Task: examine a basketball with 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           1.5            0.906          1.5            0              180            0
   1  Bowl            -1.603         0.982          -1.443         0              0              0              33
   2  KeyChain        -0.792         0.981          -1.362         0              0              0              33
   3  CD              -0.621         1.536          -1.671         0              0              0              35
   4  Pencil          -0.058         0.093          -1.608         0              270            0              24
   5  AlarmClock      -1.382         1.537          -1.593         0              90             0              35
   6  Book            -0.940         2.053          1.746          0              0              0              27
   7  Box             1.563          0.286          -1.069         0              347.500        0
   8  BasketBall      -1.657         0.126          -0.090         0              0              0
   9  Pen             -0.811         1.542          -1.632         0              0              0              35
  10  Pencil          -1.500         0.742          -1.390         0              0              0              32
  11  Laptop          -1.026         0.894          1.746          0              0              0              27
  12  Pillow          -1.163         0.952          2.332          0              0              0              27
  13  KeyChain        -0.621         1.536          -1.514         0              0              0              35
  14  Bowl            -1.400         0.982          -1.362         0              0              0              33
  15  CreditCard      -0.430         1.536          -1.710         0              0              0              35
  16  CellPhone       -1.198         0.982          -1.524         0              0              0              33
  17  CD              -1.400         0.981          -1.606         0              0              0              33
  18  AlarmClock      -1.603         0.982          -1.606         0              0              0              33
  19  Mug             -0.387         0.980          -1.362         0              0              0              33
  20  Statue          -1.191         1.543          -1.593         0              0              0              35
  21  Mirror          1.907          1.387          0.973          0              90             0
  22  LaundryHamper   -0.351         0.007          2.368          0              164.999        0
  23  DeskLamp        -0.343         1.545          -1.564         0              0              0
  24  GarbageCan      -0.035         0.007          -1.530         0              270            0
  25  Window          1.009          1.514          -2.089         90             0              0
  26  LightSwitch     0.397          1.197          2.729          0              180            0
  27  Bed             -1.299         1.937          1.441          0              0              0
  28  Blinds          1.064          2.382          -2.094         0              0              0
  29  Chair           0.884          0.012          -1.433         0              29.871         0
  30  Chair           -0.646         0.007          -1.206         0              195.000        0
  31  Drawer          -1.409         0.233          -1.303         0              0              0
  32  Drawer          -1.407         0.847          -1.302         0              0              0
  33  Desk            -0.993         0.006          -1.410         0              0              0
  34  Drawer          -1.408         0.558          -1.302         0              0              0
  35  Shelf           0.003          0.013          0.035          0              0              0
  36  NorthWall
  37  EastWall
  38  SouthWall
  39  WestWall

Plan:
STEP 1: walk forwards towards the box, turn right, walk across to the wall, turn right | STEP 2: pick up the basketball that is on the floor | STEP 3: turn right, walk forward, turn right after the desk | STEP 4: hold ball up to the lamp, turn the lamp on | END