Task: To move two pepper mills from the cabinets to the counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.931          -0.25          0              0              0
   1  Potato          -1.096         1.769          -1.331         0              0              0              64
   2  DishSponge      -0.603         1.046          -1.181         0              0              0              50
   3  DishSponge      1.817          0.204          -1.553         0              0              0              60
   4  Kettle          0.389          1.053          -1.630         0              0              0              46
   5  Kettle          -1.339         0.203          -1.265         0              0              0              58
   6  Fork            0.657          1.047          -1.129         0              0              0              50
   7  Spatula         -0.260         1.061          -1.828         0              90             0              50
   8  Spatula         1.015          1.058          0.589          0              0              0              52
   9  Cup             -0.949         0.202          -1.338         0              0              0              58
  10  Cup             1.158          0.200          -1.339         0              0              0              61
  11  Plate           1.512          1.032          -1.264         0              0              0              56
  12  Knife           1.155          1.072          -1.397         0              90             0              50
  13  Knife           -0.346         1.072          -1.612         0              90             0              50
  14  SoapBottle      1.817          0.205          -1.335         0              0              0              60
  15  SoapBottle      1.512          0.205          -1.480         0              0              0              60
  16  Bowl            -1.169         1.227          2.063          0              90             0              65
  17  SaltShaker      0.542          1.038          0.091          0              0              0              52
  18  SaltShaker      -0.775         1.041          -1.397         0              0              0              50
  19  PepperShaker    -1.416         0.197          -1.482         0              0              0              58
  20  PepperShaker    -0.222         0.198          -1.481         0              90             0              59
  21  PepperShaker    -1.105         0.197          -1.410         0              0              0              58
  22  Mug             -1.423         1.708          2.242          0              90             0              65
  23  Apple           -1.312         1.756          2.331          0              90             0              65
  24  SoapBottle      -0.473         1.565          -1.619         0              0              0              55
  25  Apple           -1.312         1.756          2.063          0              90             0              65
  26  Potato          -1.126         1.017          1.885          0              90             0              65
  27  Fork            0.446          1.043          0.630          0              90             0              52
  28  Kettle          0.120          1.053          -1.630         0              0              0              53
  29  Pan             -1.261         2.027          -1.482         0              180            0              57
  30  Tomato          -1.051         0.758          1.974          0              90             0              65
  31  SaltShaker      1.436          0.199          -1.190         0              0              0              60
  32  Egg             1.826          0.177          2.414          0              270            0              66
  33  Cup             1.701          1.043          0.738          0              0              0              52
  34  Spatula         1.701          1.058          0.307          0              0              0              52
  35  Knife           1.790          1.069          0.630          0              0              0              52
  36  Lettuce         0.858          1.103          0.135          30.591         304.297        0              48
  37  ButterKnife     0.065          1.043          0.522          0              0              0              52
  38  PepperShaker    1.158          0.194          -1.556         0              0              0              61
  39  DishSponge      1.181          1.042          0.676          0              0              0              52
  40  Plate           1.036          1.577          -1.538         0              0              0              54
  41  Bread           0.406          1.104          0.352          0              337.138        0              52
  42  Spoon           -0.517         1.048          -1.289         0              0              0              50
  43  Pot             1.589          1.021          -1.557         0              270            0              56
  44  Mug             -1.312         1.708          1.885          0              90             0              65
  45  Bowl            -1.342         1.488          1.885          0              90             0              65
  46  StoveBurner     0.389          1.043          -1.630         0              0              0
  47  SinkBasin       1.211          0.882          0.236          0              90             0
  48  Sink            0.928          0.941          0.324          0              90             0
  49  StoveBurner     0.000          1.048          -1.399         0              0              0
  50  CounterTop      0.196          1.082          -1.504         0              0              0
  51  StoveBurner     0.5            1.048          -1.399         0              0              0
  52  CounterTop      0.968          1.078          0.415          0              0              0
  53  StoveBurner     0.120          1.043          -1.630         0              0              0
  54  Cabinet         1.322          1.955          -1.309         0              0              0
  55  Cabinet         -0.866         1.955          -1.309         0              0              0
  56  Cabinet         1.993          1.403          -1.110         0              0              0
  57  Cabinet         -1.547         2.001          -1.110         0              0              0
  58  Cabinet         -1.526         0.593          -1.110         0              0              0
  59  Cabinet         -0.852         0.589          -1.110         0              0              0
  60  Cabinet         1.990          0.593          -1.110         0              0              0
  61  Cabinet         1.336          0.589          -1.110         0              0              0
  62  StoveBurner     0.250          1.048          -1.399         0              0              0
  63  Toaster         -0.550         1.035          -1.776         0              0              0
  64  Microwave       -1.189         1.624          -1.284         0              0              0
  65  Fridge          -1.286         0.020          1.832          0              90             0
  66  GarbageCan      1.856          -0.019         2.386          0              270            0
  67  LightSwitch     1.016          1.360          2.619          0              180            0
  68  CoffeeMachine   1.929          1.031          0.440          0              270            0
  69  StoveKnob       0.0            1.046          -1.220         0              0              0
  70  StoveKnob       0.090          1.046          -1.220         0              0              0
  71  StoveKnob       0.246          1.046          -1.220         0              0              0
  72  StoveKnob       0.490          1.046          -1.220         0              0              0
  73  StoveKnob       0.389          1.046          -1.220         0              0              0
  74  Faucet          1.277          1.265          0.384          0              90             0
  75  Chair           0.343          0.031          0.976          0              166.747        0
  76  Chair           1.008          0.031          1.034          0              180            0
  77  Chair           1.575          0.031          1.050          0              210.000        0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Turn around and walk to the counter to the right of the stove.  | STEP 2: Open the cabinet under the counter with the toaster, take out the pepper mill, and close the door.  | STEP 3: Face the counter in front of you with the toaster on it.  | STEP 4: Put the pepper mill down on the counter to the left of the sponge.  | STEP 5: Move to face the lower cabinet to the right.  | STEP 6: Open the cabinet door, pick up the pepper mill behind the kettle, and close the door.  | STEP 7: Turn around and walk back to the counter with the toaster on it.  | STEP 8: Place the pepper mill on the counter to the right of the sponge.  | END