Task: Move a pepper shaker from a cabinet to a 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          0.899          3.25           0              180            0
   1  Pan             -2.924         0.930          1.712          0              180            0              75
   2  Pencil          -3.748         0.068          6.292          0              270            0              104
   3  DishSponge      -0.503         0.746          4.538          0              270            0              68
   4  ButterKnife     -0.488         0.925          4.944          0              0              0              63
   5  ButterKnife     -1.943         0.923          1.951          0              0              0              60
   6  WineBottle      -0.565         0.926          5.273          0              0              0              63
   7  Fork            -0.181         0.925          5.932          0              0              0              63
   8  Fork            -3.859         0.924          1.951          0              90             0              78
   9  Spatula         -2.109         0.938          1.648          0              90             0              60
  10  Spatula         -1.943         0.938          2.026          0              180            0              60
  11  Cup             -0.181         0.923          5.273          0              0              0              63
  12  Cup             -2.026         0.922          1.8            0              0              0              60
  13  Egg             -0.259         1.371          3.850          0              270            0              111
  14  Plate           -0.348         1.071          3.231          0              270            0              111
  15  Knife           -4.031         0.953          1.875          0              0              0              78
  16  Knife           -0.181         0.954          5.603          0              0              0              63
  17  SoapBottle      -1.860         0.923          1.573          0              0              0              60
  18  Tomato          -2.026         0.980          2.026          0              0              0              60
  19  Tomato          -0.259         1.392          3.726          0              270            0              111
  20  Bowl            -4.196         0.787          3.285          0              270            0              110
  21  Bowl            -0.342         1.682          3.975          0              270            0              111
  22  SaltShaker      -0.104         0.921          4.944          0              0              0              63
  23  PepperShaker    -3.525         1.449          1.605          0              0              0              52
  24  Lettuce         -1.860         1.018          1.8            0              0              0              60
  25  Lettuce         -3.748         0.164          6.375          0              270            0              104
  26  Bread           -0.348         1.150          3.726          0              270            0              111
  27  Bread           -1.610         1.003          1.724          0              0              0              60
  28  Egg             -1.777         0.959          2.026          0              0              0              60
  29  Apple           -0.348         1.124          3.479          0              270            0              111
  30  Knife           -0.181         0.954          4.944          0              0              0              63
  31  Potato          -2.530         1.579          1.698          0              0              0              108
  32  Fork            -4.233         0.791          3.097          0              180            0              110
  33  Bowl            -0.342         1.332          3.479          0              270            0              111
  34  Plate           -3.852         0.924          5.412          0              90             0              78
  35  Lettuce         -3.340         1.018          1.875          0              0              0              78
  36  Bread           -0.334         1.004          5.273          0              0              0              63
  37  Tomato          -4.102         0.980          2.416          0              0              0              78
  38  WineBottle      -3.239         0.080          5.193          0              90             0              56
  39  Spatula         -1.693         0.938          1.724          0              0              0              60
  40  PaperTowelRoll  -3.374         1.027          5.106          0              90             0              78
  41  Cup             -2.057         1.452          1.703          0              0              0              97
  42  Pencil          -0.565         0.925          6.591          0              0              0              63
  43  Pan             -2.469         0.930          1.712          0              270            0              93
  44  Pot             -0.396         0.912          5.933          0              0              0              63
  45  SaltShaker      -0.532         0.743          6.411          0              270            0              89
  46  SoapBottle      -0.242         2.133          3.108          0              180            0              80
  47  PepperShaker    -0.202         2.129          3.544          0              180            0              80
  48  ButterKnife     -1.777         0.923          1.724          0              0              0              60
  49  DishSponge      -3.362         0.744          1.986          0              0              0              84
  50  Spoon           -4.312         0.924          2.649          0              0              0              78
  51  Mug             -0.409         0.955          6.557          0              270            0              99
  52  Cabinet         -3.203         1.931          1.777          0              0              0
  53  Cabinet         -3.187         0.390          2.089          0              0              0
  54  Cabinet         -0.637         0.387          6.882          0              180            0
  55  Drawer          -3.797         0.781          1.961          0              0              0
  56  Cabinet         -3.036         0.387          5.029          0              90             0
  57  Drawer          -0.509         0.775          5.268          0              270            0
  58  Drawer          -4.125         0.798          2.499          0              0              0
  59  Cabinet         -0.331         2.249          4.308          0              180            0
  60  CounterTop      -1.872         0.958          1.799          0              0              0
  61  StoveBurner     -2.924         0.924          2.012          0              0              0
  62  Cabinet         -0.331         2.249          6.806          0              180            0
  63  CounterTop      -0.345         0.960          5.603          0              0              0
  64  Cabinet         -3.039         1.935          5.321          0              90             0
  65  Cabinet         -3.922         0.397          2.088          0              0              0
  66  StoveBurner     -2.467         0.924          2.012          0              0              0
  67  Cabinet         -0.331         2.249          5.505          0              180            0
  68  Drawer          -0.509         0.775          4.617          0              270            0
  69  Drawer          -3.509         0.777          5.157          0              180            0
  70  Cabinet         -3.961         0.388          2.878          0              0              0
  71  Cabinet         -3.961         0.388          4.342          0              0              0
  72  Cabinet         -0.637         0.387          5.582          0              180            0
  73  Cabinet         -0.637         0.388          4.299          0              180            0
  74  Cabinet         -0.637         0.388          5.599          0              180            0
  75  StoveBurner     -2.924         0.924          1.712          0              180            0
  76  Drawer          -1.859         0.775          1.961          0              0              0
  77  Cabinet         -0.331         2.249          5.609          0              180            0
  78  CounterTop      -4.260         0.958          4.943          0              90             0
  79  Cabinet         -4.284         1.931          2.226          0              0              0
  80  Cabinet         -0.331         2.249          3.010          0              180            0
  81  Drawer          -3.801         0.777          5.157          0              180            0
  82  Cabinet         -4.112         1.935          5.321          0              90             0
  83  Cabinet         -3.968         0.388          3.662          0              0              0
  84  Drawer          -3.418         0.777          1.961          0              0              0
  85  Drawer          -4.090         0.777          4.661          0              90             0
  86  Faucet          -4.441         0.909          3.288          270            0              0
  87  Cabinet         -0.331         2.249          4.207          0              180            0
  88  Cabinet         -3.961         0.388          2.119          0              0              0
  89  Drawer          -0.509         0.775          5.920          0              270            0
  90  Drawer          -3.193         0.777          5.157          0              180            0
  91  Cabinet         -3.968         0.388          2.894          0              0              0
  92  Cabinet         -3.667         0.387          5.029          0              90             0
  93  StoveBurner     -2.469         0.924          1.712          0              270            0
  94  Cabinet         -1.539         0.388          2.090          0              0              0
  95  Sink            -4.190         0.921          3.279          0              0              0
  96  Cabinet         -3.641         0.387          5.029          0              90             0
  97  Cabinet         -1.583         1.931          1.777          0              0              0
  98  Drawer          -0.509         0.775          6.568          0              270            0
  99  CoffeeMachine   -0.279         0.912          6.556          0              270            0
 100  StoveKnob       -2.347         1.095          1.560          288.012        180            180
 101  StoveKnob       -2.788         1.095          1.560          288.012        180            180
 102  StoveKnob       -2.965         1.095          1.560          288.012        180            180
 103  StoveKnob       -2.512         1.095          1.560          288.012        180            180
 104  GarbageCan      -3.711         -0.030         6.376          0              270            0
 105  Toaster         -3.578         0.912          1.763          0              0              0
 106  Curtains        -4.522         2.252          3.391          90             90             0
 107  Window          -4.868         1.629          3.309          90             270            0
 108  Microwave       -2.693         1.430          1.689          0              0              0
 109  LightSwitch     -1.588         1.169          1.506          0              0              0
 110  SinkBasin       -4.196         0.780          3.276          0              270            0
 111  Fridge          -0.324         -0.001         3.602          0              0              0
 112  NorthWall
 113  EastWall
 114  SouthWall
 115  WestWall

Plan:
STEP 1: Turn right and walk forward to the sink, then turn left and walk to the cabinet above the toaster. | STEP 2: Take out the pepper shaker from the cabinet, then close the cabinet. | STEP 3: Turn around, walk forward slightly and turn left towards the tomato on the counter. | STEP 4: Put the pepper shaker in the middle drawer below the tomato, then close the drawer. | END