Task: Carry a tissue box while turning on a lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          -0.75          0              270            0
   1  Mug             -1.248         1.231          -0.458         0              0              0              54
   2  TissueBox       -1.294         0.677          -0.579         0              0              0              53
   3  TissueBox       1.982          0.570          -1.218         0              0              0              61
   4  Watch           1.839          0.795          -1.249         0              0              0              59
   5  CellPhone       -0.462         0.566          0.602          0              0              0              35
   6  Pen             2.027          0.801          -1.249         0              0              0              59
   7  Pen             2.591          0.801          -1.121         0              0              0              59
   8  Pencil          1.651          0.798          -1.121         0              0              0              59
   9  Pencil          2.482          1.048          -1.368         0              0              0              43
  10  CreditCard      1.651          0.794          -1.249         0              0              0              59
  11  CreditCard      1.658          1.047          -1.432         0              0              0              47
  12  KeyChain        -1.248         1.233          -0.553         0              0              0              54
  13  KeyChain        1.839          0.794          -1.153         0              180            0              59
  14  AlarmClock      2.215          0.795          -1.249         0              0              0              59
  15  Laptop          -0.289         0.561          0.846          0              0              0              35
  16  Book            -0.902         0.574          1.179          0              332.922        0              35
  17  Box             2.734          0.195          0.89           0              0              0
  18  Laptop          -0.806         0.561          0.602          0              0              0              35
  19  CellPhone       -1.387         1.238          -0.458         0              0              0              54
  20  BaseballBat     2.847          0.643          1.838          0              0              335.111
  21  BasketBall      1.019          0.330          -0.977         346.775        295.617        1.021
  22  TissueBox       -1.293         0.107          -0.580         0              0              0              57
  23  CreditCard      2.591          0.795          -1.249         0              0              0              59
  24  AlarmClock      -1.352         1.235          -0.649         0              90             0              54
  25  Pencil          -1.293         0.109          -0.917         0              0              0              52
  26  Boots           -1.279         0.000          -1.343         0              27.143         0
  27  Pillow          -0.634         0.63           1.611          0              0              0              35
  28  KeyChain        -1.352         1.233          -0.840         0              90             0              54
  29  Bowl            2.451          0.788          -1.207         0              0              0              59
  30  Watch           2.706          1.278          -1.417         0              0              0              45
  31  CD              -1.294         0.967          -0.883         0              0              0              55
  32  Pen             2.167          1.050          -1.368         0              0              0              43
  33  Mug             2.821          0.788          -1.223         0              0              0              59
  34  Statue          1.823          1.036          -1.419         0              0              0              59
  35  Bed             -0.640         0.008          0.871          0              0              0
  36  DeskLamp        -1.319         1.238          -0.994         0              90             0
  37  GarbageCan      2.838          0.007          0.215          0              270            0
  38  Blinds          0.111          2.337          -1.436         0              0              0
  39  Mirror          1.985          1.381          1.875          0              0              0
  40  Window          0.118          1.496          -1.588         90             180            0
  41  LightSwitch     2.654          1.276          1.899          0              180            0
  42  Chair           2.457          0.011          -0.997         0              189.124        0
  43  Shelf           2.476          0.919          -1.384         0              0              0
  44  Shelf           2.251          1.503          -1.383         0              0              0
  45  Shelf           2.700          1.510          -1.380         0              0              0
  46  Shelf           2.476          1.153          -1.384         0              0              0
  47  Shelf           1.803          1.386          -1.384         0              0              0
  48  Shelf           1.803          0.919          -1.381         0              0              0
  49  DogBed          0.920          0.013          -1.044         0              0              0
  50  Drawer          -1.305         0.454          -0.918         0              90             0
  51  Drawer          -1.305         0.752          -0.919         0              90             0
  52  Drawer          -1.305         0.178          -0.918         0              90             0
  53  Drawer          -1.305         0.752          -0.579         0              90             0
  54  Dresser         -1.328         0.011          -0.744         0              90             0
  55  Drawer          -1.306         1.031          -0.579         0              90             0
  56  Drawer          -1.305         0.454          -0.578         0              90             0
  57  Drawer          -1.305         0.178          -0.578         0              90             0
  58  Drawer          -1.305         1.031          -0.919         0              90             0
  59  Desk            2.211          0.009          -1.259         0              0              0
  60  Drawer          2.817          0.189          -1.176         0              0              0
  61  Drawer          1.940          0.632          -1.176         0              0              0
  62  Drawer          1.940          0.189          -1.176         0              0              0
  63  Drawer          1.623          0.632          -1.176         0              0              0
  64  Drawer          2.817          0.632          -1.176         0              0              0
  65  Drawer          2.817          0.411          -1.176         0              0              0
  66  Drawer          1.623          0.189          -1.176         0              0              0
  67  Drawer          1.623          0.410          -1.176         0              0              0
  68  Drawer          1.940          0.410          -1.176         0              0              0
  69  NorthWall
  70  EastWall
  71  SouthWall
  72  WestWall

Plan:
STEP 1: Move to the right side of the large dresser facing the shelf on the bottom right | STEP 2: Open the bottom right drawer and remove the tissue box in the drawer | STEP 3: Carry the tissue box to the top left of the white dresser facing the lamp on top  | STEP 4: Turn on the lamp | END