Task: move basketball from under the table to on the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.901          0.75           0              0              0
   1  CD              -1.617         0.675          1.636          0              0              0              41
   2  CD              -1.734         0.065          1.315          0              270            0              38
   3  CellPhone       -0.823         0.541          -0.690         0              0              0              25
   4  CellPhone       0.789          0.685          -1.747         0              0              0              33
   5  Pen             -1.683         0.681          1.493          0              0              0              41
   6  Pencil          -1.787         0.290          1.515          0              270            0              39
   7  Book            -1.894         0.640          0.213          0              180            0              41
   8  Pillow          -0.344         0.618          -0.971         0              0              0              25
   9  Laptop          -0.823         0.538          -0.408         0              0              0              25
  10  AlarmClock      1.318          0.711          0.602          0              270            0              44
  11  Book            -1.787         0.065          1.581          0              270            0              38
  12  AlarmClock      -1.875         1.071          1.067          0              270            0              40
  13  BasketBall      1.510          0.120          -0.105         0              0              0
  14  TeddyBear       -1.7           0.475          -0.331         0              225            0              25
  15  TennisRacket    1.551          0.000          0.654          270            336.082        0
  16  Pen             1.318          0.717          0.796          0              270            0              44
  17  Pencil          -1.681         0.069          1.448          0              0              0              38
  18  KeyChain        1.679          0.711          0.409          0              270            0              44
  19  CreditCard      1.498          0.711          0.990          0              270            0              44
  20  Laptop          -1.301         0.538          -0.830         0              0              0              25
  21  CellPhone       -0.823         0.541          -0.830         0              0              0              25
  22  Pillow          -1.757         0.569          -0.768         0              285.000        0              25
  23  CD              -1.695         0.640          0.448          0              180            0              41
  24  Curtains        1.865          2.039          -0.495         0              0              0
  25  Bed             -1.037         0.009          -0.690         0              270            0
  26  Mirror          0.549          1.494          1.880          0              0              0
  27  Curtains        0.486          2.035          -1.853         0              90             0
  28  GarbageCan      1.683          -0.018         1.670          0              270            0
  29  LightSwitch     -0.119         1.317          1.853          0              180            0
  30  DeskLamp        -1.845         1.057          0.756          0              0              0
  31  Window          1.932          1.409          -0.507         90             270            0
  32  Window          0.481          1.411          -1.932         90             0              0
  33  SideTable       0.626          0.0            -1.705         0              0              0
  34  Footstool       0.176          0.006          -0.358         0              0              0
  35  Dumbbell        1.596          0.715          0.772          0              0              0
  36  Dumbbell        1.776          0.717          0.772          0              0              0
  37  Shelf           -1.700         0.573          1.540          0              90             0
  38  Shelf           -1.700         0.156          1.540          0              90             0
  39  Shelf           -1.700         0.377          1.540          0              90             0
  40  Shelf           -1.839         1.084          1.235          0              90             0
  41  Desk            -1.722         0.003          0.920          0              90             0
  42  Footstool       0.175          0.004          -0.652         0              0              0
  43  GarbageBag      1.624          0.319          -1.609         270            90             83.418
  44  Desk            1.519          1.823          0.385          0              270            0
  45  Chair           -1.459         0.003          0.929          0              292.527        0
  46  NorthWall
  47  EastWall
  48  WestWall

Plan:
STEP 1: turn right, walk across room to the table, turn right, walk towards dresser, turn left, walk to window, turn left to face table | STEP 2: pick up the basketball that is under the table | STEP 3: turn left, walk towards bed, turn right, walk forward, turn right to face table | STEP 4: put the basketball on the table | END