Task: Throw away two disks into 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           2.5            0.900          -2.25          0              180            0
   1  TissueBox       0.226          0.707          1.463          0              90             0              36
   2  CD              0.907          0.444          -2.146         0              330.000        0              40
   3  CD              2.930          0.779          -1.500         0              0              0              42
   4  CellPhone       1.171          0.596          -0.238         0              0              0              29
   5  CellPhone       2.776          0.777          -1.59          0              0              0              42
   6  Pen             0.226          0.711          1.130          0              90             0              36
   7  Pen             0.357          0.711          1.463          0              90             0              36
   8  Pencil          0.291          0.708          1.296          0              90             0              36
   9  Pencil          3.701          0.784          -1.857         0              0              0              42
  10  CreditCard      3.393          0.779          -1.857         0              0              0              42
  11  CreditCard      3.084          0.777          -1.679         0              0              0              42
  12  Book            0.766          0.596          -0.238         0              0              0              29
  13  Book            0.563          0.596          0.722          0              0              0              29
  14  AlarmClock      0.260          0.704          -1.102         0              180            0              37
  15  Book            0.360          0.596          -0.046         0              0              0              29
  16  KeyChain        3.239          0.781          -1.768         0              0              0              42
  17  Pillow          1.374          0.677          0.145          0              0              0              29
  18  Pillow          1.374          0.677          -0.238         0              0              0              29
  19  CreditCard      1.054          0.432          -2.062         0              330.000        0              40
  20  Pen             3.393          0.785          -1.322         0              0              0              42
  21  Pencil          2.930          0.782          -1.411         0              0              0              42
  22  TissueBox       0.303          0.698          -0.783         0              0              0              37
  23  Laptop          3.452          0.773          -1.667         0              210.000        0              42
  24  CellPhone       2.930          0.779          -1.857         0              0              0              42
  25  AlarmClock      3.701          0.778          -1.679         0              0              0              42
  26  CD              2.776          0.779          -1.322         0              0              0              42
  27  Chair           3.232          0.002          -1.873         0              350.846        0
  28  Mirror          1.083          1.228          1.700          0              0              0
  29  Bed             0.898          -0.002         0.141          0              270            0
  30  GarbageCan      3.633          8.165          -0.982         0              209.052        0
  31  DeskLamp        3.681          0.785          -1.386         0              0              0
  32  DeskLamp        0.347          0.698          -0.979         0              0              0
  33  Painting        0.100          1.432          -2.053         90             270            0
  34  Window          2.270          1.547          -2.915         90             0              0
  35  LightSwitch     1.809          1.169          1.700          0              180            0
  36  SideTable       0.277          0.000          1.299          0              90             0
  37  SideTable       0.276          0.000          -1.017         0              90             0
  38  Drawer          0.328          0.624          1.299          0              90             0
  39  Drawer          0.328          0.624          -1.017         0              90             0
  40  ArmChair        0.849          -0.001         -2.141         0              66.451         0
  41  Blinds          2.299          2.525          -2.892         0              0              0
  42  Desk            3.238          0.003          -1.590         0              0              0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Turn around, go to table on right | STEP 2: Grab disk next to phone on table | STEP 3: Turn to the left, find garbage can | STEP 4: Throw disk in the garbage can | STEP 5: Turn around and go back to table | STEP 6: Grab disk on the edge of the table | STEP 7: Walk back to garbage can | STEP 8: Throw second disk in garbage can | END