Task: Put the chilled sliced 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           -1.5           0.901          -2.75          0              0              0
   1  DishSponge      -0.335         1.296          -3.658         0              45             0              57
   2  Pot             -0.243         0.916          -3.878         0              90             0              37
   3  Spoon           -1.914         0.791          -3.747         0              0              0              79
   4  Spoon           -0.419         0.917          -1.493         0              0              0              64
   5  Cup             -3.079         1.013          -2.125         0              90             0              78
   6  Cup             -0.153         1.868          -1.888         0              0              0              55
   7  Plate           -2.928         0.715          -0.922         0              0              0              81
   8  Knife           -2.865         0.749          -0.780         0              0              0              81
   9  Tomato          -2.576         0.766          -0.383         0              225            0              81
  10  Bowl            -0.413         0.078          -1.414         0              0              0              42
  11  Bowl            -2.439         0.714          -0.558         0              270            0              81
  12  SaltShaker      -0.472         0.742          -3.347         0              0              0              65
  13  Lettuce         -2.723         0.804          -0.558         0              270            0              81
  14  Mug             -3.056         0.908          -2.825         0              0              0              37
  15  Mug             -3.130         1.393          -2.002         0              90             0              78
  16  Pot             -0.165         0.975          -2.030         0              180            0              68
  17  Egg             -0.314         0.115          0.097          0              270            0              76
  18  Cup             -2.652         0.717          -0.886         0              135            0              81
  19  Bread           -3.150         0.754          -0.620         0              270            0              81
  20  Fork            -2.740         0.714          -0.211         0              90             0              81
  21  Pan             -0.376         0.975          -2.451         0              0              0              62
  22  Potato          -0.127         1.056          -0.802         0              270            0              74
  23  Lettuce         -1.323         0.988          -3.759         1.533          253.821        357.476        37
  24  Tomato          -0.854         0.963          -3.581         0              0              0              37
  25  Apple           -3.014         0.929          -2.531         0              90             0              78
  26  SoapBottle      -0.257         0.915          -1.555         0              0              0              64
  27  Spatula         -1.776         0.805          -3.661         0              270            0              79
  28  SaltShaker      -0.014         0.912          -1.432         0              0              0              64
  29  Knife           -0.412         0.778          -1.563         0              90             0              60
  30  PepperShaker    -0.144         1.290          -0.544         0              0              0              44
  31  ButterKnife     -1.058         0.913          -3.655         0              0              0              37
  32  Plate           -0.413         0.078          -0.605         0              0              0              41
  33  DishSponge      -1.080         1.292          -3.927         0              0              0              51
  34  Spoon           -3.155         0.714          -0.383         0              225            0              81
  35  Mug             -3.130         0.636          -1.817         0              180            0              78
  36  Bowl            -3.182         0.638          -2.002         0              90             0              78
  37  CounterTop      -1.789         0.949          -3.803         0              0              0
  38  Cabinet         -0.577         0.388          -3.476         0              0              0
  39  Cabinet         -0.605         0.388          -3.511         0              0              0
  40  Cabinet         -2.976         0.388          -3.201         0              0              0
  41  Cabinet         -0.577         0.388          -0.447         0              0              0
  42  Cabinet         -0.577         0.388          -1.725         0              0              0
  43  Cabinet         -0.226         1.803          -1.743         0              0              0
  44  Cabinet         -0.228         1.799          -0.447         0              0              0
  45  Cabinet         -6.010         1.139          -6.019         0              0              0
  46  Cabinet         -3.022         2.098          -2.681         0              0              0
  47  Cabinet         -3.022         2.098          -1.743         0              0              0
  48  Cabinet         -0.577         0.388          -2.736         0              0              0
  49  Cabinet         -3.232         1.803          -3.343         0              0              0
  50  Cabinet         -2.811         1.810          -3.764         0              0              0
  51  Cabinet         -1.233         1.810          -3.764         0              0              0
  52  Cabinet         -1.364         0.388          -3.511         0              0              0
  53  Cabinet         -1.380         0.388          -3.511         0              0              0
  54  Cabinet         -0.226         1.803          -2.725         0              0              0
  55  Cabinet         -0.236         2.098          -1.767         0              0              0
  56  Cabinet         -0.236         2.098          -2.705         0              0              0
  57  Cabinet         -0.193         1.210          -4.239         0              0              0
  58  Cabinet         -2.148         0.388          -3.511         0              0              0
  59  Drawer          -3.104         0.797          -2.968         0              0              0
  60  Drawer          -0.449         0.797          -1.410         0              0              0
  61  Sink            -1.786         0.902          -3.748         0              0              0
  62  StoveBurner     -0.376         0.936          -2.451         0              0              0
  63  Drawer          -0.449         0.797          -0.762         0              0              0
  64  CounterTop      -0.268         0.951          -1.089         0              0              0
  65  Drawer          -0.449         0.797          -3.348         0              0              0
  66  StoveBurner     -0.376         0.936          -2.031         0              180            0
  67  Drawer          -0.449         0.797          -2.968         0              0              0
  68  StoveBurner     -0.165         0.936          -2.030         0              180            0
  69  StoveBurner     -0.165         0.936          -2.450         0              0              0
  70  StoveKnob       -0.568         0.903          -2.313         45             270            0
  71  StoveKnob       -0.568         0.903          -2.470         45             270            0
  72  StoveKnob       -0.568         0.903          -2.166         45             270            0
  73  StoveKnob       -0.568         0.903          -2.003         45             270            0
  74  Microwave       -0.143         0.903          -0.908         0              270            0
  75  LightSwitch     -1.108         1.457          0.338          0              180            0
  76  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  77  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  78  Fridge          -3.188         0.0            -2.184         0              0              0
  79  SinkBasin       -1.786         0.779          -3.747         0              0              0
  80  Toaster         -0.230         0.903          -3.406         0              270            0
  81  DiningTable     -2.800         0.003          -0.505         0              0              0
  82  Chair           -3.044         0.003          -1.223         0              32.194         0
  83  Faucet          -1.791         1.136          -3.913         0              270            0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: Turn right then face the counter on your right then look at the bread knife | STEP 2: Pick up the bread knife on the counter | STEP 3: Turn right then face the cabbage on your left | STEP 4: Slice the cabbage  | STEP 5: Make a step and face the cabinet on your left | STEP 6: Open the first cabinet and put in the bread knife | STEP 7: Turn right face the cabbage | STEP 8: Pick up the slice of cabbage | STEP 9: Turn right then head to the fridge | STEP 10: Open the fridge put in and out the cabbage then close the fridge | STEP 11: Turn left then head to the sink on your right  | STEP 12: 
Put the cabbage in the sink | END