Task: put two salt shakers in a kitchen drawer

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              270            0
   1  DishSponge      -1.224         0.087          3.724          0              270            0              78
   2  DishSponge      -2.410         0.080          3.664          0              0              0              57
   3  ButterKnife     -2.503         0.915          3.998          0              0              0              46
   4  ButterKnife     -3.559         0.915          1.524          0              0              0              55
   5  WineBottle      -1.815         0.916          4.231          0              0              0              46
   6  WineBottle      -3.081         0.916          1.440          0              0              0              55
   7  Spoon           -1.787         0.892          0.358          0              90             0              82
   8  Spoon           -1.259         0.892          0.049          0              90             0              82
   9  Pot             -3.424         0.966          2.374          0              0              0              52
  10  Egg             -1.259         0.926          0.358          0              90             0              82
  11  Egg             -1.256         0.122          3.884          0              270            0              78
  12  Cup             -3.442         1.546          2.016          0              90             0              77
  13  Cup             -1.985         0.789          3.737          0              0              0              76
  14  Knife           -1.391         0.915          0.358          0              90             0              82
  15  Bowl            -3.654         0.914          1.357          0              0              0              55
  16  SaltShaker      -3.073         0.079          1.434          0              0              0              65
  17  PepperShaker    -1.391         0.887          0.564          0              90             0              82
  18  Lettuce         -1.127         0.977          0.152          0              90             0              82
  19  Lettuce         -1.391         0.977          -0.053         0              90             0              82
  20  Mug             -1.729         0.784          3.7            0              180            0              76
  21  Mug             -0.556         1.268          4.097          0              180            0              72
  22  Apple           -0.440         1.601          4.033          0              180            0              72
  23  Egg             -0.089         1.309          4.168          0              180            0              72
  24  Knife           -1.127         0.915          0.358          0              90             0              82
  25  Fork            -2.804         0.916          3.783          0              0              0              46
  26  Bread           -3.368         0.997          1.273          0              0              0              55
  27  Potato          -1.161         0.120          3.852          0              270            0              78
  28  Plate           -3.156         0.085          2.976          0              0              0              59
  29  Pot             -3.424         0.966          1.971          0              0              0              54
  30  Kettle          -3.148         0.966          2.374          0              0              0              49
  31  WineBottle      -2.402         0.916          3.567          0              0              0              46
  32  Bowl            -0.673         0.721          3.843          0              180            0              72
  33  Tomato          -1.655         0.960          0.564          0              90             0              82
  34  Cup             -1.259         0.891          0.564          0              90             0              82
  35  Spatula         -3.368         0.930          3.663          0              90             0              46
  36  SoapBottle      -3.459         1.995          2.479          0              0              0              61
  37  Lettuce         -1.759         0.974          0.085          0              0              0              82
  38  Pan             -2.614         0.902          3.620          0              0              0              46
  39  Apple           -3.473         1.606          2.172          0              90             0              77
  40  SaltShaker      -3.068         0.743          2.750          0              0              0              48
  41  PepperShaker    -1.655         0.887          -0.053         0              90             0              82
  42  ButterKnife     -1.127         0.891          0.049          0              90             0              82
  43  DishSponge      -3.126         0.745          1.433          0              0              0              47
  44  Spoon           -3.368         0.916          1.440          0              0              0              55
  45  Mug             -0.556         1.536          4.102          0              0              0              72
  46  CounterTop      -3.381         0.950          3.335          0              0              0
  47  Drawer          -3.121         0.775          1.357          0              0              0
  48  Drawer          -3.121         0.777          2.916          0              0              0
  49  StoveBurner     -3.148         0.958          2.374          0              0              0
  50  Sink            -1.797         0.917          3.660          0              0              0
  51  Cabinet         -1.421         0.388          3.459          0              0              0
  52  StoveBurner     -3.424         0.958          2.374          0              0              0
  53  Cabinet         -3.365         1.931          2.676          0              0              0
  54  StoveBurner     -3.424         0.958          1.971          0              0              0
  55  CounterTop      -3.381         0.951          1.356          0              0              0
  56  Drawer          -3.121         0.781          3.295          0              0              0
  57  Cabinet         -2.205         0.388          3.459          0              0              0
  58  Cabinet         -2.963         0.388          3.459          0              0              0
  59  Cabinet         -2.992         0.388          2.683          0              0              0
  60  Cabinet         -3.352         2.205          1.715          0              0              0
  61  Cabinet         -3.352         2.205          2.653          0              0              0
  62  Cabinet         -2.189         0.388          3.466          0              0              0
  63  Cabinet         -3.365         1.931          3.963          0              0              0
  64  Cabinet         -3.365         1.931          1.056          0              0              0
  65  Cabinet         -2.992         0.388          1.037          0              0              0
  66  StoveBurner     -3.143         0.958          1.971          0              0              0
  67  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  68  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  69  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  70  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  71  Toaster         -2.654         0.902          4.064          0              180            0
  72  Fridge          -0.439         0.014          3.996          0              0              0
  73  LightSwitch     0.25           1.383          2.085          0              270            0
  74  Window          -1.430         1.338          -0.347         90             0              0
  75  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  76  SinkBasin       -1.802         0.778          3.700          0              0              0
  77  Microwave       -3.484         1.430          2.182          0              90             0
  78  GarbageCan      -1.184         -0.020         3.794          0              270            0
  79  Blinds          -1.404         2.092          -0.296         0              0              0
  80  Stool           -1.373         0.014          1.048          1.214          20.754         0
  81  Faucet          -1.788         0.903          3.931          270            90             0
  82  DiningTable     -1.399         0.010          0.238          0              0              0
  83  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: walk to face white table  | STEP 2: pick up salt shaker from table | STEP 3: walk to face counter to left of stove | STEP 4: put salt shaker in drawer below counter | STEP 5: walk to face right side of white table  | STEP 6: pick up salt shaker from table | STEP 7: walk to face counter to left of stove | STEP 8: put salt shaker in drawer below counter | END