Task: Place a cleaned pear slice on a small table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.869          -2.75          0              0              0
   1  Pan             0.746          1.158          -1.802         0              0              0              61
   2  Spatula         0.841          0.787          -0.845         0              0              0              64
   3  Spatula         -1.635         0.716          -1.307         0              0              0              77
   4  Fork            0.799          0.773          -0.570         0              0              0              64
   5  Pot             -1.552         0.930          0.785          0              0              0              45
   6  Egg             -2.054         0.836          -3.640         0              0              0              63
   7  Cup             0.824          1.373          -2.113         0              270            0              61
   8  Cup             0.732          0.014          -0.053         0              0              0              51
   9  Tomato          0.824          1.423          -1.958         0              270            0              61
  10  Tomato          0.661          0.712          0.326          0              0              0              46
  11  SoapBottle      -1.803         0.701          -1.199         0              0              0              77
  12  Bowl            0.858          1.462          -0.146         0              0              0              52
  13  Bowl            0.903          1.462          0.411          0              0              0              53
  14  PepperShaker    -1.578         0.696          -3.276         0              0              0              68
  15  PepperShaker    0.729          0.879          -0.245         0              0              0              41
  16  SaltShaker      0.841          0.660          0.448          0              0              0              46
  17  Lettuce         0.757          0.859          -0.735         0              270            0              64
  18  Apple           0.961          0.718          0.508          0              0              0              46
  19  Pot             -0.252         0.899          1.015          0              270            0              67
  20  Plate           -2.023         0.692          -1.447         0              0              0              77
  21  Fork            0.149          0.901          1.015          0              270            0              67
  22  SoapBottle      -1.260         0.051          -3.684         0              270            0              56
  23  Apple           -1.896         0.852          -3.640         0              0              0              63
  24  Pan             0.740          -0.007         -0.596         0              0              0              44
  25  Egg             0.901          0.701          0.265          0              0              0              46
  26  Spatula         -1.885         0.715          -1.524         0              180            6.693          77
  27  Potato          -1.535         0.729          -3.614         0              0              0              68
  28  Cup             0.676          0.014          -0.315         0              0              0              51
  29  SaltShaker      0.721          0.660          0.448          0              0              0              46
  30  PepperShaker    0.961          0.661          0.630          0              0              0              46
  31  ButterKnife     -1.886         0.701          -1.199         0              0              0              77
  32  DishSponge      -0.051         0.900          1.187          0              270            0              67
  33  Bread           -0.873         0.931          0.978          0              24.231         0              67
  34  Lettuce         -1.084         0.973          0.955          41.452         1.687          2.953          67
  35  Tomato          0.785          0.713          -2.190         0              270            0              61
  36  Spoon           0.671          0.760          -0.061         0              0              0              40
  37  Knife           0.149          0.923          1.187          0              270            0              67
  38  Mug             0.669          0.460          -1.725         0              270            0              61
  39  Bowl            -2.038         0.691          -1.003         0              0              0              77
  40  Drawer          0.706          0.766          -0.125         0              0              0
  41  CounterTop      0.792          0.919          -0.108         0              0              0
  42  Mirror          1.093          1.602          -0.643         0              0              0
  43  StoveBurner     -2.096         0.890          0.785          0              0              0
  44  Cabinet         0.507          0.345          -0.426         0              0              0
  45  StoveBurner     -1.552         0.890          0.785          0              0              0
  46  SideTable       0.770          -0.030         0.443          0              0              0
  47  Sink            0.753          0.882          -0.680         0              0              0
  48  StoveBurner     -2.096         0.890          1.049          0              0              0
  49  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  50  StoveBurner     -1.554         0.890          1.049          0              0              0
  51  Cabinet         0.507          0.345          0.156          0              0              0
  52  Cabinet         0.717          1.822          -0.398         0              0              0
  53  Cabinet         0.717          1.822          0.669          0              0              0
  54  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  55  Toaster         -0.522         0.886          1.081          0              180            0
  56  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  57  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  58  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  59  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  60  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  61  Fridge          0.680          -0.031         -1.957         0              0              0
  62  Window          -2.424         1.639          -2.453         90             270            0
  63  Microwave       -1.994         0.690          -3.651         0              0              0
  64  SinkBasin       0.757          0.762          -0.688         0              270            0
  65  LightSwitch     1.102          1.368          -3.737         0              270            0
  66  Shelf           -0.350         0.124          0.857          0              0              0
  67  DiningTable     -0.350         -0.025         0.857          0              0              0
  68  DiningTable     -1.909         -0.032         -3.507         0              0              0
  69  Blinds          -2.343         2.151          -2.437         0              270            0
  70  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  71  AluminumFoil    0.751          0.225          0.287          0              0              0
  72  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  73  Shelf           0.771          0.226          0.445          0              0              0
  74  Shelf           0.771          0.456          0.446          0              0              0
  75  Faucet          1.025          0.873          -0.678         270            180            0
  76  Shelf           -0.350         0.497          0.857          0              0              0
  77  DiningTable     -1.929         -0.035         -1.398         0              90             0
  78  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Go forward to the large white table on the other side of the room. | STEP 2: Pick up the knife that is on the table. | STEP 3: Turn right to face the small black table. | STEP 4: Use the knife to slice the pear that is on the table. | STEP 5: Turn right and go the section of counter that is on the left of the sink. | STEP 6: Stick the knife into the counter, directly in front of the salt shaker. | STEP 7: Turn left and return to the small black table. | STEP 8: Pick up a slice of the pear. | STEP 9: Turn right and go to the sink. | STEP 10: Place the pear in the sink and run the faucet over it for a few seconds. | STEP 11: Turn left and return to the small black table. | STEP 12: Place the pear slice back on the small table. | END