Task: Place two salt shakers in the drawer.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          2.25           0              270            0
   1  Statue          -1.355         0.936          -0.380         0              0              0              61
   2  Potato          0.688          0.941          -2.308         0              0              0              67
   3  Potato          1.199          0.941          0.139          0              0              0              62
   4  ButterKnife     0.773          0.911          -0.208         0              0              0              62
   5  ButterKnife     -0.624         0.933          0.086          0              0              0              61
   6  Glassbottle     1.126          2.208          -1.191         0              270            0              68
   7  Pot             1.077          0.950          -1.504         0              0              0              57
   8  Knife           -1.292         0.957          -1.430         0              180            0              61
   9  Egg             0.944          0.949          -1.879         0              0              0              67
  10  Egg             -1.101         0.214          0.543          0              180            0              81
  11  Cup             0.761          0.105          -1.892         0              0              0              66
  12  Cup             1.087          0.860          1.254          0              270            0              84
  13  Plate           1.194          1.669          -0.593         0              270            0              70
  14  Tomato          -0.587         0.821          -0.745         0              90             0              82
  15  Tomato          0.905          0.903          0.967          0              270            0              84
  16  SoapBottle      -0.912         0.177          0.608          0              180            0              81
  17  SoapBottle      0.913          0.121          0.398          0              270            0              56
  18  Bowl            1.026          1.138          1.158          0              270            0              84
  19  SaltShaker      0.754          0.490          -0.690         0              270            0              65
  20  PepperShaker    -1.292         0.929          -0.118         0              0              0              61
  21  PepperShaker    1.101          1.662          0.025          0              270            0              69
  22  PepperShaker    0.996          2.204          -1.082         0              270            0              68
  23  Lettuce         1.026          1.212          1.349          0              270            0              84
  24  Bread           1.029          0.992          -0.034         0              0              0              62
  25  Mug             0.966          1.638          1.444          0              270            0              84
  26  Apple           0.944          0.961          0.139          0              0              0              62
  27  Statue          -1.292         0.936          -0.643         0              0              0              61
  28  Glassbottle     0.859          0.912          -0.729         0              0              0              62
  29  Bread           1.114          0.992          -0.381         0              0              0              62
  30  CreditCard      0.915          0.700          -0.690         0              270            0              59
  31  CellPhone       -1.292         0.930          -0.905         0              0              0              61
  32  Potato          0.844          1.673          1.444          0              270            0              84
  33  Knife           -1.167         0.957          -0.118         0              0              0              61
  34  Fork            -0.624         0.934          0.315          0              0              0              61
  35  Pan             0.848          0.946          -1.080         0              0              0              55
  36  Lettuce         -0.772         1.010          0.239          0              0              0              61
  37  Plate           0.966          1.405          1.063          0              270            0              84
  38  Apple           -1.054         0.227          0.641          0              180            0              81
  39  Pot             -0.772         0.936          -1.463         0              0              0              61
  40  Spatula         0.915          0.717          -0.565         0              0              0              59
  41  PaperTowelRoll  0.688          1.015          0.313          0              0              0              62
  42  Tomato          0.965          1.175          1.540          0              270            0              84
  43  Egg             0.783          1.439          1.254          0              270            0              84
  44  SaltShaker      -1.571         0.878          2.665          0              0              0              88
  45  PepperShaker    -1.571         0.878          2.773          0              0              0              88
  46  Vase            -1.423         0.169          2.621          0              0              0              87
  47  ButterKnife     0.859          0.911          -0.381         0              0              0              62
  48  SoapBottle      1.199          0.911          -0.034         0              0              0              62
  49  Vase            -1.363         0.555          2.822          0              0              0              87
  50  Bowl            0.966          1.646          0.967          0              270            0              84
  51  DishSponge      1.039          2.207          -1.408         0              270            0              68
  52  Spoon           -0.697         0.777          -0.832         0              180            0              82
  53  Cup             -1.363         0.551          2.667          0              0              0              87
  54  Mug             1.026          0.858          1.349          0              270            0              84
  55  StoveBurner     0.842          0.919          -1.098         0              0              0
  56  Cabinet         0.648          0.474          0.244          0              270            0
  57  StoveBurner     1.077          0.919          -1.504         0              0              0
  58  StoveBurner     0.842          0.919          -1.504         0              0              0
  59  Drawer          0.637          0.755          -0.649         0              270            0
  60  Cabinet         0.949          2.159          -2.375         0              270            0
  61  CounterTop      -1.238         0.968          -0.643         0              0              0
  62  CounterTop      0.931          0.946          -0.208         0              0              0
  63  StoveBurner     1.077          0.919          -1.098         0              0              0
  64  Drawer          0.637          0.268          -0.649         0              270            0
  65  Drawer          0.637          0.547          -0.649         0              270            0
  66  Cabinet         0.648          0.475          -1.714         0              0              0
  67  CounterTop      0.931          0.946          -2.051         0              0              0
  68  Cabinet         0.948          2.439          -1.780         0              270            0
  69  Cabinet         0.948          2.159          -0.140         0              270            0
  70  Cabinet         0.949          2.159          -0.758         0              270            0
  71  Sink            -0.699         0.927          -0.649         0              0              0
  72  LightSwitch     -2.371         1.218          3.049          0              180            0
  73  StoveKnob       0.673          0.899          -1.373         315            90             180
  74  StoveKnob       0.673          0.899          -1.519         315            90             180
  75  StoveKnob       0.673          0.899          -1.086         315            90             180
  76  StoveKnob       0.673          0.899          -1.237         315            90             180
  77  Toaster         0.984          0.900          0.329          0              270            0
  78  Window          0.014          0.998          -2.640         90             0              0
  79  Window          -2.996         0.998          -2.640         90             0              0
  80  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  81  GarbageCan      -0.946         -0.036         0.575          0              180            0
  82  SinkBasin       -0.698         0.765          -0.647         0              90             0
  83  Microwave       1.042          1.680          -1.295         0              270            0
  84  Fridge          0.966          0.0            1.253          0              0              0
  85  HousePlant      -1.354         0.919          -1.540         0              0              0
  86  Shelf           -1.635         0.172          2.715          0              180            0
  87  Shelf           -1.635         0.552          2.715          0              180            0
  88  Shelf           -1.635         0.880          2.715          0              180            0
  89  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  90  Chair           -1.832         0.002          -0.034         0              119.999        0
  91  Chair           -1.854         0.002          -0.956         0              67.887         0
  92  Faucet          -0.867         1.161          -0.651         0              0              0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: Look down, turn left, walk straight, turn left to face the fridge, walk straight, turn right when you reach the fridge, walk straight, turn left to face the counter with the bread on the counter and look up to the cabinet. | STEP 2: Open the cabinet door, grab the salt in the cabinet, and close the cabinet. | STEP 3: Look down, turn right, walk straight, turn right to face the pot on the counter and turn right.  | STEP 4: Open the drawer, place the salt inside, close the drawer. | STEP 5: Walk straight, turn to face the stove and look up to the top cabinet. | STEP 6: Open the cabinet, grab the salt in the cabinet and close the cabinet. | STEP 7: Look down, turn around to face the pot and turn right. | STEP 8: Open the drawer, place the salt inside the drawer and close the drawer. | END