Task: Place two pepper grinders in the rightmost cabinet next to the oven.

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          0.900          1.25           0              90             0
   1  Pan             -1.431         0.949          -1.525         0              0              0              80
   2  SprayBottle     1.283          1.655          -1.579         0              0              0              64
   3  SprayBottle     -1.712         0.909          0.204          0              0              0              74
   4  Pen             -1.849         0.777          -1.500         0              90             0              77
   5  Pen             -1.957         0.913          0.549          0              0              0              74
   6  Potato          1.494          1.203          -1.002         0              0              0              78
   7  Ladle           0.758          0.955          -1.704         0              0              0              72
   8  Ladle           0.569          0.955          -1.448         0              0              0              72
   9  Kettle          -1.431         0.949          -1.81          0              0              0              82
  10  Fork            1.454          1.162          -1.345         0              0              0              78
  11  Fork            1.454          1.162          -1.688         0              0              0              78
  12  Spoon           0.320          0.920          -1.657         0              270            0              51
  13  Spoon           1.414          1.163          -0.659         0              0              0              78
  14  Plate           -0.037         1.656          -1.839         0              0              0              62
  15  Knife           1.343          0.941          0.031          0              0              0              72
  16  Knife           0.949          0.804          -1.178         0              90             0              50
  17  Tomato          1.453          1.760          2.026          0              270            0              91
  18  Bowl            1.388          1.720          1.713          0              270            0              91
  19  Bowl            0.977          0.115          -1.186         0              0              0              57
  20  PepperShaker    -1.835         0.905          0.549          0              0              0              74
  21  Bread           1.010          0.989          -1.331         0              0              0              72
  22  Lettuce         -1.957         0.979          0.204          0              0              0              74
  23  Tomato          1.476          1.407          1.725          0              270            0              91
  24  Glassbottle     1.341          0.215          1.108          0              0              0              89
  25  Knife           -2.201         0.940          0.032          0              0              0              74
  26  Plate           1.150          0.118          0.372          0              0              0              55
  27  Fork            0.115          0.920          -1.758         0              270            0              51
  28  Ladle           -0.401         0.955          -1.448         0              0              0              72
  29  Potato          1.476          1.409          2.350          0              270            0              91
  30  Lettuce         1.335          1.231          -1.002         0              0              0              78
  31  Kettle          -1.081         0.949          -1.81          0              0              0              68
  32  Pen             0.982          0.775          -1.068         0              0              0              50
  33  SaltShaker      -1.835         0.905          0.463          0              0              0              74
  34  Cup             -0.675         1.656          -1.764         0              0              0              54
  35  Egg             0.105          0.940          -1.450         0              0              0              72
  36  Spatula         -1.809         0.925          -1.879         0              0              0              70
  37  Bowl            -1.881         1.656          -1.866         0              90             0              53
  38  SprayBottle     1.093          0.910          0.372          0              0              0              78
  39  Pan             -1.079         0.945          -1.528         0              0              0              73
  40  SoapBottle      0.710          0.116          -1.585         0              90             0              66
  41  Pot             0.970          1.657          -1.839         0              0              0              61
  42  ButterKnife     0.320          0.919          -1.657         0              270            0              51
  43  PepperShaker    1.414          1.157          0.370          0              180            0              78
  44  DishSponge      0.251          0.919          -1.859         0              270            0              51
  45  Bread           -2.323         0.988          0.204          0              0              0              74
  46  Apple           1.275          1.402          1.851          0              270            0              91
  47  Spoon           0.916          0.776          -1.123         0              90             0              50
  48  Mug             1.408          1.260          -0.021         0              270            0              94
  49  Drawer          0.860          0.75           0.430          0              0              0
  50  Drawer          0.871          0.75           -1.134         0              0              0
  51  Sink            0.156          0.817          -1.801         0              270            0
  52  Cabinet         -0.868         2.005          -1.690         0              0              0
  53  Cabinet         -1.661         2.059          -1.684         0              90             0
  54  Cabinet         -0.817         2.059          -1.689         0              0              0
  55  Cabinet         0.860          0.402          0.665          0              0              0
  56  Cabinet         0.860          0.402          -0.552         0              0              0
  57  Cabinet         0.860          0.402          -1.365         0              0              0
  58  Cabinet         -0.244         0.402          -1.389         0              0              0
  59  Cabinet         -0.815         0.402          -1.389         0              0              0
  60  Cabinet         1.159          2.059          -0.334         0              0              0
  61  Cabinet         0.488          2.059          -1.689         0              0              0
  62  Cabinet         -0.193         2.059          -1.689         0              0              0
  63  Drawer          0.860          0.75           -0.699         0              0              0
  64  Cabinet         1.159          2.059          -1.019         0              0              0
  65  Cabinet         -1.611         2.005          -1.690         0              0              0
  66  Cabinet         0.832          0.401          -1.393         0              90             0
  67  Drawer          -2.105         0.75           -1.389         0              0              0
  68  StoveBurner     -1.081         0.941          -1.809         0              0              0
  69  Cabinet         -0.202         0.401          -1.391         0              90             0
  70  CounterTop      -1.973         0.945          -1.707         0              0              0
  71  Drawer          -0.375         0.75           -1.389         0              0              0
  72  CounterTop      1.164          0.946          -0.649         0              0              0
  73  StoveBurner     -1.081         0.941          -1.527         0              0              0
  74  CounterTop      -2.096         0.945          0.291          0              0              0
  75  Cabinet         -2.237         0.402          -1.389         0              0              0
  76  Drawer          0.584          0.75           -1.389         0              0              0
  77  Drawer          -1.795         0.75           -1.389         0              0              0
  78  CounterTop      1.5            1.197          -0.654         0              0              0
  79  Cabinet         -1.667         0.402          -1.389         0              0              0
  80  StoveBurner     -1.430         0.941          -1.525         0              0              0
  81  Drawer          -0.685         0.75           -1.389         0              0              0
  82  StoveBurner     -1.430         0.941          -1.809         0              0              0
  83  LightSwitch     -2.539         1.289          2.568          0              90             0
  84  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  85  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  86  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  87  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  88  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  89  GarbageCan      1.343          0.015          1.041          0              0              0
  90  HousePlant      1.440          1.153          0.593          0              0              0
  91  Fridge          1.417          0.0            2.101          0              0              0
  92  Window          -0.486         1.452          3.302          90             0              0
  93  SinkBasin       -0.063         0.765          -1.713         0              270            0
  94  Microwave       1.422          1.150          0.022          0              270            0
  95  Toaster         -2.066         0.900          -1.848         0              0              0
  96  Stool           -1.994         0.010          0.882          0              0              0
  97  Faucet          -0.096         1.041          -1.867         0              270            0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Walk to the pepper grinder to the left of the microwave on the shelf. | STEP 2: Pick up the pepper grinder from the shelf. | STEP 3: Turn around and walk to the cabinets to the right of the oven. | STEP 4: Place the pepper grinder in the rightmost cabinet next to the oven. | STEP 5: Turn around and walk to the pepper grinder on the counter with lettuce on it. | STEP 6: Pick up the pepper grinder on the counter. | STEP 7: Turn left and walk to the cabinets to the right of the oven. | STEP 8: Place the pepper grinder in the rightmost cabinet next to the oven. | END