Task: put two boxes of tissues in a drawer

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.0           0.900          0.5            0              180            0
   1  TissueBox       -0.175         0.129          1.202          0              0              0              36
   2  CreditCard      0.035          0.127          1.093          0              0              0              36
   3  CreditCard      -1.226         0.127          1.202          0              0              0              36
   4  Box             -3.780         1.305          0.457          0              0              0              26
   5  Vase            -0.971         0.114          1.197          0              0              0              36
   6  TissueBox       -3.840         1.066          0.128          0              270            0              26
   7  Newspaper       0.967          0.656          1.043          0              0              0              27
   8  KeyChain        1.576          0.461          -1.408         0              0              0              30
   9  Vase            1.745          0.665          -1.413         0              0              0              31
  10  Statue          -1.29          0.891          1.219          0              180            0              38
  11  RemoteControl   -4.165         1.064          0.449          0              270            0              26
  12  Pillow          -1.827         0.585          -1.251         0              0              0              29
  13  CreditCard      1.365          0.456          1.068          0              0              0              28
  14  Laptop          0.434          0.541          -1.187         0              0              0              35
  15  Vase            -0.516         0.114          1.201          0              0              0              36
  16  Statue          0.098          1.000          1.234          0              0              0              38
  17  DeskLamp        1.657          0.654          -1.605         0              0              0
  18  FloorLamp       -4.569         0.005          -1.616         0              15.092         0
  19  LightSwitch     -2.464         1.230          -1.950         0              0              0
  20  GarbageCan      -4.581         -0.032         1.126          0              90             0
  21  Television      -0.549         1.516          1.450          0              180            0
  22  HousePlant      1.555          0.650          1.166          0              0              0
  23  Window          -2.012         1.501          1.468          90             0              0
  24  Window          0.986          1.501          1.468          90             0              0
  25  Painting        -0.698         1.835          -1.911         90             0              0
  26  DiningTable     -3.941         0.005          0.257          0              0              0
  27  SideTable       1.102          -0.000         1.118          0              180            0
  28  Drawer          1.103          0.519          0.834          0              180            0
  29  ArmChair        -1.832         0.010          -1.349         0              0              0
  30  Drawer          1.581          0.523          -1.199         0              0              0
  31  SideTable       1.581          0.003          -1.488         0              0              0
  32  Painting        -4.910         1.763          -0.098         90             270            0
  33  Chair           -4.398         0.002          0.274          0              85.162         0
  34  Chair           -3.825         0.002          -0.223         0              340.163        0
  35  Sofa            0.057          -0.002         -1.386         0              0              0
  36  Shelf           -0.552         0.114          1.252          0              180            0
  37  Drawer          -1.020         0.728          1.032          0              180            0
  38  SideTable       -0.589         0.000          1.227          0              180            0
  39  Drawer          -0.157         0.728          1.032          0              180            0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: turn to your right to the table with the white table cloth | STEP 2: pick up the of tissues | STEP 3: take the tissues to the far end of the wooden table that is against the wall with a vase on it | STEP 4: place the tissue box in the right hand drawer | STEP 5: pick up the tissue box that is on the bottom shelf of the same table | STEP 6: raise it up to the top of the table | STEP 7: open the drawer that the other tissue box is in  | STEP 8: place this tissue box next to the other one | END