Task: Turning on a lamp while holding a basketball

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.901          -0.75          0              0              0
   1  CD              1.498          0.711          0.602          0              270            0              44
   2  CD              -1.814         1.071          1.067          0              270            0              40
   3  Pen             -1.683         0.681          1.349          0              0              0              41
   4  Pen             -1.881         0.681          1.493          0              0              0              41
   5  Pencil          1.687          0.053          1.642          0              270            0              28
   6  Pencil          -1.815         0.676          1.636          0              0              0              41
   7  KeyChain        -1.840         0.287          1.715          0              270            0              39
   8  Book            -0.823         0.540          -0.408         0              0              0              25
   9  Book            1.498          0.711          0.796          0              270            0              44
  10  AlarmClock      0.789          0.684          -1.789         0              0              0              33
  11  Book            -1.301         0.540          -0.690         0              0              0              25
  12  AlarmClock      1.498          0.711          0.409          0              270            0              44
  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             -1.840         0.071          1.515          0              270            0              38
  17  Pencil          -1.881         0.678          1.349          0              0              0              41
  18  KeyChain        -1.875         1.071          1.492          0              270            0              40
  19  CreditCard      1.228          0.711          0.602          0              270            0              44
  20  Laptop          1.318          0.709          -0.171         0              270            0              44
  21  CellPhone       1.589          0.712          0.215          0              270            0              44
  22  Pillow          -1.757         0.569          -0.768         0              285.000        0              25
  23  CD              1.679          0.711          -0.171         0              270            0              44
  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 and stop at the white table | STEP 2: Grab the basketball that is at the bottom of the table | STEP 3: Turn left and head to the desk | STEP 4: Turn on the lamp that is on the top of the desk | END