Task: Pick up baseball bat, turn on 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          -1.5           0              90             0
   1  Bowl            -0.483         0.861          -1.529         0              0              0              37
   2  CellPhone       1.612          0.784          0.787          0              0              0              28
   3  CellPhone       -0.473         0.650          -0.852         0              0              0              35
   4  Pen             -0.549         0.370          -0.933         0              0              0              38
   5  Pen             -1.914         0.673          0.758          0              0              0              48
   6  Pencil          -0.567         0.861          -1.010         0              0              0              37
   7  Pencil          -1.994         0.390          0.683          0              0              0              49
   8  CreditCard      -2.091         0.878          0.832          0              0              0              47
   9  KeyChain        -1.918         0.879          0.330          0              90             0              40
  10  Book            0.800          0.783          1.655          0              0              0              28
  11  Book            -2.074         0.104          0.721          0              0              0              50
  12  Laptop          1.409          0.781          1.945          0              0              0              28
  13  AlarmClock      -2.091         0.879          0.581          0              0              0              47
  14  Book            1.815          0.783          2.234          0              0              0              28
  15  AlarmClock      -1.179         1.724          0.489          0              0              0              41
  16  BasketBall      1.976          0.120          0.211          0              331.076        0
  17  Pen             -1.918         0.884          0.581          0              0              0              47
  18  Laptop          0.800          0.781          1.366          0              0              0              28
  19  BaseballBat     1.953          0.659          -1.81          346.388        0              0
  20  Bowl            -0.567         0.861          -0.663         0              0              0              37
  21  Pillow          1.118          0.867          2.464          0              0              0              28
  22  KeyChain        -2.240         0.039          2.522          0              180            0              52
  23  CreditCard      -0.473         0.649          -0.772         0              0              0              35
  24  CellPhone       -2.031         0.040          2.575          0              180            0              52
  25  CD              -0.903         0.857          -1.529         0              0              0              37
  26  Pencil          -1.834         0.886          0.366          0              0              0              40
  27  Mug             -1.834         0.880          0.489          0              0              0              47
  28  Bed             1.227          -0.002         1.664          0              0              0
  29  LightSwitch     2.151          1.233          -0.518         0              270            0
  30  GarbageCan      -0.747         0.014          -0.327         0              0              0
  31  Mirror          -1.358         1.427          2.855          0              0              0
  32  DeskLamp        -2.296         0.858          0.750          0              0              0
  33  Window          -0.421         1.534          -1.947         90             0              0
  34  Window          0.579          1.534          -1.947         90             0              0
  35  Drawer          -0.491         0.739          -0.855         0              90             0
  36  Drawer          -0.491         0.204          -0.855         0              90             0
  37  Desk            -0.639         0.009          -1.187         0              90             0
  38  Drawer          -0.491         0.487          -0.855         0              90             0
  39  Shelf           -1.965         1.514          0.416          0              0              0
  40  Shelf           -1.965         1.092          0.416          0              0              0
  41  Shelf           -1.312         1.888          0.416          0              0              0
  42  Shelf           -1.965         1.888          0.416          0              0              0
  43  Shelf           -1.312         1.092          0.416          0              0              0
  44  Shelf           -1.312         1.514          0.416          0              0              0
  45  Blinds          0.601          2.161          -1.916         0              0              0
  46  Blinds          -0.402         2.161          -1.916         0              0              0
  47  Desk            -1.726         0.001          0.575          0              0              0
  48  Drawer          -2.058         0.733          0.734          0              0              0
  49  Drawer          -2.058         0.482          0.734          0              0              0
  50  Drawer          -2.058         0.198          0.735          0              0              0
  51  Chair           -0.137         0.000          -1.587         0              315            0
  52  Safe            -2.183         -7.748         2.576          0              180            0
  53  Chair           -1.433         0.009          0.780          357.672        206.726        0
  54  LaundryHamper   0.163          0.003          2.635          0              86.390         0
  55  NorthWall
  56  EastWall
  57  SouthWall
  58  WestWall

Plan:
STEP 1: Go to baseball bat to right of the door | STEP 2: Pick up baseball bat next to door | STEP 3: Go toward safe in far, opposite corner, turn right, face desk with lamp | STEP 4: turn on lamp on the desk | END