Task: put two salt shakers in 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           0.0            0.914          1.75           0              270            0
   1  Pan             -3.559         0.915          1.189          0              270            0              58
   2  Potato          -0.440         1.018          4.051          0              180            0              75
   3  Potato          -0.556         1.018          4.051          0              180            0              75
   4  ButterKnife     -0.994         0.891          0.461          0              90             0              85
   5  WineBottle      -3.538         1.455          3.579          0              0              0              66
   6  Spatula         -1.259         0.906          0.152          0              90             0              85
   7  Spatula         -3.176         0.910          3.663          0              0              0              49
   8  Spoon           -2.302         0.916          3.890          0              270            0              49
   9  Spoon           -2.302         0.916          3.998          0              0              0              49
  10  Pot             -3.424         0.966          1.971          0              0              0              57
  11  Egg             -1.523         0.926          0.564          0              90             0              85
  12  Egg             -0.323         1.576          3.999          0              180            0              75
  13  Cup             -1.127         0.891          0.049          0              90             0              85
  14  Cup             -0.556         0.722          3.869          0              180            0              75
  15  Knife           -1.655         0.915          0.358          0              90             0              85
  16  Knife           -1.428         0.939          3.998          0              90             0              49
  17  SoapBottle      -3.081         0.915          1.189          0              0              0              58
  18  SoapBottle      -1.192         0.087          3.756          0              270            0              81
  19  Bowl            -3.654         0.914          1.524          0              0              0              58
  20  PepperShaker    -1.787         0.887          0.049          0              90             0              85
  21  Lettuce         -3.559         1.001          2.844          0              0              0              49
  22  Bread           -3.505         1.627          2.068          0              90             0              80
  23  Bread           -0.994         0.972          0.255          0              90             0              85
  24  Mug             -3.526         1.989          1.890          0              0              0              63
  25  Mug             -0.206         0.981          3.988          0              90             0              75
  26  Egg             -0.440         1.309          4.097          0              180            0              75
  27  Knife           -1.523         0.915          -0.053         0              180            0              85
  28  Fork            -0.994         0.892          0.152          0              270            0              85
  29  Bread           -3.463         0.997          1.440          0              0              0              58
  30  Potato          -3.654         0.947          3.827          0              0              0              49
  31  Plate           -3.005         0.905          3.677          0              0              0              49
  32  Pot             -3.424         0.966          2.374          0              0              0              55
  33  Kettle          -3.143         0.966          1.971          0              0              0              69
  34  WineBottle      -1.391         0.892          0.255          0              90             0              85
  35  Bowl            -3.191         0.082          1.434          0              0              0              68
  36  Tomato          -0.323         1.054          4.051          0              180            0              75
  37  Cup             -3.081         0.915          1.440          0              0              0              58
  38  Spatula         -3.068         0.762          2.861          0              90             0              51
  39  SoapBottle      -3.459         1.995          2.479          0              0              0              64
  40  Lettuce         -1.523         0.977          0.049          0              90             0              85
  41  Pan             -2.614         0.902          3.620          0              0              0              49
  42  Apple           -2.302         0.975          4.106          0              0              0              49
  43  SaltShaker      -1.608         0.911          4.273          0              0              0              49
  44  PepperShaker    -1.127         0.887          -0.053         0              90             0              85
  45  ButterKnife     -1.729         0.789          3.7            0              0              0              79
  46  DishSponge      -3.272         0.915          1.440          0              0              0              58
  47  Spoon           -1.259         0.892          0.461          0              90             0              85
  48  Mug             -1.921         0.784          3.625          0              0              0              79
  49  CounterTop      -3.381         0.950          3.335          0              0              0
  50  Drawer          -3.121         0.775          1.357          0              0              0
  51  Drawer          -3.121         0.777          2.916          0              0              0
  52  StoveBurner     -3.148         0.958          2.374          0              0              0
  53  Sink            -1.797         0.917          3.660          0              0              0
  54  Cabinet         -1.421         0.388          3.459          0              0              0
  55  StoveBurner     -3.424         0.958          2.374          0              0              0
  56  Cabinet         -3.365         1.931          2.676          0              0              0
  57  StoveBurner     -3.424         0.958          1.971          0              0              0
  58  CounterTop      -3.381         0.951          1.356          0              0              0
  59  Drawer          -3.121         0.781          3.295          0              0              0
  60  Cabinet         -2.205         0.388          3.459          0              0              0
  61  Cabinet         -2.963         0.388          3.459          0              0              0
  62  Cabinet         -2.992         0.388          2.683          0              0              0
  63  Cabinet         -3.352         2.205          1.715          0              0              0
  64  Cabinet         -3.352         2.205          2.653          0              0              0
  65  Cabinet         -2.189         0.388          3.466          0              0              0
  66  Cabinet         -3.365         1.931          3.963          0              0              0
  67  Cabinet         -3.365         1.931          1.056          0              0              0
  68  Cabinet         -2.992         0.388          1.037          0              0              0
  69  StoveBurner     -3.143         0.958          1.971          0              0              0
  70  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  71  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  72  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  73  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  74  Toaster         -2.654         0.902          4.064          0              180            0
  75  Fridge          -0.439         0.014          3.996          0              0              0
  76  LightSwitch     0.25           1.383          2.085          0              270            0
  77  Window          -1.430         1.338          -0.347         90             0              0
  78  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  79  SinkBasin       -1.802         0.778          3.700          0              0              0
  80  Microwave       -3.484         1.430          2.182          0              90             0
  81  GarbageCan      -1.184         -0.020         3.794          0              270            0
  82  Blinds          -1.404         2.092          -0.296         0              0              0
  83  Stool           -1.373         0.014          1.048          1.214          20.754         0
  84  Faucet          -1.788         0.903          3.931          270            90             0
  85  DiningTable     -1.399         0.010          0.238          0              0              0
  86  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

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