Task: To put the newspapers on 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           -0.75          0.908          6.5            0              270            0
   1  Plate           -3.155         0.798          1.751          0              0              0              57
   2  Plate           -2.601         0.798          2.681          0              0              0              57
   3  TissueBox       -3.067         0.535          8.214          0              90             0              63
   4  Newspaper       -3.026         0.456          6.347          0              0              0              54
   5  KeyChain        -0.405         0.677          0.496          0              59.437         0              52
   6  KeyChain        -2.324         0.783          2.681          0              0              0              57
   7  CreditCard      -0.650         0.675          8.485          0              239.437        0              53
   8  CreditCard      -2.816         0.320          4.843          0              0              0              56
   9  RemoteControl   -1.775         0.456          5.847          0              0              0              50
  10  RemoteControl   -3.327         0.458          6.347          0              0              0              54
  11  Box             -1.699         0.583          6.144          0              0              0              50
  12  Laptop          -3.155         0.779          2.061          0              0              0              57
  13  Box             -2.324         0.910          1.906          0              0              0              57
  14  KeyChain        -1.928         0.456          5.847          0              0              0              50
  15  Plate           -3.709         0.798          2.216          0              0              0              57
  16  Candle          -0.562         0.667          0.396          0              0              0              52
  17  Pillow          -1.775         0.516          7.036          0              0              0              50
  18  Candle          -0.624         0.667          8.444          0              0              0              53
  19  TissueBox       -3.432         0.783          2.526          0              0              0              57
  20  Laptop          -2.324         0.780          2.371          0              0              0              57
  21  Newspaper       -3.709         0.781          2.526          0              0              0              57
  22  CreditCard      -0.250         0.675          0.479          0              239.437        0              52
  23  RemoteControl   -1.928         0.456          5.549          0              0              0              50
  24  Boots           -5.786         0.007          4.817          0              167.028        0              Floor|-02.99|
  25  Candle          -2.324         0.784          2.061          0              0              0              57
  26  Statue          -2.713         0.902          2.294          0              0              0              57
  27  Watch           -0.431         0.676          8.360          0              329.437        0              53
  28  Statue          -3.432         0.792          1.751          0              0              0              57
  29  Mirror          -5.489         1.825          6.505          0              0              0
  30  FloorLamp       -5.645         0.013          8.526          0              0              0
  31  HousePlant      -3.203         0.452          6.798          0              0              0
  32  HousePlant      -5.358         1.476          5.442          0              343.031        0
  33  GarbageCan      -5.711         0.005          0.300          0              34.872         0
  34  Television      -3.114         0.996          8.693          1.686          180            0
  35  LightSwitch     -6.0           1.338          3.433          0              90             0
  36  Painting        -5.954         1.526          1.153          90             270            0
  37  Window          0.157          1.203          6.895          90             90             0
  38  Window          -4.855         1.203          -0.158         90             180            0
  39  Window          0.157          1.203          4.923          90             90             0
  40  Window          0.157          1.203          2.986          90             90             0
  41  Window          0.157          1.203          1.088          90             90             0
  42  Window          -2.942         1.203          -0.158         90             180            0
  43  Window          -1.057         1.203          -0.158         90             180            0
  44  DeskLamp        -0.432         0.684          8.644          0              0              0
  45  DeskLamp        -0.346         0.684          0.335          0              0              0
  46  Chair           -3.326         0.015          2.739          358.826        189.525        358.738
  47  Chair           -2.352         0.015          2.744          358.824        163.801        358.735
  48  Chair           -2.476         0.015          1.628          358.826        21.693         358.736
  49  Chair           -3.327         0.015          1.701          358.828        0              358.738
  50  Sofa            -1.706         0.002          6.448          0              270            0
  51  Chair           -0.328         0.016          0.998          0              246.550        0
  52  SideTable       -0.396         0.008          0.357          0              329.435        0
  53  SideTable       -0.527         0.008          8.521          0              329.431        0
  54  CoffeeTable     -3.236         0.010          6.598          0              270            0
  55  ArmChair        -3.663         0.012          4.562          0              0              0
  56  ArmChair        -2.691         0.012          4.618          0              0              0
  57  DiningTable     -2.903         0.010          2.225          0              0              0
  58  RoomDecor       -0.189         0.009          3.909          0              0              0
  59  RoomDecor       -0.189         0.009          2.097          0              0              0
  60  RoomDecor       -0.190         0.009          5.855          0              0              0
  61  RoomDecor       -3.957         0.009          0.254          0              0              0
  62  RoomDecor       -2.036         0.009          0.254          0              0              0
  63  CoffeeTable     -3.129         0.016          8.533          0              0              0
  64  NorthWall
  65  EastWall
  66  SouthWall
  67  WestWall

Plan:
STEP 1: Turn right and walk across the room, then turn left and walk to the television, then turn left and take three steps, then turn right to face the coffee table. | STEP 2: Pick up the newspaper on the coffee table. | STEP 3: Turn around to face the couch. | STEP 4: Place the newspaper on the couch. | STEP 5: Turn right and walk to the chair, then turn right and walk across the room, then turn left and walk to the table, then turn left to face it. | STEP 6: Pick up the paper on the table.  | STEP 7: Turn left and take three steps, then turn right and pass the coffee table, then turn left and take one step then turn right to face the couch. | STEP 8: Place the newspaper on the couch. | END