Task: Place two salt shakers in the drawer next to the sink.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          1.0            0              0              0
   1  Potato          -1.014         0.598          0.195          0              90             0              72
   2  DishSponge      -0.724         0.081          2.241          0              0              0              61
   3  DishSponge      1.738          1.948          1.924          0              0              0              57
   4  ButterKnife     1.362          0.937          0.806          0              0              0              45
   5  Fork            -0.689         0.747          0.914          0              270            0              63
   6  Spoon           -0.861         0.747          2.313          0              270            0              41
   7  Egg             -0.821         0.600          0.119          0              90             0              72
   8  Cup             -1.153         1.826          0.409          0              0              0              54
   9  Plate           1.391          0.086          2.251          0              0              0              49
  10  Plate           1.391          0.086          0.988          0              0              0              66
  11  Knife           -0.827         0.768          2.245          0              90             0              41
  12  SoapBottle      -1.121         1.500          2.524          0              180            0              62
  13  SoapBottle      -0.884         0.081          2.456          0              0              0              61
  14  SaltShaker      1.767          0.934          1.887          0              0              0              45
  15  PepperShaker    1.624          1.944          1.736          0              0              0              57
  16  PepperShaker    -0.960         0.934          0.998          0              0              0              65
  17  Apple           -1.126         0.987          0.843          0              0              0              65
  18  Apple           1.423          0.119          2.847          0              90             0              78
  19  Lettuce         1.460          1.014          1.676          4.797          59.252         355.176        67
  20  SoapBottle      -1.211         0.937          2.159          0              0              0              40
  21  Bread           -0.923         0.990          2.265          0              302.470        0              40
  22  Fork            1.414          0.747          2.391          0              90             0              43
  23  Tomato          -0.988         0.876          0.272          0              90             0              72
  24  Bowl            -1.077         1.825          -0.174         0              0              0              53
  25  Pot             -1.109         0.930          1.865          0              0              0              64
  26  Spatula         -0.758         0.761          0.914          0              270            0              63
  27  Knife           -0.689         0.768          2.381          0              270            0              41
  28  SaltShaker      1.423          1.068          -0.029         0              0              0              46
  29  Apple           1.619          1.645          1.808          0              270            0              79
  30  PepperShaker    -0.712         0.934          2.159          0              0              0              41
  31  ButterKnife     -1.043         0.937          1.076          0              0              0              65
  32  Potato          -1.211         0.970          2.386          0              0              0              40
  33  Plate           1.380          1.751          0.066          0              0              0              48
  34  DishSponge      1.597          0.944          1.798          0              180            0              67
  35  Egg             -0.988         0.850          0.042          0              90             0              72
  36  Cup             -1.126         0.936          1.154          0              0              0              65
  37  Pan             1.378          1.737          0.392          0              270            0              48
  38  Spoon           1.379          0.747          0.916          0              0              0              70
  39  Mug             -0.971         1.494          0.118          0              90             0              72
  40  CounterTop      -0.973         0.973          2.386          0              0              0
  41  Drawer          -0.783         0.774          2.381          0              180            0
  42  StoveBurner     -1.108         0.922          1.470          0              0              0
  43  Drawer          1.370          0.774          2.391          0              0              0
  44  Stool           -0.748         0.008          3.116          0              0              0
  45  CounterTop      1.504          0.973          2.309          0              0              0
  46  Cabinet         1.219          1.388          0.591          0              0              0
  47  Cabinet         1.500          2.113          1.164          0              0              0
  48  Cabinet         1.219          2.010          0.591          0              0              0
  49  Cabinet         1.219          0.388          2.105          0              0              0
  50  Cabinet         1.219          0.553          0.591          0              0              0
  51  Cabinet         -0.913         2.113          1.164          0              0              0
  52  Cabinet         -0.633         0.388          0.627          0              0              0
  53  Cabinet         -0.913         2.050          -0.329         0              0              0
  54  Cabinet         -0.913         2.113          0.583          0              0              0
  55  Cabinet         -0.913         2.113          2.082          0              0              0
  56  Cabinet         -0.913         2.113          1.207          0              0              0
  57  Cabinet         1.500          2.113          2.082          0              0              0
  58  Cabinet         1.500          2.113          1.207          0              0              0
  59  Cabinet         1.500          1.810          2.691          0              0              0
  60  Cabinet         1.500          1.810          2.101          0              0              0
  61  Cabinet         -0.633         0.388          2.105          0              0              0
  62  Cabinet         -0.911         1.810          2.700          0              180            0
  63  Drawer          -0.783         0.774          0.915          0              180            0
  64  StoveBurner     -1.108         0.922          1.865          0              0              0
  65  CounterTop      -0.972         0.973          0.921          0              0              0
  66  Cabinet         1.219          0.388          0.631          0              0              0
  67  Sink            1.544          0.869          1.639          0              180            0
  68  StoveBurner     -0.832         0.922          1.865          0              0              0
  69  StoveBurner     -0.831         0.922          1.470          0              0              0
  70  Drawer          1.370          0.774          0.916          0              0              0
  71  Cabinet         -0.911         1.810          2.111          0              180            0
  72  Fridge          -1.001         0.0            0.119          0              0              0
  73  StoveKnob       -0.648         0.926          1.923          0              270            0
  74  StoveKnob       -0.648         0.926          1.363          0              270            0
  75  StoveKnob       -0.648         0.926          1.513          0              270            0
  76  StoveKnob       -0.648         0.926          1.763          0              270            0
  77  Toaster         -1.002         0.926          2.561          0              90             0
  78  GarbageCan      1.451          -0.029         2.912          0              0              0
  79  Microwave       1.632          1.480          1.645          0              270            0
  80  Window          0.224          1.601          3.509          90             0              0
  81  CoffeeMachine   1.692          0.926          2.453          0              270            0
  82  SinkBasin       1.461          0.833          1.369          0              180            0
  83  LightSwitch     0.451          1.412          -1.674         0              0              0
  84  Faucet          1.707          0.925          1.363          0              270            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Go to the counter next to the coffee maker and turn right. | STEP 2: Take the salt shaker from the counter. | STEP 3: Turn around, turn left, go to the counter to the right of the sink, and turn left. | STEP 4: Open the top drawer, put the salt shaker in the drawer, and close the drawer. | STEP 5: Turn right, go to the large brown cabinet, and turn left. | STEP 6: Open the large brown cabinet, take the salt shaker from the cabinet, and close the cabinet. | STEP 7: Turn around, turn right, go to the counter to the right of the sink, and turn right. | STEP 8: Open the top drawer, put the salt shaker in the drawer, and close the drawer. | END