Task: Put two vases in sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          0.5            0              90             0
   1  Pan             2.875          1.026          0.068          0              0              0              49
   2  Potato          -0.922         1.484          -0.073         0              90             0              93
   3  Potato          -0.669         1.069          0.416          0              0              0              52
   4  DishSponge      2.906          0.032          -1.023         0              0              0              91
   5  WineBottle      1.170          1.027          -1.881         0              90             0              49
   6  WineBottle      2.893          0.033          -0.638         0              0              0              90
   7  Glassbottle     -0.541         0.049          0.530          0              0              0              82
   8  Glassbottle     -0.947         0.786          -0.405         0              90             0              93
   9  Glassbottle     2.553          0.765          4.387          0              225            0              50
  10  Spatula         -0.851         0.831          1.492          0              180            0              106
  11  Spatula         2.276          0.779          3.821          0              0              0              50
  12  Spoon           -0.645         0.817          1.259          0              90             0              106
  13  Egg             2.106          1.905          -1.910         0              0              0              95
  14  Knife           -0.782         0.841          1.103          0              180            0              106
  15  SoapBottle      -1.038         0.075          2.842          0              0              0              104
  16  Bowl            2.893          0.762          4.307          0              225            0              50
  17  PepperShaker    2.899          0.028          -0.272         0              0              0              75
  18  Bread           2.633          0.832          4.047          0              225            0              50
  19  Lettuce         2.683          0.822          4.517          0              225            0              50
  20  Lettuce         -0.922         1.500          -0.627         0              90             0              93
  21  Pan             1.761          1.027          -1.599         0              0              0              92
  22  Glassbottle     1.350          1.027          -1.454         0              90             0              49
  23  Knife           2.008          0.789          3.632          0              225            0              50
  24  SoapBottle      2.451          0.763          3.821          0              270            0              50
  25  Egg             -0.645         0.860          1.570          0              90             0              106
  26  Fork            1.297          0.790          -1.589         0              0              0              56
  27  Potato          2.790          0.806          3.529          0              329.999        0              50
  28  Ladle           -0.920         1.066          1.943          0              180            0              52
  29  Tomato          -0.922         1.495          -0.295         0              90             0              93
  30  Pot             -0.544         1.030          2.189          0              0              0              52
  31  WineBottle      -0.858         0.335          -0.073         0              90             0              93
  32  Plate           -0.852         2.290          -0.676         0              0              0              81
  33  Spatula         2.451          0.779          4.145          0              90             0              50
  34  PaperTowelRoll  -0.956         0.181          2.811          0              180            0              104
  35  Lettuce         -0.714         0.882          1.337          0              90             0              106
  36  Apple           2.754          1.077          1.350          0              136.999        0              49
  37  SaltShaker      -1.074         1.023          1.058          0              0              0              52
  38  PepperShaker    1.495          0.787          -1.459         0              0              0              49
  39  ButterKnife     2.138          0.764          3.762          0              315            0              50
  40  Bread           2.506          0.832          3.577          0              329.999        0              50
  41  Cup             2.650          0.033          0.267          0              0              0              75
  42  DishSponge      -0.984         1.780          0.853          0              0              0              67
  43  Bowl            2.294          0.762          4.091          0              329.999        0              50
  44  Spoon           2.976          0.765          4.044          0              270            0              50
  45  Mug             -0.803         1.070          0.646          0              90             0              102
  46  Sink            -0.716         1.023          1.333          0              0              0
  47  StoveBurner     1.835          1.018          -1.840         0              90             0
  48  StoveBurner     2.177          1.018          -1.599         0              0              0
  49  CounterTop      2.812          0.992          0.675          0              0              0
  50  DiningTable     2.419          0.003          3.930          0              0              0
  51  Drawer          -0.643         0.828          0.616          0              0              0
  52  CounterTop      -0.813         1.062          2.188          0              0              0
  53  StoveBurner     2.115          1.018          -1.840         0              270            0
  54  Drawer          -0.643         0.831          1.953          0              0              0
  55  Drawer          -0.643         0.833          2.418          0              0              0
  56  Drawer          1.347          0.836          -1.539         0              0              0
  57  Drawer          2.693          0.833          -1.131         0              0              0
  58  Drawer          2.693          0.833          -0.699         0              0              0
  59  Drawer          2.693          0.833          -0.267         0              0              0
  60  Drawer          2.693          0.833          0.163          0              0              0
  61  Drawer          2.524          0.833          0.720          0              2.000          0
  62  Drawer          2.232          0.833          1.036          0              2.000          0
  63  Drawer          1.936          0.833          1.354          0              2.000          0
  64  Drawer          1.646          0.833          1.670          0              2.000          0
  65  Cabinet         1.504          2.475          -1.710         0              0              0
  66  Cabinet         -0.823         2.220          1.621          0              0              0
  67  Cabinet         -0.823         2.220          0.615          0              0              0
  68  Cabinet         1.136          0.388          -1.355         0              0              0
  69  Cabinet         -0.356         0.383          2.626          0              0              0
  70  Cabinet         2.745          2.220          -1.690         0              0              0
  71  Cabinet         1.882          0.383          1.017          0              0              0
  72  Cabinet         1.307          0.473          1.640          0              0              0
  73  Cabinet         1.892          0.383          1.006          0              0              0
  74  Cabinet         2.467          0.383          0.383          0              0              0
  75  Cabinet         2.466          0.383          -0.475         0              0              0
  76  Cabinet         2.466          0.473          0.371          0              0              0
  77  Cabinet         2.386          2.475          -1.710         0              0              0
  78  Cabinet         -0.356         0.383          1.712          0              0              0
  79  Cabinet         2.745          2.220          0.019          0              0              0
  80  Cabinet         -0.663         2.496          0.157          0              0              0
  81  Cabinet         -0.663         2.496          -0.868         0              0              0
  82  Cabinet         -0.356         0.383          0.269          0              0              0
  83  Cabinet         -0.823         2.220          1.603          0              0              0
  84  Cabinet         -0.662         2.234          0.586          0              0              0
  85  Cabinet         2.745          2.220          -0.843         0              0              0
  86  Cabinet         2.745          2.220          -0.827         0              0              0
  87  Cabinet         -0.823         2.220          2.608          0              0              0
  88  Cabinet         2.732          2.226          -1.709         0              0              0
  89  Cabinet         1.137          2.226          -1.709         0              0              0
  90  Cabinet         2.466          0.383          -0.491         0              0              0
  91  Cabinet         2.466          0.383          -1.339         0              0              0
  92  StoveBurner     1.761          1.018          -1.599         0              0              0
  93  Fridge          -0.908         0.0            -0.405         0              0              0
  94  HousePlant      2.517          1.016          1.822          0              0              0
  95  Microwave       1.939          1.745          -1.826         0              0              0
  96  StoveKnob       2.017          1.041          -1.514         0              180            180
  97  StoveKnob       1.934          1.041          -1.514         0              180            180
  98  StoveKnob       2.017          1.041          -1.589         0              180            180
  99  StoveKnob       1.934          1.041          -1.589         0              180            180
 100  Window          1.756          1.608          4.762          90             0              0
 101  HousePlant      2.171          1.004          2.091          0              0              0
 102  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 103  LightSwitch     -0.099         1.410          -2.066         0              0              0
 104  GarbageCan      -0.951         -0.029         2.826          0              0              0
 105  Toaster         -1.007         1.018          2.238          0              90             0
 106  SinkBasin       -0.714         0.805          1.348          0              90             0
 107  Chair           1.615          0.004          4.310          0              107.976        0
 108  Faucet          -1.120         1.013          1.334          0              90             0
 109  Chair           2.759          0.004          3.086          0              358.967        0
 110
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

Plan:
STEP 1: Turn around, go to counter with coffee maker | STEP 2: Open cabinet below coffee maker, pick up vase | STEP 3: go to sink to the right | STEP 4: place vase in sink above the potato | STEP 5: go to refrigerator to the left | STEP 6: open refrigerator door, remove vase from top shelf, close refrigerator | STEP 7: go to sink to the right | STEP 8: place vase on left side of sink to the right of knife | END