Task: Gather the newspapers and place them in the middle of the couch

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          -0.5           0              270            0
   1  Newspaper       3.928          0.876          0.971          0              0              0              46
   2  Newspaper       1.183          0.476          0.267          0              90             0              37
   3  Newspaper       -0.290         0.067          -0.653         0              0              0              40
   4  Pencil          1.800          0.456          -0.729         0              0              0              38
   5  Pencil          1.466          0.476          0.676          0              180            0              37
   6  Pen             1.183          0.483          0.594          0              180            0              37
   7  Pen             3.967          0.883          1.181          0              0              0              46
   8  KeyChain        1.324          0.474          0.676          0              180            0              37
   9  CreditCard      1.174          0.335          1.819          0              0              0              45
  10  CreditCard      1.174          0.335          1.673          0              0              0              45
  11  RemoteControl   1.380          0.337          1.746          0              0              0              45
  12  RemoteControl   2.800          0.324          1.511          0              90             0              36
  13  Box             -0.29          1.074          -0.714         0              270            0              Floor|+00.00|
  14  Newspaper       2.583          0.321          1.798          0              90             0              36
  15  Laptop          1.805          0.47           0.499          0              0              0              37
  16  WateringCan     1.621          0.056          -0.697         0              0              0              42
  17  TissueBox       2.114          0.067          -0.691         0              0              0              42
  18  KeyChain        3.926          0.767          1.151          0              0              0              47
  19  Pen             1.324          0.483          0.267          0              180            0              37
  20  Boots           4.005          0.001          1.707          1.563          246.167        0
  21  Pencil          2.127          0.843          -0.623         0              0              0              39
  22  RemoteControl   3.809          0.877          0.865          0              0              0              46
  23  CreditCard      1.792          0.335          1.527          0              0              0              45
  24  Pillow          0.651          0.395          1.708          0              0              0              27
  25  Statue          -0.532         0.443          -0.738         0              92.244         0              43
  26  Statue          -0.290         0.467          -0.729         0              0              0              43
  27  Sofa            1.174          0.0            1.865          0              0              0
  28  FloorLamp       3.608          0.000          2.163          0              0              0
  29  GarbageCan      3.833          -0.029         -0.495         0              0              0
  30  Television      1.897          1.281          -0.838         0              0              0
  31  Painting        4.070          1.950          0.848          90             270            0
  32  HousePlant      0.387          0.801          -0.725         0              90             0
  33  Window          0.023          2.072          2.484          90             180            0
  34  Window          1.570          2.072          2.484          90             180            0
  35  LightSwitch     -1.399         1.289          1.835          0              90             0
  36  ArmChair        2.655          0.000          1.858          0              180            0
  37  CoffeeTable     1.591          -0.000         0.446          0              180            0
  38  Shelf           1.905          0.588          -0.730         0              0              0
  39  TVStand         1.904          -0.000         -0.770         0              0              0
  40  Shelf           -0.289         0.200          -0.732         0              0              0
  41  TVStand         -0.290         -0.000         -0.772         0              0              0
  42  Shelf           1.905          0.200          -0.730         0              0              0
  43  Shelf           -0.289         0.588          -0.732         0              0              0
  44  ArmChair        -0.270         0.000          1.870          0              181.372        0
  45  Sofa            1.193          0.008          1.865          0              180            0
  46  SideTable       3.946          0.000          0.865          0              270            0
  47  Drawer          3.882          0.774          0.864          0              270            0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: Turn left and go down the hall, now turn right and go toward the coffee table in the middle of the room | STEP 2: Reach down and pick up the newspaper on the end of the table | STEP 3: Go around the table to the end of the long green couch, turn and face the couch | STEP 4: Place the newspaper on the middle cushion  | STEP 5: Turn and walk to the green lounge chair with grey arm rests | STEP 6: Pick up the newspaper that is on the chair | STEP 7: Turn back and walk back to the middle of the couch | STEP 8: Place the newspaper on the second cushion next to the other paper | END