Task: Put the basketball on 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           0.0            0.900          0.5            0              180            0
   1  CD              2.256          0.777          -1.684         0              0              0              33
   2  CD              0.052          0.120          -1.676         0              180            0              26
   3  Pen             0.221          0.652          -1.585         0              0              0              27
   4  Pencil          0.152          0.650          -1.744         0              0              0              27
   5  Laptop          -0.642         0.505          -1.115         0              0              0              18
   6  Book            -0.308         0.507          -0.143         0              0              0              18
   7  Pencil          2.450          1.142          -1.614         0              0              0              36
   8  BasketBall      1.144          0.120          -1.656         0              23.931         0              Floor|-00.24|
   9  Laptop          -0.475         0.505          -1.602         0              0              0              18
  10  Pen             2.061          1.144          -1.614         0              0              0              36
  11  KeyChain        0.253          0.120          -1.676         0              180            0              26
  12  CreditCard      0.289          0.647          -1.823         0              0              0              27
  13  CellPhone       2.158          1.139          -1.684         0              0              0              36
  14  CD              2.633          0.049          1.248          0              0              0              20
  15  AlarmClock      1.659          0.778          -1.754         0              0              0              32
  16  Pillow          -1.154         0.54           -1.607         0              13.257         0              18
  17  Chair           2.161          0.008          -1.129         0              256.825        0
  18  Bed             -0.809         0.010          -0.891         0              180            0
  19  DeskLamp        0.047          0.668          -1.761         0              0              0
  20  GarbageCan      2.657          -0.021         1.275          0              0              0
  21  Mirror          2.821          1.764          -0.068         0              90             0
  22  Window          -1.677         1.402          0.365          90             270            0
  23  LightSwitch     -0.606         1.253          1.435          0              180            0
  24  Shelf           2.025          1.440          -1.730         0              0              0
  25  Drawer          0.187          0.455          -1.577         0              0              0
  26  Drawer          0.187          0.163          -1.577         0              0              0
  27  SideTable       0.186          -0.001         -1.643         0              0              0
  28  Dumbbell        1.576          0.083          -1.563         0              0              0
  29  Desk            2.017          0.000          -1.578         0              0              0
  30  GarbageBag      0.806          0.318          1.143          270            186.178        83.264
  31  Shelf           1.570          0.415          -1.563         0              0              0
  32  Shelf           1.612          0.945          -1.744         0              0              0
  33  Shelf           2.265          0.941          -1.722         0              0              0
  34  Shelf           1.572          0.630          -1.563         0              0              0
  35  Shelf           1.569          0.172          -1.563         0              0              0
  36  Shelf           2.267          1.248          -1.722         0              0              0
  37  Shelf           1.614          1.252          -1.745         0              0              0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: Move to the right of the computer desk. | STEP 2: Pick up the basketball on the floor.  | STEP 3: Bring the basketball to the desk.  | STEP 4: Put the basketball on the desk.  | END