Task: examine a box of tissue by the desk lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.900          -0.75          0              90             0
   1  Mug             1.471          0.513          -1.631         0              0              0              34
   2  CellPhone       0.715          0.570          -0.236         0              0              0              19
   3  KeyChain        2.931          0.547          -1.464         0              0              0              31
   4  Laptop          0.390          0.568          -1.575         0              0              0              19
   5  Book            2.881          0.791          -1.623         0              39.196         0              32
   6  KeyChain        1.070          0.060          -1.593         0              270            0              35
   7  TissueBox       1.394          0.517          -1.752         0              0              0              34
   8  TeddyBear       -0.075         0.562          -0.274         353.177        297.143        5.348          19
   9  Pencil          2.108          0.803          -1.666         0              0              0              32
  10  CreditCard      1.183          0.059          -1.635         0              180            0              35
  11  TennisRacket    -0.921         0.344          0.390          13.911         273.938        195.992        Floor|+00.39|
  12  Laptop          2.362          0.791          -1.54          0              0              0              32
  13  AlarmClock      2.705          0.798          -1.420         0              0              0              32
  14  Pen             3.154          0.551          -1.442         0              0              0              31
  15  Pillow          0.390          0.674          -0.682         0              0              0              19
  16  CellPhone       1.909          0.798          -1.482         0              0              0              32
  17  CD              1.317          0.517          -1.631         0              0              0              34
  18  Mug             3.043          0.543          -1.441         0              90             0              31
  19  Bed             0.227          -0.003         -0.947         0              180            0
  20  Mirror          0.615          1.264          1.029          0              0              0
  21  GarbageCan      3.166          -0.011         -0.264         4.636          271.335        0
  22  DeskLamp        3.164          0.794          -1.664         0              315            0
  23  HousePlant      -0.833         0.000          0.843          0              0              0
  24  LightSwitch     2.010          1.126          1.029          0              180            0
  25  Window          1.794          1.677          -1.939         90             180            0
  26  Window          0.691          1.361          -1.938         90             180            0
  27  Dumbbell        2.628          0.001          -1.613         0              346.954        0
  28  Blinds          1.776          1.993          -1.858         0              0              0
  29  Blinds          0.670          1.993          -1.858         0              0              0
  30  Chair           2.255          0.004          -1.501         0              167.716        0
  31  Shelf           3.034          0.637          -1.580         0              0              0
  32  Desk            2.500          0.002          -1.596         0              0              0
  33  Drawer          1.240          0.354          -1.553         0              0              0
  34  SideTable       1.239          0.003          -1.551         0              0              0
  35  Drawer          1.240          0.126          -1.553         0              0              0
  36  NorthWall
  37  EastWall
  38  SouthWall
  39  WestWall

Plan:
STEP 1: take a step forward and turn to the right and go to the night stand | STEP 2: pick up the box of tissue | STEP 3: turn to the left twice and go forward a few steps and turn to the right and go to the wall and turn to the right and go to the desk | STEP 4: turn on the lamp light on the desk | END