Task: move salt shaker from counter to drawer

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.900          -1.25          0              0              0
   1  CreditCard      0.944          0.908          -0.208         0              0              0              62
   2  CreditCard      0.773          0.908          -1.879         0              0              0              67
   3  CellPhone       1.199          0.908          -0.208         0              0              0              62
   4  CellPhone       -0.698         0.930          -1.540         0              0              0              61
   5  DishSponge      0.834          0.493          -0.690         0              270            0              65
   6  Glassbottle     -0.96          0.177          0.641          0              180            0              81
   7  Glassbottle     1.029          0.912          -0.555         0              0              0              62
   8  Fork            -0.550         0.934          0.162          0              90             0              61
   9  Fork            0.875          0.703          -0.607         0              0              0              59
  10  Spoon           0.793          0.154          -0.650         0              270            0              64
  11  Spoon           0.859          0.912          0.139          0              270            0              62
  12  Knife           0.944          0.934          -0.381         0              0              0              62
  13  Cup             1.239          1.663          -0.038         0              270            0              69
  14  Cup             1.028          1.792          -1.132         0              270            0              83
  15  Plate           1.148          1.669          -2.029         0              270            0              60
  16  Plate           1.148          1.669          -0.465         0              270            0              70
  17  Tomato          1.026          1.175          1.158          0              270            0              84
  18  Tomato          1.026          0.903          1.158          0              270            0              84
  19  Bowl            1.147          1.669          0.153          0              270            0              69
  20  Bowl            0.944          0.914          0.139          0              0              0              62
  21  PepperShaker    0.773          0.907          -1.793         0              0              0              67
  22  PepperShaker    0.713          0.490          -0.565         0              270            0              65
  23  Bread           0.773          0.992          -0.381         0              0              0              62
  24  Mug             0.995          1.790          -1.339         0              180            0              83
  25  Mug             -1.571         0.876          2.692          0              0              0              88
  26  Apple           -1.054         0.227          0.510          0              180            0              81
  27  Statue          -0.550         0.936          -1.308         0              0              0              61
  28  Glassbottle     -1.355         0.934          -0.643         0              0              0              61
  29  Bread           0.905          1.216          1.444          0              270            0              84
  30  CreditCard      0.874          0.150          -0.729         0              270            0              64
  31  CellPhone       -0.920         0.930          0.009          0              0              0              61
  32  Potato          1.199          0.941          0.139          0              0              0              62
  33  Knife           -0.624         0.957          -1.154         0              0              0              61
  34  Fork            0.773          0.911          0.313          0              0              0              62
  35  Pan             0.848          0.946          -1.080         0              0              0              55
  36  Lettuce         -0.624         1.010          0.239          0              0              0              61
  37  Plate           -1.363         0.557          2.667          0              0              0              87
  38  Apple           0.844          1.452          1.063          0              270            0              84
  39  Pot             1.077          0.950          -1.504         0              0              0              57
  40  Spatula         1.114          0.926          -0.381         0              90             0              62
  41  PaperTowelRoll  0.773          1.015          -1.965         0              0              0              67
  42  Tomato          -0.697         0.821          -0.745         0              90             0              82
  43  Egg             -0.642         0.814          -0.486         0              90             0              82
  44  SaltShaker      -0.772         0.929          -1.231         0              0              0              61
  45  PepperShaker    1.147          1.662          0.025          0              270            0              69
  46  Vase            -1.104         0.933          -0.905         0              0              0              61
  47  ButterKnife     -0.697         0.780          -0.832         0              90             0              82
  48  SoapBottle      0.688          0.911          -2.051         0              0              0              67
  49  Vase            -1.229         0.934          -0.380         0              0              0              61
  50  Bowl            1.026          1.138          0.967          0              270            0              84
  51  DishSponge      1.240          1.665          -2.234         0              270            0              60
  52  Spoon           0.773          0.912          -0.729         0              0              0              62
  53  Cup             0.861          0.105          -1.972         0              0              0              66
  54  Mug             0.844          0.858          1.158          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: turn around, walk to the window, turn left, walk forward, turn left to face counter | STEP 2: pick up the salt shaker that is on the counter | STEP 3: turn right, take a step, turn left, walk forward two steps | STEP 4: open the drawer on the right, put salt shaker in, shut it | END