Task: Put salt and pepper in the kitchen 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          0.900          -1.25          0              270            0
   1  Pan             1.026          1.399          1.349          0              90             0              81
   2  Pan             1.114          0.909          -0.729         0              90             0              59
   3  Vase            -1.167         0.934          -0.643         0              0              0              58
   4  Potato          0.844          0.893          1.444          0              270            0              81
   5  CreditCard      0.915          0.492          -0.565         0              270            0              62
   6  CreditCard      0.688          0.908          -1.879         0              0              0              64
   7  DishSponge      -0.920         0.933          0.162          0              0              0              58
   8  DishSponge      0.793          0.153          -0.690         0              270            0              61
   9  ButterKnife     1.114          0.911          -0.555         0              0              0              59
  10  Glassbottle     1.101          1.667          0.025          0              270            0              66
  11  Spoon           0.794          0.496          -0.690         0              270            0              62
  12  Spatula         0.773          0.926          -0.381         0              90             0              59
  13  Spatula         -0.642         0.791          -0.573         0              0              0              79
  14  Knife           -0.624         0.957          0.009          0              90             0              58
  15  Cup             0.688          0.908          -0.381         0              0              0              59
  16  Cup             0.844          1.640          1.540          0              270            0              81
  17  Plate           1.194          1.669          -0.337         0              270            0              67
  18  Tomato          0.688          0.952          -2.051         0              0              0              64
  19  Bowl            0.844          1.138          0.967          0              270            0              81
  20  PepperShaker    0.944          0.907          -0.381         0              0              0              59
  21  Bread           1.114          0.992          -0.034         0              0              0              59
  22  Apple           1.060          1.845          -1.132         0              270            0              80
  23  Apple           1.087          1.185          1.540          0              270            0              81
  24  Statue          -1.816         0.871          2.754          0              180            0              58
  25  Glassbottle     0.964          0.121          0.349          0              270            0              53
  26  Bread           0.905          1.216          1.444          0              270            0              81
  27  CreditCard      -1.104         0.930          -0.380         0              0              0              58
  28  CellPhone       0.773          0.908          -0.729         0              0              0              59
  29  Potato          -0.587         0.807          -0.486         0              90             0              79
  30  Knife           1.029          0.934          -0.381         0              0              0              59
  31  Fork            0.833          0.154          -0.611         0              0              0              61
  32  Pan             0.848          0.946          -1.080         0              0              0              52
  33  Lettuce         -1.104         1.010          -1.167         0              0              0              58
  34  Plate           1.082          2.211          -1.408         0              270            0              65
  35  Apple           1.199          0.961          -1.879         0              0              0              64
  36  Pot             1.077          0.950          -1.504         0              0              0              54
  37  Spatula         -0.624         0.948          0.315          0              0              0              58
  38  PaperTowelRoll  0.859          1.015          -0.208         0              0              0              59
  39  Tomato          -0.865         0.219          0.543          0              180            0              78
  40  Egg             0.773          0.949          -1.879         0              0              0              64
  41  SaltShaker      1.199          0.907          0.139          0              0              0              59
  42  PepperShaker    -0.477         0.929          0.239          0              0              0              58
  43  Vase            -1.229         0.933          -0.118         0              0              0              58
  44  ButterKnife     -0.846         0.933          0.009          0              0              0              58
  45  SoapBottle      1.055          1.666          -2.166         0              270            0              57
  46  Vase            -0.550         0.934          -1.540         0              0              0              58
  47  Bowl            0.966          0.866          0.967          0              270            0              81
  48  DishSponge      0.862          0.120          0.374          0              270            0              53
  49  Spoon           0.834          0.703          -0.648         0              270            0              56
  50  Cup             1.087          0.860          1.063          0              270            0              81
  51  Mug             -0.753         0.775          -0.659         0              270            0              79
  52  StoveBurner     0.842          0.919          -1.098         0              0              0
  53  Cabinet         0.648          0.474          0.244          0              270            0
  54  StoveBurner     1.077          0.919          -1.504         0              0              0
  55  StoveBurner     0.842          0.919          -1.504         0              0              0
  56  Drawer          0.637          0.755          -0.649         0              270            0
  57  Cabinet         0.949          2.159          -2.375         0              270            0
  58  CounterTop      -1.238         0.968          -0.643         0              0              0
  59  CounterTop      0.931          0.946          -0.208         0              0              0
  60  StoveBurner     1.077          0.919          -1.098         0              0              0
  61  Drawer          0.637          0.268          -0.649         0              270            0
  62  Drawer          0.637          0.547          -0.649         0              270            0
  63  Cabinet         0.648          0.475          -1.714         0              0              0
  64  CounterTop      0.931          0.946          -2.051         0              0              0
  65  Cabinet         0.948          2.439          -1.780         0              270            0
  66  Cabinet         0.948          2.159          -0.140         0              270            0
  67  Cabinet         0.949          2.159          -0.758         0              270            0
  68  Sink            -0.699         0.927          -0.649         0              0              0
  69  LightSwitch     -2.371         1.218          3.049          0              180            0
  70  StoveKnob       0.673          0.899          -1.373         315            90             180
  71  StoveKnob       0.673          0.899          -1.519         315            90             180
  72  StoveKnob       0.673          0.899          -1.086         315            90             180
  73  StoveKnob       0.673          0.899          -1.237         315            90             180
  74  Toaster         0.984          0.900          0.329          0              270            0
  75  Window          0.014          0.998          -2.640         90             0              0
  76  Window          -2.996         0.998          -2.640         90             0              0
  77  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  78  GarbageCan      -0.946         -0.036         0.575          0              180            0
  79  SinkBasin       -0.698         0.765          -0.647         0              90             0
  80  Microwave       1.042          1.680          -1.295         0              270            0
  81  Fridge          0.966          0.0            1.253          0              0              0
  82  HousePlant      -1.354         0.919          -1.540         0              0              0
  83  Shelf           -1.635         0.172          2.715          0              180            0
  84  Shelf           -1.635         0.552          2.715          0              180            0
  85  Shelf           -1.635         0.880          2.715          0              180            0
  86  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  87  Chair           -1.832         0.002          -0.034         0              119.999        0
  88  Chair           -1.854         0.002          -0.956         0              67.887         0
  89  Faucet          -0.867         1.161          -0.651         0              0              0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Turn to your right four times until you are facing the kitchen counter | STEP 2: Pick up a salt shaker from off of the counter | STEP 3: Turn to your left twice so you are facing the oven | STEP 4: Open the drawer and put the salt in it | STEP 5: Move a step to your left | STEP 6: Pick up the pepper shaker off of the counter | STEP 7: Move a step to your right | STEP 8: Open the drawer and put the pepper in it | END