Task: put two cds into 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           0.25           0.900          0.0            0              0              0
   1  CD              -0.774         0.895          -1.773         0              0              0              24
   2  CD              -0.881         0.650          -1.330         0              0              0              27
   3  CD              2.668          0.524          1.231          0              180            0              36
   4  CellPhone       -0.600         0.897          -1.680         0              0              0              24
   5  CellPhone       2.282          0.525          1.272          0              180            0              36
   6  Pencil          1.315          0.945          -1.854         0              0              0              30
   7  Pencil          0.961          0.945          -1.937         0              0              0              30
   8  KeyChain        -0.426         0.896          -1.403         0              0              0              24
   9  Pillow          2.329          0.840          -1.056         0              180            0              34
  10  AlarmClock      0.784          0.943          -1.854         0              0              0              30
  11  AlarmClock      -0.426         0.897          -1.773         0              0              0              24
  12  Laptop          1.506          0.774          -1.354         0              180            0              41
  13  Book            -1.106         0.651          -1.381         0              0              0              27
  14  Pen             2.359          0.528          1.191          0              180            0              36
  15  AlarmClock      2.514          0.524          1.191          0              180            0              36
  16  TeddyBear       1.324          0.827          -0.763         56.834         332.692        298.236        41
  17  CellPhone       1.138          0.943          -1.937         0              0              0              30
  18  Pencil          -0.426         0.899          -1.588         0              0              0              24
  19  Pillow          3.173          0.804          -0.932         0              0              0              41
  20  Laptop          -0.795         0.893          -1.384         0              0              0              24
  21  KeyChain        0.253          0.941          -1.882         0              0              0              30
  22  CreditCard      2.514          0.524          1.312          0              180            0              36
  23  CD              -0.948         0.900          -1.588         0              0              0              24
  24  Desk            -0.503         0.006          -1.465         0              0              0
  25  Drawer          -0.945         0.493          -1.176         0              0              0
  26  Drawer          -0.946         0.212          -1.176         0              0              0
  27  Drawer          -0.944         0.739          -1.176         0              0              0
  28  DeskLamp        -0.124         0.899          -1.731         0              0              0
  29  LightSwitch     3.513          1.253          0.165          0              270            0
  30  Shelf           0.759          0.934          -1.909         0              0              0
  31  Mirror          2.407          1.294          1.401          0              0              0
  32  GarbageCan      3.347          -0.000         -0.027         0              270            0
  33  Window          0.717          1.603          -2.108         90             0              0
  34  Bed             2.301          0.005          -1.056         0              270            0
  35  Blinds          0.749          2.523          -2.022         0              0              0
  36  SideTable       2.436          0.002          1.143          0              180            0
  37  Drawer          2.437          0.122          1.154          0              180            0
  38  Drawer          2.437          0.350          1.153          0              180            0
  39  LaundryHamper   0.359          0.006          -1.505         0              280.399        358.305
  40  Chair           -0.308         0.009          -1.108         0              166.824        0
  41
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: turn to face the desk | STEP 2: pick up the cd behind the laptop on the desk top | STEP 3: walk to the left side of the bed to face the garbage can | STEP 4: put the cd into the garbage can | STEP 5: turn left to face the night table and mirror | STEP 6: pick up the cd from the night table | STEP 7: walk right to face the garbage can to the right of the bed | STEP 8: put the cd into the garbage can | END