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           -0.25          0.900          -0.25          0              0              0
   1  Statue          -1.326         0.932          -0.090         73.206         342.219        345.336        77
   2  Statue          2.900          0.886          0.141          0              180            0              88
   3  Potato          1.836          0.847          -0.458         0              270            0              91
   4  Ladle           -0.991         0.929          -0.055         339.560        0              346.185        77
   5  DishSponge      -1.278         0.913          0.135          0              0              0              77
   6  DishSponge      3.005          0.551          0.245          0              180            0              90
   7  ButterKnife     1.194          0.911          -2.098         0              0              0              84
   8  Pot             -1.289         0.957          -0.756         0              180            0              59
   9  Pot             -1.289         0.957          -1.02          0              0              0              74
  10  Spatula         -0.598         1.146          0.706          0              0              0              80
  11  Spatula         -0.420         0.928          0.030          0              0              0              77
  12  Fork            -0.053         0.696          0.181          0              180            0              83
  13  Spoon           -1.278         0.914          0.241          0              0              0              77
  14  Egg             1.781          1.049          -1.402         0              270            0              89
  15  Egg             2.002          0.096          0.138          0              0              0              87
  16  Knife           -0.822         1.155          0.529          0              180            0              80
  17  Tomato          -0.375         1.181          0.529          0              0              0              80
  18  Tomato          1.945          0.866          -0.458         0              270            0              91
  19  Bowl            -1.259         0.908          -2.182         0              0              0              84
  20  SaltShaker      -1.391         1.657          -0.558         0              0              0              67
  21  SaltShaker      1.987          1.655          -1.077         0              0              0              61
  22  SaltShaker      -1.232         1.657          -0.285         0              0              0              67
  23  Mug             0.501          0.955          -1.900         0              0              0              100
  24  Mug             -0.031         0.758          -2.118         0              0              0              94
  25  Apple           -0.031         0.811          -1.952         0              0              0              94
  26  Pan             1.743          0.9            -1.969         0              308.846        0              84
  27  Knife           -1.244         0.907          -0.199         90             5.668          0              77
  28  Bowl            -0.152         1.128          0.529          0              0              0              80
  29  Fork            0.008          0.914          0.083          0              0              0              77
  30  Cup             0.101          0.750          -1.938         0              0              0              94
  31  Ladle           -0.252         0.733          0.181          0              270            0              83
  32  Apple           1.884          0.111          0.080          0              0              0              87
  33  Kettle          -1.063         0.914          0.241          0              0              0              77
  34  Vase            1.000          1.660          -2.126         0              0              0              63
  35  Potato          1.846          1.045          -1.402         0              270            0              89
  36  Pot             -1.056         0.956          -0.672         0              180            0              56
  37  Bread           -1.146         1.003          -0.242         350.921        3.362          0              77
  38  Plate           -1.073         0.127          -1.501         0              0              0              70
  39  Spatula         -1.018         0.926          -1.845         0              180            0              84
  40  PaperTowelRoll  -1.018         1.015          -2.267         0              0              0              84
  41  Vase            -0.849         0.919          0.188          0              0              0              77
  42  Egg             -0.117         0.797          -1.952         0              0              0              94
  43  SoapBottle      0.071          1.131          0.662          0              0              0              80
  44  SaltShaker      -0.598         1.127          0.662          0              0              0              80
  45  Lettuce         -0.256         0.867          -1.969         327.984        40.845         31.472         94
  46  PepperShaker    -1.045         1.127          0.529          0              0              0              80
  47  ButterKnife     0.008          0.913          0.241          0              0              0              77
  48  DishSponge      -0.577         0.693          0.190          0              180            0              78
  49  Vase            2.979          0.539          0.128          0              0              0              90
  50  Spoon           0.079          0.698          0.222          0              270            0              83
  51  Tomato          1.836          1.148          -0.644         0              270            0              91
  52  Mug             2.055          0.812          -0.737         0              0              0              91
  53  Statue          -1.322         0.918          -1.553         0              0              0              84
  54  Drawer          -0.819         0.75           -1.690         0              0              0
  55  Cabinet         -1.149         2.264          -0.838         0              90             0
  56  StoveBurner     -1.056         0.949          -0.671         0              180            0
  57  Cabinet         1.738          2.019          -2.000         0              0              0
  58  Cabinet         1.389          0.469          -1.059         0              0              0
  59  StoveBurner     -1.289         0.949          -0.755         0              180            0
  60  Faucet          -0.157         1.052          -2.196         0              270            0
  61  Cabinet         1.75           2.019          -1.029         0              0              0
  62  Cabinet         1.75           2.019          -1.399         0              0              0
  63  Cabinet         1.179          2.019          -2.0           0              0              0
  64  Cabinet         0.199          2.019          -2.0           0              0              0
  65  Cabinet         -1.100         2.019          -2.0           0              0              0
  66  Cabinet         -1.149         2.019          -1.979         0              0              0
  67  Cabinet         -1.149         2.019          -0.770         0              0              0
  68  Cabinet         -1.149         2.019          0.380          0              0              0
  69  Cabinet         -0.819         0.469          -1.689         0              0              0
  70  Cabinet         -0.839         0.469          -1.664         0              0              0
  71  Cabinet         -0.839         0.469          -0.049         0              0              0
  72  Cabinet         -0.414         0.370          -0.009         0              0              0
  73  Sink            -0.118         0.875          -2.009         0              0              0
  74  StoveBurner     -1.289         0.949          -1.019         0              0              0
  75  Cabinet         0.119          2.264          -2.0           0              0              0
  76  Cabinet         -0.459         2.264          -2.0           0              0              0
  77  CounterTop      -0.665         0.949          0.188          0              0              0
  78  Drawer          -0.449         0.75           -0.010         0              180            0
  79  Cabinet         -0.450         0.469          -0.009         0              0              0
  80  CounterTop      -0.630         1.167          0.573          0              0              0
  81  StoveBurner     -1.056         0.949          -1.126         0              0              0
  82  Cabinet         1.376          0.460          -1.685         0              0              0
  83  Drawer          -0.070         0.75           -0.009         0              180            0
  84  CounterTop      1.159          0.946          -2.013         0              0              0
  85  Cabinet         -1.150         2.264          -1.418         0              90             0
  86  HousePlant      -1.246         1.108          0.606          0              0              0
  87  GarbageCan      1.923          -0.010         0.137          0              0              0
  88  Shelf           2.759          0.880          0.144          0              0              0
  89  Microwave       1.827          0.900          -1.354         0              270            0
  90  Shelf           2.759          0.552          0.145          0              0              0
  91  Fridge          1.975          0.0            -0.537         0              0              0
  92  LightSwitch     0.404          1.297          2.0            0              180            0
  93  Shelf           2.760          0.172          0.145          0              0              0
  94  SinkBasin       -0.129         0.752          -2.007         0              0              0
  95  StoveKnob       -0.873         0.903          -0.827         45             90             0
  96  StoveKnob       -0.873         0.903          -0.676         45             90             0
  97  StoveKnob       -0.873         0.903          -0.966         45             90             0
  98  StoveKnob       -0.873         0.903          -1.123         45             90             0
  99  Toaster         0.840          0.900          -2.057         0              0              0
 100  CoffeeMachine   0.501          0.900          -2.125         0              0              0
 101  ShelvingUnit    2.760          0.006          0.144          0              0              0
 102  Stool           -0.826         0.010          0.908          0              347.513        0
 103  Stool           -0.132         0.010          0.883          0              71.555         0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Turn left and approach the cabinet to the right of the stove. | STEP 2: Open the door and take the salt shaker in the cabinet. | STEP 3: Turn around and face the counter on the left. | STEP 4: Open the drawer and place the salt shaker inside then close the door. | STEP 5: Turn left and approach the bread on the counter. | STEP 6: Look up, open the door and take the salt shaker in the cabinet.  | STEP 7: Turn around and walk toward the drawer. | STEP 8: Open the drawer, put the shaker inside, and close the drawer. | END