Task: Put two salt shakers in 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           -2.75          0.914          3.0            0              270            0
   1  Potato          -1.391         0.923          0.049          0              90             0              81
   2  Potato          -1.523         0.923          -0.053         0              90             0              81
   3  DishSponge      -3.097         0.744          1.125          0              0              0              46
   4  DishSponge      -3.097         0.746          3.027          0              0              0              47
   5  Kettle          -1.787         0.892          0.358          0              90             0              81
   6  Kettle          -3.272         0.916          3.663          0              0              0              45
   7  Spatula         -1.127         0.906          0.358          0              0              0              81
   8  Spatula         -3.654         0.930          1.106          0              90             0              54
   9  Fork            -2.804         0.916          4.106          0              0              0              45
  10  Fork            -1.666         0.790          3.7            0              0              0              75
  11  Tomato          -1.504         0.984          4.231          0              0              0              45
  12  Tomato          -2.402         0.984          4.106          0              0              0              45
  13  SoapBottle      -3.508         1.459          1.378          0              0              0              63
  14  Bowl            -3.525         1.994          2.305          0              0              0              60
  15  SaltShaker      -1.518         0.077          3.664          0              0              0              56
  16  SaltShaker      -3.081         0.912          1.524          0              0              0              54
  17  PepperShaker    -1.612         0.077          3.664          0              0              0              50
  18  PepperShaker    -3.559         0.912          1.189          0              0              0              54
  19  PepperShaker    -1.391         0.887          -0.053         0              90             0              81
  20  Mug             -2.800         0.075          3.548          0              0              0              57
  21  Mug             -0.994         0.886          0.255          0              90             0              81
  22  Egg             -0.323         1.021          3.801          0              180            0              71
  23  Knife           -3.272         0.939          1.189          0              90             0              54
  24  Fork            -0.994         0.892          0.358          0              90             0              81
  25  Bread           -0.994         0.978          -0.053         0              90             0              81
  26  Potato          -0.790         0.755          3.843          0              180            0              71
  27  Plate           -0.44          0.990          3.988          0              180            0              71
  28  Pot             -3.424         0.966          1.971          0              0              0              53
  29  Kettle          -3.424         0.966          2.374          0              0              0              51
  30  WineBottle      -1.127         0.892          0.255          0              90             0              81
  31  Bowl            -3.492         1.994          2.537          0              0              0              60
  32  Tomato          -1.161         0.155          3.756          0              270            0              77
  33  Cup             -1.127         0.891          0.564          0              90             0              81
  34  Spatula         -1.523         0.906          0.358          0              90             0              81
  35  SoapBottle      -3.508         1.459          1.530          0              0              0              63
  36  Lettuce         -3.368         1.001          1.273          0              0              0              54
  37  Pan             -2.614         0.902          3.620          0              0              0              45
  38  Apple           -0.089         0.782          3.869          0              180            0              71
  39  SaltShaker      -3.463         0.912          1.106          0              0              0              54
  40  PepperShaker    -2.804         0.911          3.783          0              0              0              45
  41  ButterKnife     -1.259         0.891          0.152          0              90             0              81
  42  DishSponge      -1.655         0.891          0.564          0              90             0              81
  43  Spoon           -3.176         0.916          1.524          0              0              0              54
  44  Mug             -3.473         1.541          2.016          0              90             0              76
  45  CounterTop      -3.381         0.950          3.335          0              0              0
  46  Drawer          -3.121         0.775          1.357          0              0              0
  47  Drawer          -3.121         0.777          2.916          0              0              0
  48  StoveBurner     -3.148         0.958          2.374          0              0              0
  49  Sink            -1.797         0.917          3.660          0              0              0
  50  Cabinet         -1.421         0.388          3.459          0              0              0
  51  StoveBurner     -3.424         0.958          2.374          0              0              0
  52  Cabinet         -3.365         1.931          2.676          0              0              0
  53  StoveBurner     -3.424         0.958          1.971          0              0              0
  54  CounterTop      -3.381         0.951          1.356          0              0              0
  55  Drawer          -3.121         0.781          3.295          0              0              0
  56  Cabinet         -2.205         0.388          3.459          0              0              0
  57  Cabinet         -2.963         0.388          3.459          0              0              0
  58  Cabinet         -2.992         0.388          2.683          0              0              0
  59  Cabinet         -3.352         2.205          1.715          0              0              0
  60  Cabinet         -3.352         2.205          2.653          0              0              0
  61  Cabinet         -2.189         0.388          3.466          0              0              0
  62  Cabinet         -3.365         1.931          3.963          0              0              0
  63  Cabinet         -3.365         1.931          1.056          0              0              0
  64  Cabinet         -2.992         0.388          1.037          0              0              0
  65  StoveBurner     -3.143         0.958          1.971          0              0              0
  66  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  67  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  68  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  69  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  70  Toaster         -2.654         0.902          4.064          0              180            0
  71  Fridge          -0.439         0.014          3.996          0              0              0
  72  LightSwitch     0.25           1.383          2.085          0              270            0
  73  Window          -1.430         1.338          -0.347         90             0              0
  74  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  75  SinkBasin       -1.802         0.778          3.700          0              0              0
  76  Microwave       -3.484         1.430          2.182          0              90             0
  77  GarbageCan      -1.184         -0.020         3.794          0              270            0
  78  Blinds          -1.404         2.092          -0.296         0              0              0
  79  Stool           -1.373         0.014          1.048          1.214          20.754         0
  80  Faucet          -1.788         0.903          3.931          270            90             0
  81  DiningTable     -1.399         0.010          0.238          0              0              0
  82  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Turn around, go to the right to the counter to the left of the stove. | STEP 2: Pick up the salt shaker from the counter that is behind the lettuce. | STEP 3: Turn around, go forward, go the the left to the counter, turn to the left to face the coffee maker. | STEP 4: Put the salt in the right hand drawer underneath the coffee maker. | STEP 5: Turn to the counter on the right where the toaster is. | STEP 6: Pick up the salt that is on the counter.  | STEP 7: Turn to the right, go forward, turn around to face the coffee maker. | STEP 8: Put the salt in the right hand drawer underneath the coffee maker. | END