Task: Place a salt shaker inside a 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          1.5            0              0              0
   1  Pan             1.419          0.910          -1.929         0              90             0              86
   2  Pan             -1.056         0.956          -0.672         0              180            0              58
   3  Statue          -0.375         1.138          0.573          0              0              0              82
   4  Statue          2.798          0.559          0.142          0              180            0              92
   5  Potato          0.071          1.161          0.573          0              0              0              82
   6  Potato          -1.259         0.941          -2.182         0              0              0              86
   7  Ladle           -1.045         1.168          0.706          0              0              0              82
   8  Ladle           -0.290         0.800          -2.008         0              0              0              96
   9  DishSponge      -0.645         0.691          0.234          0              180            0              80
  10  DishSponge      1.845          0.062          0.109          0              0              0              89
  11  ButterKnife     -0.031         0.763          -2.063         0              180            0              96
  12  ButterKnife     -0.152         1.131          0.573          0              0              0              82
  13  Kettle          -1.289         0.957          -1.02          0              0              0              76
  14  Kettle          1.873          1.660          -1.197         0              0              0              59
  15  Spatula         0.079          0.710          0.098          0              90             0              85
  16  Fork            -0.119         0.697          0.181          0              180            0              85
  17  Spoon           -1.322         0.912          -1.469         0              0              0              86
  18  Knife           -0.205         0.937          0.135          0              0              0              79
  19  SoapBottle      2.002          0.063          0.166          0              0              0              89
  20  Bowl            -0.420         0.910          0.083          0              0              0              79
  21  Bowl            1.349          1.650          -2.128         0              90             0              59
  22  Bread           1.945          0.899          -0.737         0              270            0              93
  23  Lettuce         1.891          1.175          -0.365         0              270            0              93
  24  Lettuce         1.891          0.893          -0.458         0              270            0              93
  25  Mug             -0.117         0.758          -1.952         0              90             0              96
  26  Apple           -0.203         0.811          -2.118         0              0              0              96
  27  Apple           -1.330         0.962          -0.353         0              0              0              79
  28  Pan             1.743          0.9            -1.969         0              308.846        0              86
  29  Knife           -1.259         0.934          -2.014         0              0              0              86
  30  Bowl            1.945          1.095          -0.737         0              270            0              93
  31  Fork            -0.897         0.911          -1.760         0              0              0              86
  32  Cup             0.101          0.750          -1.938         0              0              0              96
  33  Ladle           -0.990         0.926          -0.049         0              0              344.630        79
  34  Apple           1.910          1.064          -1.192         0              270            0              91
  35  Kettle          -1.289         0.957          -0.756         0              180            0              61
  36  Vase            -0.420         0.915          0.294          0              0              0              79
  37  Potato          2.110          1.458          -0.830         0              270            0              93
  38  Pot             1.891          1.429          -0.644         0              270            0              93
  39  Bread           -1.156         1.010          -0.242         349.076        356.670        0              79
  40  Plate           -0.612         0.110          0.175          0              180            0              74
  41  Spatula         -0.634         0.928          0.030          0              0              0              79
  42  PaperTowelRoll  3.002          0.984          0.087          0              180            0              90
  43  Vase            2.699          0.869          0.182          0              0              0              90
  44  Egg             0.969          0.944          -1.844         0              0              0              86
  45  SoapBottle      0.888          1.658          -2.163         0              0              0              65
  46  SaltShaker      -0.657         0.688          -1.846         0              0              0              56
  47  Lettuce         1.945          1.504          -0.365         0              270            0              93
  48  PepperShaker    2.491          0.876          0.087          0              180            0              90
  49  ButterKnife     -0.598         1.131          0.441          0              0              0              82
  50  DishSponge      2.694          0.551          0.038          0              180            0              92
  51  Vase            2.979          0.539          0.128          0              0              0              92
  52  Spoon           -0.849         0.914          0.294          0              270            0              79
  53  Tomato          -0.822         1.181          0.573          0              0              0              82
  54  Mug             1.910          1.010          -1.297         0              0              0              91
  55  Statue          0.008          0.920          0.083          0              0              0              79
  56  Drawer          -0.819         0.75           -1.690         0              0              0
  57  Cabinet         -1.149         2.264          -0.838         0              90             0
  58  StoveBurner     -1.056         0.949          -0.671         0              180            0
  59  Cabinet         1.738          2.019          -2.000         0              0              0
  60  Cabinet         1.389          0.469          -1.059         0              0              0
  61  StoveBurner     -1.289         0.949          -0.755         0              180            0
  62  Faucet          -0.157         1.052          -2.196         0              270            0
  63  Cabinet         1.75           2.019          -1.029         0              0              0
  64  Cabinet         1.75           2.019          -1.399         0              0              0
  65  Cabinet         1.179          2.019          -2.0           0              0              0
  66  Cabinet         0.199          2.019          -2.0           0              0              0
  67  Cabinet         -1.100         2.019          -2.0           0              0              0
  68  Cabinet         -1.149         2.019          -1.979         0              0              0
  69  Cabinet         -1.149         2.019          -0.770         0              0              0
  70  Cabinet         -1.149         2.019          0.380          0              0              0
  71  Cabinet         -0.819         0.469          -1.689         0              0              0
  72  Cabinet         -0.839         0.469          -1.664         0              0              0
  73  Cabinet         -0.839         0.469          -0.049         0              0              0
  74  Cabinet         -0.414         0.370          -0.009         0              0              0
  75  Sink            -0.118         0.875          -2.009         0              0              0
  76  StoveBurner     -1.289         0.949          -1.019         0              0              0
  77  Cabinet         0.119          2.264          -2.0           0              0              0
  78  Cabinet         -0.459         2.264          -2.0           0              0              0
  79  CounterTop      -0.665         0.949          0.188          0              0              0
  80  Drawer          -0.449         0.75           -0.010         0              180            0
  81  Cabinet         -0.450         0.469          -0.009         0              0              0
  82  CounterTop      -0.630         1.167          0.573          0              0              0
  83  StoveBurner     -1.056         0.949          -1.126         0              0              0
  84  Cabinet         1.376          0.460          -1.685         0              0              0
  85  Drawer          -0.070         0.75           -0.009         0              180            0
  86  CounterTop      1.159          0.946          -2.013         0              0              0
  87  Cabinet         -1.150         2.264          -1.418         0              90             0
  88  HousePlant      -1.246         1.108          0.606          0              0              0
  89  GarbageCan      1.923          -0.010         0.137          0              0              0
  90  Shelf           2.759          0.880          0.144          0              0              0
  91  Microwave       1.827          0.900          -1.354         0              270            0
  92  Shelf           2.759          0.552          0.145          0              0              0
  93  Fridge          1.975          0.0            -0.537         0              0              0
  94  LightSwitch     0.404          1.297          2.0            0              180            0
  95  Shelf           2.760          0.172          0.145          0              0              0
  96  SinkBasin       -0.129         0.752          -2.007         0              0              0
  97  StoveKnob       -0.873         0.903          -0.827         45             90             0
  98  StoveKnob       -0.873         0.903          -0.676         45             90             0
  99  StoveKnob       -0.873         0.903          -0.966         45             90             0
 100  StoveKnob       -0.873         0.903          -1.123         45             90             0
 101  Toaster         0.840          0.900          -2.057         0              0              0
 102  CoffeeMachine   0.501          0.900          -2.125         0              0              0
 103  ShelvingUnit    2.760          0.006          0.144          0              0              0
 104  Stool           -0.826         0.010          0.908          0              347.513        0
 105  Stool           -0.132         0.010          0.883          0              71.555         0
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: Turn right and cross the room, then turn right and face the brown stand with shelves | STEP 2: Pick up the salt shaker that is on the top shelf to the right of the red vase | STEP 3: Turn to the right and head to the counter, then make a left at the counter and a quick right to face the stove, make another quick right to face the counter | STEP 4: Open the drawer on the very right and place the salt shaker inside in the front left corner of the drawer then close the drawer | END