Task: Put two pepper mills on a table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          6.75           0              270            0
   1  Pan             1.238          0.138          2.498          0              270            0              73
   2  Potato          -0.313         0.794          6.544          0              135            0              97
   3  DishSponge      1.406          0.140          3.439          0              0              0              72
   4  DishSponge      1.236          0.771          3.360          0              0              0              54
   5  ButterKnife     0.803          0.772          0.507          0              0              0              53
   6  ButterKnife     1.403          0.992          0.213          0              0              0              61
   7  Kettle          1.499          1.577          4.511          0              0              0              65
   8  Pot             1.562          0.988          3.848          0              0              0              55
   9  Spoon           0.056          0.773          0.507          0              0              0              58
  10  Spoon           1.493          0.993          3.417          0              0              0              61
  11  Fork            0.735          0.772          0.619          0              270            0              53
  12  Fork            -0.034         0.760          6.632          0              0              0              97
  13  Egg             1.442          0.940          2.137          0              90             0              84
  14  Cup             2.137          1.511          5.876          0              270            0              83
  15  Plate           -0.013         1.580          0.251          0              0              0              74
  16  Plate           -0.552         0.144          0.277          0              0              0              69
  17  Knife           -0.312         0.789          6.354          0              0              0              97
  18  Tomato          2.137          1.565          5.751          0              270            0              83
  19  Bowl            1.238          0.139          2.159          0              0              0              50
  20  PepperShaker    -0.308         0.987          0.578          0              0              0              61
  21  PepperShaker    0.696          0.987          0.670          0              0              0              61
  22  SaltShaker      -0.535         0.987          0.212          0              0              0              61
  23  Lettuce         -0.443         0.848          6.851          0              135            0              97
  24  Apple           2.051          1.590          5.626          0              270            0              83
  25  Apple           -0.158         0.834          6.291          0              270            0              97
  26  Bowl            1.238          0.139          3.217          0              0              0              72
  27  Bread           1.099          1.048          0.434          0              0              0              61
  28  Egg             2.051          1.565          5.376          0              270            0              83
  29  Knife           -0.459         1.022          0.578          0              0              0              61
  30  Fork            -0.221         0.760          6.787          0              0              0              97
  31  Apple           1.966          1.590          5.251          0              270            0              83
  32  Kettle          1.225          0.993          1.577          0              0              0              61
  33  Plate           0.674          0.144          0.339          0              0              0              67
  34  SaltShaker      1.228          0.136          4.724          0              0              0              63
  35  Lettuce         0.167          0.848          6.151          0              135            0              97
  36  SoapBottle      1.486          0.141          4.802          0              90             0              63
  37  Spatula         1.403          1.007          1.577          0              90             0              61
  38  PaperTowelRoll  -0.531         0.864          6.763          0              135            0              97
  39  Pot             1.32           0.988          3.848          0              0              0              60
  40  Potato          1.966          1.550          6.001          0              270            0              83
  41  ButterKnife     0.923          0.992          0.212          0              0              0              61
  42  PepperShaker    1.135          0.987          4.853          0              0              0              62
  43  Pan             1.313          0.985          4.284          0              0              0              56
  44  Tomato          1.276          0.940          1.983          0              90             0              84
  45  DishSponge      1.293          0.771          4.790          0              0              0              51
  46  Cup             0.064          1.093          0.310          0              0              0              77
  47  Spoon           -0.332         0.761          6.217          0              225            0              97
  48  Mug             0.015          0.755          6.742          0              45             0              97
  49  Cabinet         1.307          2.455          4.360          0              0              0
  50  Cabinet         1.054          0.422          1.710          0              0              0
  51  Drawer          1.280          0.808          4.718          0              0              0
  52  Cabinet         1.307          2.455          3.607          0              0              0
  53  Drawer          0.736          0.802          0.521          0              0              0
  54  Drawer          1.276          0.802          3.291          0              0              0
  55  StoveBurner     1.562          0.982          3.848          0              0              0
  56  StoveBurner     1.317          0.982          4.294          0              0              0
  57  Drawer          -0.482         0.802          0.521          0              0              0
  58  Drawer          0.124          0.802          0.521          0              0              0
  59  StoveBurner     1.559          0.982          4.294          0              0              0
  60  StoveBurner     1.320          0.982          3.848          0              0              0
  61  CounterTop      1.391          1.028          0.897          0              0              0
  62  CounterTop      1.391          1.028          4.716          0              0              0
  63  Cabinet         1.054          0.422          4.548          0              0              0
  64  Cabinet         1.317          2.134          0.517          0              0              0
  65  Cabinet         1.317          2.134          4.889          0              0              0
  66  Cabinet         1.317          2.134          3.095          0              0              0
  67  Cabinet         0.443          0.422          0.743          0              0              0
  68  Cabinet         1.270          2.134          0.434          0              0              0
  69  Cabinet         -0.775         0.422          0.743          0              0              0
  70  Cabinet         -0.168         0.422          0.743          0              0              0
  71  Cabinet         1.317          2.134          1.534          0              0              0
  72  Cabinet         1.054          0.422          2.990          0              0              0
  73  Cabinet         1.054          0.422          2.944          0              0              0
  74  Cabinet         -0.263         2.134          0.434          0              0              0
  75  Cabinet         0.252          2.134          0.434          0              0              0
  76  Sink            1.391          1.006          2.326          0              0              0
  77  Microwave       0.108          0.981          0.262          0              0              0
  78  HousePlant      -0.165         0.826          6.444          0              0              0
  79  CoffeeMachine   1.551          0.982          0.953          0              270            0
  80  Toaster         1.473          0.981          4.715          0              270            0
  81  Window          -2.065         1.916          3.626          90             90             0
  82  Window          1.763          2.007          2.299          90             270            0
  83  Fridge          2.035          0.0            5.625          0              0              0
  84  SinkBasin       1.387          0.880          2.338          0              90             0
  85  GarbageCan      2.001          -0.044         6.503          0              0              0
  86  StoveKnob       1.140          0.934          3.987          45             270            0
  87  StoveKnob       1.140          0.934          4.309          45             270            0
  88  StoveKnob       1.140          0.934          4.140          45             270            0
  89  StoveKnob       1.140          0.934          3.824          45             270            0
  90  Vase            -0.226         0.834          6.993          0              0              0
  91  Vase            2.098          0.043          7.070          0              257.232        0
  92  Vase            -0.594         0.835          6.130          0              225            0
  93  LightSwitch     -2.0           1.549          6.045          0              90             0
  94  Safe            2.046          1.072          7.054          0              257.232        0
  95  Faucet          1.534          1.025          2.371          0              294.391        0
  96  Blinds          1.738          2.563          2.312          0              90             0
  97  DiningTable     -0.156         0.000          6.474          0              0              0
  98  Chair           0.291          0.002          6.142          0              310.162        0
  99  GarbageBag      -1.092         0.318          0.268          270            90             83.492
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: Turn left, go forward, go around the counter and keep going forward to the counter to the left of the microwave. | STEP 2: Take the pepper from the counter. | STEP 3: Turn around, go forward, turn right at the fridge, go forward, turn left, go forward, turn left at the round black table. | STEP 4: Put the pepper in front of the mug on the table. | STEP 5: Turn left, go forward, go around the counter with the toaster, then turn left to face the counter. | STEP 6: Take the pepper from the counter. | STEP 7: Turn left, go forward, turn right at the fridge, go forward, turn left, go forward, turn left at the round black table. | STEP 8: Put the pepper in front of the lettuce on the left of the table. | END