Task: To move two CD's to the garbage bin.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.5            0.900          0.0            0              270            0
   1  CD              2.205          0.524          1.191          0              180            0              30
   2  Pen             2.282          0.528          1.110          0              180            0              30
   3  Pencil          0.253          0.945          -1.854         0              0              0              24
   4  Book            2.603          0.777          -1.354         0              180            0              28
   5  Laptop          2.054          0.774          -0.906         0              180            0              28
   6  Laptop          2.603          0.774          -1.056         0              180            0              28
   7  Book            2.359          0.523          1.231          0              180            0              30
   8  Pen             -0.600         0.901          -1.773         0              0              0              18
   9  AlarmClock      0.961          0.943          -1.937         0              0              0              24
  10  TeddyBear       1.324          0.827          -0.763         56.834         332.692        298.236        35
  11  CellPhone       -1.122         0.897          -1.680         0              0              0              18
  12  Pencil          2.514          0.526          1.151          0              180            0              30
  13  Pillow          1.506          0.840          -1.205         0              180            0              28
  14  Laptop          -0.795         0.893          -1.384         0              0              0              18
  15  KeyChain        0.607          0.941          -1.854         0              0              0              24
  16  CreditCard      2.591          0.524          1.352          0              180            0              36
  17  CD              -0.252         0.900          -1.588         0              0              0              18
  18  Desk            -0.503         0.006          -1.465         0              0              0
  19  Drawer          -0.945         0.493          -1.176         0              0              0
  20  Drawer          -0.946         0.212          -1.176         0              0              0
  21  Drawer          -0.944         0.739          -1.176         0              0              0
  22  DeskLamp        -0.124         0.899          -1.731         0              0              0
  23  LightSwitch     3.513          1.253          0.165          0              270            0
  24  Shelf           0.759          0.934          -1.909         0              0              0
  25  Mirror          2.407          1.294          1.401          0              0              0
  26  GarbageCan      3.347          -0.000         -0.027         0              270            0
  27  Window          0.717          1.603          -2.108         90             0              0
  28  Bed             2.301          0.005          -1.056         0              270            0
  29  Blinds          0.749          2.523          -2.022         0              0              0
  30  SideTable       2.436          0.002          1.143          0              180            0
  31  Drawer          2.437          0.122          1.154          0              180            0
  32  Drawer          2.437          0.350          1.153          0              180            0
  33  LaundryHamper   0.359          0.006          -1.505         0              280.399        358.305
  34  Chair           -0.308         0.009          -1.108         0              166.824        0
  35
  36
  37  NorthWall
  38  EastWall
  39  SouthWall
  40  WestWall

Plan:
STEP 1: Turn right to face the small black drawers.  | STEP 2: Pick up the CD on the left side of the drawers.  | STEP 3: Turn around and walk to the garbage bin to the left of the bed.  | STEP 4: Put the CD inside of the garbage bin.  | STEP 5: Turn around and turn left at the foot of the bed, turn right at the window sill, face the desk.  | STEP 6: Pick up the CD to the right of the lamp on the desk.  | STEP 7: Walk around the bed and back over to the garbage bin.  | STEP 8: Put the CD inside of the garbage bin.  | END