Task: Pick up and move the salt to the drawer under the toaster.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          -1.0           0              0              0
   1  Pan             -0.876         0.937          0.765          0              0              0              62
   2  ButterKnife     -1.127         0.927          2.310          0              0              0              37
   3  Spatula         1.379          0.761          1.052          0              270            0              67
   4  Pot             -1.109         0.930          1.865          0              0              0              61
   5  Egg             1.597          0.979          1.714          0              180            0              64
   6  Cup             1.503          0.943          1.714          0              180            0              64
   7  Knife           -0.689         0.768          0.914          0              270            0              60
   8  Knife           1.310          0.768          0.780          0              90             0              67
   9  SoapBottle      1.419          1.746          -0.035         0              0              0              45
  10  SaltShaker      1.439          0.934          1.074          0              0              0              42
  11  SaltShaker      -0.712         0.934          2.159          0              0              0              37
  12  SaltShaker      1.459          1.743          -0.137         0              0              0              45
  13  Lettuce         1.669          1.028          0.873          0              0              0              42
  14  Mug             -0.710         0.932          1.076          0              0              0              62
  15  Mug             1.528          1.002          2.345          0              270            0              42
  16  Lettuce         -1.126         1.028          0.921          0              0              0              62
  17  SoapBottle      1.390          0.069          2.879          0              0              0              75
  18  Bread           -0.923         0.990          2.265          0              302.504        0              37
  19  Fork            1.409          0.945          1.714          0              90             0              64
  20  Tomato          -0.924         1.380          0.042          0              90             0              69
  21  Bowl            -0.791         0.080          1.055          0              0              0              49
  22  Pot             -1.109         0.930          1.470          0              0              0              39
  23  Spatula         -0.792         0.761          1.050          0              270            0              60
  24  Knife           1.275          0.768          1.052          0              270            0              67
  25  SaltShaker      1.710          0.934          1.887          0              0              0              42
  26  Apple           1.422          0.892          1.369          0              180            0              79
  27  PepperShaker    -0.827         0.742          2.517          0              180            0              38
  28  ButterKnife     -1.043         0.937          1.076          0              0              0              62
  29  Potato          -1.044         0.970          2.159          0              0              0              37
  30  Plate           -1.076         1.832          0.409          0              0              0              51
  31  DishSponge      -1.209         0.937          0.765          0              0              0              62
  32  Egg             1.767          0.973          1.458          0              0              0              42
  33  Cup             -0.937         0.564          -0.034         0              90             0              69
  34  Pan             1.378          1.737          0.392          0              270            0              45
  35  Spoon           1.362          0.945          1.589          0              180            0              64
  36  Mug             -0.960         0.932          1.076          0              0              0              62
  37  CounterTop      -0.973         0.973          2.386          0              0              0
  38  Drawer          -0.783         0.774          2.381          0              180            0
  39  StoveBurner     -1.108         0.922          1.470          0              0              0
  40  Drawer          1.370          0.774          2.391          0              0              0
  41  Stool           -0.748         0.008          3.116          0              0              0
  42  CounterTop      1.504          0.973          2.309          0              0              0
  43  Cabinet         1.219          1.388          0.591          0              0              0
  44  Cabinet         1.500          2.113          1.164          0              0              0
  45  Cabinet         1.219          2.010          0.591          0              0              0
  46  Cabinet         1.219          0.388          2.105          0              0              0
  47  Cabinet         1.219          0.553          0.591          0              0              0
  48  Cabinet         -0.913         2.113          1.164          0              0              0
  49  Cabinet         -0.633         0.388          0.627          0              0              0
  50  Cabinet         -0.913         2.050          -0.329         0              0              0
  51  Cabinet         -0.913         2.113          0.583          0              0              0
  52  Cabinet         -0.913         2.113          2.082          0              0              0
  53  Cabinet         -0.913         2.113          1.207          0              0              0
  54  Cabinet         1.500          2.113          2.082          0              0              0
  55  Cabinet         1.500          2.113          1.207          0              0              0
  56  Cabinet         1.500          1.810          2.691          0              0              0
  57  Cabinet         1.500          1.810          2.101          0              0              0
  58  Cabinet         -0.633         0.388          2.105          0              0              0
  59  Cabinet         -0.911         1.810          2.700          0              180            0
  60  Drawer          -0.783         0.774          0.915          0              180            0
  61  StoveBurner     -1.108         0.922          1.865          0              0              0
  62  CounterTop      -0.972         0.973          0.921          0              0              0
  63  Cabinet         1.219          0.388          0.631          0              0              0
  64  Sink            1.544          0.869          1.639          0              180            0
  65  StoveBurner     -0.832         0.922          1.865          0              0              0
  66  StoveBurner     -0.831         0.922          1.470          0              0              0
  67  Drawer          1.370          0.774          0.916          0              0              0
  68  Cabinet         -0.911         1.810          2.111          0              180            0
  69  Fridge          -1.001         0.0            0.119          0              0              0
  70  StoveKnob       -0.648         0.926          1.923          0              270            0
  71  StoveKnob       -0.648         0.926          1.363          0              270            0
  72  StoveKnob       -0.648         0.926          1.513          0              270            0
  73  StoveKnob       -0.648         0.926          1.763          0              270            0
  74  Toaster         -1.002         0.926          2.561          0              90             0
  75  GarbageCan      1.451          -0.029         2.912          0              0              0
  76  Microwave       1.632          1.480          1.645          0              270            0
  77  Window          0.224          1.601          3.509          90             0              0
  78  CoffeeMachine   1.692          0.926          2.453          0              270            0
  79  SinkBasin       1.461          0.833          1.369          0              180            0
  80  LightSwitch     0.451          1.412          -1.674         0              0              0
  81  Faucet          1.707          0.925          1.363          0              270            0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: Walk forward, turn to the left to face the counter top. | STEP 2: Pick up the salt shaker that is in front of the loaf of bread.  | STEP 3: Turn around then back around to face the counter top. | STEP 4: Open the drawer, place the salt on the left back side of the drawer. | STEP 5: Turn around and face the other cabinet. | STEP 6: Pick up the salt on the counter top behind the drinking glass. | STEP 7: Turn around to face the cabinet with the toaster. | STEP 8: Open the drawer and place the salt shaker next to the other salt shaker and close the door.  | END