Task: Carry a tennis 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           -1.25          0.900          0.75           0              180            0
   1  CellPhone       -0.990         0.861          -2.561         0              0              0              58
   2  CellPhone       0.355          0.812          -2.236         0              0              0              51
   3  Pen             0.459          0.818          -2.507         0              0              0              51
   4  Pen             -1.319         0.093          -2.363         0              0              0              55
   5  Pencil          0.042          0.816          -2.236         0              0              0              51
   6  Pencil          -1.594         0.865          -2.311         0              0              0              58
   7  CreditCard      0.146          0.811          -2.575         0              0              0              51
   8  KeyChain        -0.587         0.862          -2.311         0              0              0              58
   9  Book            0.355          0.811          -2.507         0              0              0              51
  10  RemoteControl   -0.990         0.863          -2.311         0              0              0              58
  11  Laptop          0.241          0.772          1.173          0              0              0              29
  12  Book            -0.333         0.774          1.496          0              0              0              29
  13  Cloth           1.303          0.0            -0.696         0              303.212        0
  14  Cloth           1.273          0.0            -0.969         0              0              0
  15  CellPhone       -1.594         0.861          -2.498         0              0              0              58
  16  Pencil          0.251          0.815          -2.507         0              0              0              51
  17  Laptop          -0.333         0.772          1.173          0              0              0              29
  18  AlarmClock      0.251          0.812          -2.169         0              0              0              51
  19  CreditCard      -0.996         1.362          -2.435         0              0              0              54
  20  KeyChain        1.522          0.824          -1.363         0              270            0              49
  21  TennisRacket    -1.704         0.345          1.743          345.000        90             180
  22  RemoteControl   -1.192         0.863          -2.498         0              0              0              58
  23  Pillow          1.073          0.876          1.326          0              262.063        0              29
  24  CD              1.521          0.817          -1.727         0              0              0              49
  25  CD              0.563          0.811          -2.440         0              0              0              51
  26  CD              -1.319         0.371          -2.325         0              0              0              56
  27  Pen             -1.393         0.867          -2.498         0              0              0              58
  28  Bowl            -0.674         0.855          -2.499         0              323.153        0              58
  29  Bed             0.270          0.001          1.331          0              90             0
  30  LaundryHamper   -1.329         0.001          1.829          0              180            0
  31  Television      -1.664         1.479          -0.912         0              90             0
  32  DeskLamp        0.049          0.815          -2.481         0              0              0
  33  LightSwitch     -1.799         1.213          0.680          0              90             0
  34  Painting        0.492          1.684          -2.629         90             0              0
  35  Poster          -1.799         1.690          -1.491         90             270            0
  36  GarbageCan      1.306          -0.001         -2.451         0              317.376        0
  37  Mirror          1.5            1.361          -0.542         0              90             0
  38  Window          1.721          1.365          -1.597         90             270            0
  39  Shelf           -1.605         0.435          -0.686         0              90             0
  40  Shelf           -1.613         1.154          -0.904         0              90             0
  41  ShelvingUnit    -1.611         0.005          -0.904         0              90             0
  42  Shelf           -1.605         0.719          -1.122         0              90             0
  43  Shelf           -1.605         0.435          -1.122         0              90             0
  44  Shelf           -1.605         1.006          -1.122         0              90             0
  45  Shelf           -1.605         0.148          -0.686         0              90             0
  46  Shelf           -1.605         0.149          -1.122         0              90             0
  47  Shelf           -1.605         1.006          -0.686         0              90             0
  48  Shelf           -1.605         0.719          -0.686         0              90             0
  49  SideTable       1.484          0.001          -1.481         0              270            0
  50  Blinds          1.699          2.096          -1.575         0              270            0
  51  Desk            0.244          0.004          -2.356         0              0              0
  52  Chair           -0.626         1.439          -2.199         0              171.006        0
  53  Chair           0.220          1.466          -2.214         0              188.269        0
  54  Shelf           -0.978         1.387          -2.479         0              0              0
  55  Drawer          -1.389         0.197          -2.261         0              0              0
  56  Drawer          -1.389         0.480          -2.261         0              0              0
  57  Drawer          -1.389         0.731          -2.261         0              0              0
  58  Desk            -0.973         1.162          -2.351         0              0              0
  59  NorthWall
  60  EastWall
  61  SouthWall
  62  WestWall

Plan:
STEP 1: Move to the brown side table to the left of the sofa | STEP 2: Pick up the tennis racket sitting on top of the side table | STEP 3: Carry the tennis racket to the small wood table with the lamp sitting on top of it | STEP 4: Turn on the lamp | END