Task: Place the basketball on the bed.

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          0.906          -0.25          0              90             0
   1  Bowl            -1.603         0.982          -1.524         0              0              0              36
   2  Mug             -0.811         1.534          -1.593         0              0              0              38
   3  KeyChain        -1.400         0.981          -1.362         0              0              0              36
   4  KeyChain        -1.587         0.098          -1.390         0              0              0              34
   5  CellPhone       -0.875         2.053          0.868          0              0              0              30
   6  CreditCard      -1.198         0.982          -1.687         0              0              0              36
   7  Book            -1.708         0.897          1.453          0              0              0              30
   8  Pillow          -1.026         0.952          1.160          0              0              0              30
   9  Book            -1.163         0.897          1.746          0              0              0              30
  10  Box             1.563          0.286          -1.069         0              347.500        0
  11  BasketBall      -1.657         0.126          -0.090         0              0              0
  12  Pen             -0.387         0.987          -1.200         0              0              0              36
  13  Pencil          -0.058         0.093          -1.531         0              270            0              27
  14  Laptop          -1.435         0.894          0.868          0              0              0              30
  15  Pillow          -1.299         0.952          2.039          0              0              0              30
  16  KeyChain        -0.995         0.982          -1.281         0              0              0              36
  17  Bowl            -1.400         0.982          -1.524         0              0              0              36
  18  CreditCard      -1.198         0.982          -1.362         0              0              0              36
  19  CellPhone       -1.299         0.896          1.160          0              0              0              30
  20  CD              -1.191         1.536          -1.593         0              0              0              38
  21  AlarmClock      -1.001         1.537          -1.593         0              0              0              38
  22  Mug             -0.792         0.980          -1.200         0              0              0              36
  23  Statue          -0.995         0.989          -1.524         0              0              0              36
  24  Mirror          1.907          1.387          0.973          0              90             0
  25  LaundryHamper   -0.351         0.007          2.368          0              164.999        0
  26  DeskLamp        -0.343         1.545          -1.564         0              0              0
  27  GarbageCan      -0.035         0.007          -1.530         0              270            0
  28  Window          1.009          1.514          -2.089         90             0              0
  29  LightSwitch     0.397          1.197          2.729          0              180            0
  30  Bed             -1.299         1.937          1.441          0              0              0
  31  Blinds          1.064          2.382          -2.094         0              0              0
  32  Chair           0.884          0.012          -1.433         0              29.871         0
  33  Chair           -0.646         0.007          -1.206         0              195.000        0
  34  Drawer          -1.409         0.233          -1.303         0              0              0
  35  Drawer          -1.407         0.847          -1.302         0              0              0
  36  Desk            -0.993         0.006          -1.410         0              0              0
  37  Drawer          -1.408         0.558          -1.302         0              0              0
  38  Shelf           0.003          0.013          0.035          0              0              0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Turn around head towards the basketball on the floor. | STEP 2: Pick up the basketball from the floor. | STEP 3: Turn right and head towards the middle of the bed, turn left to face the bed. | STEP 4: Place the basketball next to the book on the bed. | END