Task: Put the chilled cabbage in the sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          2.75           0              180            0
   1  Potato          -0.921         0.943          1.349          0              90             0              90
   2  Pot             0.913          0.850          1.768          0              0              0              70
   3  Pot             0.642          0.850          1.768          0              0              0              76
   4  Spatula         -1.317         0.915          1.452          0              270            0              90
   5  Spatula         0.875          0.838          2.545          0              0              0              54
   6  Spoon           -0.657         0.901          1.143          0              0              0              90
   7  Fork            0.804          0.692          2.568          0              270            0              46
   8  Egg             0.931          0.060          2.977          0              0              0              83
   9  Egg             -0.789         0.936          1.555          0              90             0              90
  10  Cup             -1.185         0.900          1.452          0              90             0              90
  11  Cup             -2.498         0.718          1.917          0              90             0              81
  12  Knife           1.099          0.846          0.939          0              90             0              49
  13  Tomato          -2.461         0.835          2.221          0              90             0              81
  14  Tomato          -2.577         1.259          2.333          0              90             0              81
  15  Bowl            -2.175         1.396          3.936          0              0              0              50
  16  Bowl            0.950          0.821          2.458          0              0              0              56
  17  SaltShaker      -0.524         0.896          1.143          0              90             0              90
  18  Mug             -1.185         0.895          1.555          0              90             0              90
  19  Apple           -1.053         0.961          1.555          0              90             0              90
  20  Apple           0.950          0.884          2.631          0              0              0              54
  21  Plate           -2.779         0.826          3.405          0              0              0              72
  22  Fork            0.725          0.823          1.028          0              0              0              49
  23  Bread           -2.519         1.048          2.277          0              90             0              81
  24  Spatula         1.099          0.838          2.371          0              90             0              54
  25  PaperTowelRoll  -0.789         1.004          1.452          0              90             0              90
  26  Potato          -0.524         0.943          0.937          0              90             0              90
  27  SoapBottle      0.725          0.822          2.371          0              0              0              54
  28  Egg             -1.746         1.395          3.868          0              180            0              78
  29  Cup             -2.580         1.634          2.722          0              0              0              62
  30  Pot             0.913          0.850          1.375          0              0              0              48
  31  SaltShaker      -2.862         1.395          3.858          0              0              0              63
  32  Pan             -2.667         0.812          3.74           0              137.145        0              72
  33  PepperShaker    0.626          0.122          2.493          0              0              0              56
  34  ButterKnife     -0.524         0.900          1.246          0              90             0              90
  35  Tomato          -1.317         0.969          1.143          0              90             0              90
  36  DishSponge      0.737          0.690          1.016          0              0              0              60
  37  Lettuce         -0.580         0.956          1.358          31.822         0              0              90
  38  Spoon           0.771          0.692          0.944          0              0              0              60
  39  Apple           -2.711         1.668          2.109          0              90             0              81
  40  Knife           -1.053         0.923          1.349          0              90             0              90
  41  Mug             -1.109         0.940          1.203          0              0              0              90
  42  Bowl            -2.581         1.847          2.294          0              0              0              59
  43  Drawer          0.729          0.703          2.199          0              0              0
  44  Cabinet         -1.962         1.926          3.733          0              0              0
  45  Cabinet         -2.377         2.014          1.058          0              0              0
  46  Drawer          0.729          0.703          2.532          0              0              0
  47  Cabinet         -2.622         1.925          3.733          0              0              0
  48  StoveBurner     0.913          0.843          1.375          0              0              0
  49  CounterTop      0.864          0.858          0.984          0              0              0
  50  Cabinet         -1.976         1.779          3.734          0              0              0
  51  Cabinet         0.580          0.385          0.819          0              0              0
  52  Cabinet         -2.379         1.408          1.677          0              0              0
  53  Cabinet         -0.419         1.703          3.736          0              0              0
  54  CounterTop      0.864          0.858          2.371          0              0              0
  55  Sink            -1.702         0.726          3.828          0              180            0
  56  Cabinet         0.580          0.385          2.694          0              0              0
  57  Cabinet         -2.379         0.637          1.677          0              0              0
  58  Cabinet         -0.419         0.674          3.736          0              0              0
  59  Cabinet         -2.377         2.014          2.558          0              0              0
  60  Drawer          0.729          0.703          0.980          0              0              0
  61  Drawer          -2.114         0.706          3.657          0              0              0
  62  Cabinet         -2.377         1.691          2.572          0              0              0
  63  Cabinet         -2.951         1.925          3.733          0              0              0
  64  Cabinet         0.580          0.385          2.360          0              0              0
  65  Cabinet         -2.426         0.435          3.421          0              0              0
  66  StoveBurner     0.642          0.843          1.375          0              0              0
  67  Cabinet         -2.377         1.927          1.686          0              0              0
  68  Cabinet         -2.377         2.013          3.177          0              0              0
  69  Cabinet         -1.136         0.385          3.516          0              0              0
  70  StoveBurner     0.913          0.843          1.768          0              0              0
  71  Cabinet         -1.974         0.385          3.516          0              0              0
  72  CounterTop      -2.081         0.858          3.799          0              0              0
  73  Cabinet         -2.426         0.435          3.174          0              0              0
  74  Cabinet         -2.377         2.014          1.693          0              0              0
  75  Cabinet         -1.986         0.385          3.511          0              0              0
  76  StoveBurner     0.642          0.843          1.768          0              0              0
  77  Cabinet         -1.098         1.926          3.729          0              0              0
  78  Microwave       -1.529         1.250          3.881          1.622          180            0
  79  CoffeeMachine   1.000          0.812          2.492          0              270            0
  80  LightSwitch     0.825          1.396          4.082          0              180            0
  81  Fridge          -2.642         0.0            2.134          0              180            0
  82  Window          -1.131         1.673          0.808          90             0              0
  83  GarbageCan      0.931          -0.000         2.918          0              0              0
  84  SinkBasin       -1.601         0.686          3.774          0              0              0
  85  StoveKnob       1.104          1.002          1.886          0              0              70.346
  86  StoveKnob       1.104          1.002          1.733          0              0              70.346
  87  StoveKnob       1.104          1.002          1.321          0              0              70.346
  88  StoveKnob       1.104          1.002          1.481          0              0              70.346
  89  Toaster         -2.247         0.812          3.862          0              180            0
  90  DiningTable     -0.917         -0.000         1.203          0              0              0
  91  Stool           -0.932         0.000          1.404          1.196          21.715         0
  92  Faucet          -1.842         0.809          3.984          0              180            0
  93  Faucet          -1.371         0.809          3.985          0              180            0
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Turn left then walk forward then turn right facing the left side of the table | STEP 2: Pick up the cabbage on the table  | STEP 3: Turn right then head to the fridge on your left | STEP 4: Open the fridge put in and out the cabbage and close the fridge | STEP 5: Turn right then go to the sink | STEP 6: Put the cabbage in the right side of the sink | END