Task: Put the salt shaker into the kitchen drawer

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.5           0.900          1.25           0              270            0
   1  Pan             1.077          0.950          -1.098         0              0              0              59
   2  Vase            -0.698         0.934          -1.463         0              0              0              57
   3  CreditCard      -1.363         0.551          2.615          0              0              0              83
   4  CreditCard      0.688          0.908          -1.965         0              0              0              63
   5  DishSponge      0.915          0.493          -0.565         0              270            0              61
   6  DishSponge      -0.808         0.780          -0.745         0              90             0              78
   7  ButterKnife     -1.229         0.933          -0.905         0              0              0              57
   8  Glassbottle     1.148          1.667          -1.961         0              270            0              56
   9  Glassbottle     0.761          0.109          -2.212         0              0              0              62
  10  Spoon           -0.697         0.781          -0.745         0              90             0              78
  11  Knife           -0.550         0.957          -0.143         0              0              0              57
  12  Knife           -0.624         0.957          0.162          0              180            0              57
  13  Egg             0.995          1.833          -1.339         0              270            0              79
  14  Cup             1.010          1.663          -0.657         0              270            0              66
  15  Plate           0.844          1.138          1.349          0              270            0              80
  16  Tomato          1.087          1.175          0.967          0              270            0              80
  17  Tomato          0.905          1.442          1.158          0              270            0              80
  18  SaltShaker      -1.674         0.550          2.874          0              0              0              83
  19  SaltShaker      0.713          0.150          -0.650         0              270            0              60
  20  Lettuce         1.026          0.940          1.444          0              270            0              80
  21  Lettuce         -0.912         0.254          0.543          0              90             0              77
  22  Mug             1.148          1.661          -0.337         0              270            0              66
  23  Statue          -1.816         0.871          2.754          0              180            0              57
  24  Glassbottle     0.862          0.121          0.349          0              270            0              52
  25  Bread           -1.292         1.014          -0.643         0              0              0              57
  26  CreditCard      -1.674         0.878          2.719          0              0              0              84
  27  CellPhone       0.859          0.908          -0.381         0              0              0              58
  28  Potato          1.093          1.814          -1.236         0              270            0              79
  29  Knife           0.859          0.934          -0.034         0              180            0              58
  30  Fork            0.773          0.911          0.139          0              0              0              58
  31  Pan             -1.292         0.931          0.144          0              0              0              57
  32  Lettuce         1.029          0.988          -0.381         0              0              0              58
  33  Plate           1.148          1.669          -2.166         0              270            0              56
  34  Apple           -0.550         0.983          -1.540         0              0              0              57
  35  Pot             0.842          0.950          -1.504         0              0              0              54
  36  Spatula         -0.587         0.795          -0.486         0              0              0              78
  37  PaperTowelRoll  -1.778         0.658          2.718          0              0              0              83
  38  Tomato          0.688          0.952          -1.793         0              0              0              63
  39  Egg             -0.624         0.971          -1.308         0              0              0              57
  40  SaltShaker      0.688          0.907          0.139          0              0              0              58
  41  PepperShaker    -0.920         0.929          -1.386         0              0              0              57
  42  Vase            1.082          2.207          -0.973         0              270            0              64
  43  ButterKnife     -1.325         0.919          -0.884         0              10.678         0              57
  44  SoapBottle      0.859          0.911          0.139          0              0              0              58
  45  Vase            1.194          1.667          -0.529         0              270            0              66
  46  Bowl            0.905          1.646          1.349          0              270            0              80
  47  DishSponge      0.875          0.701          -0.607         0              270            0              55
  48  Spoon           0.794          0.704          -0.690         0              270            0              55
  49  Cup             -1.229         0.930          -1.430         0              0              0              57
  50  Mug             1.026          1.396          1.063          0              270            0              80
  51  StoveBurner     0.842          0.919          -1.098         0              0              0
  52  Cabinet         0.648          0.474          0.244          0              270            0
  53  StoveBurner     1.077          0.919          -1.504         0              0              0
  54  StoveBurner     0.842          0.919          -1.504         0              0              0
  55  Drawer          0.637          0.755          -0.649         0              270            0
  56  Cabinet         0.949          2.159          -2.375         0              270            0
  57  CounterTop      -1.238         0.968          -0.643         0              0              0
  58  CounterTop      0.931          0.946          -0.208         0              0              0
  59  StoveBurner     1.077          0.919          -1.098         0              0              0
  60  Drawer          0.637          0.268          -0.649         0              270            0
  61  Drawer          0.637          0.547          -0.649         0              270            0
  62  Cabinet         0.648          0.475          -1.714         0              0              0
  63  CounterTop      0.931          0.946          -2.051         0              0              0
  64  Cabinet         0.948          2.439          -1.780         0              270            0
  65  Cabinet         0.948          2.159          -0.140         0              270            0
  66  Cabinet         0.949          2.159          -0.758         0              270            0
  67  Sink            -0.699         0.927          -0.649         0              0              0
  68  LightSwitch     -2.371         1.218          3.049          0              180            0
  69  StoveKnob       0.673          0.899          -1.373         315            90             180
  70  StoveKnob       0.673          0.899          -1.519         315            90             180
  71  StoveKnob       0.673          0.899          -1.086         315            90             180
  72  StoveKnob       0.673          0.899          -1.237         315            90             180
  73  Toaster         0.984          0.900          0.329          0              270            0
  74  Window          0.014          0.998          -2.640         90             0              0
  75  Window          -2.996         0.998          -2.640         90             0              0
  76  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  77  GarbageCan      -0.946         -0.036         0.575          0              180            0
  78  SinkBasin       -0.698         0.765          -0.647         0              90             0
  79  Microwave       1.042          1.680          -1.295         0              270            0
  80  Fridge          0.966          0.0            1.253          0              0              0
  81  HousePlant      -1.354         0.919          -1.540         0              0              0
  82  Shelf           -1.635         0.172          2.715          0              180            0
  83  Shelf           -1.635         0.552          2.715          0              180            0
  84  Shelf           -1.635         0.880          2.715          0              180            0
  85  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  86  Chair           -1.832         0.002          -0.034         0              119.999        0
  87  Chair           -1.854         0.002          -0.956         0              67.887         0
  88  Faucet          -0.867         1.161          -0.651         0              0              0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn and walk to the far side of the kitchen island by the windows | STEP 2: Pick up the salt shaker from the kitchen island | STEP 3: Continue around the island and walk into the kitchen just past the oven | STEP 4: Open the top drawer left of the oven and put the salt shaker in it | END