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           2.25           0.900          -1.75          0              0              0
   1  CD              3.084          0.779          -1.768         0              0              0              37
   2  CD              0.313          0.615          1.376          0              180            0              33
   3  CD              0.980          0.435          -2.104         0              330.000        0              35
   4  Pen             0.357          0.710          1.380          0              90             0              31
   5  CreditCard      0.228          0.705          -1.186         0              180            0              32
   6  KeyChain        2.776          0.781          -1.411         0              0              0              37
   7  Book            0.968          0.596          0.338          0              0              0              24
   8  Book            1.171          0.596          0.722          0              0              0              24
   9  AlarmClock      3.393          0.779          -1.322         0              0              0              37
  10  Book            1.374          0.596          -0.238         0              0              0              24
  11  KeyChain        0.352          0.617          -1.093         0              0              0              34
  12  Pillow          0.463          0.638          0.408          0              101.363        0              24
  13  Pillow          0.535          0.638          -0.119         0              279.121        0              24
  14  CreditCard      1.000          0.432          -2.307         0              330.000        0              35
  15  Pen             2.776          0.783          -1.679         0              0              0              37
  16  Pencil          0.291          0.709          1.130          0              90             0              31
  17  TissueBox       2.930          0.779          -1.500         0              0              0              37
  18  Laptop          3.452          0.773          -1.667         0              210.000        0              37
  19  CellPhone       0.323          0.704          -1.102         0              180            0              32
  20  AlarmClock      0.260          0.704          -0.933         0              180            0              32
  21  CD              2.776          0.777          -1.322         0              0              0              37
  22  Chair           3.232          0.002          -1.873         0              350.846        0
  23  Mirror          1.083          1.228          1.700          0              0              0
  24  Bed             0.898          -0.002         0.141          0              270            0
  25  GarbageCan      3.633          8.165          -0.982         0              209.052        0
  26  DeskLamp        3.681          0.785          -1.386         0              0              0
  27  DeskLamp        0.347          0.698          -0.979         0              0              0
  28  Painting        0.100          1.432          -2.053         90             270            0
  29  Window          2.270          1.547          -2.915         90             0              0
  30  LightSwitch     1.809          1.169          1.700          0              180            0
  31  SideTable       0.277          0.000          1.299          0              90             0
  32  SideTable       0.276          0.000          -1.017         0              90             0
  33  Drawer          0.328          0.624          1.299          0              90             0
  34  Drawer          0.328          0.624          -1.017         0              90             0
  35  ArmChair        0.849          -0.001         -2.141         0              66.451         0
  36  Blinds          2.299          2.525          -2.892         0              0              0
  37  Desk            3.238          0.003          -1.590         0              0              0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: Turn right and face the desk.  | STEP 2: Pick up the CD that's in front of the keys on the desk.  | STEP 3: Move to face the waste basket to the left of the desk.  | STEP 4: Put the CD inside of the waste basket.  | STEP 5: Move to the other side of the desk where the chair is.  | STEP 6: Pick up the CD to the left of the computer on the desk.  | STEP 7: Walk around the desk and back to the garbage bin.  | STEP 8: Put the CD in the garbage bin.  | END