Task: pick up wine bottle, chill it, then put it in garbage can

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.908          3.0            0              270            0
   1  SprayBottle     -0.658         0.911          -0.748         0              0              0              78
   2  CellPhone       -1.012         0.746          2.459          0              0              0              53
   3  DishSponge      -1.127         0.776          -0.136         0              180            0              76
   4  DishSponge      1.117          0.885          2.261          0              0              0              104
   5  Kettle          -1.383         0.750          2.644          0              0              0              53
   6  Kettle          0.502          0.939          -0.740         0              90             0              79
   7  Fork            -1.197         0.749          2.273          0              0              0              53
   8  Spatula         -1.513         0.927          -0.817         0              90             0              78
   9  Egg             1.128          0.945          -0.428         0              0              0              72
  10  Plate           1.207          0.912          0.706          0              0              0              72
  11  Plate           1.444          0.912          0.706          0              0              0              72
  12  Knife           -1.105         0.771          2.644          0              90             0              53
  13  Knife           1.200          0.908          2.153          0              0              0              104
  14  Tomato          -1.162         0.391          1.302          0              90             0              92
  15  SoapBottle      1.301          0.087          1.440          0              0              0              93
  16  SoapBottle      -1.475         0.750          2.087          0              0              0              53
  17  Bowl            1.128          0.909          -0.144         0              0              0              72
  18  Bowl            1.444          0.909          0.139          0              0              0              72
  19  Lettuce         -1.320         1.492          0.987          0              90             0              92
  20  Lettuce         -1.197         0.820          2.644          0              0              0              53
  21  SaltShaker      -1.197         0.745          3.015          0              0              0              53
  22  SaltShaker      1.286          0.907          -0.428         0              0              0              72
  23  PepperShaker    1.523          0.907          -0.144         0              0              0              72
  24  PepperShaker    1.450          0.882          2.477          0              0              0              104
  25  Mug             -0.020         0.753          -0.691         0              0              0              99
  26  Mug             -1.194         0.336          1.092          0              90             0              92
  27  Bread           1.071          0.935          2.684          0              0              358.850        104
  28  Glassbottle     -1.012         0.749          2.087          0              0              0              53
  29  Fork            -0.144         0.759          -0.651         0              90             0              99
  30  Kettle          0.860          2.156          -0.787         0              0              0              56
  31  Tomato          -1.149         1.338          1.302          0              90             0              92
  32  Plate           -1.162         0.342          0.883          0              90             0              92
  33  CellPhone       0.951          0.873          2.476          0              0              0              104
  34  Lettuce         1.284          0.957          2.369          0              0              0              104
  35  Pot             0.502          0.939          -0.469         0              0              0              85
  36  SoapBottle      -1.325         1.657          0.298          0              90             0              61
  37  WineBottle      1.049          0.912          0.422          0              0              0              72
  38  Spatula         1.367          0.901          2.369          0              270            0              104
  39  Bowl            1.444          0.909          0.422          0              0              0              72
  40  Apple           -1.197         0.809          2.459          0              0              0              53
  41  Cup             -1.197         0.748          2.087          0              0              0              53
  42  Knife           1.365          0.933          -0.144         0              0              0              72
  43  Egg             -1.263         1.035          0.150          0              90             0              98
  44  SaltShaker      1.262          2.150          0.913          0              0              0              62
  45  PepperShaker    -0.211         0.112          -0.577         0              0              0              78
  46  Potato          1.128          0.956          0.139          0              0              0              72
  47  ButterKnife     -1.135         0.912          -0.562         0              0              0              78
  48  DishSponge      1.325          2.156          0.599          0              0              0              63
  49  Pan             -1.206         1.636          1.086          0              90             0              92
  50  Spoon           0.103          0.759          -0.573         0              270            0              99
  51  SprayBottle     -1.012         0.749          2.830          0              0              0              53
  52  Mug             -1.123         0.907          -0.907         0              0              0              78
  53  DiningTable     -1.182         0.006          2.414          0              90             0
  54  Cabinet         1.184          2.059          0.375          0              0              0
  55  Cabinet         1.184          2.059          -0.635         0              0              0
  56  Cabinet         0.591          2.309          -0.645         0              0              0
  57  Cabinet         -0.574         2.059          -0.644         0              0              0
  58  Cabinet         -1.103         2.059          -0.644         0              0              0
  59  Cabinet         -1.185         2.059          -0.331         0              0              0
  60  Cabinet         -1.185         2.059          -0.281         0              0              0
  61  Cabinet         -1.185         2.059          0.375          0              0              0
  62  Cabinet         1.184          2.309          1.174          0              0              0
  63  Cabinet         1.184          2.309          0.424          0              0              0
  64  Cabinet         0.988          0.402          0.581          0              0              0
  65  Cabinet         0.988          0.402          0.531          0              0              0
  66  Cabinet         0.988          0.402          -0.178         0              0              0
  67  Cabinet         0.335          0.402          -0.348         0              0              0
  68  Cabinet         -0.374         0.402          -0.348         0              0              0
  69  Cabinet         0.988          0.402          1.231          0              0              0
  70  Cabinet         -1.185         2.309          1.374          0              0              0
  71  Cabinet         -1.185         2.309          0.424          0              0              0
  72  CounterTop      1.274          0.947          0.064          0              0              0
  73  Drawer          1.116          0.792          -0.015         0              0              0
  74  Drawer          -1.116         0.792          0.210          0              180            0
  75  Cabinet         -0.990         0.402          0.374          0              180            0
  76  Drawer          -1.116         0.792          -0.170         0              180            0
  77  Cabinet         -0.990         0.402          -0.335         0              180            0
  78  CounterTop      -1.001         0.947          -0.669         0              0              0
  79  StoveBurner     0.502          0.932          -0.740         0              90             0
  80  StoveBurner     0.801          0.932          -0.473         0              0              0
  81  StoveBurner     0.801          0.932          -0.740         0              90             0
  82  Drawer          1.116          0.792          1.081          0              0              0
  83  Sink            -0.013         0.912          -0.615         0              0              0
  84  Drawer          1.116          0.792          0.732          0              0              0
  85  StoveBurner     0.502          0.932          -0.469         0              0              0
  86  Drawer          1.116          0.792          0.367          0              0              0
  87  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  88  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  89  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  90  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  91  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  92  Fridge          -1.300         0.008          0.987          0              90             0
  93  GarbageCan      1.296          -0.024         1.465          0              0              0
  94  Window          -0.012         1.641          -0.972         90             0              0
  95  Window          1.598          1.646          2.489          90             270            0
  96  Toaster         1.356          0.900          1.044          0              270            0
  97  LightSwitch     0.118          1.353          3.799          0              180            0
  98  Microwave       -1.343         0.900          0.053          0              90             0
  99  SinkBasin       -0.029         0.748          -0.612         0              0              0
 100  Faucet          -0.026         0.927          -0.808         0              0              0
 101  Shelf           -1.182         0.127          2.414          0              90             0
 102  Stool           1.140          0.007          3.262          1.206          20.753         0
 103  Shelf           -1.182         0.435          2.414          0              90             0
 104  DiningTable     1.169          0.014          2.569          0              0              1.896
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: turn left, walk into kitchen, turn left until facing counter with wine bottle and two plates | STEP 2: pick up wine bottle | STEP 3: turn right until facing fridge, walk over to fridge | STEP 4: open door, put bottle on top shelf, close door, wait, open door, pick up wine bottle again | STEP 5: turn right and face red garbage can, walk over to garbage can | STEP 6: put wine bottle in garbage can  | END