Task: put two salt shakers inside the drawer on the counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.914          2.5            0              90             0
   1  DishSponge      -3.538         1.454          3.805          0              0              0              56
   2  ButterKnife     -1.127         0.891          0.049          0              90             0              75
   3  Kettle          -3.143         0.966          1.971          0              0              0              59
   4  Kettle          -3.424         0.966          2.374          0              0              0              45
   5  Spatula         -1.655         0.906          0.049          0              0              0              75
   6  Egg             -0.440         1.576          4.102          0              180            0              65
   7  Cup             -1.259         0.891          -0.053         0              90             0              75
   8  Knife           -1.919         0.939          3.471          0              0              0              39
   9  Tomato          -1.608         0.984          4.188          0              0              0              39
  10  Bowl            -1.523         0.890          0.255          0              90             0              75
  11  SaltShaker      -1.787         0.887          0.152          0              90             0              75
  12  Lettuce         -2.022         1.001          4.146          0              0              0              39
  13  Bread           -0.673         1.067          4.051          0              180            0              65
  14  Apple           -1.666         0.849          3.7            0              0              0              69
  15  Apple           -1.523         0.951          0.049          0              90             0              75
  16  Egg             -0.440         1.309          3.991          0              180            0              65
  17  Knife           -1.391         0.915          0.358          0              90             0              75
  18  Fork            -1.815         0.916          4.188          0              0              0              39
  19  Bread           -0.994         0.972          0.255          0              90             0              75
  20  Potato          -3.568         1.578          2.068          0              90             0              70
  21  Plate           -3.463         0.919          1.189          0              0              0              48
  22  Pot             -3.424         0.966          1.971          0              0              0              47
  23  Kettle          -1.127         0.892          0.461          0              180            0              75
  24  WineBottle      -3.505         1.455          3.504          0              0              0              56
  25  Bowl            -2.460         0.079          3.586          0              0              0              50
  26  Tomato          -1.161         0.155          3.756          0              270            0              71
  27  Cup             -0.556         1.541          4.067          0              180            0              65
  28  Spatula         -1.787         0.906          0.358          0              270            0              75
  29  SoapBottle      -3.475         1.459          2.846          0              0              0              46
  30  Lettuce         -1.259         0.977          0.152          0              90             0              75
  31  Pan             -2.614         0.902          3.620          0              0              0              39
  32  Apple           -3.272         0.975          3.008          0              0              0              39
  33  SaltShaker      -1.391         0.887          0.564          0              90             0              75
  34  PepperShaker    -3.155         0.741          1.356          0              0              0              40
  35  ButterKnife     -2.804         0.915          3.675          0              0              0              39
  36  DishSponge      -3.155         0.745          1.125          0              0              0              40
  37  Spoon           -1.504         0.916          4.146          0              0              0              39
  38  Mug             -0.323         0.717          3.869          0              180            0              65
  39  CounterTop      -3.381         0.950          3.335          0              0              0
  40  Drawer          -3.121         0.775          1.357          0              0              0
  41  Drawer          -3.121         0.777          2.916          0              0              0
  42  StoveBurner     -3.148         0.958          2.374          0              0              0
  43  Sink            -1.797         0.917          3.660          0              0              0
  44  Cabinet         -1.421         0.388          3.459          0              0              0
  45  StoveBurner     -3.424         0.958          2.374          0              0              0
  46  Cabinet         -3.365         1.931          2.676          0              0              0
  47  StoveBurner     -3.424         0.958          1.971          0              0              0
  48  CounterTop      -3.381         0.951          1.356          0              0              0
  49  Drawer          -3.121         0.781          3.295          0              0              0
  50  Cabinet         -2.205         0.388          3.459          0              0              0
  51  Cabinet         -2.963         0.388          3.459          0              0              0
  52  Cabinet         -2.992         0.388          2.683          0              0              0
  53  Cabinet         -3.352         2.205          1.715          0              0              0
  54  Cabinet         -3.352         2.205          2.653          0              0              0
  55  Cabinet         -2.189         0.388          3.466          0              0              0
  56  Cabinet         -3.365         1.931          3.963          0              0              0
  57  Cabinet         -3.365         1.931          1.056          0              0              0
  58  Cabinet         -2.992         0.388          1.037          0              0              0
  59  StoveBurner     -3.143         0.958          1.971          0              0              0
  60  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  61  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  62  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  63  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  64  Toaster         -2.654         0.902          4.064          0              180            0
  65  Fridge          -0.439         0.014          3.996          0              0              0
  66  LightSwitch     0.25           1.383          2.085          0              270            0
  67  Window          -1.430         1.338          -0.347         90             0              0
  68  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  69  SinkBasin       -1.802         0.778          3.700          0              0              0
  70  Microwave       -3.484         1.430          2.182          0              90             0
  71  GarbageCan      -1.184         -0.020         3.794          0              270            0
  72  Blinds          -1.404         2.092          -0.296         0              0              0
  73  Stool           -1.373         0.014          1.048          1.214          20.754         0
  74  Faucet          -1.788         0.903          3.931          270            90             0
  75  DiningTable     -1.399         0.010          0.238          0              0              0
  76  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: turn around and walk straight towards the stove and turn left and walk straight towards the wall and turn left towards the table | STEP 2: pick up the salt shaker on the table | STEP 3: turn left and walk straight then turn left towards the counter | STEP 4: open the counter drawer and put the salt inside and close the drawer | STEP 5: turn right then turn right again and walk straight then turn right towards the table | STEP 6: pick up the salt on the table  | STEP 7: turn right then turn right again then turn left and walk straight then turn left then turn right and walk straight towards the counter top | STEP 8: open the counter drawer and put the salt inside and close the drawer | END