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           -0.25          0.900          1.0            0              270            0
   1  Bowl            -1.283         1.460          -0.690         0              0              0              32
   2  CD              1.745          0.039          0.435          0              0              0              43
   3  CD              -0.670         0.792          -1.568         0              0              0              47
   4  CellPhone       0.362          0.376          1.238          0              0              0              41
   5  Pencil          -1.052         0.796          -1.243         0              0              0              47
   6  Pencil          0.150          0.684          1.393          0              0              0              39
   7  Pen             -1.335         0.798          -1.457         0              90             0              47
   8  Pen             -0.376         0.798          -1.760         0              0              0              47
   9  Book            1.098          0.578          -0.408         0              0              0              48
  10  AlarmClock      -1.265         0.794          -1.457         0              0              0              47
  11  AlarmClock      -1.052         0.794          -1.457         0              0              0              47
  12  Laptop          1.532          0.574          -0.166         0              0              0              26
  13  Book            0.459          0.675          -1.732         0              0              0              46
  14  Pencil          0.305          0.678          1.303          0              0              0              39
  15  Laptop          -1.123         0.791          -0.385         0              0              0              47
  16  Pen             -0.964         0.798          -1.440         0              0              0              47
  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       1.588          0.041          0.381          0              0              0              43
  21  KeyChain        0.382          0.674          1.438          0              0              358.948        39
  22  AlarmClock      0.227          0.682          1.212          0              0              0              39
  23  CreditCard      -0.376         0.793          -1.632         0              0              0              47
  24  CD              -1.309         1.822          -1.168         0              0              0              34
  25  Bowl            -1.259         0.794          -1.760         0              0              0              47
  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  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Turn left then walk straight to the wood desk where the tennis racket is sitting on the ground | STEP 2: Pick up the tennis racket sitting on the floor against the desk | STEP 3: Carry the tennis racket to the small wood night stand where the lamp is | STEP 4: Turn on the lamp | END