Task: Put the basketball on the edge of the desk

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          -1.0           0              0              0
   1  CD              1.546          0.777          -1.684         0              0              0              35
   2  CD              1.964          0.777          -1.754         0              0              0              36
   3  CellPhone       -0.975         0.508          -1.115         0              0              0              21
   4  CellPhone       0.289          0.647          -1.664         0              0              0              30
   5  Pen             0.289          0.652          -1.744         0              0              0              30
   6  CreditCard      1.653          0.307          -1.324         0              0              0              34
   7  CreditCard      1.698          0.551          -1.338         0              0              0              37
   8  AlarmClock      1.964          0.778          -1.614         0              0              0              36
   9  Book            2.058          0.740          -1.386         0              270            0              32
  10  Pencil          2.256          1.142          -1.614         0              0              0              39
  11  BasketBall      1.144          0.120          -1.656         0              23.931         0              Floor|-00.24|
  12  Laptop          -0.794         0.495          -0.303         0              61.899         0              21
  13  Pen             2.256          0.783          -1.614         0              0              0              32
  14  KeyChain        2.170          1.392          -1.661         0              90             0              39
  15  CreditCard      0.152          0.647          -1.823         0              0              0              30
  16  CellPhone       1.659          1.139          -1.684         0              0              0              40
  17  CD              2.661          0.049          1.276          0              0              0              23
  18  AlarmClock      2.353          0.778          -1.649         0              0              0              36
  19  Pillow          -0.642         0.588          -1.115         0              0              0              21
  20  Chair           2.161          0.008          -1.129         0              256.825        0
  21  Bed             -0.809         0.010          -0.891         0              180            0
  22  DeskLamp        0.047          0.668          -1.761         0              0              0
  23  GarbageCan      2.657          -0.021         1.275          0              0              0
  24  Mirror          2.821          1.764          -0.068         0              90             0
  25  Window          -1.677         1.402          0.365          90             270            0
  26  LightSwitch     -0.606         1.253          1.435          0              180            0
  27  Shelf           2.025          1.440          -1.730         0              0              0
  28  Drawer          0.187          0.455          -1.577         0              0              0
  29  Drawer          0.187          0.163          -1.577         0              0              0
  30  SideTable       0.186          -0.001         -1.643         0              0              0
  31  Dumbbell        1.576          0.083          -1.563         0              0              0
  32  Desk            2.017          0.000          -1.578         0              0              0
  33  GarbageBag      0.806          0.318          1.143          270            186.178        83.264
  34  Shelf           1.570          0.415          -1.563         0              0              0
  35  Shelf           1.612          0.945          -1.744         0              0              0
  36  Shelf           2.265          0.941          -1.722         0              0              0
  37  Shelf           1.572          0.630          -1.563         0              0              0
  38  Shelf           1.569          0.172          -1.563         0              0              0
  39  Shelf           2.267          1.248          -1.722         0              0              0
  40  Shelf           1.614          1.252          -1.745         0              0              0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Turn around and approach the end of the tall desk | STEP 2: Pick up the basketball on the ground near the end of the desk | STEP 3: Look forward towards the desk | STEP 4: Put the basketball on the edge of the desk | END