Task: Put two carafes 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           0.0            0.900          3.5            0              90             0
   1  Potato          -1.159         1.069          1.612          0              0              0              60
   2  Potato          -1.171         1.069          2.556          0              0              0              60
   3  DishSponge      2.801          0.764          3.970          0              270            0              58
   4  DishSponge      -0.539         0.045          2.012          0              0              0              62
   5  ButterKnife     2.441          1.026          1.895          0              136.999        0              57
   6  Glassbottle     -1.069         0.786          -0.073         0              90             0              101
   7  Spatula         -0.802         0.815          2.061          0              270            0              62
   8  Spatula         2.599          0.779          4.32           0              90             0              58
   9  Spoon           2.423          0.802          0.753          0              227.0          0              69
  10  Spoon           2.762          0.802          -0.221         0              0              0              68
  11  Fork            2.302          0.765          3.445          0              270            0              58
  12  Fork            2.291          0.802          1.094          0              317.0          0              70
  13  Egg             1.350          1.070          -1.774         0              90             0              57
  14  Egg             2.673          0.808          4.145          0              0              0              58
  15  Plate           -0.803         0.048          2.468          0              0              0              77
  16  Knife           2.525          0.789          4.145          0              90             0              58
  17  Knife           2.243          0.789          3.657          0              225            0              58
  18  Tomato          -0.714         0.870          1.492          0              90             0              114
  19  SoapBottle      -0.875         0.075          2.748          0              0              0              112
  20  SoapBottle      2.228          0.763          3.445          0              0              0              58
  21  Bowl            1.341          1.779          -1.833         0              0              0              97
  22  Bowl            -0.807         2.288          -0.092         0              0              0              88
  23  SaltShaker      1.741          0.797          1.886          0              317.0          0              72
  24  PepperShaker    2.549          0.797          0.618          0              317.0          0              69
  25  Bread           2.599          0.832          3.795          0              0              0              58
  26  Bread           -0.418         1.095          0.785          0              0              0              60
  27  Apple           -0.922         1.492          -0.405         0              90             0              101
  28  Apple           2.106          1.911          -1.809         0              0              0              103
  29  Pan             1.761          1.027          -1.599         0              0              0              100
  30  Glassbottle     2.302          0.765          3.795          0              0              0              58
  31  Knife           2.064          0.827          0.945          0              227.0          0              70
  32  SoapBottle      -0.976         0.046          2.367          0              0              0              112
  33  Egg             -0.360         1.071          1.356          0              0              0              60
  34  Fork            1.755          0.801          1.773          0              317.0          0              72
  35  Potato          -0.577         0.858          1.414          0              90             0              114
  36  Ladle           2.840          0.803          4.359          0              225            0              58
  37  Tomato          2.216          0.818          3.945          0              225            0              58
  38  Pot             1.334          0.023          -1.670         0              270            0              76
  39  WineBottle      1.925          0.765          3.969          0              270            0              58
  40  Plate           -0.920         1.027          2.556          0              0              0              60
  41  Spatula         2.086          0.779          3.815          0              315            0              58
  42  PaperTowelRoll  -0.360         1.131          1.448          0              0              0              60
  43  Lettuce         2.870          1.072          -0.430         7.162          0              355.233        57
  44  Apple           2.451          0.814          3.97           0              270            0              58
  45  SaltShaker      2.763          0.760          3.726          0              329.999        0              58
  46  PepperShaker    -1.045         1.023          1.943          0              0              0              60
  47  ButterKnife     -0.590         0.801          2.007          0              0              0              62
  48  Bread           2.331          0.832          4.325          0              329.999        0              58
  49  Cup             1.895          1.859          -1.876         0              0              0              103
  50  DishSponge      2.544          1.026          1.154          0              136.999        0              57
  51  Bowl            -0.544         1.025          2.556          0              0              0              60
  52  Spoon           -0.802         0.801          0.696          0              0              0              59
  53  Mug             -0.803         1.070          0.646          0              90             0              110
  54  Sink            -0.716         1.023          1.333          0              0              0
  55  StoveBurner     1.835          1.018          -1.840         0              90             0
  56  StoveBurner     2.177          1.018          -1.599         0              0              0
  57  CounterTop      2.812          0.992          0.675          0              0              0
  58  DiningTable     2.419          0.003          3.930          0              0              0
  59  Drawer          -0.643         0.828          0.616          0              0              0
  60  CounterTop      -0.813         1.062          2.188          0              0              0
  61  StoveBurner     2.115          1.018          -1.840         0              270            0
  62  Drawer          -0.643         0.831          1.953          0              0              0
  63  Drawer          -0.643         0.833          2.418          0              0              0
  64  Drawer          1.347          0.836          -1.539         0              0              0
  65  Drawer          2.693          0.833          -1.131         0              0              0
  66  Drawer          2.693          0.833          -0.699         0              0              0
  67  Drawer          2.693          0.833          -0.267         0              0              0
  68  Drawer          2.693          0.833          0.163          0              0              0
  69  Drawer          2.524          0.833          0.720          0              2.000          0
  70  Drawer          2.232          0.833          1.036          0              2.000          0
  71  Drawer          1.936          0.833          1.354          0              2.000          0
  72  Drawer          1.646          0.833          1.670          0              2.000          0
  73  Cabinet         1.504          2.475          -1.710         0              0              0
  74  Cabinet         -0.823         2.220          1.621          0              0              0
  75  Cabinet         -0.823         2.220          0.615          0              0              0
  76  Cabinet         1.136          0.388          -1.355         0              0              0
  77  Cabinet         -0.356         0.383          2.626          0              0              0
  78  Cabinet         2.745          2.220          -1.690         0              0              0
  79  Cabinet         1.882          0.383          1.017          0              0              0
  80  Cabinet         1.307          0.473          1.640          0              0              0
  81  Cabinet         1.892          0.383          1.006          0              0              0
  82  Cabinet         2.467          0.383          0.383          0              0              0
  83  Cabinet         2.466          0.383          -0.475         0              0              0
  84  Cabinet         2.466          0.473          0.371          0              0              0
  85  Cabinet         2.386          2.475          -1.710         0              0              0
  86  Cabinet         -0.356         0.383          1.712          0              0              0
  87  Cabinet         2.745          2.220          0.019          0              0              0
  88  Cabinet         -0.663         2.496          0.157          0              0              0
  89  Cabinet         -0.663         2.496          -0.868         0              0              0
  90  Cabinet         -0.356         0.383          0.269          0              0              0
  91  Cabinet         -0.823         2.220          1.603          0              0              0
  92  Cabinet         -0.662         2.234          0.586          0              0              0
  93  Cabinet         2.745          2.220          -0.843         0              0              0
  94  Cabinet         2.745          2.220          -0.827         0              0              0
  95  Cabinet         -0.823         2.220          2.608          0              0              0
  96  Cabinet         2.732          2.226          -1.709         0              0              0
  97  Cabinet         1.137          2.226          -1.709         0              0              0
  98  Cabinet         2.466          0.383          -0.491         0              0              0
  99  Cabinet         2.466          0.383          -1.339         0              0              0
 100  StoveBurner     1.761          1.018          -1.599         0              0              0
 101  Fridge          -0.908         0.0            -0.405         0              0              0
 102  HousePlant      2.517          1.016          1.822          0              0              0
 103  Microwave       1.939          1.745          -1.826         0              0              0
 104  StoveKnob       2.017          1.041          -1.514         0              180            180
 105  StoveKnob       1.934          1.041          -1.514         0              180            180
 106  StoveKnob       2.017          1.041          -1.589         0              180            180
 107  StoveKnob       1.934          1.041          -1.589         0              180            180
 108  Window          1.756          1.608          4.762          90             0              0
 109  HousePlant      2.171          1.004          2.091          0              0              0
 110  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 111  LightSwitch     -0.099         1.410          -2.066         0              0              0
 112  GarbageCan      -0.951         -0.029         2.826          0              0              0
 113  Toaster         -1.007         1.018          2.238          0              90             0
 114  SinkBasin       -0.714         0.805          1.348          0              90             0
 115  Chair           1.615          0.004          4.310          0              107.976        0
 116  Faucet          -1.120         1.013          1.334          0              90             0
 117  Chair           2.759          0.004          3.086          0              358.967        0
 118
 119  NorthWall
 120  EastWall
 121  SouthWall
 122  WestWall

Plan:
STEP 1: Go over to refrigerator | STEP 2: Open refrigerator door, grab glass carafe from shelf | STEP 3: Go to sink on the right | STEP 4: Place carafe in sink | STEP 5: Go to round kitchen table | STEP 6: Pick up carafe off of table | STEP 7: Go to the sink | STEP 8: Place carafe in sink | END