Task: put two newspaper's 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           1.75           0.900          1.25           0              90             0
   1  Newspaper       2.957          0.610          1.449          0              0              0              33
   2  Statue          0.367          0.418          1.466          0              0              0              34
   3  Statue          0.834          0.418          1.466          0              0              0              34
   4  Watch           1.145          0.411          1.401          0              0              0              34
   5  KeyChain        0.387          0.240          0.004          0              0              0              35
   6  CreditCard      0.339          0.367          0.130          0              0              0              41
   7  CreditCard      1.788          0.759          1.764          0              0              0              28
   8  RemoteControl   2.814          0.466          0.247          0              0              0              27
   9  Box             -0.636         0.778          -1.469         0              0              0              32
  10  Laptop          0.228          0.358          -0.306         0              349.282        0              41
  11  CreditCard      0.367          0.410          1.662          0              0              0              34
  12  Newspaper       0.216          0.522          -1.567         0              350.059        0              30
  13  RemoteControl   2.661          0.450          -0.350         0              0              0              27
  14  Pillow          -0.875         0.575          -0.798         0              267.956        341.124        31
  15  KeyChain        0.283          0.367          0.032          0              0              0              41
  16  Watch           1.300          0.411          1.662          0              0              0              34
  17  Statue          1.842          0.877          1.746          0              0              0              29
  18  Curtains        1.199          0.0            -2.440         0              0              0
  19  HousePlant      1.919          1.717          -2.187         0              315            0
  20  FloorLamp       -1.160         -0.003         1.040          0              0              0
  21  LightSwitch     -1.006         1.286          1.950          0              180            0
  22  Television      0.858          0.884          1.731          0              180            0
  23  Painting        3.414          1.708          -0.156         90             270            0
  24  Painting        -1.449         1.787          -0.342         90             270            0
  25  GarbageCan      1.296          9.894          -2.187         0              0              0
  26  Window          0.653          1.550          -2.470         90             180            0
  27  Sofa            2.868          -0.002         0.248          0              270            0
  28  Drawer          1.996          0.779          1.705          0              180            0
  29  SideTable       1.995          0.004          1.746          0              180            0
  30  ArmChair        0.224          -0.010         -1.724         0              0              0
  31  Sofa            -1.007         0.006          -0.207         1.149          90             0
  32  SideTable       -0.683         0.004          -1.600         0              0              0
  33  SideTable       2.956          0.004          1.568          0              0              0
  34  TVStand         0.838          -0.006         1.582          0              0              0
  35  Drawer          0.472          0.271          -0.165         0              270            0
  36  Drawer          -0.018         0.272          -0.165         0              270            0
  37  Drawer          -0.018         0.168          -0.165         0              270            0
  38  Drawer          -0.018         0.064          -0.165         0              270            0
  39  Drawer          0.472          0.063          -0.165         0              270            0
  40  Drawer          0.472          0.167          -0.165         0              270            0
  41  CoffeeTable     0.226          -0.003         -0.164         0              270            0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: look down and walk straight towards the table next to the couch | STEP 2: pick up the newspaper off of the table | STEP 3: turn right and walk straight then turn right again and walk straight to the couch and turn left walk straight then turn right at the couch | STEP 4: put the newspaper down on the couch | STEP 5: turn left and walk straight towards the chair then turn left walk straight then turn right at the chair | STEP 6: pick up the newspaper off of the chair | STEP 7: turn right then walk straight a bit then turn right again and walk straight to the couch and turn left | STEP 8: put the newspaper down on the left of the other newspaper on the couch | END