Task: Cut a cabbage, clean a slice and place it in the refrigerator

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           0.930          -0.75          0              180            0
   1  Potato          0.415          0.938          -1.373         0              0              0              81
   2  Ladle           0.533          0.947          0.627          0              0              0              91
   3  DishSponge      2.971          0.175          -0.404         0              0              0              71
   4  DishSponge      2.988          0.712          0.829          0              180            0              82
   5  Glassbottle     0.356          0.908          0.928          0              0              0              91
   6  Glassbottle     3.141          0.176          -0.307         0              0              0              71
   7  Kettle          -0.239         0.902          -1.089         0              315            0              89
   8  Spatula         0.179          0.915          -1.373         0              0              0              81
   9  Fork            1.098          0.908          0.464          0              90             0              91
  10  CellPhone       0.602          0.905          0.098          0              36.810         0              91
  11  CellPhone       0.967          0.908          0.464          0              0              0              91
  12  Lettuce         -0.717         0.965          -0.270         0              0              0              60
  13  Lettuce         0.445          0.973          0.426          0              0              0              91
  14  SaltShaker      0.336          0.896          -1.660         0              0              0              81
  15  PepperShaker    3.200          0.897          -0.897         0              0              0              59
  16  Bowl            0.967          0.905          0.605          0              0              0              91
  17  SoapBottle      -1.153         0.909          0.846          0              0              0              60
  18  Tomato          3.208          0.137          1.680          0              225            0              101
  19  Cup             1.242          0.711          -1.381         0              0              0              106
  20  Plate           3.200          0.913          -0.698         0              0              0              59
  21  Plate           -0.862         0.913          0.399          0              0              0              60
  22  Glassbottle     1.229          0.908          0.889          0              0              0              91
  23  SoapBottle      -0.675         0.909          -0.753         0              45             0              60
  24  Potato          -1.085         1.036          1.311          0              90             0              108
  25  Fork            3.07           0.753          0.098          0              270            0              105
  26  Ladle           1.360          0.945          0.889          0              0              0              91
  27  Pot             3.084          0.177          0.629          0              180            0              69
  28  Kettle          0.760          1.675          -1.480         0              0              0              75
  29  Spatula         -0.991         0.721          -0.011         0              90             0              87
  30  Knife           3.354          0.926          0.232          0              90             0              59
  31  Lettuce         -0.857         0.965          -0.773         0              45             0              60
  32  Cup             -1.085         0.995          1.470          0              90             0              108
  33  SaltShaker      3.122          0.897          -0.897         0              0              0              59
  34  Egg             0.773          0.938          -1.531         0              0              0              106
  35  PepperShaker    -0.703         0.896          -0.517         0              45             0              60
  36  ButterKnife     -0.048         0.900          -1.584         0              45             0              81
  37  Apple           -0.935         0.974          -0.047         0              0              0              60
  38  Pan             0.341          0.873          -1.649         0              167.065        0              81
  39  Bread           1.534          0.972          0.486          0              289.287        0              91
  40  CellPhone       0.022          0.897          -1.731         0              0              0              81
  41  DishSponge      3.111          0.712          -0.454         0              180            0              56
  42  Tomato          -0.187         0.937          -1.445         0              45             0              81
  43  Spoon           -0.827         0.132          1.430          0              0              0              84
  44  Bowl            0.833          0.908          0.291          0              36.810         0              91
  45  Mug             1.491          0.903          0.180          0              0              0              91
  46  Drawer          0.376          0.572          -1.509         0              0              0
  47  Drawer          3.020          0.769          -0.783         0              180            0
  48  Drawer          -0.860         0.577          1.429          0              0              0
  49  StoveBurner     -0.600         0.897          -1.090         0              135            0
  50  Drawer          0.376          0.191          -1.509         0              0              0
  51  Cabinet         1.402          1.874          -1.259         0              0              0
  52  Cabinet         -0.202         1.963          -1.328         0              0              0
  53  Drawer          -0.860         0.765          1.429          0              0              0
  54  Drawer          -0.677         0.765          -0.700         0              0              0
  55  StoveBurner     -0.420         0.897          -0.920         0              135            0
  56  Drawer          3.020          0.769          -0.407         0              180            0
  57  Drawer          -0.860         0.577          0.663          0              0              0
  58  Cabinet         2.819          1.768          -1.850         0              0              0
  59  CounterTop      3.111          0.936          0.019          0              0              0
  60  CounterTop      -1.007         0.935          -0.039         0              0              0
  61  Drawer          -0.860         0.385          0.663          0              0              0
  62  StoveBurner     -0.419         0.897          -1.269         0              315            0
  63  Drawer          -0.047         0.573          -1.324         0              0              0
  64  Drawer          -0.860         0.765          0.663          0              0              0
  65  Drawer          -0.860         0.385          -0.100         0              0              0
  66  Drawer          0.376          0.380          -1.509         0              0              0
  67  Drawer          -0.860         0.765          -0.100         0              0              0
  68  Drawer          0.376          0.765          -1.509         0              0              0
  69  Cabinet         2.849          0.419          0.409          0              0              0
  70  Drawer          -0.047         0.765          -1.324         0              0              0
  71  Cabinet         2.849          0.419          -0.610         0              0              0
  72  Cabinet         2.849          0.419          -0.959         0              0              0
  73  Cabinet         3.069          1.666          -0.709         0              0              0
  74  Cabinet         2.819          1.768          -1.047         0              0              0
  75  Cabinet         0.620          1.874          -1.259         0              0              0
  76  Cabinet         0.140          1.666          -1.559         0              0              0
  77  Cabinet         -0.189         1.666          -1.340         0              0              0
  78  Cabinet         -0.709         1.963          -0.819         0              0              0
  79  Cabinet         -0.920         1.665          -0.620         0              0              0
  80  Drawer          -0.860         0.190          -0.100         0              0              0
  81  CounterTop      0.133          0.935          -1.457         0              0              0
  82  Drawer          3.020          0.769          0.695          0              180            0
  83  Drawer          -0.677         0.577          -0.700         0              0              0
  84  Drawer          -0.860         0.190          1.429          0              0              0
  85  Drawer          -0.047         0.192          -1.324         0              0              0
  86  Drawer          -0.677         0.193          -0.700         0              0              0
  87  Drawer          -0.860         0.577          -0.100         0              0              0
  88  Sink            3.078          0.887          0.086          0              0              0
  89  StoveBurner     -0.239         0.897          -1.089         0              315            0
  90  Drawer          -0.860         0.190          0.663          0              0              0
  91  CounterTop      1.210          0.937          0.463          0              0              0
  92  Drawer          -0.047         0.381          -1.324         0              0              0
  93  Drawer          -0.677         0.387          -0.700         0              0              0
  94  Mirror          -1.295         1.630          0.045          0              0              0
  95  Drawer          -0.860         0.385          1.429          0              0              0
  96  HousePlant      3.196          0.891          -0.368         0              0              0
  97  StoveKnob       -0.090         0.790          -1.009         270            45             0
  98  StoveKnob       -0.280         0.790          -0.819         270            45             0
  99  StoveKnob       -0.180         0.790          -0.920         270            45             0
 100  StoveKnob       -0.370         0.790          -0.720         270            45             0
 101  GarbageCan      3.137          0.025          1.545          0              225            0
 102  Window          3.703          1.675          0.046          90             90             0
 103  CoffeeMachine   3.214          0.890          0.697          0              270            0
 104  LightSwitch     2.592          1.309          -1.880         0              0              0
 105  SinkBasin       3.069          0.736          0.108          0              90             0
 106  Fridge          1.008          0.029          -1.467         0              0              0
 107  Toaster         -1.035         0.873          -0.396         0              90             0
 108  Microwave       -1.034         0.874          1.428          0              90             0
 109  Faucet          3.305          0.886          0.094          270            180            0
 110  NorthWall
 111  EastWall
 112  SouthWall
 113  WestWall

Plan:
STEP 1: Turn to your right, move forward and turn to your left and stand in front of the brown counter with a tomato | STEP 2: Pick up the knife from the counter | STEP 3: Turn to your right, move forward and turn to your left in front of the counter with a toaster. | STEP 4: Slice the cabbage on the edge of the counter. | STEP 5: Turn to your left, move forward to the refrigerator, turn to your right in front of the refrigerator | STEP 6: Open the refrigerator and place the knife on the tray with a brown cup on the left. | STEP 7: Close the refrigerator and go back to the counter with the sliced cabbage. | STEP 8: Pick up a slice of the cabbage from the middle | STEP 9: Turn to your left, move forward past the refrigerator to the sink at the end | STEP 10: Put the slice in the sink and run the water | STEP 11: Pick up the cabbage slice and go back to the refrigerator | STEP 12: Open the refrigerator and put the slice on the tray with the knife | END