Task: Place the salt shaker in the middle drawer

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          -2.0           0              180            0
   1  Potato          -0.642         0.807          -0.400         0              90             0              80
   2  Potato          1.087          1.673          1.540          0              270            0              82
   3  CreditCard      0.793          0.150          -0.650         0              270            0              62
   4  CreditCard      -1.104         0.930          -0.643         0              0              0              59
   5  DishSponge      0.754          0.494          -0.565         0              270            0              63
   6  DishSponge      1.114          0.910          -0.208         0              0              0              60
   7  Fork            1.029          0.911          -0.381         0              0              0              60
   8  Spoon           -1.104         0.934          -0.905         0              0              0              59
   9  Spoon           0.859          0.912          -0.729         0              0              0              60
  10  Spatula         -0.624         0.948          -1.463         0              0              0              59
  11  Knife           -0.697         0.803          -0.745         0              90             0              80
  12  Knife           0.859          0.934          -0.381         0              0              0              60
  13  Egg             0.688          0.949          -2.051         0              0              0              65
  14  Egg             1.087          1.680          1.349          0              270            0              82
  15  Plate           1.026          1.138          1.349          0              270            0              82
  16  Plate           0.944          0.914          -0.034         0              0              0              60
  17  Tomato          0.944          0.952          -0.208         0              0              0              60
  18  Bowl            0.905          1.405          0.967          0              270            0              82
  19  SaltShaker      0.956          0.698          -0.607         0              270            0              57
  20  PepperShaker    0.688          0.907          -2.136         0              0              0              65
  21  Lettuce         0.688          0.988          0.139          0              0              0              60
  22  Lettuce         1.026          0.940          1.444          0              270            0              82
  23  Mug             -1.363         0.549          2.822          0              0              0              85
  24  Apple           1.026          1.693          0.967          0              270            0              82
  25  Statue          -0.624         0.936          0.086          0              0              0              59
  26  Glassbottle     -0.624         0.934          -1.386         0              0              0              59
  27  Bread           -1.292         1.014          -0.380         0              0              0              59
  28  CreditCard      -1.674         0.551          2.874          0              0              0              85
  29  CellPhone       -1.041         0.930          0.144          0              0              0              59
  30  Potato          0.966          1.673          1.158          0              270            0              82
  31  Knife           0.868          0.700          -0.600         90             315            0              57
  32  Fork            -0.642         0.781          -0.918         0              0              0              80
  33  Pan             0.848          0.946          -1.080         0              0              0              53
  34  Lettuce         -0.912         0.256          0.576          0              90             0              79
  35  Plate           1.101          1.669          -2.029         0              270            0              58
  36  Apple           1.026          1.185          1.158          0              270            0              82
  37  Pot             1.077          0.950          -1.504         0              0              0              55
  38  Spatula         -0.772         0.948          0.009          0              270            0              59
  39  PaperTowelRoll  1.199          1.015          -0.729         0              0              0              60
  40  Tomato          1.114          0.952          -1.793         0              0              0              65
  41  Egg             1.126          1.833          -1.132         0              270            0              81
  42  SaltShaker      1.194          1.662          -0.337         0              270            0              68
  43  PepperShaker    -1.467         0.550          2.667          0              0              0              85
  44  Vase            -1.423         0.169          2.621          0              0              0              85
  45  ButterKnife     1.029          0.911          -0.729         0              90             0              60
  46  SoapBottle      1.194          1.666          -0.529         0              270            0              68
  47  Vase            0.859          0.912          -0.555         0              0              0              60
  48  Bowl            0.966          1.405          1.254          0              270            0              82
  49  DishSponge      0.915          0.494          -0.648         0              270            0              63
  50  Spoon           -0.753         0.777          -0.832         0              180            0              80
  51  Cup             0.905          1.132          1.540          0              270            0              82
  52  Mug             0.966          0.858          0.967          0              270            0              82
  53  StoveBurner     0.842          0.919          -1.098         0              0              0
  54  Cabinet         0.648          0.474          0.244          0              270            0
  55  StoveBurner     1.077          0.919          -1.504         0              0              0
  56  StoveBurner     0.842          0.919          -1.504         0              0              0
  57  Drawer          0.637          0.755          -0.649         0              270            0
  58  Cabinet         0.949          2.159          -2.375         0              270            0
  59  CounterTop      -1.238         0.968          -0.643         0              0              0
  60  CounterTop      0.931          0.946          -0.208         0              0              0
  61  StoveBurner     1.077          0.919          -1.098         0              0              0
  62  Drawer          0.637          0.268          -0.649         0              270            0
  63  Drawer          0.637          0.547          -0.649         0              270            0
  64  Cabinet         0.648          0.475          -1.714         0              0              0
  65  CounterTop      0.931          0.946          -2.051         0              0              0
  66  Cabinet         0.948          2.439          -1.780         0              270            0
  67  Cabinet         0.948          2.159          -0.140         0              270            0
  68  Cabinet         0.949          2.159          -0.758         0              270            0
  69  Sink            -0.699         0.927          -0.649         0              0              0
  70  LightSwitch     -2.371         1.218          3.049          0              180            0
  71  StoveKnob       0.673          0.899          -1.373         315            90             180
  72  StoveKnob       0.673          0.899          -1.519         315            90             180
  73  StoveKnob       0.673          0.899          -1.086         315            90             180
  74  StoveKnob       0.673          0.899          -1.237         315            90             180
  75  Toaster         0.984          0.900          0.329          0              270            0
  76  Window          0.014          0.998          -2.640         90             0              0
  77  Window          -2.996         0.998          -2.640         90             0              0
  78  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  79  GarbageCan      -0.946         -0.036         0.575          0              180            0
  80  SinkBasin       -0.698         0.765          -0.647         0              90             0
  81  Microwave       1.042          1.680          -1.295         0              270            0
  82  Fridge          0.966          0.0            1.253          0              0              0
  83  HousePlant      -1.354         0.919          -1.540         0              0              0
  84  Shelf           -1.635         0.172          2.715          0              180            0
  85  Shelf           -1.635         0.552          2.715          0              180            0
  86  Shelf           -1.635         0.880          2.715          0              180            0
  87  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  88  Chair           -1.832         0.002          -0.034         0              119.999        0
  89  Chair           -1.854         0.002          -0.956         0              67.887         0
  90  Faucet          -0.867         1.161          -0.651         0              0              0
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: Turn left then straight back to the counter top | STEP 2: Pick up the salt shaker on top of the table | STEP 3: Turn left and move to the drawer in the middle to the right of the dishwasher | STEP 4: Place the salt shaker in the drawer then shut the drawer | END