Task: Pick up a tennis racket, turn on the lamp on the desk

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.0            0.900          0.0            0              90             0
   1  Mug             2.931          0.543          -1.441         0              0              0              39
   2  CD              2.705          0.797          -1.358         0              0              0              40
   3  Pen             2.506          0.804          -1.358         0              0              0              40
   4  Pen             1.239          0.523          -1.752         0              0              0              42
   5  Pencil          1.240          0.521          -1.551         0              0              0              42
   6  Pencil          2.705          0.803          -1.605         0              90             0              40
   7  CreditCard      3.210          0.545          -1.464         0              0              0              39
   8  CreditCard      1.008          0.515          -1.752         0              0              0              42
   9  KeyChain        1.352          0.284          -1.593         0              270            0              41
  10  KeyChain        2.705          0.799          -1.482         0              0              0              40
  11  AlarmClock      2.506          0.798          -1.666         0              0              0              40
  12  Laptop          0.552          0.568          -0.236         0              0              0              27
  13  Book            2.881          0.791          -1.623         0              39.196         0              40
  14  KeyChain        1.085          0.517          -1.551         0              0              0              42
  15  TissueBox       2.307          0.800          -1.482         0              0              0              40
  16  TeddyBear       -0.075         0.562          -0.274         353.177        297.143        5.348          27
  17  Pencil          1.909          0.803          -1.358         0              0              0              40
  18  CreditCard      1.127          0.059          -1.593         0              180            0              43
  19  TennisRacket    -0.921         0.344          0.390          13.911         273.938        195.992        Floor|+00.39|
  20  Laptop          -0.097         0.568          -0.905         0              0              0              27
  21  AlarmClock      2.108          0.798          -1.482         0              0              0              40
  22  Pen             2.307          0.804          -1.666         0              0              0              40
  23  Pillow          0.299          0.643          -1.557         0              0              0              27
  24  CellPhone       0.552          0.570          -1.352         0              0              0              27
  25  CD              1.909          0.797          -1.543         0              0              0              40
  26  Mug             1.162          0.515          -1.631         0              180            0              42
  27  Bed             0.227          -0.003         -0.947         0              180            0
  28  Mirror          0.615          1.264          1.029          0              0              0
  29  GarbageCan      3.166          -0.011         -0.264         4.636          271.335        0
  30  DeskLamp        3.164          0.794          -1.664         0              315            0
  31  HousePlant      -0.833         0.000          0.843          0              0              0
  32  LightSwitch     2.010          1.126          1.029          0              180            0
  33  Window          1.794          1.677          -1.939         90             180            0
  34  Window          0.691          1.361          -1.938         90             180            0
  35  Dumbbell        2.628          0.001          -1.613         0              346.954        0
  36  Blinds          1.776          1.993          -1.858         0              0              0
  37  Blinds          0.670          1.993          -1.858         0              0              0
  38  Chair           2.255          0.004          -1.501         0              167.716        0
  39  Shelf           3.034          0.637          -1.580         0              0              0
  40  Desk            2.500          0.002          -1.596         0              0              0
  41  Drawer          1.240          0.354          -1.553         0              0              0
  42  SideTable       1.239          0.003          -1.551         0              0              0
  43  Drawer          1.240          0.126          -1.553         0              0              0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Turn around and walk to the bedroom door, hang a left and walk towards the tennis racket.  | STEP 2: Pick up the tennis racket leaning against the wall. | STEP 3: Turn around and walk towards the green trash can, hang a right at the trash can and walk to the desk. | STEP 4: Turn on the lamp located at the left rear of the desk top. | END