Task: Slice a pear, place the cooked pear on the 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            0.901          1.0            0              180            0
   1  Pan             1.863          0.935          1.106          0              0              0              67
   2  Pan             2.164          0.602          -0.188         0              0              0              74
   3  Potato          2.137          0.901          -0.278         0              270            0              74
   4  Potato          -0.425         0.831          0.881          0              0              0              80
   5  WineBottle      2.203          1.504          0.695          0              0              0              61
   6  WineBottle      -0.053         0.938          2.548          0              0              0              53
   7  Ladle           1.884          0.791          2.197          0              270            0              68
   8  DishSponge      -0.004         0.080          2.197          0              0              0              60
   9  Pot             2.140          0.935          1.504          0              180            0              48
  10  Fork            0.002          0.747          1.993          0              0              0              52
  11  Egg             -0.042         0.833          0.545          0              0              0              80
  12  Egg             2.231          1.561          -0.460         0              270            0              74
  13  Plate           0.708          0.085          2.523          0              0              0              60
  14  SoapBottle      1.840          0.939          0.361          0              0              0              64
  15  Bowl            -0.078         0.078          2.061          0              0              0              47
  16  SaltShaker      -0.349         0.785          0.377          0              0              0              80
  17  SaltShaker      2.127          1.498          0.418          0              0              0              51
  18  Lettuce         2.112          1.385          -0.369         0              270            0              74
  19  Apple           -0.119         0.840          1.049          0              0              0              80
  20  Apple           0.735          0.852          2.695          0              0              0              77
  21  Apple           2.158          0.910          -0.007         0              270            0              74
  22  Egg             -0.272         0.833          0.377          0              0              0              80
  23  Lettuce         0.033          0.852          0.881          0              0              0              80
  24  Fork            -0.042         0.782          0.377          0              0              0              80
  25  SoapBottle      1.840          0.939          0.657          0              0              0              64
  26  Ladle           0.002          0.790          2.197          0              270            0              52
  27  Ladle           2.205          1.993          1.563          0              0              0              58
  28  Bread           -0.199         0.823          0.813          0              0              0              80
  29  SaltShaker      -0.272         0.785          1.217          0              0              0              80
  30  Potato          2.164          0.642          -0.550         0              270            0              74
  31  Pan             1.928          0.070          0.640          0              0              0              50
  32  WineBottle      -0.263         0.038          -0.769         0              90             0              75
  33  Spatula         -0.425         0.805          1.049          0              90             0              80
  34  Knife           1.954          0.771          2.060          0              90             0              68
  35  Tomato          -0.282         0.983          2.618          0              0              0              53
  36  Apple           2.279          1.373          -0.550         0              270            0              74
  37  ButterKnife     -0.042         0.791          1.049          0              0              0              80
  38  Pot             0.174          0.937          2.618          0              180            0              53
  39  PepperShaker    1.855          1.498          2.730          0              0              0              54
  40  Cup             2.112          1.319          -0.188         0              270            0              74
  41  DishSponge      0.002          0.746          1.925          0              0              0              52
  42  Plate           -0.312         0.781          0.408          0              0              0              80
  43  Spoon           1.815          0.747          1.991          0              90             0              68
  44  Mug             -0.261         1.030          2.068          0              90             0              78
  45  Bowl            1.156          0.078          2.523          0              0              0              59
  46  Cabinet         2.041          2.113          2.618          0              0              0
  47  Cabinet         0.126          0.388          1.774          0              0              0
  48  StoveBurner     2.140          0.929          1.504          0              180            0
  49  Cabinet         1.760          0.388          2.346          0              0              0
  50  Cabinet         1.760          0.388          0.869          0              0              0
  51  Cabinet         2.041          1.810          0.283          0              0              0
  52  Drawer          -0.024         0.774          2.061          0              0              0
  53  CounterTop      1.065          0.973          2.666          0              0              0
  54  Cabinet         1.969          2.113          2.618          0              0              0
  55  StoveBurner     2.140          0.929          1.106          0              0              0
  56  Cabinet         2.041          2.113          1.809          0              0              0
  57  StoveBurner     1.866          0.929          1.504          0              180            0
  58  Cabinet         2.041          2.113          1.766          0              0              0
  59  Cabinet         1.514          0.388          2.360          0              0              0
  60  Cabinet         0.351          0.388          2.360          0              0              0
  61  Cabinet         2.041          1.810          0.872          0              0              0
  62  Drawer          2.167          0.774          0.582          0              0              0
  63  Cabinet         2.041          2.113          0.892          0              0              0
  64  CounterTop      2.060          0.973          0.583          0              0              0
  65  Sink            0.935          0.936          2.646          0              0              0
  66  Curtains        0.964          2.061          2.989          0              0              0
  67  StoveBurner     1.863          0.929          1.106          0              0              0
  68  Drawer          1.911          0.774          2.060          0              0              0
  69  StoveKnob       2.326          1.092          1.610          288.013        90             0
  70  StoveKnob       2.326          1.092          1.460          288.013        90             0
  71  StoveKnob       2.326          1.092          1.210          288.013        90             0
  72  StoveKnob       2.326          1.092          1.050          288.013        90             0
  73  Toaster         2.126          0.926          0.572          0              270            0
  74  Fridge          2.104          0.0            -0.279         0              270            0
  75  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  76  LightSwitch     0.354          1.518          -1.031         0              0              0
  77  SinkBasin       0.903          0.784          2.640          0              0              0
  78  Microwave       -0.310         0.926          2.077          0              90             0
  79  CoffeeMachine   2.084          0.927          2.667          0              225            0
  80  DiningTable     -0.153         -0.000         1.073          0              270            0
  81  Faucet          1.175          0.926          2.950          270            90             0
  82  Faucet          0.686          0.926          2.950          270            90             0
  83  Chair           -0.077         0.002          0.196          0              15.000         0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: Turn right and move to the table. | STEP 2: Pick up the knife that is to the right of the pear. | STEP 3: Use the knife to slice the pear. | STEP 4: Move to the table in front of an egg. | STEP 5: Place the knife on the table left of the lettuce and right of an egg. | STEP 6: Move to the table in front of the sliced pear. | STEP 7: Pick up part of the sliced pear. | STEP 8: Turn right and go to the microwave. | STEP 9: Place the pear slice in the microwave, run the microwave, pick the pear slice up. | STEP 10: Turn left and go to the table. | STEP 11: Place the pear slice on the table, between the knife and fork, near an egg. | END