Task: Move a newspaper from a table to a couch.

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          -1.75          0              0              0
   1  Plate           0.332          0.339          0.524          0              0              0              43
   2  Statue          3.786          0.649          -1.527         0              0              0              39
   3  Statue          3.786          0.649          -0.621         0              0              0              39
   4  KeyChain        0.414          0.336          0.777          0              0              0              43
   5  KeyChain        -1.810         0.345          0.398          0              0              0              42
   6  CellPhone       -1.809         0.597          0.919          0              0              0              44
   7  CreditCard      1.605          0.704          -0.710         0              270            0              31
   8  RemoteControl   1.229          0.484          0.587          0              0              0              37
   9  RemoteControl   -1.810         0.347          0.066          0              0              0              42
  10  Box             -0.221         0.122          -2.044         0              0              0              43
  11  Newspaper       0.167          0.334          0.144          0              0              0              43
  12  CreditCard      0.003          0.335          0.524          0              0              0              43
  13  Vase            -0.496         0.556          1.927          0              0              0              34
  14  KeyChain        -1.707         0.093          1.061          0              0              0              41
  15  Plate           -0.185         0.554          1.979          0              0              0              34
  16  Laptop          3.381          0.637          -0.802         0              0              0              39
  17  CellPhone       0.003          0.336          0.271          0              0              0              43
  18  RemoteControl   1.354          0.484          0.784          0              0              0              37
  19  Pillow          1.435          0.515          -0.125         0              0              0              37
  20  Vase            3.786          0.643          -0.802         0              0              0              39
  21  Statue          0.332          0.345          0.271          0              0              0              43
  22  ArmChair        -1.761         0.0            -1.488         0              240.000        0
  23  Television      -2.035         1.081          0.555          0              90             0
  24  LightSwitch     2.099          1.353          -0.828         0              90             0
  25  HousePlant      -0.804         0.000          -2.187         0              0              0
  26  FloorLamp       1.689          0.002          1.776          0              90             0
  27  Painting        1.983          1.585          0.326          90             270            0
  28  GarbageCan      -1.891         -0.029         -0.409         0              0              0
  29  Window          2.775          1.281          -2.018         90             180            0
  30  Window          -0.013         1.289          -2.450         90             180            0
  31  SideTable       1.566          0.000          -0.689         0              180            0
  32  Drawer          1.566          0.624          -0.741         0              180            0
  33  Shelf           -0.147         0.172          1.925          0              0              0
  34  Shelf           -0.147         0.552          1.925          0              0              0
  35  Shelf           -0.147         0.880          1.924          0              0              0
  36  ShelvingUnit    -0.147         0.006          1.924          0              0              0
  37  Sofa            1.556          -0.004         0.424          0              270            0
  38  Shelf           0.167          0.104          0.200          0              270            0
  39  DiningTable     3.583          0.000          -1.164         0              270            0
  40  TVStand         -1.965         0.000          0.563          0              270            0
  41  Shelf           -1.964         0.082          0.563          0              270            0
  42  Shelf           -1.964         0.333          0.563          0              270            0
  43  CoffeeTable     0.167          0.001          0.216          0              270            0
  44
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Proceed to coffee table, turn right, proceed to couch, turn left to go to coffee table.  Face coffee table. | STEP 2: Pick up newspaper from left hand side of coffee table. | STEP 3: Turn around to face couch. | STEP 4: Place newspaper on its side onto couch, diagonally, touching the remote closest to the pillow. | END