Task: Put a basketball on the green dresser.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.900          1.25           0              90             0
   1  CD              -0.404         0.667          -0.469         0              0              0              34
   2  CreditCard      -0.131         0.924          -1.245         0              0              0              33
   3  AlarmClock      -0.603         0.925          -0.391         0              0              0              33
   4  AlarmClock      -0.603         0.925          -1.245         0              0              0              33
   5  Pillow          0.333          0.617          0.971          0              0              0              18
   6  Box             2.15           0.14           0.494          0              12.243         0
   7  Book            -0.402         0.377          -0.561         0              0              0              31
   8  BasketBall      -0.235         0.120          0.166          0              0              0
   9  Pen             2.143          0.848          -0.090         0              0              0              28
  10  Pillow          0.012          0.617          1.555          0              0              0              18
  11  Pencil          2.333          0.846          -0.090         0              0              0              28
  12  CellPhone       -0.402         0.378          -0.377         0              0              0              32
  13  KeyChain        -0.509         0.925          -0.177         0              0              0              33
  14  CreditCard      -0.245         0.376          -0.193         0              0              0              31
  15  AlarmClock      -0.320         0.925          -1.245         0              0              0              33
  16  CD              -0.131         0.924          -1.459         0              0              0              33
  17  Laptop          0.333          0.548          2.140          0              0              0              18
  18  Bed             0.009          -0.004         1.577          0              0              0
  19  DeskLamp        -0.669         0.923          -0.062         0              90             0
  20  Painting        -0.787         1.809          -0.215         90             270            0
  21  Painting        -0.787         1.809          1.023          90             270            0
  22  Mirror          2.118          1.277          2.749          0              0              0
  23  LightSwitch     0.726          1.200          2.75           0              180            0
  24  GarbageCan      2.257          -0.008         2.603          353.970        0              0
  25  Window          0.665          1.356          -1.911         90             0              0
  26  Drawer          2.119          0.576          -0.491         4.458          270            0
  27  Drawer          2.147          0.213          -0.491         4.458          270            0
  28  SideTable       2.226          0.013          -0.492         4.458          270            0
  29  Chair           0.170          0.011          -1.214         0              261.719        0
  30  Blinds          0.695          1.983          -1.867         0              0              0
  31  Drawer          -0.079         0.513          -0.394         0              90             0
  32  Drawer          -0.079         0.226          -0.394         0              90             0
  33  Desk            -0.391         0.001          -0.811         0              90             0
  34  Drawer          -0.079         0.762          -0.394         0              90             0
  35  NorthWall
  36  EastWall
  37  SouthWall
  38  WestWall

Plan:
STEP 1: Turn around and walk to the desk by the bed.  | STEP 2: Pick up the basketball on the floor, between the bed and the desk.  | STEP 3: Turn around and walk to the green dresser against the wall.  | STEP 4: Place the basketball on top of the green dresser.  | END