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           0.5            0.901          1.25           0              180            0
   1  WineBottle      0.033          0.791          0.377          0              0              0              74
   2  WineBottle      0.033          0.791          0.545          0              0              0              74
   3  Ladle           0.002          0.790          2.197          0              270            0              46
   4  DishSponge      2.244          1.500          2.381          0              0              0              40
   5  ButterKnife     -0.349         0.791          0.545          0              0              0              74
   6  Spatula         -0.272         0.805          0.545          0              0              0              74
   7  Spatula         1.790          0.952          2.743          0              0              0              47
   8  Spoon           1.906          0.747          0.514          0              0              0              56
   9  Fork            -0.196         0.791          0.377          0              0              0              74
  10  Egg             -0.053         0.980          2.688          0              0              0              47
  11  Egg             1.840          0.980          0.435          0              0              0              58
  12  Plate           1.227          0.085          2.523          0              0              0              53
  13  Plate           1.925          0.086          2.128          0              0              0              43
  14  SoapBottle      1.844          0.938          2.063          0              0              0              47
  15  Apple           -0.272         0.987          2.451          0              0              0              47
  16  Egg             2.116          0.903          -0.188         0              270            0              68
  17  Lettuce         -0.053         0.999          2.548          0              0              0              47
  18  Fork            -0.272         0.791          1.217          0              0              0              74
  19  SoapBottle      1.994          0.939          0.361          0              180            0              58
  20  Ladle           1.850          0.790          2.197          0              270            0              62
  21  Ladle           2.205          1.993          1.515          0              0              0              52
  22  Bread           -0.199         0.823          0.813          0              0              0              74
  23  SaltShaker      -0.425         0.785          1.049          0              0              0              74
  24  Potato          2.112          1.363          -0.460         0              270            0              68
  25  Pan             2.140          0.935          1.504          0              180            0              42
  26  WineBottle      2.071          0.939          0.806          0              0              0              58
  27  Spatula         -0.119         0.805          1.049          0              90             0              74
  28  Knife           2.011          0.771          0.652          0              270            0              56
  29  Tomato          0.033          0.837          0.713          0              0              0              74
  30  Apple           2.223          1.373          -0.007         0              270            0              68
  31  ButterKnife     1.917          0.938          0.583          0              180            0              58
  32  Pot             1.863          0.935          1.106          0              0              0              61
  33  PepperShaker    1.849          0.077          1.915          0              0              0              43
  34  Cup             1.964          0.080          1.844          0              0              0              43
  35  DishSponge      1.884          0.745          1.922          0              0              0              62
  36  Plate           0.566          0.085          2.523          0              0              0              54
  37  Spoon           1.223          0.796          2.584          0              0              0              71
  38  Mug             2.064          0.989          2.462          0              225            0              73
  39  Bowl            -0.272         0.787          1.386          0              0              0              74
  40  Cabinet         2.041          2.113          2.618          0              0              0
  41  Cabinet         0.126          0.388          1.774          0              0              0
  42  StoveBurner     2.140          0.929          1.504          0              180            0
  43  Cabinet         1.760          0.388          2.346          0              0              0
  44  Cabinet         1.760          0.388          0.869          0              0              0
  45  Cabinet         2.041          1.810          0.283          0              0              0
  46  Drawer          -0.024         0.774          2.061          0              0              0
  47  CounterTop      1.065          0.973          2.666          0              0              0
  48  Cabinet         1.969          2.113          2.618          0              0              0
  49  StoveBurner     2.140          0.929          1.106          0              0              0
  50  Cabinet         2.041          2.113          1.809          0              0              0
  51  StoveBurner     1.866          0.929          1.504          0              180            0
  52  Cabinet         2.041          2.113          1.766          0              0              0
  53  Cabinet         1.514          0.388          2.360          0              0              0
  54  Cabinet         0.351          0.388          2.360          0              0              0
  55  Cabinet         2.041          1.810          0.872          0              0              0
  56  Drawer          2.167          0.774          0.582          0              0              0
  57  Cabinet         2.041          2.113          0.892          0              0              0
  58  CounterTop      2.060          0.973          0.583          0              0              0
  59  Sink            0.935          0.936          2.646          0              0              0
  60  Curtains        0.964          2.061          2.989          0              0              0
  61  StoveBurner     1.863          0.929          1.106          0              0              0
  62  Drawer          1.911          0.774          2.060          0              0              0
  63  StoveKnob       2.326          1.092          1.610          288.013        90             0
  64  StoveKnob       2.326          1.092          1.460          288.013        90             0
  65  StoveKnob       2.326          1.092          1.210          288.013        90             0
  66  StoveKnob       2.326          1.092          1.050          288.013        90             0
  67  Toaster         2.126          0.926          0.572          0              270            0
  68  Fridge          2.104          0.0            -0.279         0              270            0
  69  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  70  LightSwitch     0.354          1.518          -1.031         0              0              0
  71  SinkBasin       0.903          0.784          2.640          0              0              0
  72  Microwave       -0.310         0.926          2.077          0              90             0
  73  CoffeeMachine   2.084          0.927          2.667          0              225            0
  74  DiningTable     -0.153         -0.000         1.073          0              270            0
  75  Faucet          1.175          0.926          2.950          270            90             0
  76  Faucet          0.686          0.926          2.950          270            90             0
  77  Chair           -0.077         0.002          0.196          0              15.000         0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Turn around, take a left at the sink and walk to the counter. | STEP 2: Open the lower left cabinet next to the stove, pick up the gold pepper grinder and close the door. | STEP 3: Turn left to face the sink. | STEP 4: Put the gold pepper grinder on the counter in front of the coffee maker to the right. | END