Task: put two salt shakers in drawer

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.914          0.5            0              270            0
   1  Pan             -3.424         0.966          1.971          0              0              0              51
   2  DishSponge      -3.155         0.744          1.356          0              0              0              44
   3  WineBottle      -0.994         0.897          -0.053         0              90             0              79
   4  Fork            -1.391         0.892          0.358          0              90             0              79
   5  Egg             -1.729         0.824          3.7            0              0              0              73
   6  Egg             -3.537         1.581          2.016          0              90             0              74
   7  Cup             -3.537         1.546          2.224          0              90             0              74
   8  Cup             -1.655         0.891          0.255          0              90             0              79
   9  Plate           -3.463         0.919          2.844          0              0              0              43
  10  Knife           -1.127         0.915          0.255          0              180            0              79
  11  SoapBottle      -3.463         0.915          1.440          0              0              0              52
  12  Bowl            -1.921         0.788          3.737          0              0              0              73
  13  Bowl            -1.655         0.890          -0.053         0              90             0              79
  14  SaltShaker      -3.113         0.079          1.434          0              0              0              62
  15  SaltShaker      -3.475         1.455          2.771          0              0              0              50
  16  SaltShaker      -1.523         0.887          0.049          0              90             0              79
  17  Lettuce         -0.994         0.977          0.358          0              90             0              79
  18  Lettuce         -0.790         1.072          3.988          0              180            0              69
  19  Bread           -1.192         0.167          3.756          0              270            0              75
  20  Mug             -3.426         0.945          3.275          0              90             0              43
  21  Egg             -2.302         0.950          3.567          0              0              0              43
  22  Fork            -3.463         0.916          1.189          0              0              0              52
  23  Bread           -0.556         1.067          4.051          0              180            0              69
  24  Potato          -1.259         0.923          -0.053         0              90             0              79
  25  Plate           -3.005         0.904          3.677          0              0              0              43
  26  Pot             -3.424         0.966          2.374          0              0              0              49
  27  Kettle          -3.145         0.069          2.920          0              270            0              56
  28  WineBottle      -1.612         0.081          3.625          0              0              0              48
  29  Bowl            -0.790         1.540          4.102          0              180            0              69
  30  Tomato          -0.323         1.342          4.027          0              180            0              69
  31  Cup             -1.729         0.789          3.625          0              0              0              73
  32  Spatula         -1.787         0.906          0.152          0              180            0              79
  33  SoapBottle      -3.231         0.083          1.513          0              0              0              62
  34  Lettuce         -1.391         0.977          0.255          0              90             0              79
  35  Pan             -3.143         0.966          1.971          0              0              0              63
  36  Apple           -1.259         0.951          0.461          0              90             0              79
  37  SaltShaker      -1.919         0.911          4.231          0              0              0              43
  38  PepperShaker    -3.127         0.742          3.296          0              0              0              53
  39  ButterKnife     -3.272         0.915          3.008          0              0              0              43
  40  DishSponge      -3.155         0.745          1.510          0              0              0              44
  41  Spoon           -3.272         0.916          3.172          0              90             0              43
  42  Mug             -0.206         1.536          4.067          0              180            0              69
  43  CounterTop      -3.381         0.950          3.335          0              0              0
  44  Drawer          -3.121         0.775          1.357          0              0              0
  45  Drawer          -3.121         0.777          2.916          0              0              0
  46  StoveBurner     -3.148         0.958          2.374          0              0              0
  47  Sink            -1.797         0.917          3.660          0              0              0
  48  Cabinet         -1.421         0.388          3.459          0              0              0
  49  StoveBurner     -3.424         0.958          2.374          0              0              0
  50  Cabinet         -3.365         1.931          2.676          0              0              0
  51  StoveBurner     -3.424         0.958          1.971          0              0              0
  52  CounterTop      -3.381         0.951          1.356          0              0              0
  53  Drawer          -3.121         0.781          3.295          0              0              0
  54  Cabinet         -2.205         0.388          3.459          0              0              0
  55  Cabinet         -2.963         0.388          3.459          0              0              0
  56  Cabinet         -2.992         0.388          2.683          0              0              0
  57  Cabinet         -3.352         2.205          1.715          0              0              0
  58  Cabinet         -3.352         2.205          2.653          0              0              0
  59  Cabinet         -2.189         0.388          3.466          0              0              0
  60  Cabinet         -3.365         1.931          3.963          0              0              0
  61  Cabinet         -3.365         1.931          1.056          0              0              0
  62  Cabinet         -2.992         0.388          1.037          0              0              0
  63  StoveBurner     -3.143         0.958          1.971          0              0              0
  64  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  65  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  66  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  67  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  68  Toaster         -2.654         0.902          4.064          0              180            0
  69  Fridge          -0.439         0.014          3.996          0              0              0
  70  LightSwitch     0.25           1.383          2.085          0              270            0
  71  Window          -1.430         1.338          -0.347         90             0              0
  72  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  73  SinkBasin       -1.802         0.778          3.700          0              0              0
  74  Microwave       -3.484         1.430          2.182          0              90             0
  75  GarbageCan      -1.184         -0.020         3.794          0              270            0
  76  Blinds          -1.404         2.092          -0.296         0              0              0
  77  Stool           -1.373         0.014          1.048          1.214          20.754         0
  78  Faucet          -1.788         0.903          3.931          270            90             0
  79  DiningTable     -1.399         0.010          0.238          0              0              0
  80  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: walk to face right side of white table | STEP 2: pick up salt shaker from table | STEP 3: walk to face counter with coffee maker | STEP 4: put shaker in drawer beneath left side of counter | STEP 5: walk to face sink | STEP 6: pick up salt shaker from behind sink | STEP 7: walk to face counter with coffee maker | STEP 8: put shaker in drawer beneath left side of counter | END