Task: pick up wine from table put into fridge

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          -1.0           0              90             0
   1  Potato          2.113          0.806          3.527          0              225            0              52
   2  Potato          -0.669         1.069          2.189          0              0              0              54
   3  Ladle           1.170          1.066          -1.774         0              90             0              51
   4  Ladle           2.790          1.066          -1.762         0              0              0              51
   5  DishSponge      -0.897         2.289          0.032          0              0              0              82
   6  DishSponge      1.826          2.280          -1.873         0              0              0              67
   7  ButterKnife     2.525          0.764          3.795          0              0              0              52
   8  WineBottle      1.672          1.027          1.457          0              136.999        0              51
   9  WineBottle      2.621          1.027          -0.846         0              0              0              51
  10  WineBottle      1.400          0.036          -1.592         0              0              0              51
  11  Spatula         2.265          1.041          1.452          0              136.999        0              51
  12  Fork            2.275          0.765          4.192          0              0              0              52
  13  Fork            -0.731         0.800          0.777          0              0              0              53
  14  Cup             -0.851         0.815          1.337          0              90             0              108
  15  Cup             2.395          0.763          4.362          0              329.999        0              52
  16  Plate           2.875          1.027          -1.151         0              0              0              51
  17  Plate           -0.947         0.786          -0.627         0              90             0              95
  18  SoapBottle      -0.794         1.026          2.556          0              0              0              54
  19  Bowl            -1.021         1.778          2.254          0              0              0              89
  20  Bowl            2.976          0.762          3.821          0              270            0              52
  21  SaltShaker      -0.544         1.023          2.066          0              0              0              54
  22  Mug             -0.794         1.022          0.323          0              0              0              54
  23  Pan             1.761          1.027          -1.599         0              0              0              94
  24  Glassbottle     -0.922         1.442          -0.516         0              90             0              95
  25  Knife           2.100          0.789          4.118          0              270            0              52
  26  SoapBottle      -0.544         1.026          0.692          0              0              0              54
  27  Egg             2.299          1.070          1.205          0              136.999        0              51
  28  Fork            -0.782         0.817          1.414          0              90             0              108
  29  Potato          2.626          0.806          3.895          0              270            0              52
  30  Ladle           1.409          1.066          -1.560         0              90             0              51
  31  Tomato          -0.997         0.130          2.779          0              0              0              106
  32  Pot             2.116          1.027          -1.84          0              270            0              55
  33  WineBottle      2.228          0.765          3.62           0              0              0              52
  34  Plate           -0.714         0.817          1.181          0              90             0              108
  35  Spatula         1.446          0.805          -1.546         0              0              0              58
  36  PaperTowelRoll  2.228          0.868          4.145          0              270            0              52
  37  Lettuce         2.441          0.822          3.540          0              329.999        0              52
  38  Apple           -0.947         0.836          -0.295         0              90             0              95
  39  SaltShaker      2.423          0.760          4.257          0              225            0              52
  40  PepperShaker    2.815          0.760          4.124          0              225            0              52
  41  ButterKnife     2.706          1.026          -0.846         0              0              0              51
  42  Bread           2.398          0.832          4.022          0              225            0              52
  43  Cup             2.528          1.779          -1.833         0              0              0              90
  44  DishSponge      2.027          0.801          1.376          0              317.0          0              65
  45  Bowl            2.840          0.762          4.359          0              225            0              52
  46  Spoon           2.875          1.028          -0.846         0              90             0              51
  47  Mug             2.710          0.759          4.229          0              225            0              52
  48  Sink            -0.716         1.023          1.333          0              0              0
  49  StoveBurner     1.835          1.018          -1.840         0              90             0
  50  StoveBurner     2.177          1.018          -1.599         0              0              0
  51  CounterTop      2.812          0.992          0.675          0              0              0
  52  DiningTable     2.419          0.003          3.930          0              0              0
  53  Drawer          -0.643         0.828          0.616          0              0              0
  54  CounterTop      -0.813         1.062          2.188          0              0              0
  55  StoveBurner     2.115          1.018          -1.840         0              270            0
  56  Drawer          -0.643         0.831          1.953          0              0              0
  57  Drawer          -0.643         0.833          2.418          0              0              0
  58  Drawer          1.347          0.836          -1.539         0              0              0
  59  Drawer          2.693          0.833          -1.131         0              0              0
  60  Drawer          2.693          0.833          -0.699         0              0              0
  61  Drawer          2.693          0.833          -0.267         0              0              0
  62  Drawer          2.693          0.833          0.163          0              0              0
  63  Drawer          2.524          0.833          0.720          0              2.000          0
  64  Drawer          2.232          0.833          1.036          0              2.000          0
  65  Drawer          1.936          0.833          1.354          0              2.000          0
  66  Drawer          1.646          0.833          1.670          0              2.000          0
  67  Cabinet         1.504          2.475          -1.710         0              0              0
  68  Cabinet         -0.823         2.220          1.621          0              0              0
  69  Cabinet         -0.823         2.220          0.615          0              0              0
  70  Cabinet         1.136          0.388          -1.355         0              0              0
  71  Cabinet         -0.356         0.383          2.626          0              0              0
  72  Cabinet         2.745          2.220          -1.690         0              0              0
  73  Cabinet         1.882          0.383          1.017          0              0              0
  74  Cabinet         1.307          0.473          1.640          0              0              0
  75  Cabinet         1.892          0.383          1.006          0              0              0
  76  Cabinet         2.467          0.383          0.383          0              0              0
  77  Cabinet         2.466          0.383          -0.475         0              0              0
  78  Cabinet         2.466          0.473          0.371          0              0              0
  79  Cabinet         2.386          2.475          -1.710         0              0              0
  80  Cabinet         -0.356         0.383          1.712          0              0              0
  81  Cabinet         2.745          2.220          0.019          0              0              0
  82  Cabinet         -0.663         2.496          0.157          0              0              0
  83  Cabinet         -0.663         2.496          -0.868         0              0              0
  84  Cabinet         -0.356         0.383          0.269          0              0              0
  85  Cabinet         -0.823         2.220          1.603          0              0              0
  86  Cabinet         -0.662         2.234          0.586          0              0              0
  87  Cabinet         2.745          2.220          -0.843         0              0              0
  88  Cabinet         2.745          2.220          -0.827         0              0              0
  89  Cabinet         -0.823         2.220          2.608          0              0              0
  90  Cabinet         2.732          2.226          -1.709         0              0              0
  91  Cabinet         1.137          2.226          -1.709         0              0              0
  92  Cabinet         2.466          0.383          -0.491         0              0              0
  93  Cabinet         2.466          0.383          -1.339         0              0              0
  94  StoveBurner     1.761          1.018          -1.599         0              0              0
  95  Fridge          -0.908         0.0            -0.405         0              0              0
  96  HousePlant      2.517          1.016          1.822          0              0              0
  97  Microwave       1.939          1.745          -1.826         0              0              0
  98  StoveKnob       2.017          1.041          -1.514         0              180            180
  99  StoveKnob       1.934          1.041          -1.514         0              180            180
 100  StoveKnob       2.017          1.041          -1.589         0              180            180
 101  StoveKnob       1.934          1.041          -1.589         0              180            180
 102  Window          1.756          1.608          4.762          90             0              0
 103  HousePlant      2.171          1.004          2.091          0              0              0
 104  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 105  LightSwitch     -0.099         1.410          -2.066         0              0              0
 106  GarbageCan      -0.951         -0.029         2.826          0              0              0
 107  Toaster         -1.007         1.018          2.238          0              90             0
 108  SinkBasin       -0.714         0.805          1.348          0              90             0
 109  Chair           1.615          0.004          4.310          0              107.976        0
 110  Faucet          -1.120         1.013          1.334          0              90             0
 111  Chair           2.759          0.004          3.086          0              358.967        0
 112
 113  NorthWall
 114  EastWall
 115  SouthWall
 116  WestWall

Plan:
STEP 1: turn left go forward to wine bottle on counter  | STEP 2: pick up wine bottle  | STEP 3: turn all the way around go forward make right go forward toward fridge  | STEP 4: open fridge door put wine on bottom shelf close fridge door  | STEP 5: open fridge door pick up wine bottle close door make right go forward make right again walk to wall make left to face table  | STEP 6: put wine bottle down below the other wine bottle | END