Task: put a salt shaker into 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           1.75           0.900          1.5            0              270            0
   1  Potato          -1.322         0.941          -1.891         0              0              0              78
   2  Potato          1.910          1.045          -1.245         0              270            0              83
   3  DishSponge      -0.623         0.693          -1.935         0              0              0              48
   4  ButterKnife     -0.897         0.911          -2.182         0              0              0              78
   5  Pot             -1.289         0.957          -0.756         0              180            0              53
   6  Pot             -1.056         0.956          -0.672         0              180            0              50
   7  Spatula         -0.031         0.778          -2.118         0              90             0              88
   8  Spoon           -0.290         0.764          -1.952         0              0              0              88
   9  Egg             -0.203         0.797          -2.118         0              0              0              88
  10  Egg             0.055          0.797          -2.063         0              0              0              88
  11  Plate           1.419          0.909          -2.098         0              0              0              78
  12  Plate           1.688          0.115          -1.266         0              0              0              52
  13  SaltShaker      -1.138         0.907          -1.929         0              0              0              78
  14  Lettuce         1.945          0.893          -0.737         0              90             0              85
  15  Lettuce         1.891          0.893          -0.551         0              270            0              85
  16  Mug             2.798          0.547          0.038          0              180            0              84
  17  Mug             2.055          0.812          -0.458         0              0              0              85
  18  Apple           1.945          1.476          -0.830         0              270            0              85
  19  Apple           1.781          1.064          -1.402         0              270            0              83
  20  Pan             1.743          0.9            -1.969         0              308.846        0              78
  21  Knife           -1.045         1.155          0.662          0              0              0              74
  22  Bowl            -0.657         0.908          -1.929         0              0              0              78
  23  Fork            -1.278         0.914          0.030          0              0              0              71
  24  Cup             0.101          0.750          -1.938         0              0              0              88
  25  Ladle           -0.205         0.950          0.135          0              0              0              71
  26  Apple           1.845          0.111          0.166          0              0              0              81
  27  Kettle          -1.047         0.953          -2.094         0              0              0              78
  28  Vase            -1.239         0.913          -1.469         0              0              0              78
  29  Potato          1.884          0.093          0.080          0              0              0              81
  30  Pot             -1.289         0.957          -1.02          0              0              0              68
  31  Bread           -1.148         0.981          -0.192         0              0              0              71
  32  Plate           1.469          1.651          -2.164         0              90             0              51
  33  Spatula         -0.577         0.709          0.102          0              90             0              72
  34  PaperTowelRoll  2.042          0.167          0.195          0              0              0              81
  35  Vase            -0.264         0.122          0.121          0              180            0              66
  36  Egg             -0.375         1.165          0.618          0              0              0              74
  37  SoapBottle      1.949          1.659          -1.276         0              0              0              55
  38  SaltShaker      -1.356         1.654          -1.789         0              0              0              60
  39  Lettuce         2.000          1.504          -0.551         0              270            0              85
  40  PepperShaker    -0.897         0.907          -1.929         0              0              0              78
  41  ButterKnife     0.071          1.131          0.706          0              0              0              74
  42  DishSponge      2.900          0.879          0.141          0              180            0              84
  43  Vase            2.979          0.539          0.128          0              0              0              84
  44  Spoon           -0.152         1.132          0.573          0              0              0              74
  45  Tomato          -1.138         0.960          -2.267         0              0              0              78
  46  Mug             -0.117         0.758          -2.063         0              0              0              88
  47  Statue          0.071          1.138          0.573          0              180            0              74
  48  Drawer          -0.819         0.75           -1.690         0              0              0
  49  Cabinet         -1.149         2.264          -0.838         0              90             0
  50  StoveBurner     -1.056         0.949          -0.671         0              180            0
  51  Cabinet         1.738          2.019          -2.000         0              0              0
  52  Cabinet         1.389          0.469          -1.059         0              0              0
  53  StoveBurner     -1.289         0.949          -0.755         0              180            0
  54  Faucet          -0.157         1.052          -2.196         0              270            0
  55  Cabinet         1.75           2.019          -1.029         0              0              0
  56  Cabinet         1.75           2.019          -1.399         0              0              0
  57  Cabinet         1.179          2.019          -2.0           0              0              0
  58  Cabinet         0.199          2.019          -2.0           0              0              0
  59  Cabinet         -1.100         2.019          -2.0           0              0              0
  60  Cabinet         -1.149         2.019          -1.979         0              0              0
  61  Cabinet         -1.149         2.019          -0.770         0              0              0
  62  Cabinet         -1.149         2.019          0.380          0              0              0
  63  Cabinet         -0.819         0.469          -1.689         0              0              0
  64  Cabinet         -0.839         0.469          -1.664         0              0              0
  65  Cabinet         -0.839         0.469          -0.049         0              0              0
  66  Cabinet         -0.414         0.370          -0.009         0              0              0
  67  Sink            -0.118         0.875          -2.009         0              0              0
  68  StoveBurner     -1.289         0.949          -1.019         0              0              0
  69  Cabinet         0.119          2.264          -2.0           0              0              0
  70  Cabinet         -0.459         2.264          -2.0           0              0              0
  71  CounterTop      -0.665         0.949          0.188          0              0              0
  72  Drawer          -0.449         0.75           -0.010         0              180            0
  73  Cabinet         -0.450         0.469          -0.009         0              0              0
  74  CounterTop      -0.630         1.167          0.573          0              0              0
  75  StoveBurner     -1.056         0.949          -1.126         0              0              0
  76  Cabinet         1.376          0.460          -1.685         0              0              0
  77  Drawer          -0.070         0.75           -0.009         0              180            0
  78  CounterTop      1.159          0.946          -2.013         0              0              0
  79  Cabinet         -1.150         2.264          -1.418         0              90             0
  80  HousePlant      -1.246         1.108          0.606          0              0              0
  81  GarbageCan      1.923          -0.010         0.137          0              0              0
  82  Shelf           2.759          0.880          0.144          0              0              0
  83  Microwave       1.827          0.900          -1.354         0              270            0
  84  Shelf           2.759          0.552          0.145          0              0              0
  85  Fridge          1.975          0.0            -0.537         0              0              0
  86  LightSwitch     0.404          1.297          2.0            0              180            0
  87  Shelf           2.760          0.172          0.145          0              0              0
  88  SinkBasin       -0.129         0.752          -2.007         0              0              0
  89  StoveKnob       -0.873         0.903          -0.827         45             90             0
  90  StoveKnob       -0.873         0.903          -0.676         45             90             0
  91  StoveKnob       -0.873         0.903          -0.966         45             90             0
  92  StoveKnob       -0.873         0.903          -1.123         45             90             0
  93  Toaster         0.840          0.900          -2.057         0              0              0
  94  CoffeeMachine   0.501          0.900          -2.125         0              0              0
  95  ShelvingUnit    2.760          0.006          0.144          0              0              0
  96  Stool           -0.826         0.010          0.908          0              347.513        0
  97  Stool           -0.132         0.010          0.883          0              71.555         0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: walk to face counter to the right of the sink | STEP 2: pick up the salt shaker from the counter top | STEP 3: turn to the right to face the stove | STEP 4: put the salt shaker into the drawer to the left of the stove | END