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           0.25           0.901          -0.25          0              180            0
   1  WineBottle      2.280          1.504          0.755          0              0              0              64
   2  DishSponge      1.906          0.937          2.898          0              0              0              56
   3  ButterKnife     0.841          0.796          2.639          0              90             0              80
   4  Spatula         0.002          0.761          1.925          0              90             0              55
   5  Spoon           1.941          0.746          0.721          0              0              0              65
   6  Spoon           1.815          0.746          2.197          0              90             0              71
   7  Fork            2.227          0.938          1.866          0              0              0              56
   8  Egg             -0.053         0.980          2.897          0              0              0              56
   9  Egg             -0.272         0.833          1.386          0              0              0              83
  10  Plate           2.206          1.505          2.010          0              0              0              59
  11  SoapBottle      0.033          0.791          0.881          0              0              0              83
  12  SoapBottle      2.165          1.504          0.725          0              0              0              64
  13  SaltShaker      1.849          0.077          2.270          0              0              0              52
  14  SaltShaker      1.790          0.932          2.898          0              0              0              56
  15  PepperShaker    -0.119         0.785          0.377          0              0              0              83
  16  PepperShaker    1.846          0.077          0.442          0              0              0              53
  17  PepperShaker    -0.349         0.785          0.713          0              0              0              83
  18  Bread           0.174          0.985          2.618          0              0              0              56
  19  Lettuce         2.164          0.664          -0.460         0              270            0              77
  20  Lettuce         2.056          1.385          -0.097         0              270            0              77
  21  Mug             2.179          1.514          -0.369         0              270            0              77
  22  Mug             0.735          0.797          2.695          0              90             0              80
  23  Apple           0.174          0.987          2.827          0              0              0              56
  24  Apple           0.033          0.840          1.217          0              0              0              83
  25  Egg             1.844          0.980          1.866          0              0              0              56
  26  Lettuce         -0.196         0.852          1.217          0              0              0              83
  27  Fork            1.802          0.746          0.446          0              90             0              65
  28  SoapBottle      0.637          0.082          2.484          0              0              0              63
  29  Ladle           -0.167         0.982          2.827          0              0              0              56
  30  Ladle           1.884          0.791          1.922          0              90             0              71
  31  Bread           -0.200         0.824          0.813          0              0              0              83
  32  SaltShaker      -0.196         0.785          1.049          0              90             0              83
  33  Potato          -0.119         0.831          0.545          0              0              0              83
  34  Pan             2.140          0.935          1.504          0              180            0              51
  35  WineBottle      -0.349         0.791          1.217          0              0              0              83
  36  Spatula         -0.425         0.805          0.881          0              90             0              83
  37  Knife           0.060          0.963          2.688          0              0              0              56
  38  Tomato          2.257          0.983          2.898          0              0              0              56
  39  Apple           1.986          0.388          -0.007         0              270            0              77
  40  ButterKnife     1.660          0.926          2.473          0              352.515        0              56
  41  Pot             1.854          0.937          1.497          0              0              0              60
  42  PepperShaker    2.002          0.077          1.915          0              0              0              52
  43  Cup             1.986          0.336          -0.550         0              270            0              77
  44  DishSponge      1.906          0.746          0.514          0              0              0              65
  45  Plate           -0.312         0.781          0.409          0              0              0              83
  46  Spoon           -0.042         0.781          0.713          0              0              0              83
  47  Mug             2.304          0.932          2.359          0              0              0              56
  48  Bowl            -0.362         1.032          1.961          0              90             0              81
  49  Cabinet         2.041          2.113          2.618          0              0              0
  50  Cabinet         0.126          0.388          1.774          0              0              0
  51  StoveBurner     2.140          0.929          1.504          0              180            0
  52  Cabinet         1.760          0.388          2.346          0              0              0
  53  Cabinet         1.760          0.388          0.869          0              0              0
  54  Cabinet         2.041          1.810          0.283          0              0              0
  55  Drawer          -0.024         0.774          2.061          0              0              0
  56  CounterTop      1.065          0.973          2.666          0              0              0
  57  Cabinet         1.969          2.113          2.618          0              0              0
  58  StoveBurner     2.140          0.929          1.106          0              0              0
  59  Cabinet         2.041          2.113          1.809          0              0              0
  60  StoveBurner     1.866          0.929          1.504          0              180            0
  61  Cabinet         2.041          2.113          1.766          0              0              0
  62  Cabinet         1.514          0.388          2.360          0              0              0
  63  Cabinet         0.351          0.388          2.360          0              0              0
  64  Cabinet         2.041          1.810          0.872          0              0              0
  65  Drawer          2.167          0.774          0.582          0              0              0
  66  Cabinet         2.041          2.113          0.892          0              0              0
  67  CounterTop      2.060          0.973          0.583          0              0              0
  68  Sink            0.935          0.936          2.646          0              0              0
  69  Curtains        0.964          2.061          2.989          0              0              0
  70  StoveBurner     1.863          0.929          1.106          0              0              0
  71  Drawer          1.911          0.774          2.060          0              0              0
  72  StoveKnob       2.326          1.092          1.610          288.013        90             0
  73  StoveKnob       2.326          1.092          1.460          288.013        90             0
  74  StoveKnob       2.326          1.092          1.210          288.013        90             0
  75  StoveKnob       2.326          1.092          1.050          288.013        90             0
  76  Toaster         2.126          0.926          0.572          0              270            0
  77  Fridge          2.104          0.0            -0.279         0              270            0
  78  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  79  LightSwitch     0.354          1.518          -1.031         0              0              0
  80  SinkBasin       0.903          0.784          2.640          0              0              0
  81  Microwave       -0.310         0.926          2.077          0              90             0
  82  CoffeeMachine   2.084          0.927          2.667          0              225            0
  83  DiningTable     -0.153         -0.000         1.073          0              270            0
  84  Faucet          1.175          0.926          2.950          270            90             0
  85  Faucet          0.686          0.926          2.950          270            90             0
  86  Chair           -0.077         0.002          0.196          0              15.000         0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Turn around an walk forward, take a right at the white table and walk to the counter to the right of the stove | STEP 2: Open the cabinet under the counter top and pick up the pepper grinder that's inside then close the cabinet door | STEP 3: Continue facing the counter top; the one with the toaster | STEP 4: Place the pepper grinder on the right side of the counter | END