Task: Put two shakers in the second 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: Make a right and step forward then turn left at the island. | STEP 2: Open the cabinet and take out a salt shaker. Shut the cabinet.  | STEP 3: Turn right then walk forward. Turn around once you are past the sink. | STEP 4: Open the second drawer and put the salt shaker inside. | STEP 5: Walk forward and make a right and face the oven. | STEP 6: Open the cabinet above the cabinet and take out a salt shaker. Shut the cabinet.  | STEP 7: Take the shaker and turn around and step to the right. | STEP 8: Open the second drawer and put the salt shaker inside. | END