Task: take a basketball to the table and turn the lamp on

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          -1.25          0              90             0
   1  Mug             1.152          0.727          1.066          0              270            0              42
   2  CD              1.134          0.077          0.588          0              0              0              32
   3  CellPhone       1.016          0.732          1.727          0              0              0              42
   4  CellPhone       0.829          0.782          0.107          0              0              0              31
   5  Pen             -0.095         0.695          -1.572         0              0              0              44
   6  Pencil          1.060          0.319          1.595          0              0              0              43
   7  CreditCard      -0.180         0.098          -1.593         0              0              0              45
   8  KeyChain        1.173          0.553          1.808          0              0              0              42
   9  Pillow          0.704          0.849          -0.166         0              0              0              31
  10  Pillow          1.080          0.849          -0.714         0              0              0              31
  11  Book            1.205          0.780          -0.166         0              0              0              31
  12  Box             -1.233         0.263          -1.435         0              312.675        0
  13  CellPhone       0.704          0.782          -0.440         0              0              0              31
  14  BaseballBat     -1.717         0.708          -0.677         0              0              12.045
  15  Bowl            1.152          0.729          1.892          0              0              0              42
  16  BasketBall      -1.64          0.127          -1.652         0              0              0
  17  Laptop          1.223          0.721          1.342          0              255.000        0              42
  18  CreditCard      -0.213         0.690          -1.572         0              0              0              44
  19  KeyChain        1.405          1.139          1.089          0              0              0              39
  20  AlarmClock      0.138          0.693          -1.616         0              0              0              44
  21  Pencil          -0.266         0.101          -1.640         0              0              0              45
  22  Pillow          0.872          0.816          -1.513         0              0              0              31
  23  CD              0.021          0.692          -1.705         0              0              0              44
  24  Pen             1.373          1.144          1.246          0              270            0              39
  25  Mug             -0.095         0.691          -1.794         0              0              0              44
  26  Poster          0.978          1.970          -1.868         90             0              0
  27  Mirror          -0.884         1.350          2.086          0              0              0
  28  Poster          1.483          1.978          -1.210         90             270            0
  29  Poster          1.483          1.503          -0.128         90             270            0
  30  Poster          1.483          2.138          -0.128         90             270            0
  31  Bed             0.955          0.002          -0.722         0              0              0
  32  GarbageCan      1.133          0.032          0.581          0              0              0
  33  DeskLamp        -0.396         0.664          -1.666         0              315            0
  34  LightSwitch     0.554          1.154          2.079          0              180            0
  35  Window          -0.174         1.006          -2.009         90             0              0
  36  LaundryHamper   -1.425         0.006          1.676          0              149.999        0
  37  Chair           1.127          -8.434         1.053          0              90             0
  38  Blinds          -0.145         1.679          -1.986         0              0              0
  39  Shelf           1.316          1.174          1.388          0              270            0
  40  Drawer          1.099          0.167          1.724          0              270            0
  41  Drawer          1.099          0.622          1.724          0              270            0
  42  Desk            1.189          0.002          1.384          0              270            0
  43  Drawer          1.099          0.408          1.724          0              270            0
  44  SideTable       -0.103         -0.000         -1.691         0              0              0
  45  Drawer          -0.104         0.157          -1.618         0              0              0
  46  Drawer          -0.104         0.456          -1.618         0              0              0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: turn around and walk towards the wall behind you, turn left and face the basketball in the corner | STEP 2: pick the basketball up that is in the corner | STEP 3: turn around and walk back towards the bed, stop and face the small table to the right | STEP 4: turn on the lamp that is on the table | END