Task: Get the newspapers from Couch to the Coffee Table

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          0.75           0              0              0
   1  TissueBox       1.904          0.454          -0.729         0              0              0              36
   2  TissueBox       -0.401         0.841          -0.867         0              0              0              39
   3  Newspaper       1.174          0.334          1.527          0              0              0              43
   4  Pencil          0.044          0.843          -0.623         0              0              0              39
   5  KeyChain        1.891          0.478          0.512          0              180            0              35
   6  KeyChain        2.033          0.478          0.349          0              180            0              35
   7  CreditCard      -0.512         0.840          -0.721         0              0              0              39
   8  CreditCard      1.174          0.335          1.892          0              0              0              43
   9  RemoteControl   0.967          0.337          1.600          0              0              0              25
  10  RemoteControl   3.849          0.877          0.971          0              0              0              44
  11  Box             -0.29          1.074          -0.714         0              270            0              Floor|+00.00|
  12  Newspaper       1.586          0.334          1.673          0              0              0              43
  13  Laptop          2.656          0.320          1.727          0              180            0              34
  14  WateringCan     1.621          0.056          -0.697         0              0              0              40
  15  TissueBox       1.891          0.479          0.267          0              180            0              35
  16  KeyChain        3.967          0.877          0.865          0              0              0              44
  17  Pen             1.183          0.479          0.512          0              180            0              35
  18  Boots           4.005          0.001          1.707          1.563          246.167        0
  19  Pencil          4.007          0.881          0.655          0              0              0              44
  20  RemoteControl   1.380          0.337          1.746          0              0              0              43
  21  CreditCard      4.007          0.876          1.181          0              0              0              44
  22  Pillow          0.651          0.395          1.708          0              0              0              25
  23  Statue          1.608          0.479          0.676          0              180            0              35
  24  Statue          1.466          0.483          0.349          0              180            0              35
  25  Sofa            1.174          0.0            1.865          0              0              0
  26  FloorLamp       3.608          0.000          2.163          0              0              0
  27  GarbageCan      3.833          -0.029         -0.495         0              0              0
  28  Television      1.897          1.281          -0.838         0              0              0
  29  Painting        4.070          1.950          0.848          90             270            0
  30  HousePlant      0.387          0.801          -0.725         0              90             0
  31  Window          0.023          2.072          2.484          90             180            0
  32  Window          1.570          2.072          2.484          90             180            0
  33  LightSwitch     -1.399         1.289          1.835          0              90             0
  34  ArmChair        2.655          0.000          1.858          0              180            0
  35  CoffeeTable     1.591          -0.000         0.446          0              180            0
  36  Shelf           1.905          0.588          -0.730         0              0              0
  37  TVStand         1.904          -0.000         -0.770         0              0              0
  38  Shelf           -0.289         0.200          -0.732         0              0              0
  39  TVStand         -0.290         -0.000         -0.772         0              0              0
  40  Shelf           1.905          0.200          -0.730         0              0              0
  41  Shelf           -0.289         0.588          -0.732         0              0              0
  42  ArmChair        -0.270         0.000          1.870          0              181.372        0
  43  Sofa            1.193          0.008          1.865          0              180            0
  44  SideTable       3.946          0.000          0.865          0              270            0
  45  Drawer          3.882          0.774          0.864          0              270            0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Turn Right and go towards the end of couch. | STEP 2: Turn left to the couch pick up the newspaper from the corner seat. | STEP 3: Turn left and go forward and turn left  at the coffee table and stop at the end of coffee table. | STEP 4: Place the newspaper at the corner right side of the pencil on the coffee table. | STEP 5: Turn around and go back and then turn right and go towards the center seat of the couch. | STEP 6: Pick up the newspaper from the center seat. | STEP 7: Turn around and then turn left from the coffee table and stop at the corner of the coffee table. | STEP 8: Place the Newspaper on the coffee table the left side of the existing newspaper | END