Task: Put two boxes of tissues on the nightstand.

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  TissueBox       3.393          0.779          -1.679         0              0              0              40
   2  TissueBox       3.547          0.779          -1.679         0              0              0              40
   3  CD              3.084          0.777          -1.768         0              0              0              40
   4  CD              0.355          0.704          -1.186         0              180            0              35
   5  CellPhone       0.806          0.447          -2.312         0              330.000        0              38
   6  Pen             2.776          0.783          -1.857         0              0              0              40
   7  KeyChain        0.260          0.707          -1.102         0              90             0              35
   8  KeyChain        3.701          0.781          -1.59          0              0              0              40
   9  Book            0.968          0.596          -0.238         0              0              0              27
  10  AlarmClock      0.357          0.705          1.463          0              90             0              34
  11  AlarmClock      2.776          0.779          -1.679         0              0              0              40
  12  Laptop          1.577          0.594          0.145          0              0              0              27
  13  Book            2.956          0.773          -1.499         0              4.886          0              40
  14  KeyChain        0.313          0.616          -0.787         0              270            0              37
  15  Pillow          0.463          0.638          0.408          0              101.363        0              27
  16  Pillow          0.968          0.677          0.722          0              0              0              27
  17  CreditCard      3.701          0.777          -1.857         0              0              0              40
  18  Pen             0.226          0.711          1.296          0              90             0              34
  19  Pencil          3.547          0.782          -1.411         0              0              0              40
  20  TissueBox       3.239          0.779          -1.679         0              0              0              40
  21  Laptop          1.374          0.594          0.722          0              0              0              27
  22  CellPhone       0.291          0.704          1.213          0              90             0              34
  23  AlarmClock      3.393          0.779          -1.500         0              0              0              40
  24  CD              3.695          0.047          -1.015         0              210.000        0              28
  25  Chair           3.232          0.002          -1.873         0              350.846        0
  26  Mirror          1.083          1.228          1.700          0              0              0
  27  Bed             0.898          -0.002         0.141          0              270            0
  28  GarbageCan      3.633          8.165          -0.982         0              209.052        0
  29  DeskLamp        3.681          0.785          -1.386         0              0              0
  30  DeskLamp        0.347          0.698          -0.979         0              0              0
  31  Painting        0.100          1.432          -2.053         90             270            0
  32  Window          2.270          1.547          -2.915         90             0              0
  33  LightSwitch     1.809          1.169          1.700          0              180            0
  34  SideTable       0.277          0.000          1.299          0              90             0
  35  SideTable       0.276          0.000          -1.017         0              90             0
  36  Drawer          0.328          0.624          1.299          0              90             0
  37  Drawer          0.328          0.624          -1.017         0              90             0
  38  ArmChair        0.849          -0.001         -2.141         0              66.451         0
  39  Blinds          2.299          2.525          -2.892         0              0              0
  40  Desk            3.238          0.003          -1.590         0              0              0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Move forward, turn left, go straight to the wall, then turn left to face the desk. | STEP 2: Pick up the box of tissues on the desk, in between the other two boxes of tissues. | STEP 3: Turn left, go straight, turn right, move straight, then turn left to approach the nightstand. | STEP 4: Put the box of tissues on the nightstand, to the right of the lamp. | STEP 5: Turn around, go straight, turn right, then turn left, go straight, then turn left to go to the desk again. | STEP 6: Pick up the leftmost box of tissues on the desk. | STEP 7: Turn left, go straight, turn right, go straight, then turn left to return to the nightstand. | STEP 8: Put the box of tissues on the nightstand, to the left of the lamp. | END