Task: Placing newspaper onto the sofa

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.5           0.902          4.25           0              0              0
   1  Bowl            -2.490         0.688          1.299          0              0              0              57
   2  Bowl            -1.825         0.688          1.423          0              0              0              44
   3  TissueBox       -2.164         0.099          5.120          0              0              0              48
   4  Newspaper       -2.318         0.605          4.654          0              0              0              45
   5  Watch           -2.318         0.098          5.120          0              0              0              48
   6  Vase            -2.712         0.693          1.670          0              0              0              58
   7  Vase            -2.934         0.693          1.052          0              0              0              44
   8  Pen             -2.259         0.243          6.010          0              0              0              47
   9  Pencil          -1.974         0.751          -0.202         0              0              0              52
  10  KeyChain        -2.086         0.349          4.964          0              0              0              46
  11  Book            -2.396         0.347          4.964          0              0              0              46
  12  Laptop          -2.393         0.746          -0.115         0              0              0              52
  13  Laptop          -2.636         0.235          6.119          0              0              0              45
  14  Book            -2.241         0.100          4.809          0              0              0              48
  15  Box             -3.362         0.219          6.426          0              0              0              47
  16  Statue          -2.934         0.695          1.423          0              0              0              55
  17  Laptop          -2.668         0.478          3.525          0              0              0              50
  18  TissueBox       -1.695         0.749          -0.115         0              0              0              52
  19  CreditCard      -2.473         0.603          4.887          0              0              0              45
  20  Plate           -2.164         0.600          4.964          0              0              0              45
  21  KeyChain        -0.284         0.706          3.200          0              90             0              40
  22  Vase            -2.047         0.693          1.175          0              0              0              54
  23  Pencil          -1.974         0.751          0.014          0              0              0              52
  24  Pillow          -1.874         0.557          3.615          0              0              0              50
  25  Bowl            -1.825         0.688          1.052          0              0              0              54
  26  RemoteControl   -1.609         0.482          3.346          0              0              0              50
  27  Watch           -2.134         0.238          6.229          0              0              0              47
  28  Pen             -2.164         0.354          5.120          0              0              0              46
  29  Newspaper       -2.047         0.690          1.793          0              0              0              56
  30  Painting        -2.048         1.615          -0.303         0              0              0
  31  Curtains        -0.083         2.420          0.969          0              0              0
  32  Television      -2.357         1.205          6.245          0              180            0
  33  HousePlant      -2.933         0.595          -0.093         0              0              0
  34  GarbageCan      -4.864         -0.001         0.267          0              90             0
  35  FloorLamp       -0.566         0.002          0.024          0              316.932        0
  36  DeskLamp        -0.273         0.700          3.612          0              0              0
  37  Window          -0.057         0.925          1.764          90             270            0
  38  Window          -0.057         1.130          4.886          90             270            0
  39  LightSwitch     -3.305         1.340          -0.314         0              0              0
  40  SideTable       -0.255         0.001          3.369          0              270            0
  41  Drawer          -0.306         0.626          3.369          0              270            0
  42  ArmChair        -4.376         -8.374         6.016          0              152.639        0
  43  ArmChair        -0.847         -8.106         5.983          0              231.318        0
  44  DiningTable     -2.268         -0.016         1.422          0              0              0
  45  CoffeeTable     -2.326         0.002          4.922          0              0              0
  46  Shelf           -2.326         0.338          4.922          0              0              0
  47  Shelf           -2.385         0.238          6.296          0              0              0
  48  Shelf           -2.326         0.089          4.922          0              0              0
  49  TVStand         -2.385         0.006          6.296          0              0              0
  50  Sofa            -2.404         -0.003         3.417          0              0              0
  51  SideTable       -2.935         0.004          -0.103         0              0              0
  52  SideTable       -2.113         0.002          -0.139         0              0              0
  53  Drawer          -2.113         0.654          -0.069         0              0              0
  54  Chair           -1.862         0.020          1.035          0              0              0
  55  Chair           -3.122         0.020          1.410          0              104.999        0
  56  Chair           -1.864         0.020          1.838          0              185.032        0
  57  Chair           -2.507         0.020          0.991          0              6.189          0
  58  Chair           -2.519         0.020          1.882          0              164.977        0
  59  Chair           -1.335         0.020          1.430          0              270            0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: Turn right and walk to the front of the sofa and face the table | STEP 2: Grab the newspaper that is on the table | STEP 3: Turn around and face the sofa | STEP 4: Place the newspaper on the sofa | STEP 5: Turn left and walk around the sofa and face the dinner table behind it | STEP 6: Grab the newspaper that is on the dinner table. | STEP 7: Turn left and walk around the sofa and face the front of the sofa | STEP 8: Place the newspaper on top of the other newspaper | END