Task: wash the cabbage in the sink, put the cabbage on the shelf

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          0.869          -1.0           0              90             0
   1  Potato          0.708          0.498          -1.958         0              270            0              58
   2  DishSponge      0.655          0.883          -0.108         0              0              0              38
   3  Spoon           -0.252         0.901          1.015          0              270            0              64
   4  Spoon           -0.453         0.901          0.843          0              270            0              64
   5  Fork            -0.051         0.901          1.187          0              270            0              64
   6  Fork            0.574          0.761          -0.188         0              270            0              37
   7  Egg             -2.002         0.836          -3.771         0              0              0              60
   8  Egg             -1.297         0.088          -3.684         0              270            0              53
   9  Knife           0.769          0.783          -0.061         0              0              0              37
  10  Knife           -1.719         0.724          -1.416         0              0              0              74
  11  Tomato          -1.056         0.949          0.758          0              270            0              64
  12  PepperShaker    0.950          0.879          -0.176         0              0              0              38
  13  PepperShaker    0.994          1.460          0.226          0              0              0              50
  14  SaltShaker      0.898          0.012          -0.768         0              0              0              41
  15  Apple           1.024          0.937          0.098          0              0              0              38
  16  Pot             -1.555         0.930          1.049          0              0              0              47
  17  Plate           0.787          0.019          -0.053         0              0              0              48
  18  Fork            -0.252         0.901          0.843          0              270            0              64
  19  SoapBottle      -1.635         0.701          -1.091         0              0              0              74
  20  Apple           -1.260         0.105          -3.611         0              270            0              53
  21  Pan             -0.855         0.899          1.015          0              0              0              64
  22  Egg             -0.252         0.937          1.101          0              270            0              64
  23  Spatula         0.149          0.915          1.101          0              90             0              64
  24  Potato          -1.556         0.729          -3.445         0              0              0              65
  25  Cup             0.708          0.663          -1.725         0              270            0              58
  26  SaltShaker      0.566          0.012          -0.768         0              0              0              41
  27  PepperShaker    -1.803         0.698          -0.983         0              0              0              74
  28  ButterKnife     -1.556         0.696          -3.614         0              90             0              65
  29  DishSponge      -0.855         0.900          1.187          0              270            0              64
  30  Bread           0.149          0.944          1.015          0              270            0              64
  31  Lettuce         -1.083         0.973          0.955          41.460         1.619          2.836          64
  32  Tomato          0.803          0.931          -0.314         0              0              0              38
  33  Spoon           0.671          0.760          -0.252         0              0              0              37
  34  Knife           0.866          0.783          -0.252         0              90             0              37
  35  Mug             0.858          1.458          0.288          0              0              0              50
  36  Bowl            0.903          1.462          0.473          0              0              0              50
  37  Drawer          0.706          0.766          -0.125         0              0              0
  38  CounterTop      0.792          0.919          -0.108         0              0              0
  39  Mirror          1.093          1.602          -0.643         0              0              0
  40  StoveBurner     -2.096         0.890          0.785          0              0              0
  41  Cabinet         0.507          0.345          -0.426         0              0              0
  42  StoveBurner     -1.552         0.890          0.785          0              0              0
  43  SideTable       0.770          -0.030         0.443          0              0              0
  44  Sink            0.753          0.882          -0.680         0              0              0
  45  StoveBurner     -2.096         0.890          1.049          0              0              0
  46  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  47  StoveBurner     -1.554         0.890          1.049          0              0              0
  48  Cabinet         0.507          0.345          0.156          0              0              0
  49  Cabinet         0.717          1.822          -0.398         0              0              0
  50  Cabinet         0.717          1.822          0.669          0              0              0
  51  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  52  Toaster         -0.522         0.886          1.081          0              180            0
  53  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  54  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  55  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  56  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  57  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  58  Fridge          0.680          -0.031         -1.957         0              0              0
  59  Window          -2.424         1.639          -2.453         90             270            0
  60  Microwave       -1.994         0.690          -3.651         0              0              0
  61  SinkBasin       0.757          0.762          -0.688         0              270            0
  62  LightSwitch     1.102          1.368          -3.737         0              270            0
  63  Shelf           -0.350         0.124          0.857          0              0              0
  64  DiningTable     -0.350         -0.025         0.857          0              0              0
  65  DiningTable     -1.909         -0.032         -3.507         0              0              0
  66  Blinds          -2.343         2.151          -2.437         0              270            0
  67  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  68  AluminumFoil    0.751          0.225          0.287          0              0              0
  69  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  70  Shelf           0.771          0.226          0.445          0              0              0
  71  Shelf           0.771          0.456          0.446          0              0              0
  72  Faucet          1.025          0.873          -0.678         270            180            0
  73  Shelf           -0.350         0.497          0.857          0              0              0
  74  DiningTable     -1.929         -0.035         -1.398         0              90             0
  75  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: turn left, walk to the table | STEP 2: grab the cabbage on the table | STEP 3: turn around, walk to the sink on the left | STEP 4: put the cabbage in the sink, wash the cabbage with water, take the cabbage out | STEP 5: turn around, and walk around to the shelf in the corner | STEP 6: put the cabbage on the shelf | END