Task: turn on the lamp next to the couch while holding a box of tissues

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          0.906          4.25           0              0              0
   1  Watch           -0.529         0.485          2.414          0              270            0              37
   2  Watch           -0.361         0.182          3.098          0              270            0              38
   3  Box             -2.371         0.521          4.649          0              0              0              40
   4  Box             -2.111         0.293          2.930          0              0              0              30
   5  CreditCard      -0.594         0.357          0.782          0              0              0              31
   6  TissueBox       -1.892         0.200          2.986          0              0              0              30
   7  Laptop          -0.335         0.758          2.38           0              33.790         0              37
   8  Vase            -2.880         1.518          0.144          0              0              0
   9  RemoteControl   -0.688         0.378          0.500          0              0              0              31
  10  Pillow          -4.424         0.484          2.640          0              270            0              39
  11  KeyChain        -4.566         0.505          3.300          0              180            358.944        28
  12  Watch           -4.522         0.512          3.213          0              0              0              28
  13  Newspaper       -0.204         0.185          2.613          0              0              0              35
  14  Statue          -1.892         0.205          2.528          0              0              0              30
  15  Statue          -0.403         0.775          2.978          0              270            0              37
  16  Curtains        -1.030         2.113          0.0            0              0              0
  17  Curtains        -3.927         2.113          0.0            0              0              0
  18  HousePlant      -3.127         1.507          0.118          0              0              0
  19  Television      0.0            1.376          2.661          0              270            0
  20  GarbageCan      -0.227         0.005          4.778          0              0              0
  21  DeskLamp        -4.658         0.508          3.318          0              270            0
  22  Painting        -2.507         1.817          0.108          90             0              0
  23  FloorLamp       -4.596         0.006          0.399          0              65.211         0
  24  LightSwitch     -3.233         1.343          5.0            0              180            0
  25  Window          -1.011         1.391          0.029          90             180            0
  26  Window          -3.900         1.391          0.029          90             180            0
  27  Drawer          -4.433         0.473          3.344          0              90             0
  28  SideTable       -4.612         0.009          3.346          0              90             0
  29  Chair           -4.572         0.005          3.862          0              113.899        0
  30  CoffeeTable     -1.972         0.002          2.615          0              270            0
  31  ArmChair        -0.875         0.005          0.566          0              0              0
  32  Shelf           -0.340         0.480          3.046          0              270            0
  33  Shelf           -0.340         0.649          3.046          0              270            0
  34  Shelf           -0.340         0.603          2.312          0              270            0
  35  Shelf           -0.340         0.448          2.678          0              270            0
  36  Shelf           -0.340         0.308          2.312          0              270            0
  37  TVStand         -0.335         0.005          2.679          0              270            0
  38  Shelf           -0.340         0.279          3.046          0              270            0
  39  Sofa            -4.566         0.009          1.880          0              90             0
  40  Sofa            -2.124         0.009          4.558          0              180            0
  41  NorthWall
  42  SouthWall
  43  SouthWall

Plan:
STEP 1: walk over to the white table in the middle of the room | STEP 2: grab the tissues off of the table | STEP 3: walk over to the white desk next to the couch | STEP 4: turn on the lamp | END