Task: turn on desk lamp and pick up tissue box

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.900          -1.0           0              180            0
   1  Mug             3.210          0.543          -1.442         0              0              0              39
   2  Mug             3.098          0.543          -1.419         0              0              0              39
   3  TissueBox       3.103          0.800          -1.358         0              0              0              40
   4  TissueBox       2.506          0.800          -1.543         0              0              0              40
   5  CD              2.705          0.797          -1.420         0              0              0              40
   6  CD              1.471          0.515          -1.631         0              0              0              42
   7  CellPhone       2.307          0.798          -1.420         0              0              0              40
   8  CellPhone       0.552          0.570          -1.352         0              0              0              27
   9  Pen             2.705          0.804          -1.543         0              0              0              40
  10  Pen             1.239          0.516          -1.712         0              0              0              42
  11  KeyChain        1.409          0.060          -1.635         0              90             0              43
  12  Laptop          -0.097         0.568          -1.575         0              0              0              27
  13  Book            -0.260         0.569          -0.905         0              0              0              27
  14  KeyChain        1.240          0.060          -1.635         0              180            0              43
  15  TissueBox       1.909          0.800          -1.728         0              0              0              40
  16  TeddyBear       -0.075         0.562          -0.274         353.177        297.143        5.348          27
  17  Pencil          2.987          0.551          -1.441         0              0              0              39
  18  CreditCard      1.070          0.283          -1.635         0              180            0              41
  19  TennisRacket    -0.921         0.344          0.390          13.911         273.938        195.992        Floor|+00.39|
  20  Laptop          0.552          0.568          -0.905         0              0              0              27
  21  AlarmClock      1.109          0.510          -1.676         0              345.974        0              42
  22  Pen             1.909          0.804          -1.543         0              0              0              40
  23  Pillow          0.299          0.643          -1.557         0              0              0              27
  24  CellPhone       -0.260         0.570          -0.459         0              0              0              27
  25  CD              3.188          0.077          -0.268         0              270            0              29
  26  Mug             1.317          0.513          -1.631         0              0              0              42
  27  Bed             0.227          -0.003         -0.947         0              180            0
  28  Mirror          0.615          1.264          1.029          0              0              0
  29  GarbageCan      3.166          -0.011         -0.264         4.636          271.335        0
  30  DeskLamp        3.164          0.794          -1.664         0              315            0
  31  HousePlant      -0.833         0.000          0.843          0              0              0
  32  LightSwitch     2.010          1.126          1.029          0              180            0
  33  Window          1.794          1.677          -1.939         90             180            0
  34  Window          0.691          1.361          -1.938         90             180            0
  35  Dumbbell        2.628          0.001          -1.613         0              346.954        0
  36  Blinds          1.776          1.993          -1.858         0              0              0
  37  Blinds          0.670          1.993          -1.858         0              0              0
  38  Chair           2.255          0.004          -1.501         0              167.716        0
  39  Shelf           3.034          0.637          -1.580         0              0              0
  40  Desk            2.500          0.002          -1.596         0              0              0
  41  Drawer          1.240          0.354          -1.553         0              0              0
  42  SideTable       1.239          0.003          -1.551         0              0              0
  43  Drawer          1.240          0.126          -1.553         0              0              0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: turn right, walk to desk, keep turning right until facing left most part of desk | STEP 2: turn on lamp on desk | STEP 3: pick up box of tissues from desk | END