Task: place salt in second drawer to the left of stove

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.0           0.900          -0.25          0              90             0
   1  Statue          1.029          0.914          -0.729         0              0              0              57
   2  CreditCard      -1.881         0.551          2.718          0              0              0              82
   3  CreditCard      1.114          0.908          -0.381         0              0              0              57
   4  DishSponge      -1.467         0.553          2.615          0              0              0              82
   5  DishSponge      0.688          0.910          -2.308         0              0              0              62
   6  Glassbottle     1.169          2.208          -1.082         0              270            0              63
   7  Spoon           -0.642         0.781          -0.745         0              90             0              77
   8  Spatula         -0.587         0.791          -0.659         0              0              0              77
   9  Spatula         -0.808         0.795          -0.573         0              180            0              77
  10  Knife           0.773          0.934          -0.381         0              180            0              57
  11  Egg             1.028          1.833          -1.132         0              270            0              78
  12  Cup             0.773          0.908          -0.555         0              0              0              57
  13  Plate           1.194          1.669          -2.234         0              270            0              55
  14  Plate           0.966          1.405          1.063          0              270            0              79
  15  Tomato          0.944          0.952          -0.208         0              0              0              57
  16  SoapBottle      1.148          1.666          -2.029         0              270            0              55
  17  Lettuce         0.688          0.988          -0.381         0              0              0              57
  18  Lettuce         1.026          1.212          1.444          0              270            0              79
  19  Mug             -1.981         0.876          2.719          0              0              0              83
  20  Mug             1.087          0.858          0.967          0              270            0              79
  21  Apple           -0.96          0.229          0.641          0              180            0              76
  22  Statue          -1.816         0.871          2.754          0              180            0              56
  23  Glassbottle     -0.865         0.177          0.510          0              180            0              76
  24  Bread           -0.778         0.996          0.209          0              258.629        0              56
  25  CreditCard      0.773          0.908          -2.308         0              0              0              62
  26  CellPhone       0.875          0.491          -0.607         0              270            0              60
  27  Potato          -0.550         0.963          -0.143         0              0              0              56
  28  Knife           1.029          0.934          -0.207         0              90             0              57
  29  Fork            0.794          0.703          -0.524         0              180            0              54
  30  Pan             0.848          0.946          -1.080         0              0              0              50
  31  Lettuce         1.114          0.988          -0.034         0              0              0              57
  32  Plate           1.147          1.669          0.216          0              270            0              64
  33  Apple           1.087          1.452          1.254          0              270            0              79
  34  Pot             1.077          0.950          -1.504         0              0              0              52
  35  Spatula         0.915          0.510          -0.565         0              0              0              60
  36  PaperTowelRoll  0.859          1.015          -0.555         0              0              0              57
  37  Tomato          0.944          0.952          -0.034         0              0              0              57
  38  Egg             1.093          1.821          -1.236         0              270            0              78
  39  SaltShaker      1.240          1.662          -1.961         0              270            0              55
  40  PepperShaker    0.915          0.698          -0.607         0              270            0              54
  41  Vase            -1.423         0.169          2.621          0              0              0              82
  42  ButterKnife     -0.550         0.920          0.162          0              0              0              56
  43  SoapBottle      0.773          0.911          -0.729         0              0              0              57
  44  Vase            -1.104         0.934          0.144          0              0              0              56
  45  Bowl            0.905          0.866          1.349          0              270            0              79
  46  DishSponge      0.861          0.107          -2.212         0              0              0              61
  47  Spoon           -0.846         0.934          -1.386         0              0              0              56
  48  Cup             1.055          1.663          -0.038         0              270            0              64
  49  Mug             0.903          0.942          -2.110         0              300.131        0              75
  50  StoveBurner     0.842          0.919          -1.098         0              0              0
  51  Cabinet         0.648          0.474          0.244          0              270            0
  52  StoveBurner     1.077          0.919          -1.504         0              0              0
  53  StoveBurner     0.842          0.919          -1.504         0              0              0
  54  Drawer          0.637          0.755          -0.649         0              270            0
  55  Cabinet         0.949          2.159          -2.375         0              270            0
  56  CounterTop      -1.238         0.968          -0.643         0              0              0
  57  CounterTop      0.931          0.946          -0.208         0              0              0
  58  StoveBurner     1.077          0.919          -1.098         0              0              0
  59  Drawer          0.637          0.268          -0.649         0              270            0
  60  Drawer          0.637          0.547          -0.649         0              270            0
  61  Cabinet         0.648          0.475          -1.714         0              0              0
  62  CounterTop      0.931          0.946          -2.051         0              0              0
  63  Cabinet         0.948          2.439          -1.780         0              270            0
  64  Cabinet         0.948          2.159          -0.140         0              270            0
  65  Cabinet         0.949          2.159          -0.758         0              270            0
  66  Sink            -0.699         0.927          -0.649         0              0              0
  67  LightSwitch     -2.371         1.218          3.049          0              180            0
  68  StoveKnob       0.673          0.899          -1.373         315            90             180
  69  StoveKnob       0.673          0.899          -1.519         315            90             180
  70  StoveKnob       0.673          0.899          -1.086         315            90             180
  71  StoveKnob       0.673          0.899          -1.237         315            90             180
  72  Toaster         0.984          0.900          0.329          0              270            0
  73  Window          0.014          0.998          -2.640         90             0              0
  74  Window          -2.996         0.998          -2.640         90             0              0
  75  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  76  GarbageCan      -0.946         -0.036         0.575          0              180            0
  77  SinkBasin       -0.698         0.765          -0.647         0              90             0
  78  Microwave       1.042          1.680          -1.295         0              270            0
  79  Fridge          0.966          0.0            1.253          0              0              0
  80  HousePlant      -1.354         0.919          -1.540         0              0              0
  81  Shelf           -1.635         0.172          2.715          0              180            0
  82  Shelf           -1.635         0.552          2.715          0              180            0
  83  Shelf           -1.635         0.880          2.715          0              180            0
  84  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  85  Chair           -1.832         0.002          -0.034         0              119.999        0
  86  Chair           -1.854         0.002          -0.956         0              67.887         0
  87  Faucet          -0.867         1.161          -0.651         0              0              0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: turn right, go around counter to cabinet above coffee maker | STEP 2: open cabinet, pick up salt from cabinet, close cabinet | STEP 3: turn left, go to second drawer to the left of stove | STEP 4: place salt in second drawer, close drawer | END