Task: Put two salt shakers in the 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          0.25           0              0              0
   1  Pan             -1.157         0.910          -1.638         0              90             0              85
   2  Statue          -1.063         0.920          0.188          0              0              0              78
   3  Ladle           -0.822         1.168          0.441          0              180            0              81
   4  DishSponge      1.409          1.653          -2.091         0              90             0              58
   5  DishSponge      -0.611         0.691          0.102          0              180            0              79
   6  ButterKnife     -0.290         0.763          -2.063         0              180            0              95
   7  Pot             -1.289         0.957          -0.756         0              180            0              60
   8  Spatula         -1.045         1.146          0.662          0              0              0              81
   9  Spatula         -1.379         0.926          -2.267         0              90             0              85
  10  Fork            -0.897         0.911          -1.845         0              0              0              85
  11  Fork            -0.897         0.911          -2.014         0              0              0              85
  12  Spoon           0.008          0.914          0.083          0              0              0              78
  13  Plate           -0.612         0.110          0.175          0              180            0              73
  14  Plate           1.945          1.097          -0.551         0              270            0              92
  15  Knife           -0.691         0.717          -1.935         0              90             0              55
  16  Knife           -0.420         0.937          0.135          0              0              0              78
  17  SoapBottle      -1.349         1.662          0.231          0              0              0              69
  18  Tomato          1.891          0.866          -0.644         0              270            0              92
  19  Bowl            1.813          1.012          -1.245         0              270            0              90
  20  Bowl            -1.312         1.657          -0.353         0              0              0              68
  21  SaltShaker      -1.138         0.907          -2.267         0              0              0              85
  22  PepperShaker    -0.205         0.909          0.083          0              0              0              78
  23  Bread           0.071          1.213          0.573          0              0              0              81
  24  Mug             0.501          0.955          -1.900         0              0              0              101
  25  Apple           2.000          0.865          -0.458         0              270            0              92
  26  Apple           1.924          0.111          0.109          0              0              0              88
  27  Pan             -1.289         0.957          -1.02          0              0              0              75
  28  Knife           -0.152         1.155          0.441          0              180            0              81
  29  Bowl            -1.330         0.910          -0.353         0              0              0              78
  30  Fork            -1.080         0.914          -0.170         0              0              0              78
  31  Cup             0.101          0.750          -1.938         0              0              0              95
  32  Ladle           -1.278         0.950          0.241          0              0              0              78
  33  Apple           1.891          1.147          -0.830         0              270            0              92
  34  Kettle          -1.056         0.956          -0.672         0              180            0              57
  35  Vase            0.008          0.915          0.241          0              0              0              78
  36  Potato          -0.152         1.161          0.529          0              0              0              81
  37  Pot             -1.056         0.956          -1.127         0              0              0              82
  38  Bread           1.945          1.509          -0.551         0              270            0              92
  39  Plate           -1.028         0.134          -0.204         0              0              0              72
  40  Spatula         -0.117         0.778          -2.008         0              180            0              95
  41  PaperTowelRoll  2.042          0.167          0.080          0              0              0              88
  42  Vase            2.699          0.869          0.182          0              0              0              89
  43  Egg             -1.045         1.165          0.529          0              0              0              81
  44  SoapBottle      -0.942         0.128          -1.501         0              0              0              71
  45  SaltShaker      -0.152         1.127          0.618          0              0              0              81
  46  Lettuce         -0.997         0.990          -0.292         0              0              0              78
  47  PepperShaker    -0.375         1.127          0.529          0              0              0              81
  48  ButterKnife     -1.330         0.913          -0.109         0              0              0              78
  49  DishSponge      3.105          0.879          0.114          0              180            0              91
  50  Vase            2.979          0.539          0.128          0              0              0              91
  51  Spoon           -0.598         1.132          0.662          0              0              0              81
  52  Tomato          1.836          0.866          -0.458         0              270            0              92
  53  Mug             -1.413         0.908          -0.170         0              0              0              78
  54  Statue          -0.657         0.918          -2.014         0              90             0              85
  55  Drawer          -0.819         0.75           -1.690         0              0              0
  56  Cabinet         -1.149         2.264          -0.838         0              90             0
  57  StoveBurner     -1.056         0.949          -0.671         0              180            0
  58  Cabinet         1.738          2.019          -2.000         0              0              0
  59  Cabinet         1.389          0.469          -1.059         0              0              0
  60  StoveBurner     -1.289         0.949          -0.755         0              180            0
  61  Faucet          -0.157         1.052          -2.196         0              270            0
  62  Cabinet         1.75           2.019          -1.029         0              0              0
  63  Cabinet         1.75           2.019          -1.399         0              0              0
  64  Cabinet         1.179          2.019          -2.0           0              0              0
  65  Cabinet         0.199          2.019          -2.0           0              0              0
  66  Cabinet         -1.100         2.019          -2.0           0              0              0
  67  Cabinet         -1.149         2.019          -1.979         0              0              0
  68  Cabinet         -1.149         2.019          -0.770         0              0              0
  69  Cabinet         -1.149         2.019          0.380          0              0              0
  70  Cabinet         -0.819         0.469          -1.689         0              0              0
  71  Cabinet         -0.839         0.469          -1.664         0              0              0
  72  Cabinet         -0.839         0.469          -0.049         0              0              0
  73  Cabinet         -0.414         0.370          -0.009         0              0              0
  74  Sink            -0.118         0.875          -2.009         0              0              0
  75  StoveBurner     -1.289         0.949          -1.019         0              0              0
  76  Cabinet         0.119          2.264          -2.0           0              0              0
  77  Cabinet         -0.459         2.264          -2.0           0              0              0
  78  CounterTop      -0.665         0.949          0.188          0              0              0
  79  Drawer          -0.449         0.75           -0.010         0              180            0
  80  Cabinet         -0.450         0.469          -0.009         0              0              0
  81  CounterTop      -0.630         1.167          0.573          0              0              0
  82  StoveBurner     -1.056         0.949          -1.126         0              0              0
  83  Cabinet         1.376          0.460          -1.685         0              0              0
  84  Drawer          -0.070         0.75           -0.009         0              180            0
  85  CounterTop      1.159          0.946          -2.013         0              0              0
  86  Cabinet         -1.150         2.264          -1.418         0              90             0
  87  HousePlant      -1.246         1.108          0.606          0              0              0
  88  GarbageCan      1.923          -0.010         0.137          0              0              0
  89  Shelf           2.759          0.880          0.144          0              0              0
  90  Microwave       1.827          0.900          -1.354         0              270            0
  91  Shelf           2.759          0.552          0.145          0              0              0
  92  Fridge          1.975          0.0            -0.537         0              0              0
  93  LightSwitch     0.404          1.297          2.0            0              180            0
  94  Shelf           2.760          0.172          0.145          0              0              0
  95  SinkBasin       -0.129         0.752          -2.007         0              0              0
  96  StoveKnob       -0.873         0.903          -0.827         45             90             0
  97  StoveKnob       -0.873         0.903          -0.676         45             90             0
  98  StoveKnob       -0.873         0.903          -0.966         45             90             0
  99  StoveKnob       -0.873         0.903          -1.123         45             90             0
 100  Toaster         0.840          0.900          -2.057         0              0              0
 101  CoffeeMachine   0.501          0.900          -2.125         0              0              0
 102  ShelvingUnit    2.760          0.006          0.144          0              0              0
 103  Stool           -0.826         0.010          0.908          0              347.513        0
 104  Stool           -0.132         0.010          0.883          0              71.555         0
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: Turn around and walk to the sink. | STEP 2: Pick up the salt shaker. | STEP 3: Turn around and walk to the drawer. | STEP 4: Open the drawer, put the salt shaker in the drawer, and close the drawer. | STEP 5: Walk around the counter to the door, turn right, walk forward, turn left, and head to the counter. | STEP 6: Pick up the salt shaker on the left. | STEP 7: Turn left, walk around the counter, and turn right. | STEP 8: Open the drawer, put the salt shaker in the drawer, and close the drawer. | END