Task: Put two CD's in a garbage can.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          -0.5           0              0              0
   1  CD              0.430          0.941          -1.91          0              0              0              29
   2  CD              2.514          0.524          1.151          0              180            0              35
   3  CellPhone       2.282          0.526          1.191          0              180            0              35
   4  CellPhone       -0.948         0.897          -1.588         0              0              0              23
   5  Pen             -0.252         0.901          -1.680         0              0              0              23
   6  Pen             0.961          0.947          -1.937         0              0              0              29
   7  Pencil          2.514          0.526          1.272          0              180            0              35
   8  KeyChain        1.138          0.941          -1.882         0              0              0              29
   9  Book            -0.806         0.094          -1.330         0              0              0              25
  10  Book            -0.426         0.901          -1.403         0              0              0              23
  11  Laptop          2.603          0.774          -1.354         0              180            0              40
  12  Book            -0.426         0.901          -1.680         0              0              0              23
  13  Pen             0.253          0.947          -1.854         0              0              0              29
  14  AlarmClock      0.784          0.943          -1.882         0              0              0              29
  15  TeddyBear       1.324          0.827          -0.763         56.834         332.692        298.236        40
  16  CellPhone       -1.106         0.652          -1.381         0              0              0              26
  17  Pencil          0.607          0.945          -1.882         0              0              0              29
  18  Pillow          2.054          0.840          -1.354         0              180            0              40
  19  Laptop          -0.795         0.893          -1.384         0              0              0              23
  20  KeyChain        2.668          0.525          1.352          0              270            0              41
  21  CreditCard      2.359          0.523          1.151          0              180            0              35
  22  CD              -1.181         0.093          -1.431         0              0              0              25
  23  Desk            -0.503         0.006          -1.465         0              0              0
  24  Drawer          -0.945         0.493          -1.176         0              0              0
  25  Drawer          -0.946         0.212          -1.176         0              0              0
  26  Drawer          -0.944         0.739          -1.176         0              0              0
  27  DeskLamp        -0.124         0.899          -1.731         0              0              0
  28  LightSwitch     3.513          1.253          0.165          0              270            0
  29  Shelf           0.759          0.934          -1.909         0              0              0
  30  Mirror          2.407          1.294          1.401          0              0              0
  31  GarbageCan      3.347          -0.000         -0.027         0              270            0
  32  Window          0.717          1.603          -2.108         90             0              0
  33  Bed             2.301          0.005          -1.056         0              270            0
  34  Blinds          0.749          2.523          -2.022         0              0              0
  35  SideTable       2.436          0.002          1.143          0              180            0
  36  Drawer          2.437          0.122          1.154          0              180            0
  37  Drawer          2.437          0.350          1.153          0              180            0
  38  LaundryHamper   0.359          0.006          -1.505         0              280.399        358.305
  39  Chair           -0.308         0.009          -1.108         0              166.824        0
  40
  41
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Turn to the right, go to the bed, turn to the right, go to the shelf in front of the window.  | STEP 2: Pick up the CD that is on the shelf to the right of the clock. | STEP 3: Turn around, go forward, hang a left, go to the garbage can. | STEP 4: Put the CD in the garbage can. | STEP 5: Turn around, go forward, hang a right and go to black table under the mirror. | STEP 6: Pick up the CD that is on the table.  | STEP 7: Turn around, go forward, hang a left, go to the garbage can. | STEP 8: Put the CD in the garbage can. | END