Task: Carry a basketball while turning on a lamp

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           0.900          0.75           0              270            0
   1  Bowl            1.342          1.138          1.246          0              270            0              35
   2  Mug             1.356          0.727          1.396          0              0              0              38
   3  CD              1.016          0.728          1.231          0              0              0              38
   4  KeyChain        1.022          0.076          1.737          0              90             0              36
   5  KeyChain        1.098          0.553          1.950          0              180            0              38
   6  Laptop          1.205          0.776          -1.537         0              0              0              27
   7  Book            1.145          0.721          1.806          0              0              0              37
   8  Box             -1.233         0.263          -1.435         0              312.675        0
   9  CellPhone       1.173          0.319          1.595          0              0              0              39
  10  BaseballBat     -1.717         0.708          -0.677         0              0              12.045
  11  Bowl            1.152          0.729          0.901          0              0              0              38
  12  BasketBall      -1.64          0.127          -1.652         0              0              0
  13  Laptop          0.704          0.776          -0.988         0              0              0              27
  14  CreditCard      1.278          1.138          1.402          0              270            0              35
  15  KeyChain        1.405          1.139          1.558          0              270            0              35
  16  AlarmClock      0.021          0.690          -1.749         0              0              0              40
  17  Pencil          1.356          0.732          1.727          0              0              0              38
  18  Pillow          0.704          0.849          -0.166         0              0              0              27
  19  CD              1.405          1.138          1.402          0              270            0              35
  20  Pen             1.152          0.734          1.231          0              0              0              38
  21  Mug             1.423          0.727          1.727          0              0              0              38
  22  Poster          0.978          1.970          -1.868         90             0              0
  23  Mirror          -0.884         1.350          2.086          0              0              0
  24  Poster          1.483          1.978          -1.210         90             270            0
  25  Poster          1.483          1.503          -0.128         90             270            0
  26  Poster          1.483          2.138          -0.128         90             270            0
  27  Bed             0.955          0.002          -0.722         0              0              0
  28  GarbageCan      1.133          0.032          0.581          0              0              0
  29  DeskLamp        -0.396         0.664          -1.666         0              315            0
  30  LightSwitch     0.554          1.154          2.079          0              180            0
  31  Window          -0.174         1.006          -2.009         90             0              0
  32  LaundryHamper   -1.425         0.006          1.676          0              149.999        0
  33  Chair           1.127          -8.434         1.053          0              90             0
  34  Blinds          -0.145         1.679          -1.986         0              0              0
  35  Shelf           1.316          1.174          1.388          0              270            0
  36  Drawer          1.099          0.167          1.724          0              270            0
  37  Drawer          1.099          0.622          1.724          0              270            0
  38  Desk            1.189          0.002          1.384          0              270            0
  39  Drawer          1.099          0.408          1.724          0              270            0
  40  SideTable       -0.103         -0.000         -1.691         0              0              0
  41  Drawer          -0.104         0.157          -1.618         0              0              0
  42  Drawer          -0.104         0.456          -1.618         0              0              0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Move towards the empty box in the corner of the room | STEP 2: Pick up the basketball next to the box on the floor | STEP 3: Carry the basketball to the lamp sitting on top of the dresser | STEP 4: Turn the lamp on | END