Task: Place a pepper grinder on a counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.901          -0.25          0              90             0
   1  Pan             2.140          0.935          1.106          0              0              0              55
   2  WineBottle      1.673          0.938          2.743          0              0              0              53
   3  Ladle           1.954          0.790          2.197          0              270            0              68
   4  DishSponge      2.243          1.948          1.658          0              0              0              58
   5  Spatula         1.872          0.760          0.583          0              90             0              62
   6  Spatula         -0.119         0.805          0.545          0              180            0              80
   7  Fork            -0.042         0.791          1.386          0              0              0              80
   8  Cup             2.165          1.501          0.695          0              0              0              61
   9  Cup             2.129          1.499          2.469          0              0              0              46
  10  SoapBottle      1.840          0.939          0.509          0              0              0              64
  11  SoapBottle      -0.349         0.791          1.217          0              0              0              80
  12  Tomato          2.024          1.565          -0.278         0              270            0              74
  13  Bowl            2.223          1.320          -0.460         0              270            0              74
  14  SaltShaker      0.174          0.932          2.478          0              0              0              53
  15  SaltShaker      1.905          1.498          2.730          0              0              0              54
  16  PepperShaker    -0.196         0.785          1.386          0              0              0              80
  17  PepperShaker    2.129          1.496          2.293          0              0              0              46
  18  PepperShaker    2.167          1.496          1.963          0              0              0              56
  19  Lettuce         0.033          0.852          0.377          0              0              0              80
  20  Mug             1.276          0.790          2.529          0              0              0              77
  21  Mug             2.179          1.514          -0.369         0              270            0              74
  22  Egg             0.788          0.837          2.750          0              0              0              77
  23  Lettuce         -0.196         0.852          1.217          0              0              0              80
  24  Fork            -0.282         0.938          2.688          0              0              0              53
  25  SoapBottle      0.033          0.791          1.217          0              0              0              80
  26  Ladle           -0.042         0.835          1.049          0              270            0              80
  27  Ladle           -0.425         0.835          0.713          0              270            0              80
  28  Bread           -0.195         0.826          0.815          0              1.062          358.608        80
  29  SaltShaker      1.840          0.933          0.806          0              270            0              64
  30  Potato          1.920          0.977          1.866          0              0              0              53
  31  Pan             2.140          0.935          1.504          0              180            0              48
  32  WineBottle      -0.349         0.791          1.049          0              0              0              80
  33  Spatula         -0.272         0.788          0.882          1.189          0              0              80
  34  Knife           1.917          0.963          0.509          0              90             0              64
  35  Tomato          2.056          1.367          -0.369         0              270            0              74
  36  Apple           -0.263         0.087          -0.769         0              90             0              75
  37  ButterKnife     -0.041         0.937          2.530          0              0              0              53
  38  Pot             1.854          0.937          1.497          0              0              0              57
  39  PepperShaker    1.298          0.076          2.484          0              0              0              59
  40  Cup             -0.328         1.034          1.907          0              90             0              78
  41  DishSponge      1.840          0.937          0.361          0              0              0              64
  42  Plate           1.925          0.086          2.057          0              0              0              49
  43  Spoon           0.629          0.796          2.64           0              0              0              77
  44  Mug             2.280          1.498          0.665          0              90             0              61
  45  Bowl            2.168          1.318          -0.097         0              270            0              74
  46  Cabinet         2.041          2.113          2.618          0              0              0
  47  Cabinet         0.126          0.388          1.774          0              0              0
  48  StoveBurner     2.140          0.929          1.504          0              180            0
  49  Cabinet         1.760          0.388          2.346          0              0              0
  50  Cabinet         1.760          0.388          0.869          0              0              0
  51  Cabinet         2.041          1.810          0.283          0              0              0
  52  Drawer          -0.024         0.774          2.061          0              0              0
  53  CounterTop      1.065          0.973          2.666          0              0              0
  54  Cabinet         1.969          2.113          2.618          0              0              0
  55  StoveBurner     2.140          0.929          1.106          0              0              0
  56  Cabinet         2.041          2.113          1.809          0              0              0
  57  StoveBurner     1.866          0.929          1.504          0              180            0
  58  Cabinet         2.041          2.113          1.766          0              0              0
  59  Cabinet         1.514          0.388          2.360          0              0              0
  60  Cabinet         0.351          0.388          2.360          0              0              0
  61  Cabinet         2.041          1.810          0.872          0              0              0
  62  Drawer          2.167          0.774          0.582          0              0              0
  63  Cabinet         2.041          2.113          0.892          0              0              0
  64  CounterTop      2.060          0.973          0.583          0              0              0
  65  Sink            0.935          0.936          2.646          0              0              0
  66  Curtains        0.964          2.061          2.989          0              0              0
  67  StoveBurner     1.863          0.929          1.106          0              0              0
  68  Drawer          1.911          0.774          2.060          0              0              0
  69  StoveKnob       2.326          1.092          1.610          288.013        90             0
  70  StoveKnob       2.326          1.092          1.460          288.013        90             0
  71  StoveKnob       2.326          1.092          1.210          288.013        90             0
  72  StoveKnob       2.326          1.092          1.050          288.013        90             0
  73  Toaster         2.126          0.926          0.572          0              270            0
  74  Fridge          2.104          0.0            -0.279         0              270            0
  75  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  76  LightSwitch     0.354          1.518          -1.031         0              0              0
  77  SinkBasin       0.903          0.784          2.640          0              0              0
  78  Microwave       -0.310         0.926          2.077          0              90             0
  79  CoffeeMachine   2.084          0.927          2.667          0              225            0
  80  DiningTable     -0.153         -0.000         1.073          0              270            0
  81  Faucet          1.175          0.926          2.950          270            90             0
  82  Faucet          0.686          0.926          2.950          270            90             0
  83  Chair           -0.077         0.002          0.196          0              15.000         0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: Turn left, hang a right at the sink to the counter and look up at the cabinets. | STEP 2: Open the left upper cabinet, pick up the gold pepper grinder inside and close the door. | STEP 3: Turn left to face the sink. | STEP 4: Place the gold pepper grinder on the counter to the right in front of the coffee maker. | END