Task: Place two salt shakers in a 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           -2.75          0.900          -1.25          0              270            0
   1  Pan             1.026          1.399          1.349          0              90             0              81
   2  Pan             1.114          0.909          -0.729         0              90             0              59
   3  Vase            -1.167         0.934          -0.643         0              0              0              58
   4  Potato          0.844          0.893          1.444          0              270            0              81
   5  CreditCard      0.915          0.492          -0.565         0              270            0              62
   6  CreditCard      0.688          0.908          -1.879         0              0              0              64
   7  DishSponge      -0.920         0.933          0.162          0              0              0              58
   8  DishSponge      0.793          0.153          -0.690         0              270            0              61
   9  ButterKnife     1.114          0.911          -0.555         0              0              0              59
  10  Glassbottle     1.101          1.667          0.025          0              270            0              66
  11  Spoon           0.794          0.496          -0.690         0              270            0              62
  12  Spatula         0.773          0.926          -0.381         0              90             0              59
  13  Spatula         -0.642         0.791          -0.573         0              0              0              79
  14  Knife           -0.624         0.957          0.009          0              90             0              58
  15  Cup             0.688          0.908          -0.381         0              0              0              59
  16  Cup             0.844          1.640          1.540          0              270            0              81
  17  Plate           1.194          1.669          -0.337         0              270            0              67
  18  Tomato          0.688          0.952          -2.051         0              0              0              64
  19  Bowl            0.844          1.138          0.967          0              270            0              81
  20  PepperShaker    0.944          0.907          -0.381         0              0              0              59
  21  Bread           1.114          0.992          -0.034         0              0              0              59
  22  Apple           1.060          1.845          -1.132         0              270            0              80
  23  Apple           1.087          1.185          1.540          0              270            0              81
  24  Statue          -1.816         0.871          2.754          0              180            0              58
  25  Glassbottle     0.964          0.121          0.349          0              270            0              53
  26  Bread           0.905          1.216          1.444          0              270            0              81
  27  CreditCard      -1.104         0.930          -0.380         0              0              0              58
  28  CellPhone       0.773          0.908          -0.729         0              0              0              59
  29  Potato          -0.587         0.807          -0.486         0              90             0              79
  30  Knife           1.029          0.934          -0.381         0              0              0              59
  31  Fork            0.833          0.154          -0.611         0              0              0              61
  32  Pan             0.848          0.946          -1.080         0              0              0              52
  33  Lettuce         -1.104         1.010          -1.167         0              0              0              58
  34  Plate           1.082          2.211          -1.408         0              270            0              65
  35  Apple           1.199          0.961          -1.879         0              0              0              64
  36  Pot             1.077          0.950          -1.504         0              0              0              54
  37  Spatula         -0.624         0.948          0.315          0              0              0              58
  38  PaperTowelRoll  0.859          1.015          -0.208         0              0              0              59
  39  Tomato          -0.865         0.219          0.543          0              180            0              78
  40  Egg             0.773          0.949          -1.879         0              0              0              64
  41  SaltShaker      1.199          0.907          0.139          0              0              0              59
  42  PepperShaker    -0.477         0.929          0.239          0              0              0              58
  43  Vase            -1.229         0.933          -0.118         0              0              0              58
  44  ButterKnife     -0.846         0.933          0.009          0              0              0              58
  45  SoapBottle      1.055          1.666          -2.166         0              270            0              57
  46  Vase            -0.550         0.934          -1.540         0              0              0              58
  47  Bowl            0.966          0.866          0.967          0              270            0              81
  48  DishSponge      0.862          0.120          0.374          0              270            0              53
  49  Spoon           0.834          0.703          -0.648         0              270            0              56
  50  Cup             1.087          0.860          1.063          0              270            0              81
  51  Mug             -0.753         0.775          -0.659         0              270            0              79
  52  StoveBurner     0.842          0.919          -1.098         0              0              0
  53  Cabinet         0.648          0.474          0.244          0              270            0
  54  StoveBurner     1.077          0.919          -1.504         0              0              0
  55  StoveBurner     0.842          0.919          -1.504         0              0              0
  56  Drawer          0.637          0.755          -0.649         0              270            0
  57  Cabinet         0.949          2.159          -2.375         0              270            0
  58  CounterTop      -1.238         0.968          -0.643         0              0              0
  59  CounterTop      0.931          0.946          -0.208         0              0              0
  60  StoveBurner     1.077          0.919          -1.098         0              0              0
  61  Drawer          0.637          0.268          -0.649         0              270            0
  62  Drawer          0.637          0.547          -0.649         0              270            0
  63  Cabinet         0.648          0.475          -1.714         0              0              0
  64  CounterTop      0.931          0.946          -2.051         0              0              0
  65  Cabinet         0.948          2.439          -1.780         0              270            0
  66  Cabinet         0.948          2.159          -0.140         0              270            0
  67  Cabinet         0.949          2.159          -0.758         0              270            0
  68  Sink            -0.699         0.927          -0.649         0              0              0
  69  LightSwitch     -2.371         1.218          3.049          0              180            0
  70  StoveKnob       0.673          0.899          -1.373         315            90             180
  71  StoveKnob       0.673          0.899          -1.519         315            90             180
  72  StoveKnob       0.673          0.899          -1.086         315            90             180
  73  StoveKnob       0.673          0.899          -1.237         315            90             180
  74  Toaster         0.984          0.900          0.329          0              270            0
  75  Window          0.014          0.998          -2.640         90             0              0
  76  Window          -2.996         0.998          -2.640         90             0              0
  77  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  78  GarbageCan      -0.946         -0.036         0.575          0              180            0
  79  SinkBasin       -0.698         0.765          -0.647         0              90             0
  80  Microwave       1.042          1.680          -1.295         0              270            0
  81  Fridge          0.966          0.0            1.253          0              0              0
  82  HousePlant      -1.354         0.919          -1.540         0              0              0
  83  Shelf           -1.635         0.172          2.715          0              180            0
  84  Shelf           -1.635         0.552          2.715          0              180            0
  85  Shelf           -1.635         0.880          2.715          0              180            0
  86  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  87  Chair           -1.832         0.002          -0.034         0              119.999        0
  88  Chair           -1.854         0.002          -0.956         0              67.887         0
  89  Faucet          -0.867         1.161          -0.651         0              0              0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Turn to the right and move to the brown door, then turn right and move to the refrigerator, then turn right and move to the counter of the kitchen island between the sink and the black garbage bin. | STEP 2: Pick up the salt shaker between the knife and the spatula from the counter of the kitchen island. | STEP 3: Turn left and move to the front of the range. | STEP 4: Open the top drawer to the left of the range, place the salt shaker in the drawer, then close the drawer. | STEP 5: Turn left and move to the front of the dishwasher. | STEP 6: Pick up the salt shaker to the rear of the spatula and to the right of the knife with the gold handle. | STEP 7: Move to the right and face the range. | STEP 8: Open the top drawer to the left of the range, place the salt shaker in the drawer to the rear of the salt shaker already there, then close the drawer. | END