Task: Pick up the tennis bat on the floor, turn on the lamp on the dresser

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.902          -1.0           0              270            0
   1  CD              1.540          0.170          -1.202         0              0              0              45
   2  CellPhone       -1.548         0.695          -0.36          0              0              0              29
   3  Pen             1.536          0.805          -1.655         0              0              0              49
   4  Pen             1.586          0.176          -2.211         0              0              0              47
   5  Pencil          1.597          0.804          -2.407         0              0              0              49
   6  CreditCard      1.726          0.500          -1.464         0              0              0              43
   7  CreditCard      1.680          0.172          -1.376         0              0              0              45
   8  KeyChain        1.536          0.801          -1.279         0              0              0              49
   9  KeyChain        1.540          0.335          -2.473         0              90             0              48
  10  Book            -0.574         0.694          -0.146         0              0              0              29
  11  AlarmClock      1.536          0.798          -1.279         0              0              0              49
  12  Laptop          -1.304         0.693          -0.573         0              0              0              29
  13  Pillow          -0.088         0.755          -0.36          0              0              0              29
  14  Book            -1.436         0.671          0.115          0              300.000        0              29
  15  KeyChain        1.773          0.015          -1.726         0              90             0              46
  16  AlarmClock      0.069          0.665          -2.578         0              0              0              54
  17  CreditCard      1.842          0.801          -2.219         0              0              0              49
  18  Laptop          1.663          0.794          -1.842         0              287.390        0              49
  19  Pen             1.633          0.020          -2.036         0              0              0              50
  20  Pencil          1.586          0.505          -1.551         0              0              0              43
  21  BaseballBat     -1.844         0.678          -2.203         0              0              8.760          Floor|+00.01|
  22  Pillow          -1.061         0.755          -0.146         0              0              0              29
  23  Pillow          -0.088         0.755          0.067          0              0              0              29
  24  TennisRacket    -1.597         0.001          -1.367         90             37.792         0              Floor|+00.01|
  25  CellPhone       1.680          0.500          -2.473         0              0              0              51
  26  CD              1.633          0.499          -2.036         0              0              0              51
  27  Mug             1.597          0.798          -1.467         0              0              0              49
  28  Mirror          3.534          1.661          -0.277         0              90             0
  29  Bed             -0.842         -0.000         -0.361         0              270            0
  30  DeskLamp        1.742          0.819          -1.394         0              358.556        0
  31  Painting        0.246          1.564          -2.665         90             0              0
  32  Painting        1.894          1.549          -2.424         90             270            0
  33  Painting        1.894          1.549          -1.289         90             270            0
  34  GarbageCan      3.378          0.000          0.220          0              0              0
  35  LightSwitch     -0.078         1.219          1.298          0              180            0
  36  Window          -0.486         1.409          -2.691         90             0              0
  37  Window          0.987          1.409          -2.691         90             0              0
  38  VacuumCleaner   -1.649         0.010          -2.440         0              42.426         0
  39  Blinds          -0.490         2.130          -2.638         0              0              0
  40  Blinds          1.011          2.130          -2.638         0              0              0
  41  Drawer          1.596          0.411          -1.459         0              270            0
  42  Drawer          1.597          0.732          -1.459         0              270            0
  43  Drawer          1.597          0.574          -1.459         0              270            0
  44  Drawer          1.597          0.732          -2.202         0              270            0
  45  Drawer          1.596          0.247          -1.459         0              270            0
  46  Drawer          1.596          0.090          -1.459         0              270            0
  47  Drawer          1.596          0.247          -2.202         0              270            0
  48  Drawer          1.596          0.411          -2.202         0              270            0
  49  Dresser         1.634          0.003          -1.830         0              270            0
  50  Drawer          1.596          0.090          -2.202         0              270            0
  51  Drawer          1.597          0.574          -2.202         0              270            0
  52  ShelvingUnit    0.249          0.003          -2.519         0              0              0
  53  Shelf           0.017          0.178          -2.511         0              0              0
  54  Shelf           0.249          0.665          -2.519         0              0              0
  55  Shelf           0.243          0.344          -2.511         0              0              0
  56  Shelf           0.474          0.344          -2.511         0              0              0
  57  Shelf           0.355          0.011          -2.511         0              0              0
  58  Shelf           0.016          0.011          -2.511         0              0              0
  59  Shelf           0.357          0.178          -2.511         0              0              0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: Turn left and turn right, walk to the side of the bed | STEP 2: Pick up the tennis bat on the floor | STEP 3: Turn right, walk to the side of the dresser | STEP 4: Turn on the lamp on the dresser | END