Task: Place a salt shaker in 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          1.25           0              180            0
   1  Pan             -1.289         0.957          -1.02          0              0              0              65
   2  Ladle           -0.117         0.800          -2.008         0              0              0              85
   3  Ladle           -0.205         0.950          0.241          0              0              0              68
   4  DishSponge      0.071          1.131          0.662          0              0              0              71
   5  DishSponge      -0.119         0.696          0.222          0              180            0              74
   6  ButterKnife     -1.278         0.913          0.188          0              0              0              68
   7  Pot             -1.056         0.956          -1.127         0              0              0              72
   8  Spoon           -0.152         1.132          0.706          0              0              0              71
   9  Egg             2.042          0.096          0.080          0              0              0              78
  10  Knife           -1.259         0.934          -2.014         0              0              0              75
  11  Tomato          1.845          0.112          0.166          0              0              0              78
  12  SaltShaker      -0.645         0.688          0.234          0              180            0              69
  13  SaltShaker      -0.577         0.690          0.190          0              180            0              69
  14  PepperShaker    -1.330         0.909          -0.048         0              0              0              68
  15  Mug             2.055          0.812          -0.830         0              270            0              82
  16  Mug             0.501          0.955          -1.900         0              0              0              91
  17  Pan             1.743          0.9            -1.969         0              308.846        0              75
  18  Knife           -0.376         0.786          -1.952         0              270            0              85
  19  Bowl            -1.278         1.655          -1.663         0              0              0              57
  20  Fork            -0.713         0.692          0.146          0              90             0              69
  21  Cup             0.101          0.750          -1.938         0              0              0              85
  22  Ladle           -1.423         1.699          0.231          0              270            0              59
  23  Apple           2.055          0.865          -0.644         0              270            0              82
  24  Kettle          -1.047         0.953          -2.094         0              0              0              75
  25  Vase            0.504          1.662          -2.124         0              0              0              55
  26  Potato          2.000          1.458          -0.365         0              270            0              82
  27  Pot             1.419          0.912          -2.183         0              0              0              75
  28  Bread           -0.822         1.213          0.573          0              0              0              71
  29  Plate           1.688          0.115          -1.201         0              0              0              49
  30  Spatula         -1.259         0.926          -1.760         0              0              0              75
  31  PaperTowelRoll  0.071          1.235          0.485          0              0              0              71
  32  Vase            -0.049         0.122          0.163          0              180            0              63
  33  Egg             1.924          0.096          0.080          0              0              0              78
  34  SoapBottle      3.002          0.879          0.114          0              180            0              79
  35  SaltShaker      -0.623         0.688          -1.758         0              0              0              45
  36  Lettuce         -1.247         0.990          -0.170         0              90             0              68
  37  PepperShaker    3.109          0.548          0.038          0              180            0              81
  38  ButterKnife     -0.375         1.131          0.573          0              0              0              71
  39  DishSponge      0.008          0.913          0.083          0              0              0              68
  40  Vase            2.979          0.539          0.128          0              0              0              81
  41  Spoon           0.008          0.914          0.241          0              0              0              68
  42  Tomato          1.891          1.477          -0.458         0              270            0              82
  43  Mug             2.487          0.547          -0.013         0              180            0              81
  44  Statue          -1.379         0.918          -2.182         0              90             0              75
  45  Drawer          -0.819         0.75           -1.690         0              0              0
  46  Cabinet         -1.149         2.264          -0.838         0              90             0
  47  StoveBurner     -1.056         0.949          -0.671         0              180            0
  48  Cabinet         1.738          2.019          -2.000         0              0              0
  49  Cabinet         1.389          0.469          -1.059         0              0              0
  50  StoveBurner     -1.289         0.949          -0.755         0              180            0
  51  Faucet          -0.157         1.052          -2.196         0              270            0
  52  Cabinet         1.75           2.019          -1.029         0              0              0
  53  Cabinet         1.75           2.019          -1.399         0              0              0
  54  Cabinet         1.179          2.019          -2.0           0              0              0
  55  Cabinet         0.199          2.019          -2.0           0              0              0
  56  Cabinet         -1.100         2.019          -2.0           0              0              0
  57  Cabinet         -1.149         2.019          -1.979         0              0              0
  58  Cabinet         -1.149         2.019          -0.770         0              0              0
  59  Cabinet         -1.149         2.019          0.380          0              0              0
  60  Cabinet         -0.819         0.469          -1.689         0              0              0
  61  Cabinet         -0.839         0.469          -1.664         0              0              0
  62  Cabinet         -0.839         0.469          -0.049         0              0              0
  63  Cabinet         -0.414         0.370          -0.009         0              0              0
  64  Sink            -0.118         0.875          -2.009         0              0              0
  65  StoveBurner     -1.289         0.949          -1.019         0              0              0
  66  Cabinet         0.119          2.264          -2.0           0              0              0
  67  Cabinet         -0.459         2.264          -2.0           0              0              0
  68  CounterTop      -0.665         0.949          0.188          0              0              0
  69  Drawer          -0.449         0.75           -0.010         0              180            0
  70  Cabinet         -0.450         0.469          -0.009         0              0              0
  71  CounterTop      -0.630         1.167          0.573          0              0              0
  72  StoveBurner     -1.056         0.949          -1.126         0              0              0
  73  Cabinet         1.376          0.460          -1.685         0              0              0
  74  Drawer          -0.070         0.75           -0.009         0              180            0
  75  CounterTop      1.159          0.946          -2.013         0              0              0
  76  Cabinet         -1.150         2.264          -1.418         0              90             0
  77  HousePlant      -1.246         1.108          0.606          0              0              0
  78  GarbageCan      1.923          -0.010         0.137          0              0              0
  79  Shelf           2.759          0.880          0.144          0              0              0
  80  Microwave       1.827          0.900          -1.354         0              270            0
  81  Shelf           2.759          0.552          0.145          0              0              0
  82  Fridge          1.975          0.0            -0.537         0              0              0
  83  LightSwitch     0.404          1.297          2.0            0              180            0
  84  Shelf           2.760          0.172          0.145          0              0              0
  85  SinkBasin       -0.129         0.752          -2.007         0              0              0
  86  StoveKnob       -0.873         0.903          -0.827         45             90             0
  87  StoveKnob       -0.873         0.903          -0.676         45             90             0
  88  StoveKnob       -0.873         0.903          -0.966         45             90             0
  89  StoveKnob       -0.873         0.903          -1.123         45             90             0
  90  Toaster         0.840          0.900          -2.057         0              0              0
  91  CoffeeMachine   0.501          0.900          -2.125         0              0              0
  92  ShelvingUnit    2.760          0.006          0.144          0              0              0
  93  Stool           -0.826         0.010          0.908          0              347.513        0
  94  Stool           -0.132         0.010          0.883          0              71.555         0
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: Turn left and head forward, once past the counter take a right then a quick right to go around the counter. Walk to the counter that is to the right of the stove | STEP 2: Pick up the salt shaker that is sitting to the right of the stove | STEP 3: Turn around and take a step then turn left to face the counter | STEP 4: Open the drawer on the right and place the salt shaker inside to the left then close the drawer | END