Task: Put a shaker in a 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          1.75           0              0              0
   1  Statue          -1.229         0.936          -0.380         0              0              0              61
   2  Potato          -0.772         0.963          -0.143         0              0              0              61
   3  Potato          1.028          1.825          -1.339         0              270            0              83
   4  CreditCard      -1.469         0.878          2.665          0              0              0              88
   5  CellPhone       1.199          0.908          -0.034         0              0              0              62
   6  CellPhone       -1.167         0.930          -1.430         0              0              0              61
   7  DishSponge      0.915          0.493          -0.690         0              270            0              65
   8  DishSponge      -1.363         0.553          2.615          0              0              0              87
   9  ButterKnife     -0.624         0.933          -1.386         0              0              0              61
  10  ButterKnife     0.773          0.911          0.313          0              0              0              62
  11  Glassbottle     0.761          0.109          -2.052         0              0              0              66
  12  Glassbottle     1.194          1.667          -1.893         0              270            0              60
  13  Fork            0.874          0.154          -0.571         0              0              0              64
  14  Fork            -1.104         0.934          -0.118         0              0              0              61
  15  Pot             1.077          0.950          -1.504         0              0              0              57
  16  Egg             -0.477         0.971          0.315          0              0              0              61
  17  Egg             -0.818         0.216          0.543          0              180            0              81
  18  Plate           1.101          1.669          -2.097         0              270            0              60
  19  Tomato          0.773          0.952          -0.729         0              0              0              62
  20  Tomato          -0.960         0.217          0.576          0              180            0              81
  21  Bowl            0.844          0.866          0.967          0              270            0              84
  22  Bowl            1.102          1.669          -0.337         0              270            0              70
  23  SaltShaker      1.212          2.204          -0.973         0              270            0              68
  24  PepperShaker    1.101          1.662          0.153          0              270            0              69
  25  Lettuce         0.944          0.988          -0.381         0              0              0              62
  26  Bread           1.026          1.216          1.444          0              270            0              84
  27  Statue          -1.816         0.871          2.754          0              180            0              61
  28  Glassbottle     1.194          1.667          -0.529         0              270            0              70
  29  Bread           0.905          0.944          1.444          0              270            0              84
  30  CreditCard      0.754          0.700          -0.607         0              270            0              59
  31  CellPhone       -0.920         0.930          -1.308         0              0              0              61
  32  Potato          0.905          0.893          1.254          0              270            0              84
  33  Knife           -0.624         0.957          -1.618         0              0              0              61
  34  Fork            0.874          0.154          -0.769         0              0              0              64
  35  Pan             -1.292         0.931          -0.905         0              0              0              61
  36  Lettuce         1.114          0.988          -0.034         0              0              0              62
  37  Plate           1.126          2.211          -1.299         0              270            0              68
  38  Apple           0.783          1.185          1.349          0              270            0              84
  39  Pot             0.859          0.914          -0.034         0              0              0              62
  40  Spatula         0.915          0.509          -0.524         0              0              0              65
  41  PaperTowelRoll  -1.981         0.986          2.692          0              0              0              88
  42  Tomato          0.688          0.952          -1.965         0              0              0              67
  43  Egg             1.028          1.821          -1.236         0              270            0              83
  44  SaltShaker      0.910          0.104          -1.972         0              0              0              66
  45  PepperShaker    0.713          0.150          -0.690         0              270            0              64
  46  Vase            1.056          1.666          -0.529         0              270            0              70
  47  ButterKnife     -1.325         0.919          -0.884         0              10.678         0              61
  48  SoapBottle      -1.104         0.933          -1.167         0              0              0              61
  49  Vase            0.861          0.109          -2.212         0              0              0              66
  50  Bowl            0.966          1.646          1.254          0              270            0              84
  51  DishSponge      0.811          0.120          0.374          0              270            0              56
  52  Spoon           -0.642         0.777          -0.745         0              0              0              82
  53  Cup             0.783          1.640          1.063          0              270            0              84
  54  Mug             1.087          1.638          1.540          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: Go right and then right again to stand facing the counter with the coffee maker to the left. | STEP 2: Open the cabinet below the coffee maker and pick the salt shaker up from the cabinet. | STEP 3: Turn around and stand to the side of the drawer to the left of the stove. | STEP 4: Open the drawer to the left of the stove and put the shaker in and shut the drawer. | END