Task: To take out the tissue box to place it on top of drawers.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          0.5            0              270            0
   1  Watch           1.839          0.795          -1.249         0              0              0              58
   2  Watch           1.982          0.127          -1.246         0              0              0              61
   3  Book            -0.289         0.565          0.358          0              0              0              34
   4  CD              2.591          0.795          -1.249         0              0              0              58
   5  CD              -1.248         1.233          -0.553         0              0              0              53
   6  CellPhone       -1.248         1.236          -0.458         0              0              0              53
   7  CellPhone       -1.151         0.566          0.358          0              0              0              34
   8  Pen             -1.387         1.239          -0.745         0              90             0              53
   9  CreditCard      -1.248         1.234          -0.649         0              0              0              53
  10  CreditCard      1.524          0.795          -1.377         0              0              0              58
  11  KeyChain        1.651          0.795          -1.153         0              0              0              58
  12  Pillow          -0.979         0.640          0.113          0              0              0              34
  13  AlarmClock      -1.352         1.234          -0.649         0              90             0              53
  14  Laptop          -0.462         0.561          1.091          0              0              0              34
  15  Book            -0.902         0.574          1.179          0              332.922        0              34
  16  Box             2.734          0.195          0.89           0              0              0
  17  Laptop          -0.979         0.681          1.580          0              0              0              34
  18  CellPhone       -0.979         0.566          0.846          0              0              0              34
  19  BaseballBat     2.847          0.643          1.838          0              0              335.111
  20  BasketBall      1.019          0.330          -0.977         346.775        295.617        1.021
  21  TissueBox       -1.294         0.969          -0.954         0              0              0              57
  22  CreditCard      1.911          0.349          -1.161         0              0              0              67
  23  AlarmClock      2.215          0.796          -1.185         0              0              0              58
  24  Pencil          1.758          0.806          -1.370         0              0              0              58
  25  Boots           -1.279         0.000          -1.343         0              27.143         0
  26  Pillow          -0.634         0.63           1.611          0              0              0              34
  27  KeyChain        -1.350         0.676          -0.650         0              90             0              52
  28  Bowl            2.451          0.788          -1.207         0              0              0              58
  29  Watch           1.962          1.047          -1.432         0              0              0              46
  30  CD              -1.248         1.234          -0.840         0              0              0              53
  31  Pen             2.587          1.050          -1.368         0              0              0              42
  32  Mug             2.821          0.788          -1.223         0              0              0              58
  33  Statue          1.823          1.036          -1.419         0              0              0              58
  34  Bed             -0.640         0.008          0.871          0              0              0
  35  DeskLamp        -1.319         1.238          -0.994         0              90             0
  36  GarbageCan      2.838          0.007          0.215          0              270            0
  37  Blinds          0.111          2.337          -1.436         0              0              0
  38  Mirror          1.985          1.381          1.875          0              0              0
  39  Window          0.118          1.496          -1.588         90             180            0
  40  LightSwitch     2.654          1.276          1.899          0              180            0
  41  Chair           2.457          0.011          -0.997         0              189.124        0
  42  Shelf           2.476          0.919          -1.384         0              0              0
  43  Shelf           2.251          1.503          -1.383         0              0              0
  44  Shelf           2.700          1.510          -1.380         0              0              0
  45  Shelf           2.476          1.153          -1.384         0              0              0
  46  Shelf           1.803          1.386          -1.384         0              0              0
  47  Shelf           1.803          0.919          -1.381         0              0              0
  48  DogBed          0.920          0.013          -1.044         0              0              0
  49  Drawer          -1.305         0.454          -0.918         0              90             0
  50  Drawer          -1.305         0.752          -0.919         0              90             0
  51  Drawer          -1.305         0.178          -0.918         0              90             0
  52  Drawer          -1.305         0.752          -0.579         0              90             0
  53  Dresser         -1.328         0.011          -0.744         0              90             0
  54  Drawer          -1.306         1.031          -0.579         0              90             0
  55  Drawer          -1.305         0.454          -0.578         0              90             0
  56  Drawer          -1.305         0.178          -0.578         0              90             0
  57  Drawer          -1.305         1.031          -0.919         0              90             0
  58  Desk            2.211          0.009          -1.259         0              0              0
  59  Drawer          2.817          0.189          -1.176         0              0              0
  60  Drawer          1.940          0.632          -1.176         0              0              0
  61  Drawer          1.940          0.189          -1.176         0              0              0
  62  Drawer          1.623          0.632          -1.176         0              0              0
  63  Drawer          2.817          0.632          -1.176         0              0              0
  64  Drawer          2.817          0.411          -1.176         0              0              0
  65  Drawer          1.623          0.189          -1.176         0              0              0
  66  Drawer          1.623          0.410          -1.176         0              0              0
  67  Drawer          1.940          0.410          -1.176         0              0              0
  68  NorthWall
  69  EastWall
  70  SouthWall
  71  WestWall

Plan:
STEP 1: Turn left to walk towards the bean bag. Make a right and then turn left to face the window, turning right again to go towards the chest of drawers. | STEP 2: Open the left top drawer and take out the tissue box inside it shut the drawer. | STEP 3: Turn right to face the bed and then to the left back towards the chest of drawers holding the box lower. | STEP 4: Place the tissue box on top of the chest of drawers on the CD. | END