Task: Throw away a newspaper in a waste basket

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.0           0.920          2.75           0              270            0
   1  Plate           -2.893         0.451          3.836          0              0              0              44
   2  Newspaper       -0.397         0.286          6.739          0              270            0              28
   3  Newspaper       -3.400         0.543          0.601          0              0              0              43
   4  Newspaper       -3.400         0.543          0.888          0              0              0              43
   5  KeyChain        -1.587         0.537          0.601          0              0              0              43
   6  KeyChain        -4.508         0.537          2.627          0              90             0              42
   7  CreditCard      -2.893         0.449          4.058          0              0              0              44
   8  Laptop          -2.494         0.538          0.793          0              0              0              43
   9  Box             -0.555         0.405          5.255          0              270            0              28
  10  Plate           -0.555         0.285          5.997          0              270            0              28
  11  Vase            -2.893         0.447          4.279          0              0              0              44
  12  WateringCan     -0.398         0.281          5.750          0              180            0              28
  13  Newspaper       -2.770         0.455          4.501          0              0              0              44
  14  Vase            -0.319         0.285          5.997          0              270            0              28
  15  KeyChain        -4.279         0.537          3.534          0              90             0              42
  16  Pillow          -1.578         0.608          0.667          0              0              0              43
  17  Statue          -2.770         0.455          3.393          0              0              0              44
  18  RemoteControl   -4.164         0.538          3.232          0              90             0              42
  19  CreditCard      -2.525         0.449          4.501          0              0              0              44
  20  Statue          -0.525         1.453          5.351          0              294.738        0              27
  21  Laptop          -2.402         0.447          4.722          0              0              0              44
  22  Statue          -0.598         1.452          6.794          0              284.797        0              27
  23  Curtains        -2.827         2.473          0.039          357.605        0              0
  24  Curtains        -2.184         2.473          0.039          357.605        0              0
  25  Curtains        -0.046         2.474          2.633          0              0              357.064
  26  DeskLamp        -0.484         0.612          0.691          0              0              1.144
  27  Shelf           -0.391         1.452          5.953          0              270            0
  28  Shelf           -0.398         0.270          5.961          0              270            0
  29  Television      -0.75          1.661          3.936          0              270            0
  30  GarbageCan      -0.525         -0.009         2.822          0              0              0
  31  Painting        -2.670         1.574          7.000          90             180            0
  32  Bowl            -2.400         0.464          3.442          0              0              0
  33  LightSwitch     -5.0           1.246          5.857          0              90             0
  34  Window          -1.373         1.565          0.008          90             180            0
  35  Window          -0.014         1.567          1.496          90             270            0
  36  Window          -3.726         1.565          0.008          90             180            0
  37  FloorLamp       -4.514         0.027          0.663          0              0              0
  38  HousePlant      -2.659         0.466          4.165          0              0              0
  39  Shelf           -0.594         0.104          0.841          0              0              0
  40  Shelf           -0.594         0.359          0.841          0              0              0
  41  SideTable       -0.594         0.018          0.841          0              0              0
  42  Sofa            -4.360         0.028          2.929          0              90             0
  43  Sofa            -2.493         0.028          0.725          0              0              0
  44  CoffeeTable     -2.648         0.019          4.058          0              270            0
  45  ArmChair        -4.446         0.017          6.450          0              90             0
  46  NorthWall
  47  SouthWall
  48  SouthWall

Plan:
STEP 1: step forward to the couch and turn to left and go to the couch | STEP 2: pick up the newspaper from the couch  | STEP 3: turn to the left twice and go to the end of the coffee table and turn to the right and go forward to the waste basket | STEP 4: put the newspaper in the waste basket | END