Task: place the tissue box in the cabinet

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          0.0            0              270            0
   1  Mug             1.233          0.701          -1.521         0              180            0              48
   2  Mug             1.479          0.699          -1.521         0              180            0              48
   3  TissueBox       1.479          0.705          -1.326         0              180            0              48
   4  CD              1.486          0.708          -0.306         0              0              0              40
   5  CellPhone       -1.483         0.530          0.160          0              0              0              31
   6  Pen             -0.074         0.087          -1.479         0              180            0              44
   7  Pen             0.341          0.502          -1.479         0              180            0              49
   8  CreditCard      1.638          0.708          -0.226         0              0              0              40
   9  KeyChain        1.600          0.709          -0.465         0              90             0              40
  10  KeyChain        0.248          0.702          -1.521         0              90             0              48
  11  Box             0.248          0.951          -1.619         0              0              0              48
  12  Laptop          -2.070         0.525          -0.326         0              0              0              31
  13  AlarmClock      1.486          0.709          -0.623         0              90             0              40
  14  Box             1.537          1.652          0.692          0              0              0              34
  15  Book            0.387          0.082          -1.479         0              180            0              44
  16  AlarmClock      1.233          0.704          -1.326         0              180            0              48
  17  CellPhone       0.002          0.704          -1.326         0              180            0              48
  18  TissueBox       0.987          0.705          -1.326         0              180            0              48
  19  TeddyBear       -2.204         0.500          0.181          355.000        297.467        9.162          31
  20  CreditCard      0.018          0.081          -1.639         0              180            0              45
  21  KeyChain        1.676          0.709          -0.544         0              0              0              40
  22  BaseballBat     -2.202         0.04           -1.343         0              45             90             Floor|+00.00|
  23  TennisRacket    -2.254         0.324          -1.806         15.000         180            180            Floor|+00.00|
  24  Pillow          -2.039         0.545          0.677          0              0              0              31
  25  Laptop          -1.483         0.525          -0.570         0              0              0              31
  26  CD              -0.074         0.289          -1.532         0              180            0              47
  27  Pen             0.494          0.709          -1.521         0              180            0              48
  28  Pencil          -0.606         0.055          0.8            0              0              0              33
  29  Mug             0.494          0.699          -1.326         0              180            0              48
  30  Mirror          -0.689         1.495          0.954          0              0              0
  31  Bed             -1.742         0.000          -0.071         0              0              0
  32  Chair           0.891          -0.001         -1.251         0              175.104        0
  33  GarbageCan      -0.606         -0.021         0.799          0              0              0
  34  ShelvingUnit    1.550          1.402          0.374          0              270            0
  35  Painting        -2.401         1.700          -0.859         90             90             0
  36  DeskLamp        1.291          0.699          -1.717         0              0              0
  37  LightSwitch     0.231          1.287          0.954          0              180            0
  38  HousePlant      1.488          1.394          0.035          0              122.291        0
  39  Window          0.046          1.559          -2.079         90             180            0
  40  SideTable       1.561          0.000          -0.465         0              270            0
  41  Shelf           1.541          0.493          -0.475         0              270            0
  42  Blinds          0.007          2.152          -2.014         0              0              0
  43  Drawer          -0.156         0.547          -1.430         0              0              0
  44  Drawer          0.270          0.159          -1.430         0              0              0
  45  Drawer          -0.156         0.159          -1.430         0              0              0
  46  Drawer          0.270          0.353          -1.430         0              0              0
  47  Drawer          -0.156         0.353          -1.430         0              0              0
  48  Desk            0.634          0.002          -1.557         0              0              0
  49  Drawer          0.270          0.547          -1.430         0              0              0
  50  Shelf           1.406          0.571          -1.514         0              0              0
  51  Shelf           1.406          0.183          -1.514         0              0              0
  52  Shelf           1.584          0.183          -1.514         0              0              0
  53  Shelf           1.406          0.377          -1.514         0              0              0
  54  Shelf           1.584          0.377          -1.514         0              0              0
  55  Shelf           1.584          0.571          -1.514         0              0              0
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: turn around and walk forwards to the book shelf at the end of the room, then turn right and walk over to the desk | STEP 2: grab the tissue box off of the desk | STEP 3: turn around and walk to the small cabinet to the bottom right of the book shelf on the right | STEP 4: place the tissue box in the cabinet | STEP 5: turn right and walk back over to the desk | STEP 6: grab the tissue box off of the desk there | STEP 7: turn around and walk to the small cabinet to the bottom right of the book shelf on the right | STEP 8: place the tissue box in the cabinet | END