Task: Place two CDs in a trash bin

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           3.25           0.900          0.0            0              270            0
   1  CD              0.814          0.432          -1.986         0              330.000        0              37
   2  CD              3.084          0.777          -1.500         0              0              0              39
   3  Pen             0.291          0.710          1.296          0              90             0              33
   4  Pen             3.239          0.785          -1.768         0              0              0              39
   5  Pencil          3.084          0.784          -1.411         0              0              0              39
   6  CreditCard      0.961          0.432          -1.901         0              330.000        0              37
   7  CreditCard      2.930          0.779          -1.500         0              0              0              39
   8  KeyChain        0.313          0.616          -0.864         0              180            0              36
   9  KeyChain        0.357          0.706          1.130          0              90             0              33
  10  AlarmClock      0.226          0.704          1.463          0              90             0              33
  11  AlarmClock      3.084          0.779          -1.857         0              0              0              39
  12  Book            1.374          0.596          0.722          0              0              0              26
  13  KeyChain        2.776          0.779          -1.59          0              0              0              39
  14  Pillow          0.463          0.638          0.408          0              101.363        0              26
  15  Pillow          1.374          0.677          0.145          0              0              0              26
  16  CreditCard      0.258          0.705          1.213          0              90             0              33
  17  Pen             2.930          0.785          -1.679         0              0              0              39
  18  Pencil          3.547          0.784          -1.411         0              0              0              39
  19  TissueBox       0.303          0.698          -0.783         0              0              0              34
  20  Laptop          3.452          0.773          -1.667         0              210.000        0              39
  21  CellPhone       0.291          0.704          1.463          0              90             0              33
  22  AlarmClock      3.701          0.779          -1.679         0              0              0              39
  23  CD              3.547          0.779          -1.322         0              0              0              39
  24  Chair           3.232          0.002          -1.873         0              350.846        0
  25  Mirror          1.083          1.228          1.700          0              0              0
  26  Bed             0.898          -0.002         0.141          0              270            0
  27  GarbageCan      3.633          8.165          -0.982         0              209.052        0
  28  DeskLamp        3.681          0.785          -1.386         0              0              0
  29  DeskLamp        0.347          0.698          -0.979         0              0              0
  30  Painting        0.100          1.432          -2.053         90             270            0
  31  Window          2.270          1.547          -2.915         90             0              0
  32  LightSwitch     1.809          1.169          1.700          0              180            0
  33  SideTable       0.277          0.000          1.299          0              90             0
  34  SideTable       0.276          0.000          -1.017         0              90             0
  35  Drawer          0.328          0.624          1.299          0              90             0
  36  Drawer          0.328          0.624          -1.017         0              90             0
  37  ArmChair        0.849          -0.001         -2.141         0              66.451         0
  38  Blinds          2.299          2.525          -2.892         0              0              0
  39  Desk            3.238          0.003          -1.590         0              0              0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Go to the table | STEP 2: Pick up a CD from the table | STEP 3: Look at the trash bin | STEP 4: Place the CD in the trash bin | STEP 5: Go back to the table | STEP 6: Pick up another CD from the table | STEP 7: Look at the trash bin | STEP 8: Place the CD in the trash bin next to the other one | END