Task: Put two containers of salt in 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           -3.25          0.900          -0.5           0              270            0
   1  Potato          1.087          1.673          0.967          0              270            0              84
   2  CellPhone       -1.418         0.930          -0.643         0              0              0              61
   3  CellPhone       0.875          0.699          -0.648         0              270            0              59
   4  DishSponge      0.910          0.107          -2.212         0              0              0              66
   5  Glassbottle     -0.846         0.934          -1.154         0              0              0              61
   6  Fork            0.688          0.911          -2.051         0              270            0              67
   7  Fork            0.834          0.702          -0.772         0              0              0              59
   8  Spoon           1.199          0.912          -1.879         0              90             0              67
   9  Spoon           -1.104         0.934          -0.905         0              0              0              61
  10  Spatula         0.833          0.168          -0.729         0              90             0              64
  11  Spatula         0.859          0.926          -1.879         0              0              0              67
  12  Pot             -1.229         0.936          0.144          0              0              0              61
  13  Knife           -0.697         0.803          -0.745         0              90             0              82
  14  Egg             0.966          0.900          1.158          0              270            0              84
  15  Egg             1.093          1.833          -1.339         0              270            0              83
  16  Plate           -0.624         0.936          -1.308         0              0              0              61
  17  Tomato          0.944          0.952          0.139          0              0              0              62
  18  SoapBottle      1.148          1.666          -0.529         0              270            0              70
  19  SoapBottle      0.688          0.911          -1.879         0              0              0              67
  20  SaltShaker      -1.881         0.550          2.822          0              0              0              87
  21  PepperShaker    0.996          2.204          -1.626         0              270            0              68
  22  PepperShaker    0.859          0.907          -0.555         0              0              0              62
  23  Lettuce         -0.697         0.857          -0.832         0              90             0              82
  24  Mug             1.199          0.906          0.139          0              0              0              62
  25  Mug             1.082          2.203          -1.191         0              270            0              68
  26  Apple           0.965          1.185          1.540          0              270            0              84
  27  Statue          -0.846         0.936          -1.386         0              0              0              61
  28  Glassbottle     1.194          1.667          -0.657         0              270            0              70
  29  Bread           -0.779         0.996          0.21           0              258.641        0              61
  30  CreditCard      -1.229         0.930          -1.430         0              0              0              61
  31  CellPhone       -0.846         0.930          0.009          0              0              0              61
  32  Potato          -0.587         0.807          -0.659         0              180            0              82
  33  Knife           0.859          0.934          -0.207         0              180            0              62
  34  Fork            -0.642         0.781          -0.918         0              0              0              82
  35  Pan             0.848          0.946          -1.080         0              0              0              55
  36  Lettuce         -0.912         0.254          0.576          0              90             0              81
  37  Plate           0.844          1.405          1.158          0              270            0              84
  38  Apple           -0.624         0.983          -0.143         0              0              0              61
  39  Pot             1.077          0.950          -1.504         0              0              0              57
  40  Spatula         -0.624         0.948          -1.618         0              0              0              61
  41  PaperTowelRoll  -1.101         0.281          0.641          0              180            0              81
  42  Tomato          -0.587         0.821          -0.486         0              90             0              82
  43  Egg             -0.808         0.818          -0.659         0              90             0              82
  44  SaltShaker      0.760          0.117          0.374          0              270            0              62
  45  PepperShaker    1.148          1.662          -1.961         0              270            0              60
  46  Vase            -1.423         0.169          2.621          0              0              0              87
  47  ButterKnife     0.773          0.911          0.139          0              0              0              62
  48  SoapBottle      1.114          0.911          -1.879         0              0              0              67
  49  Vase            1.147          1.667          0.216          0              270            0              69
  50  Bowl            -1.985         0.557          2.667          0              0              0              87
  51  DishSponge      -0.587         0.780          -0.745         0              90             0              82
  52  Spoon           -1.355         0.934          -1.167         0              0              0              61
  53  Cup             0.944          0.908          -1.793         0              0              0              67
  54  Mug             0.903          0.942          -2.110         0              300.131        0              80
  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 to your left and walk towards the windows, then make a right and walk to the microwave.  | STEP 2: Pick up the salt from the top, right cabinet, above the microwave.  | STEP 3: Turn to your left and go to the drawers on your left, between the oven and dishwasher.  | STEP 4: Place the salt in the middle drawer.  | STEP 5: Turn to your right and go to the cabinets above the coffee maker.  | STEP 6: Pick up the salt from the top, left cabinet.  | STEP 7: Turn to your left and go back to the drawers, on your left, between the stove and the dishwasher.  | STEP 8: Place the salt in the middle drawer, to the right of the other salt.  | END