Task: Place a salt shaker inside the top drawer.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.900          -1.75          0              270            0
   1  Statue          -1.469         0.884          2.719          0              0              0              53
   2  Statue          -1.104         0.936          -0.643         0              0              0              53
   3  CellPhone       0.834          0.700          -0.607         0              270            0              51
   4  Glassbottle     1.114          0.912          -1.879         0              0              0              59
   5  Glassbottle     -0.587         0.781          -0.486         0              90             0              74
   6  Fork            0.875          0.495          -0.648         0              0              0              57
   7  Fork            -1.104         0.934          -1.167         0              0              0              53
   8  Spoon           -0.772         0.934          -1.463         0              0              0              53
   9  Spatula         1.199          0.926          -0.034         0              0              0              54
  10  Knife           -0.624         0.957          -1.231         0              0              0              53
  11  Plate           -1.363         0.557          2.667          0              0              0              79
  12  Plate           0.773          0.914          -0.208         0              0              0              54
  13  Bowl            0.905          1.405          0.967          0              270            0              76
  14  Bowl            0.688          0.914          -2.308         0              0              0              59
  15  SaltShaker      1.039          2.204          -1.626         0              270            0              60
  16  PepperShaker    1.240          1.662          -1.961         0              270            0              52
  17  PepperShaker    0.859          0.907          -1.879         0              0              0              59
  18  Lettuce         0.944          0.988          -0.381         0              0              0              54
  19  Statue          -1.167         0.936          -0.380         0              0              0              53
  20  Glassbottle     1.101          1.667          -2.234         0              270            0              52
  21  Bread           1.026          0.944          1.349          0              270            0              76
  22  CreditCard      -1.985         0.551          2.667          0              0              0              79
  23  CellPhone       0.688          0.908          -0.381         0              0              0              54
  24  Potato          -0.912         0.209          0.576          0              180            0              73
  25  Knife           0.859          0.934          -0.729         0              0              0              54
  26  Fork            0.859          0.911          -0.555         0              0              0              54
  27  Pan             0.848          0.946          -1.080         0              0              0              47
  28  Lettuce         1.026          1.479          1.158          0              270            0              76
  29  Plate           -0.550         0.936          -1.308         0              0              0              53
  30  Apple           1.199          0.961          -0.729         0              0              0              54
  31  Pot             1.077          0.950          -1.504         0              0              0              49
  32  Spatula         0.944          0.926          0.139          0              270            0              54
  33  PaperTowelRoll  -1.674         0.658          2.874          0              0              0              79
  34  Tomato          1.026          1.175          1.254          0              270            0              76
  35  Egg             -0.808         0.818          -0.573         0              90             0              74
  36  SaltShaker      0.915          0.491          -0.565         0              270            0              57
  37  PepperShaker    1.082          2.204          -1.299         0              270            0              60
  38  Vase            -1.423         0.169          2.621          0              0              0              79
  39  ButterKnife     -0.772         0.933          -1.540         0              0              0              53
  40  SoapBottle      -0.477         0.933          0.009          0              0              0              53
  41  Vase            1.193          1.667          0.153          0              270            0              61
  42  Bowl            0.844          1.646          1.349          0              270            0              76
  43  DishSponge      1.101          1.665          -2.097         0              270            0              52
  44  Spoon           -0.753         0.781          -0.918         0              180            0              74
  45  Cup             1.126          1.792          -1.339         0              270            0              75
  46  Mug             -1.881         0.549          2.615          0              0              0              79
  47  StoveBurner     0.842          0.919          -1.098         0              0              0
  48  Cabinet         0.648          0.474          0.244          0              270            0
  49  StoveBurner     1.077          0.919          -1.504         0              0              0
  50  StoveBurner     0.842          0.919          -1.504         0              0              0
  51  Drawer          0.637          0.755          -0.649         0              270            0
  52  Cabinet         0.949          2.159          -2.375         0              270            0
  53  CounterTop      -1.238         0.968          -0.643         0              0              0
  54  CounterTop      0.931          0.946          -0.208         0              0              0
  55  StoveBurner     1.077          0.919          -1.098         0              0              0
  56  Drawer          0.637          0.268          -0.649         0              270            0
  57  Drawer          0.637          0.547          -0.649         0              270            0
  58  Cabinet         0.648          0.475          -1.714         0              0              0
  59  CounterTop      0.931          0.946          -2.051         0              0              0
  60  Cabinet         0.948          2.439          -1.780         0              270            0
  61  Cabinet         0.948          2.159          -0.140         0              270            0
  62  Cabinet         0.949          2.159          -0.758         0              270            0
  63  Sink            -0.699         0.927          -0.649         0              0              0
  64  LightSwitch     -2.371         1.218          3.049          0              180            0
  65  StoveKnob       0.673          0.899          -1.373         315            90             180
  66  StoveKnob       0.673          0.899          -1.519         315            90             180
  67  StoveKnob       0.673          0.899          -1.086         315            90             180
  68  StoveKnob       0.673          0.899          -1.237         315            90             180
  69  Toaster         0.984          0.900          0.329          0              270            0
  70  Window          0.014          0.998          -2.640         90             0              0
  71  Window          -2.996         0.998          -2.640         90             0              0
  72  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  73  GarbageCan      -0.946         -0.036         0.575          0              180            0
  74  SinkBasin       -0.698         0.765          -0.647         0              90             0
  75  Microwave       1.042          1.680          -1.295         0              270            0
  76  Fridge          0.966          0.0            1.253          0              0              0
  77  HousePlant      -1.354         0.919          -1.540         0              0              0
  78  Shelf           -1.635         0.172          2.715          0              180            0
  79  Shelf           -1.635         0.552          2.715          0              180            0
  80  Shelf           -1.635         0.880          2.715          0              180            0
  81  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  82  Chair           -1.832         0.002          -0.034         0              119.999        0
  83  Chair           -1.854         0.002          -0.956         0              67.887         0
  84  Faucet          -0.867         1.161          -0.651         0              0              0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Turn around, then head across the room to the counter. | STEP 2: Pick up the salt shaker off of the counter. | STEP 3: Turn left, walk past the oven and open the top drawer in between the oven and dish washer. | STEP 4: Open the drawer, place the salt shaker inside, and then close the drawer. | END