Task: Move two salt shakers into 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          0.0            0              0              0
   1  DishSponge      1.362          0.937          2.118          0              0              0              51
   2  ButterKnife     -1.043         0.937          0.765          0              90             0              71
   3  ButterKnife     1.592          0.937          1.007          0              0              0              51
   4  Fork            1.516          0.938          2.118          0              270            0              51
   5  Fork            -0.876         0.938          0.921          0              0              0              71
   6  Spoon           1.275          0.747          0.848          0              90             0              76
   7  Spatula         1.483          0.761          0.780          0              90             0              76
   8  Pot             -1.109         0.930          1.865          0              0              0              70
   9  Egg             1.523          0.105          2.847          0              0              0              84
  10  Egg             -0.877         1.354          0.119          0              90             0              78
  11  Cup             -0.999         1.826          0.409          0              0              0              60
  12  Cup             1.391          0.080          0.777          0              0              0              72
  13  Knife           -1.043         0.959          0.921          0              90             0              71
  14  Knife           1.275          0.768          2.527          0              270            0              49
  15  Tomato          -1.012         0.876          -0.034         0              90             0              78
  16  SoapBottle      1.523          0.069          2.945          0              0              0              84
  17  SoapBottle      1.469          0.081          1.059          0              0              0              72
  18  Bowl            -1.106         1.947          1.364          0              0              0              62
  19  Bowl            -0.804         0.078          2.241          0              0              0              67
  20  SaltShaker      -0.712         0.934          2.537          0              0              0              46
  21  SaltShaker      1.666          1.500          0.872          0              0              0              53
  22  Mug             -0.877         1.494          0.348          0              90             0              78
  23  Apple           1.390          0.119          2.912          0              0              0              84
  24  Apple           -1.126         0.987          1.076          0              0              0              71
  25  Lettuce         1.460          1.014          1.677          4.908          59.009         355.768        73
  26  SoapBottle      1.630          1.500          2.555          0              0              0              65
  27  Bread           -0.923         0.990          2.265          0              302.470        0              46
  28  Fork            -1.127         0.938          2.159          0              0              0              46
  29  Tomato          -1.018         1.380          0.195          0              90             0              78
  30  Bowl            -0.937         0.562          0.119          0              90             0              78
  31  Pot             -1.109         0.930          1.470          0              0              0              48
  32  Spatula         -1.043         0.952          0.765          0              0              0              71
  33  Knife           1.414          0.768          0.780          0              90             0              76
  34  SaltShaker      1.300          1.743          0.168          0              0              0              54
  35  Apple           -0.964         0.864          0.272          0              90             0              78
  36  PepperShaker    1.382          0.097          0.070          0              0              0              56
  37  ButterKnife     1.362          0.937          2.405          0              0              0              51
  38  Potato          1.652          1.629          1.808          0              270            0              85
  39  Plate           1.377          1.059          0.012          0              0              0              52
  40  DishSponge      -0.876         0.937          1.076          0              0              0              71
  41  Egg             1.746          0.973          2.022          0              0              0              51
  42  Cup             1.746          1.502          1.011          0              0              0              53
  43  Pan             1.378          1.737          0.392          0              270            0              54
  44  Spoon           -0.689         0.747          2.245          0              270            0              47
  45  Mug             1.669          0.932          0.873          0              0              0              51
  46  CounterTop      -0.973         0.973          2.386          0              0              0
  47  Drawer          -0.783         0.774          2.381          0              180            0
  48  StoveBurner     -1.108         0.922          1.470          0              0              0
  49  Drawer          1.370          0.774          2.391          0              0              0
  50  Stool           -0.748         0.008          3.116          0              0              0
  51  CounterTop      1.504          0.973          2.309          0              0              0
  52  Cabinet         1.219          1.388          0.591          0              0              0
  53  Cabinet         1.500          2.113          1.164          0              0              0
  54  Cabinet         1.219          2.010          0.591          0              0              0
  55  Cabinet         1.219          0.388          2.105          0              0              0
  56  Cabinet         1.219          0.553          0.591          0              0              0
  57  Cabinet         -0.913         2.113          1.164          0              0              0
  58  Cabinet         -0.633         0.388          0.627          0              0              0
  59  Cabinet         -0.913         2.050          -0.329         0              0              0
  60  Cabinet         -0.913         2.113          0.583          0              0              0
  61  Cabinet         -0.913         2.113          2.082          0              0              0
  62  Cabinet         -0.913         2.113          1.207          0              0              0
  63  Cabinet         1.500          2.113          2.082          0              0              0
  64  Cabinet         1.500          2.113          1.207          0              0              0
  65  Cabinet         1.500          1.810          2.691          0              0              0
  66  Cabinet         1.500          1.810          2.101          0              0              0
  67  Cabinet         -0.633         0.388          2.105          0              0              0
  68  Cabinet         -0.911         1.810          2.700          0              180            0
  69  Drawer          -0.783         0.774          0.915          0              180            0
  70  StoveBurner     -1.108         0.922          1.865          0              0              0
  71  CounterTop      -0.972         0.973          0.921          0              0              0
  72  Cabinet         1.219          0.388          0.631          0              0              0
  73  Sink            1.544          0.869          1.639          0              180            0
  74  StoveBurner     -0.832         0.922          1.865          0              0              0
  75  StoveBurner     -0.831         0.922          1.470          0              0              0
  76  Drawer          1.370          0.774          0.916          0              0              0
  77  Cabinet         -0.911         1.810          2.111          0              180            0
  78  Fridge          -1.001         0.0            0.119          0              0              0
  79  StoveKnob       -0.648         0.926          1.923          0              270            0
  80  StoveKnob       -0.648         0.926          1.363          0              270            0
  81  StoveKnob       -0.648         0.926          1.513          0              270            0
  82  StoveKnob       -0.648         0.926          1.763          0              270            0
  83  Toaster         -1.002         0.926          2.561          0              90             0
  84  GarbageCan      1.451          -0.029         2.912          0              0              0
  85  Microwave       1.632          1.480          1.645          0              270            0
  86  Window          0.224          1.601          3.509          90             0              0
  87  CoffeeMachine   1.692          0.926          2.453          0              270            0
  88  SinkBasin       1.461          0.833          1.369          0              180            0
  89  LightSwitch     0.451          1.412          -1.674         0              0              0
  90  Faucet          1.707          0.925          1.363          0              270            0
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: Walk toward the wall, then hang a right and walk over to the rightmost section of counter and look up at the upper cabinets. | STEP 2: Open the rightmost upper cabinet door and take the salt shaker out of the cabinet then close the door. | STEP 3: Turn left and walk towards the wall, then hang a left and walk up to the section of counter to the right of the oven. | STEP 4: Open the drawer below the counter and put the salt shaker inside in the back left corner. | STEP 5: Turn right and walk towards the window, then turn left to face the counter again. | STEP 6: Pick up the salt shaker off of the counter. | STEP 7: Turn around and take a step forward, then turn right and take a step forward, then turn right to face the counter again. | STEP 8: Open the drawer below the counter and put the salt shaker inside to the right of the salt shaker that is already in there. | END