Task: Pick up a tennis racquet prior to 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           0.5            0.902          -1.25          0              0              0
   1  Mug             0.255          0.671          -2.570         0              0              0              49
   2  CD              1.680          0.333          -2.298         0              0              0              43
   3  CD              1.680          0.013          -2.386         0              0              0              45
   4  CellPhone       1.781          0.801          -2.219         0              0              0              44
   5  CellPhone       1.474          0.801          -2.407         0              0              0              44
   6  CreditCard      1.773          0.013          -1.726         0              0              0              41
   7  CreditCard      1.680          0.013          -2.036         0              0              0              45
   8  Book            -0.331         0.694          0.067          0              0              0              24
   9  Book            -0.818         0.694          -0.146         0              0              0              24
  10  KeyChain        1.680          0.335          -1.638         0              0              0              40
  11  AlarmClock      1.598          0.794          -1.277         0              0              0              44
  12  CreditCard      1.536          0.794          -1.467         0              0              0              44
  13  Laptop          1.663          0.794          -1.842         0              287.390        0              44
  14  Pen             1.597          0.800          -1.467         0              0              0              44
  15  Pencil          1.597          0.804          -2.407         0              0              0              44
  16  BaseballBat     -1.844         0.678          -2.203         0              0              8.760          Floor|+00.01|
  17  Pillow          -1.489         0.685          -0.854         0              345.000        0              24
  18  Pillow          -1.508         0.685          -0.378         0              288.596        0              24
  19  TennisRacket    -1.597         0.001          -1.367         90             37.792         0              Floor|+00.01|
  20  CellPhone       -0.088         0.695          0.067          0              0              0              24
  21  CD              1.842          0.799          -1.279         0              0              0              37
  22  Mug             1.774          0.794          -2.362         0              300.742        0              44
  23  Mirror          3.534          1.661          -0.277         0              90             0
  24  Bed             -0.842         -0.000         -0.361         0              270            0
  25  DeskLamp        1.742          0.819          -1.394         0              358.556        0
  26  Painting        0.246          1.564          -2.665         90             0              0
  27  Painting        1.894          1.549          -2.424         90             270            0
  28  Painting        1.894          1.549          -1.289         90             270            0
  29  GarbageCan      3.378          0.000          0.220          0              0              0
  30  LightSwitch     -0.078         1.219          1.298          0              180            0
  31  Window          -0.486         1.409          -2.691         90             0              0
  32  Window          0.987          1.409          -2.691         90             0              0
  33  VacuumCleaner   -1.649         0.010          -2.440         0              42.426         0
  34  Blinds          -0.490         2.130          -2.638         0              0              0
  35  Blinds          1.011          2.130          -2.638         0              0              0
  36  Drawer          1.596          0.411          -1.459         0              270            0
  37  Drawer          1.597          0.732          -1.459         0              270            0
  38  Drawer          1.597          0.574          -1.459         0              270            0
  39  Drawer          1.597          0.732          -2.202         0              270            0
  40  Drawer          1.596          0.247          -1.459         0              270            0
  41  Drawer          1.596          0.090          -1.459         0              270            0
  42  Drawer          1.596          0.247          -2.202         0              270            0
  43  Drawer          1.596          0.411          -2.202         0              270            0
  44  Dresser         1.634          0.003          -1.830         0              270            0
  45  Drawer          1.596          0.090          -2.202         0              270            0
  46  Drawer          1.597          0.574          -2.202         0              270            0
  47  ShelvingUnit    0.249          0.003          -2.519         0              0              0
  48  Shelf           0.017          0.178          -2.511         0              0              0
  49  Shelf           0.249          0.665          -2.519         0              0              0
  50  Shelf           0.243          0.344          -2.511         0              0              0
  51  Shelf           0.474          0.344          -2.511         0              0              0
  52  Shelf           0.355          0.011          -2.511         0              0              0
  53  Shelf           0.016          0.011          -2.511         0              0              0
  54  Shelf           0.357          0.178          -2.511         0              0              0
  55  NorthWall
  56  EastWall
  57  SouthWall
  58  WestWall

Plan:
STEP 1: Turn around completely, and then turn right until you get to the wall | STEP 2: Pick up tennis racquet from under the bed | STEP 3: Turn right and walk to the chest of drawers, before turning left and then right twice | STEP 4: Turn on the lamp on the desk | END