Task: Carry a racket while turning on a lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.900          0.5            0              180            0
   1  CD              1.588          0.039          0.328          0              0              0              43
   2  CD              0.150          0.680          1.257          0              0              0              39
   3  CellPhone       1.745          0.041          0.435          0              0              0              43
   4  CellPhone       1.484          0.041          0.434          0              0              0              43
   5  Pencil          -1.283         1.826          -1.431         0              0              0              34
   6  CreditCard      0.550          0.673          -1.635         0              0              0              46
   7  CreditCard      -0.585         0.836          -2.038         0              0              0              30
   8  KeyChain        1.693          0.039          0.595          0              0              0              43
   9  KeyChain        1.588          0.039          0.595          0              0              0              43
  10  Book            1.532          0.578          -0.408         0              180            0              48
  11  AlarmClock      -1.259         0.794          -1.760         0              0              0              47
  12  Pillow          1.098          0.666          -0.649         0              0              0              48
  13  Book            1.676          0.578          -1.373         0              0              0              48
  14  Pencil          -0.315         0.840          -2.072         0              0              0              30
  15  Laptop          -0.670         0.791          -1.568         0              0              0              47
  16  Pen             0.414          0.679          -1.586         0              0              0              46
  17  TennisRacket    -1.226         0.301          -0.069         15.000         180            180
  18  TeddyBear       1.629          0.557          -1.064         0              118.287        0              48
  19  Pillow          1.215          0.641          -1.663         0              0              0              26
  20  CellPhone       -1.123         0.794          -1.028         0              0              0              47
  21  KeyChain        0.476          0.082          1.262          0              0              0              49
  22  AlarmClock      0.449          0.669          -1.741         0              180            0              46
  23  CreditCard      -1.283         1.459          -0.690         0              0              0              33
  24  CD              0.190          0.082          1.262          0              0              0              40
  25  Bowl            -1.283         1.460          -1.519         0              0              0              31
  26  Bed             1.242          -0.001         -0.881         0              180            0
  27  LightSwitch     0.010          1.315          1.499          0              180            0
  28  GarbageCan      0.840          0.007          1.337          0              180            2.168
  29  HousePlant      -0.083         0.828          -2.045         0              0              0
  30  Shelf           -0.469         0.828          -2.038         0              0              0
  31  Shelf           -1.286         1.451          -1.343         0              0              0
  32  Shelf           -1.286         1.451          -0.602         0              0              0
  33  Shelf           -1.286         1.814          -0.602         0              0              0
  34  Shelf           -1.286         1.814          -1.343         0              0              0
  35  Painting        1.111          1.628          -1.865         90             0              0
  36  DeskLamp        0.473          0.669          1.350          0              0              0
  37  Mirror          -1.383         1.565          0.512          0              270            0
  38  Window          -0.472         1.396          -2.252         90             0              0
  39  SideTable       0.304          -0.001         1.225          0              180            0
  40  Drawer          0.304          0.165          1.159          0              180            0
  41  Drawer          0.304          0.457          1.159          0              180            0
  42  Blinds          -0.453         2.156          -2.242         0              0              0
  43  Safe            1.623          5.960          0.448          0              270            0
  44  Chair           -0.683         0.000          -1.326         0              217.223        0
  45  Drawer          0.416          0.532          -1.553         0              0              0
  46  SideTable       0.413          0.000          -1.684         0              0              0
  47  Desk            -0.788         0.000          -1.032         0              90             0
  48
  49
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: Move to the right side of the room on the floor by the desk where the racket is | STEP 2: Pick up the racket sitting on the floor | STEP 3: Carry the racket to the opposite side of the room where the nightstand is with the lamp | STEP 4: Turn on the lamp | END