Task: Throw away a newspaper in a waste basket.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.75          0.920          5.75           0              180            0
   1  Newspaper       -3.400         0.543          0.984          0              0              0              45
   2  WateringCan     -0.240         0.281          5.255          0              270            0              30
   3  WateringCan     -3.015         0.450          4.058          0              0              0              46
   4  Vase            -2.402         0.449          4.279          0              0              0              46
   5  KeyChain        -4.305         0.442          6.45           0              0              0              47
   6  CreditCard      -2.402         0.447          4.058          0              0              0              46
   7  RemoteControl   -0.600         1.462          6.236          0              270            0              29
   8  Laptop          -4.279         0.538          2.929          0              90             0              44
   9  Pillow          -2.796         0.606          0.793          0              0              0              45
  10  Pillow          -4.508         0.603          3.836          0              90             0              44
  11  Box             -0.464         0.399          6.548          0              0              0              30
  12  Plate           -2.913         0.442          3.398          0              0              0              46
  13  Vase            -2.893         0.449          4.279          0              0              0              46
  14  WateringCan     -0.750         0.617          0.997          0              0              0              43
  15  Newspaper       -2.648         0.455          3.836          0              0              0              46
  16  Vase            -0.585         1.452          6.434          0              0              0              29
  17  KeyChain        -2.893         0.447          3.836          0              0              0              46
  18  Pillow          -1.578         0.608          0.667          0              0              0              45
  19  Statue          -2.280         0.455          4.501          0              0              0              46
  20  RemoteControl   -0.555         0.281          5.997          0              270            0              30
  21  CreditCard      -2.770         0.442          3.393          0              0              0              46
  22  Statue          -0.525         1.453          5.351          0              294.738        0              29
  23  Laptop          -2.648         0.447          4.722          0              0              0              46
  24  Statue          -3.015         0.454          4.501          0              0              0              46
  25  Curtains        -2.827         2.473          0.039          357.605        0              0
  26  Curtains        -2.184         2.473          0.039          357.605        0              0
  27  Curtains        -0.046         2.474          2.633          0              0              357.064
  28  DeskLamp        -0.484         0.612          0.691          0              0              1.144
  29  Shelf           -0.391         1.452          5.953          0              270            0
  30  Shelf           -0.398         0.270          5.961          0              270            0
  31  Television      -0.75          1.661          3.936          0              270            0
  32  GarbageCan      -0.525         -0.009         2.822          0              0              0
  33  Painting        -2.670         1.574          7.000          90             180            0
  34  Bowl            -2.400         0.464          3.442          0              0              0
  35  LightSwitch     -5.0           1.246          5.857          0              90             0
  36  Window          -1.373         1.565          0.008          90             180            0
  37  Window          -0.014         1.567          1.496          90             270            0
  38  Window          -3.726         1.565          0.008          90             180            0
  39  FloorLamp       -4.514         0.027          0.663          0              0              0
  40  HousePlant      -2.659         0.466          4.165          0              0              0
  41  Shelf           -0.594         0.104          0.841          0              0              0
  42  Shelf           -0.594         0.359          0.841          0              0              0
  43  SideTable       -0.594         0.018          0.841          0              0              0
  44  Sofa            -4.360         0.028          2.929          0              90             0
  45  Sofa            -2.493         0.028          0.725          0              0              0
  46  CoffeeTable     -2.648         0.019          4.058          0              270            0
  47  ArmChair        -4.446         0.017          6.450          0              90             0
  48  NorthWall
  49  SouthWall
  50  SouthWall

Plan:
STEP 1: turn to the left and take a step forward and turn to the right and go to the sofa | STEP 2: pick up the newspaper from the sofa | STEP 3: turn to the left twice and go forward to the end of the coffee table and turn to the right and go to the waste basket  | STEP 4: place the newspaper in the waste basket | END