Task: Put two glass bottles in  a small 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           -1.25          0.900          -1.0           0              90             0
   1  Statue          -0.059         1.110          -0.759         0              0              0              61
   2  Statue          -0.059         1.110          -0.001         0              90             0              61
   3  CreditCard      0.969          0.907          -2.330         0              0              0              63
   4  CreditCard      1.582          0.550          -2.511         0              180            0              91
   5  Plate           -2.114         1.302          1.176          0              90             0              94
   6  Cup             -0.173         1.788          -2.546         0              0              0              87
   7  Cup             -0.955         1.654          -2.640         0              0              0              75
   8  Egg             -1.797         0.804          -1.501         0              90             0              96
   9  SaltShaker      0.506          0.136          -2.387         0              0              0              78
  10  PepperShaker    1.789          0.877          -2.536         0              180            0              88
  11  Bread           1.098          0.983          -2.637         0              0              0              63
  12  Bread           -0.335         1.184          0.251          0              0              0              61
  13  Apple           -2.019         0.961          -2.146         0              0              0              86
  14  Apple           -1.997         0.591          1.003          0              90             0              94
  15  Knife           -1.586         0.936          -1.682         0              90             0              96
  16  Spoon           -1.963         0.770          -1.760         0              180            0              96
  17  Spatula         -1.908         0.784          -1.242         0              270            0              96
  18  Spatula         -1.797         0.784          -1.242         0              0              0              96
  19  Kettle          -0.465         0.950          -2.576         0              90             0              70
  20  Glassbottle     2.096          0.881          -2.536         0              180            0              88
  21  Glassbottle     -1.908         0.770          -1.673         0              90             0              96
  22  WineBottle      -1.457         1.659          -2.641         0              0              0              77
  23  WineBottle      0.505          1.660          -2.525         0              0              0              85
  24  WineBottle      1.993          0.881          -2.563         0              180            0              88
  25  DishSponge      -1.826         0.153          -0.101         0              90             0              84
  26  Book            -0.335         1.110          0.757          0              0              0              61
  27  Glassbottle     -0.059         1.112          0.251          0              0              0              61
  28  Knife           -0.848         0.936          -2.406         0              0              0              86
  29  Bread           -0.522         1.170          -0.028         0              0              0              61
  30  Fork            0.217          1.112          -0.506         0              0              0              61
  31  Potato          -1.999         1.533          1.343          0              90             0              94
  32  SoapBottle      0.217          1.112          0.504          0              0              0              61
  33  Kettle          -0.036         0.950          -2.372         0              270            0              56
  34  Pan             0.217          1.111          0.757          0              0              0              61
  35  Plate           0.355          1.108          -0.253         0              0              0              61
  36  Tomato          -1.438         0.950          -2.713         0              0              0              86
  37  Vase            0.895          1.663          -2.600         0              0              0              83
  38  Egg             -0.059         1.146          0.757          0              0              0              61
  39  CreditCard      0.969          0.907          -2.407         0              0              0              63
  40  Statue          -0.335         1.110          -0.253         0              0              0              61
  41  WineBottle      0.453          0.911          -2.637         0              0              0              63
  42  Pot             -1.774         0.915          -0.884         0              0              0              86
  43  Spatula         -1.774         0.926          -2.036         0              0              0              86
  44  PaperTowelRoll  1.893          0.657          -2.459         0              180            0              91
  45  Cup             -2.018         0.767          -1.587         0              90             0              96
  46  Vase            -1.392         0.134          -2.352         0              0              0              79
  47  Bowl            0.336          0.137          -2.337         0              0              0              78
  48  SaltShaker      1.482          0.877          -2.536         0              180            0              88
  49  PepperShaker    -1.738         0.474          -0.051         0              90             0              76
  50  Lettuce         -0.335         1.191          -0.506         0              0              0              61
  51  ButterKnife     -0.197         1.111          -0.506         0              0              0              61
  52  Apple           -2.018         0.820          -1.414         0              90             0              96
  53  DishSponge      -1.797         0.769          -1.414         0              90             0              96
  54  Spoon           -1.937         0.912          -0.513         0              0              0              86
  55  Mug             -1.705         0.131          -1.273         0              90             0              62
  56  StoveBurner     -0.036         0.915          -2.372         0              0              0
  57  Drawer          0.949          0.832          -2.197         0              0              0
  58  Drawer          -1.560         0.839          0.204          0              90             0
  59  StoveBurner     -0.465         0.915          -2.371         0              180            0
  60  Drawer          -1.560         0.839          -0.197         0              90             0
  61  CounterTop      -0.079         1.147          -0.001         0              0              0
  62  Cabinet         -1.549         0.494          -1.964         0              90             0
  63  CounterTop      0.693          0.946          -2.483         0              0              0
  64  StoveBurner     -0.036         0.915          -2.576         0              0              0
  65  Drawer          0.949          0.393          -2.200         0              0              0
  66  Drawer          0.949          0.708          -2.200         0              0              0
  67  Cabinet         -1.549         0.494          0.379          0              90             0
  68  StoveKnob       -0.022         0.881          -2.187         45             0              0
  69  Drawer          0.949          0.560          -2.201         0              0              0
  70  StoveBurner     -0.465         0.915          -2.575         0              180            0
  71  Window          -2.230         1.429          -1.203         0              0              0
  72  StoveKnob       -0.483         0.881          -2.187         45             0              0
  73  Sink            -1.899         0.964          -1.5           0              90             0
  74  StoveKnob       -0.328         0.881          -2.187         45             0              0
  75  Cabinet         -0.727         2.015          -2.460         0              0              0
  76  Drawer          -1.560         0.655          -0.196         0              90             0
  77  Cabinet         -1.685         2.015          -2.461         0              0              0
  78  Cabinet         0.680          0.494          -2.200         0              0              0
  79  Cabinet         -1.179         0.494          -2.200         0              0              0
  80  Cabinet         -1.849         2.015          0.379          0              90             0
  81  Drawer          0.949          0.221          -2.200         0              0              0
  82  StoveKnob       -0.183         0.881          -2.187         45             0              0
  83  Cabinet         0.719          2.015          -2.460         0              0              0
  84  Drawer          -1.560         0.331          -0.196         0              90             0
  85  Cabinet         0.680          2.015          -2.460         0              0              0
  86  CounterTop      -1.868         0.946          -1.205         0              0              0
  87  Microwave       -0.236         1.689          -2.525         0              0              0
  88  Shelf           1.751          0.880          -2.560         0              0              0
  89  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  90  Toaster         -1.835         0.900          0.134          0              90             0
  91  Shelf           1.750          0.552          -2.559         0              0              0
  92  GarbageCan      -1.935         -0.002         2.029          0              270            0
  93  Shelf           1.750          0.172          -2.559         0              0              0
  94  Fridge          -2.096         0.0            1.088          0              0              0
  95  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  96  SinkBasin       -1.908         0.759          -1.488         0              90             0
  97  LightSwitch     2.329          1.309          -0.159         0              270            0
  98  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  99  Stool           0.702          0.000          -0.514         1.202          65.108         0
 100  Stool           0.743          0.000          0.563          1.227          106.706        0
 101  Faucet          -2.070         1.132          -1.514         0              0              0
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: Turn right and walk up to the kitchen counter, then look up at the upper cabinets. | STEP 2: Open the left hand door of the rightmost cupboard in front of you and remove the glass bottle, then close the door. | STEP 3: Turn around and begin walking across the room, stop at small black trash can just beyond the fridge and turn left to face it. | STEP 4: Place the glass bottle into the small black trash can on the right side. | STEP 5: Turn around and take a step, then turn right and begin walking across the room, hand a left and walk up the area of kitchen counter to the left of the stove. | STEP 6: Pick up the glass bottle that is on the kitchen counter to the left of the stove. | STEP 7: Turn right and walk around the kitchen island back to the small black trash can in the corner of the room. | STEP 8: Place the second glass bottle into the trash can to the left the bottle that is already in there. | END