Task: put a chilled bottle of wine in the trash can

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          -0.25          0              270            0
   1  Pan             1.836          1.027          -1.84          0              90             0              54
   2  Potato          1.950          1.068          1.158          0              136.999        0              56
   3  Potato          -0.968         1.484          -0.184         0              90             0              100
   4  Ladle           2.788          0.803          4.412          0              225            0              57
   5  DishSponge      2.593          0.800          -0.607         0              0              0              65
   6  WineBottle      2.976          0.765          3.895          0              270            0              57
   7  WineBottle      -1.038         0.078          2.748          0              0              0              111
   8  Glassbottle     2.166          0.765          4.017          0              329.999        0              57
   9  Pot             2.116          1.027          -1.84          0              270            0              60
  10  Spoon           2.451          0.765          3.895          0              90             0              57
  11  Spoon           -0.645         0.817          1.259          0              90             0              113
  12  Fork            -0.714         0.817          1.492          0              90             0              113
  13  Egg             -1.059         1.486          -0.073         0              90             0              100
  14  Plate           2.621          1.027          -1.151         0              0              0              56
  15  Knife           -0.519         0.827          0.696          0              0              0              58
  16  Knife           2.275          0.789          4.118          0              270            0              57
  17  Tomato          2.111          0.818          4.410          0              329.999        0              57
  18  SoapBottle      2.321          0.763          3.840          0              225            0              57
  19  SaltShaker      2.425          1.023          -1.454         0              90             0              56
  20  PepperShaker    -0.661         0.797          2.510          0              0              0              62
  21  PepperShaker    2.650          0.797          -1.270         0              0              0              64
  22  Lettuce         2.685          0.822          3.994          0              225            0              57
  23  Lettuce         -0.794         1.085          1.943          0              0              0              59
  24  Mug             2.425          1.021          -1.881         0              90             0              56
  25  Mug             -0.803         1.070          0.646          0              90             0              109
  26  Apple           2.460          0.814          4.399          0              329.999        0              57
  27  Apple           -0.782         0.866          1.414          0              90             0              113
  28  Pan             2.042          1.017          1.779          0              0              0              56
  29  Glassbottle     -0.782         0.817          1.103          0              90             0              113
  30  Knife           2.061          0.827          1.534          0              227.0          0              70
  31  SoapBottle      2.790          0.763          3.529          0              329.999        0              57
  32  Egg             2.580          0.808          4.099          0              225            0              57
  33  Fork            -0.418         1.028          2.066          0              0              0              59
  34  Potato          -0.947         0.828          -0.073         0              90             0              100
  35  Ladle           2.991          0.071          -1.126         0              0              0              98
  36  Tomato          -0.418         1.081          0.785          0              0              0              59
  37  Pot             2.177          1.027          -1.599         0              0              0              55
  38  WineBottle      1.982          0.765          4.335          0              329.999        0              57
  39  Plate           1.290          1.027          -1.667         0              90             0              56
  40  Spatula         2.762          0.817          -1.224         0              90             0              56
  41  PaperTowelRoll  2.302          0.868          4.495          0              0              0              57
  42  Lettuce         -0.577         0.874          1.414          0              90             0              113
  43  Apple           1.926          0.814          3.821          0              270            0              57
  44  SaltShaker      -0.983         1.776          2.312          0              0              0              94
  45  PepperShaker    -1.102         1.023          1.519          0              0              0              59
  46  ButterKnife     -0.544         1.027          0.323          0              0              0              59
  47  Bread           2.741          1.085          0.059          0              0              0              56
  48  Cup             1.895          1.859          -1.843         0              0              0              102
  49  DishSponge      -0.590         0.800          1.953          0              0              0              61
  50  Bowl            -0.858         0.332          -0.516         0              90             0              100
  51  Spoon           2.331          0.765          4.325          0              329.999        0              57
  52  Mug             -1.021         1.775          2.196          0              90             0              94
  53  Sink            -0.716         1.023          1.333          0              0              0
  54  StoveBurner     1.835          1.018          -1.840         0              90             0
  55  StoveBurner     2.177          1.018          -1.599         0              0              0
  56  CounterTop      2.812          0.992          0.675          0              0              0
  57  DiningTable     2.419          0.003          3.930          0              0              0
  58  Drawer          -0.643         0.828          0.616          0              0              0
  59  CounterTop      -0.813         1.062          2.188          0              0              0
  60  StoveBurner     2.115          1.018          -1.840         0              270            0
  61  Drawer          -0.643         0.831          1.953          0              0              0
  62  Drawer          -0.643         0.833          2.418          0              0              0
  63  Drawer          1.347          0.836          -1.539         0              0              0
  64  Drawer          2.693          0.833          -1.131         0              0              0
  65  Drawer          2.693          0.833          -0.699         0              0              0
  66  Drawer          2.693          0.833          -0.267         0              0              0
  67  Drawer          2.693          0.833          0.163          0              0              0
  68  Drawer          2.524          0.833          0.720          0              2.000          0
  69  Drawer          2.232          0.833          1.036          0              2.000          0
  70  Drawer          1.936          0.833          1.354          0              2.000          0
  71  Drawer          1.646          0.833          1.670          0              2.000          0
  72  Cabinet         1.504          2.475          -1.710         0              0              0
  73  Cabinet         -0.823         2.220          1.621          0              0              0
  74  Cabinet         -0.823         2.220          0.615          0              0              0
  75  Cabinet         1.136          0.388          -1.355         0              0              0
  76  Cabinet         -0.356         0.383          2.626          0              0              0
  77  Cabinet         2.745          2.220          -1.690         0              0              0
  78  Cabinet         1.882          0.383          1.017          0              0              0
  79  Cabinet         1.307          0.473          1.640          0              0              0
  80  Cabinet         1.892          0.383          1.006          0              0              0
  81  Cabinet         2.467          0.383          0.383          0              0              0
  82  Cabinet         2.466          0.383          -0.475         0              0              0
  83  Cabinet         2.466          0.473          0.371          0              0              0
  84  Cabinet         2.386          2.475          -1.710         0              0              0
  85  Cabinet         -0.356         0.383          1.712          0              0              0
  86  Cabinet         2.745          2.220          0.019          0              0              0
  87  Cabinet         -0.663         2.496          0.157          0              0              0
  88  Cabinet         -0.663         2.496          -0.868         0              0              0
  89  Cabinet         -0.356         0.383          0.269          0              0              0
  90  Cabinet         -0.823         2.220          1.603          0              0              0
  91  Cabinet         -0.662         2.234          0.586          0              0              0
  92  Cabinet         2.745          2.220          -0.843         0              0              0
  93  Cabinet         2.745          2.220          -0.827         0              0              0
  94  Cabinet         -0.823         2.220          2.608          0              0              0
  95  Cabinet         2.732          2.226          -1.709         0              0              0
  96  Cabinet         1.137          2.226          -1.709         0              0              0
  97  Cabinet         2.466          0.383          -0.491         0              0              0
  98  Cabinet         2.466          0.383          -1.339         0              0              0
  99  StoveBurner     1.761          1.018          -1.599         0              0              0
 100  Fridge          -0.908         0.0            -0.405         0              0              0
 101  HousePlant      2.517          1.016          1.822          0              0              0
 102  Microwave       1.939          1.745          -1.826         0              0              0
 103  StoveKnob       2.017          1.041          -1.514         0              180            180
 104  StoveKnob       1.934          1.041          -1.514         0              180            180
 105  StoveKnob       2.017          1.041          -1.589         0              180            180
 106  StoveKnob       1.934          1.041          -1.589         0              180            180
 107  Window          1.756          1.608          4.762          90             0              0
 108  HousePlant      2.171          1.004          2.091          0              0              0
 109  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 110  LightSwitch     -0.099         1.410          -2.066         0              0              0
 111  GarbageCan      -0.951         -0.029         2.826          0              0              0
 112  Toaster         -1.007         1.018          2.238          0              90             0
 113  SinkBasin       -0.714         0.805          1.348          0              90             0
 114  Chair           1.615          0.004          4.310          0              107.976        0
 115  Faucet          -1.120         1.013          1.334          0              90             0
 116  Chair           2.759          0.004          3.086          0              358.967        0
 117
 118  NorthWall
 119  EastWall
 120  SouthWall
 121  WestWall

Plan:
STEP 1: turn right at the fridge heading to the end of the counter and turn left turning to face the trash can | STEP 2: remove the wine bottle from the bottom of the trash can | STEP 3: head back to the fridge and turn to face it | STEP 4: open the fridge door place the wine bottle on the bottom shelf to the left of the bowl. Close the door, open it again to remove the wine bottle | STEP 5: close the refrigerator door and turn and head back to the trash can | STEP 6: put the wine bottle in the bottom of the trash can in the left front corner | END