Task: Put two tissue boxes into drawer

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          0.75           0              180            0
   1  TissueBox       0.667          0.660          0.893          0              0              0              26
   2  TissueBox       -1.226         0.129          1.202          0              0              0              35
   3  Box             -3.780         1.305          0.457          0              0              0              25
   4  Vase            -0.971         0.114          1.197          0              0              0              35
   5  TissueBox       -4.564         0.076          1.132          0              90             0              19
   6  Newspaper       0.283          0.553          -1.151         0              0              0              34
   7  KeyChain        1.745          0.650          -1.639         358.912        180            0              30
   8  Vase            -1.276         0.908          1.280          0              0              0              37
   9  Statue          -0.359         0.902          1.187          0              0              0              37
  10  RemoteControl   -0.169         0.483          -1.319         0              0              0              34
  11  Pillow          -1.827         0.585          -1.251         0              0              0              28
  12  CreditCard      -1.219         0.633          1.219          0              0              0              36
  13  Laptop          1.267          0.656          1.118          0              0              0              26
  14  Vase            -0.516         0.114          1.201          0              0              0              35
  15  Statue          0.967          0.758          1.192          0              0              0              26
  16  DeskLamp        1.657          0.654          -1.605         0              0              0
  17  FloorLamp       -4.569         0.005          -1.616         0              15.092         0
  18  LightSwitch     -2.464         1.230          -1.950         0              0              0
  19  GarbageCan      -4.581         -0.032         1.126          0              90             0
  20  Television      -0.549         1.516          1.450          0              180            0
  21  HousePlant      1.555          0.650          1.166          0              0              0
  22  Window          -2.012         1.501          1.468          90             0              0
  23  Window          0.986          1.501          1.468          90             0              0
  24  Painting        -0.698         1.835          -1.911         90             0              0
  25  DiningTable     -3.941         0.005          0.257          0              0              0
  26  SideTable       1.102          -0.000         1.118          0              180            0
  27  Drawer          1.103          0.519          0.834          0              180            0
  28  ArmChair        -1.832         0.010          -1.349         0              0              0
  29  Drawer          1.581          0.523          -1.199         0              0              0
  30  SideTable       1.581          0.003          -1.488         0              0              0
  31  Painting        -4.910         1.763          -0.098         90             270            0
  32  Chair           -4.398         0.002          0.274          0              85.162         0
  33  Chair           -3.825         0.002          -0.223         0              340.163        0
  34  Sofa            0.057          -0.002         -1.386         0              0              0
  35  Shelf           -0.552         0.114          1.252          0              180            0
  36  Drawer          -1.020         0.728          1.032          0              180            0
  37  SideTable       -0.589         0.000          1.227          0              180            0
  38  Drawer          -0.157         0.728          1.032          0              180            0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Turn left, go forward, turn right at the desk | STEP 2: Pick up the tissue box on the desk | STEP 3: Turn left, go forward, turn right at the sideboard | STEP 4: Put the tissue box in the top left drawer of the sideboard | STEP 5: Turn down to the bottom shelf of the sideboard | STEP 6: Pick up the tissue box on the shelf | STEP 7: Turn around, go forward a bit, turn around to face the sideboard | STEP 8: Put the tissue box in the top left drawer of the sideboard | END