Task: turn on the lamp while holding a basketball

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          -0.75          0              270            0
   1  TissueBox       1.594          0.570          -1.218         0              0              0              57
   2  TissueBox       -1.294         0.677          -0.543         0              0              0              47
   3  Watch           1.859          0.803          -1.385         0              0              0              53
   4  Pen             2.215          0.801          -1.121         0              0              0              53
   5  Pen             1.839          0.801          -1.121         0              0              0              53
   6  Pencil          -1.318         1.236          -0.458         0              0              0              48
   7  Pencil          2.691          1.048          -1.383         0              0              0              37
   8  AlarmClock      1.651          0.795          -1.153         0              0              0              53
   9  Laptop          -0.462         0.561          1.091          0              0              0              29
  10  Book            -0.902         0.574          1.179          0              332.922        0              29
  11  Box             2.734          0.195          0.89           0              0              0
  12  Laptop          -0.5           0.56           0.286          0              63.464         0              29
  13  CellPhone       -1.266         0.971          -0.544         0              0              0              49
  14  BaseballBat     2.847          0.643          1.838          0              0              335.111
  15  BasketBall      1.019          0.330          -0.977         346.775        295.617        1.021
  16  TissueBox       2.027          0.796          -1.185         0              0              0              53
  17  CreditCard      2.756          1.278          -1.431         0              0              0              39
  18  AlarmClock      -1.352         1.235          -0.649         0              90             0              48
  19  Pencil          2.604          1.281          -1.387         0              0              0              39
  20  Boots           -1.279         0.000          -1.343         0              27.143         0
  21  Pillow          -0.634         0.63           1.611          0              0              0              29
  22  KeyChain        1.911          1.047          -1.403         0              180            0              41
  23  Bowl            2.451          0.788          -1.207         0              0              0              53
  24  Watch           2.215          0.795          -1.249         0              0              0              53
  25  CD              2.839          0.039          0.288          0              270            0              31
  26  Pen             -1.387         1.239          -0.745         0              90             0              48
  27  Mug             -1.283         1.232          -0.840         0              90             0              48
  28  Statue          1.823          1.036          -1.419         0              0              0              53
  29  Bed             -0.640         0.008          0.871          0              0              0
  30  DeskLamp        -1.319         1.238          -0.994         0              90             0
  31  GarbageCan      2.838          0.007          0.215          0              270            0
  32  Blinds          0.111          2.337          -1.436         0              0              0
  33  Mirror          1.985          1.381          1.875          0              0              0
  34  Window          0.118          1.496          -1.588         90             180            0
  35  LightSwitch     2.654          1.276          1.899          0              180            0
  36  Chair           2.457          0.011          -0.997         0              189.124        0
  37  Shelf           2.476          0.919          -1.384         0              0              0
  38  Shelf           2.251          1.503          -1.383         0              0              0
  39  Shelf           2.700          1.510          -1.380         0              0              0
  40  Shelf           2.476          1.153          -1.384         0              0              0
  41  Shelf           1.803          1.386          -1.384         0              0              0
  42  Shelf           1.803          0.919          -1.381         0              0              0
  43  DogBed          0.920          0.013          -1.044         0              0              0
  44  Drawer          -1.305         0.454          -0.918         0              90             0
  45  Drawer          -1.305         0.752          -0.919         0              90             0
  46  Drawer          -1.305         0.178          -0.918         0              90             0
  47  Drawer          -1.305         0.752          -0.579         0              90             0
  48  Dresser         -1.328         0.011          -0.744         0              90             0
  49  Drawer          -1.306         1.031          -0.579         0              90             0
  50  Drawer          -1.305         0.454          -0.578         0              90             0
  51  Drawer          -1.305         0.178          -0.578         0              90             0
  52  Drawer          -1.305         1.031          -0.919         0              90             0
  53  Desk            2.211          0.009          -1.259         0              0              0
  54  Drawer          2.817          0.189          -1.176         0              0              0
  55  Drawer          1.940          0.632          -1.176         0              0              0
  56  Drawer          1.940          0.189          -1.176         0              0              0
  57  Drawer          1.623          0.632          -1.176         0              0              0
  58  Drawer          2.817          0.632          -1.176         0              0              0
  59  Drawer          2.817          0.411          -1.176         0              0              0
  60  Drawer          1.623          0.189          -1.176         0              0              0
  61  Drawer          1.623          0.410          -1.176         0              0              0
  62  Drawer          1.940          0.410          -1.176         0              0              0
  63  NorthWall
  64  EastWall
  65  SouthWall
  66  WestWall

Plan:
STEP 1: walk straight forward and face the basketball on your left | STEP 2: pick up the basketball off of the beanbag chair | STEP 3: turn right and walk to the white dresser at the end of the room | STEP 4: turn on the light on top of the dresser | END