Task: To put a clean cabbage slice 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              0              0
   1  Potato          2.304          0.977          1.866          0              180            0              53
   2  Potato          2.056          1.361          -0.460         0              270            0              74
   3  DishSponge      -0.196         0.790          1.049          0              0              0              80
   4  ButterKnife     1.170          0.795          2.64           0              90             0              77
   5  Spatula         1.941          0.761          0.721          0              270            0              62
   6  Spoon           1.850          0.746          2.129          0              90             0              68
   7  Spoon           -0.272         0.792          1.386          0              0              0              80
   8  Fork            -0.349         0.791          0.713          0              270            0              80
   9  Fork            -0.119         0.791          0.545          0              180            0              80
  10  Egg             -0.425         0.833          1.217          0              0              0              80
  11  Cup             -0.196         0.789          1.386          0              0              0              80
  12  Knife           -0.138         0.772          1.993          0              90             0              52
  13  Knife           1.815          0.772          1.922          0              90             0              68
  14  SoapBottle      1.013          0.082          2.523          0              0              0              59
  15  Bowl            2.024          1.515          -0.369         0              270            0              74
  16  SaltShaker      0.060          0.932          2.618          0              0              0              53
  17  PepperShaker    -0.272         0.932          2.425          0              0              0              53
  18  PepperShaker    -0.119         0.785          1.217          0              0              0              80
  19  Mug             2.064          0.989          2.462          0              225            0              79
  20  Mug             -0.349         0.785          0.881          0              0              0              80
  21  Apple           1.840          0.988          0.509          0              0              0              64
  22  Egg             -0.272         0.833          1.217          0              0              0              80
  23  Lettuce         1.994          1.000          0.806          0              270            0              64
  24  Fork            -0.349         0.791          1.049          0              90             0              80
  25  SoapBottle      -0.118         0.938          2.451          0              180            0              53
  26  Ladle           1.837          0.790          0.721          0              270            0              62
  27  Ladle           -0.096         0.942          2.546          6.888          45             340.409        53
  28  Bread           -0.199         0.823          0.813          0              0              0              80
  29  SaltShaker      2.206          1.496          2.104          0              0              0              56
  30  Potato          -0.425         0.831          0.377          0              0              0              80
  31  Pan             1.928          0.070          0.640          0              0              0              50
  32  WineBottle      0.850          0.082          2.523          0              0              0              60
  33  Spatula         1.223          0.810          2.584          0              90             0              77
  34  Knife           -0.042         0.816          1.049          0              90             0              80
  35  Tomato          2.074          0.983          1.964          0              0              0              53
  36  Apple           -0.328         1.085          2.121          0              90             0              78
  37  ButterKnife     -0.119         0.791          0.377          0              0              0              80
  38  Pot             1.863          0.935          1.106          0              0              0              67
  39  PepperShaker    2.129          1.496          2.010          0              0              0              56
  40  Cup             0.033          0.789          0.713          0              0              0              80
  41  DishSponge      0.735          0.794          2.584          0              0              0              77
  42  Plate           1.925          0.086          1.986          0              0              0              49
  43  Spoon           0.002          0.747          2.129          0              0              0              52
  44  Mug             2.282          1.496          2.010          0              0              0              56
  45  Bowl            1.227          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 around to face the table on the left | STEP 2: Pick up a butter knife on the left side the table | STEP 3: Turn around and go to the counter with a toaster and a cabbage on the top | STEP 4: Slice up the cabbage with the knife | STEP 5: Turn around and go back to the table | STEP 6: Put the knife on the table | STEP 7: Go back back to the counter with the sliced cabbage | STEP 8: Pick up a slice of cabbage  | STEP 9: Go to the sink | STEP 10: Put the slice of the cabbage in the right-side sink, run the water, and pick up the cabbage slice | STEP 11: Turn around and go back to the table | STEP 12: Place the cabbage slice on the table | END