          0              0              0
  51  StoveBurner     -3.148         0.958          2.374          0              0              0
  52  Sink            -1.797         0.917          3.660          0              0              0
  53  Cabinet         -1.421         0.388          3.459          0              0              0
  54  StoveBurner     -3.424         0.958          2.374          0              0              0
  55  Cabinet         -3.365         1.931          2.676          0              0              0
  56  StoveBurner     -3.424         0.958          1.971          0              0              0
  57  CounterTop      -3.381         0.951          1.356          0              0              0
  58  Drawer          -3.121         0.781          3.295          0              0              0
  59  Cabinet         -2.205         0.388          3.459          0              0              0
  60  Cabinet         -2.963         0.388          3.459          0              0              0
  61  Cabinet         -2.992         0.388          2.683          0              0              0
  62  Cabinet         -3.352         2.205          1.715          0              0              0
  63  Cabinet         -3.352         2.205          2.653          0              0              0
  64  Cabinet         -2.189         0.388          3.466          0              0              0
  65  Cabinet         -3.365         1.931          3.963          0              0              0
  66  Cabinet         -3.365         1.931          1.056          0              0              0
  67  Cabinet         -2.992         0.388          1.037          0              0              0
  68  StoveBurner     -3.143         0.958          1.971          0              0              0
  69  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  70  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  71  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  72  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  73  Toaster         -2.654         0.902          4.064          0              180            0
  74  Fridge          -0.439         0.014          3.996          0              0              0
  75  LightSwitch     0.25           1.383          2.085          0              270            0
  76  Window          -1.430         1.338          -0.347         90             0              0
  77  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  78  SinkBasin       -1.802         0.778          3.700          0              0              0
  79  Microwave       -3.484         1.430          2.182          0              90             0
  80  GarbageCan      -1.184         -0.020         3.794          0              270            0
  81  Blinds          -1.404         2.092          -0.296         0              0              0
  82  Stool           -1.373         0.014          1.048          1.214          20.754         0
  83  Faucet          -1.788         0.903          3.931          270            90             0
  84  DiningTable     -1.399         0.010          0.238          0              0              0
  85  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn left and walk forward, turning left again to face the white table | STEP 2: Pick up the furthest salt shaker from the white table | STEP 3: Turn left and walk a couple feet forward then turn left to face the counter | STEP 4: Open the top drawer and put the salt shaker in it | STEP 5: Walk up to the counter | STEP 6: Pick up the left most salt shaker from the counter | STEP 7: Turn around and step away from the counter then turn back around to face it | STEP 8: Open the top drawer and put the salt shaker in it | END