Task: To view the basketball in the lamp light.

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          -1.0           0              0              0
   1  CellPhone       -0.349         0.378          -0.561         0              0              0              35
   2  Pen             -0.509         0.930          -1.245         0              0              0              36
   3  Pencil          -0.247         0.670          -0.192         0              0              0              37
   4  KeyChain        -0.320         0.925          -0.177         0              0              0              36
   5  KeyChain        -0.320         0.925          -0.604         0              0              0              36
   6  Book            2.170          0.462          -0.777         0              90             0              29
   7  AlarmClock      2.285          0.843          -0.090         0              0              0              31
   8  Pillow          -0.309         0.617          1.263          0              0              0              21
   9  Box             2.15           0.14           0.494          0              12.243         0
  10  Book            -0.320         0.926          -0.391         0              0              0              36
  11  BasketBall      -0.235         0.120          0.166          0              0              0
  12  Pen             -0.297         0.382          -0.469         0              0              0              35
  13  Pillow          -0.025         0.561          2.458          0              0              0              21
  14  Pencil          2.333          0.846          -0.484         0              0              0              31
  15  CellPhone       -0.194         0.669          -0.654         0              0              0              37
  16  KeyChain        2.380          0.843          -0.221         0              0              0              31
  17  CreditCard      -0.349         0.088          -0.101         0              0              0              Floor|+00.00|
  18  AlarmClock      -0.603         0.925          -1.459         0              0              0              36
  19  CD              2.143          0.842          -0.615         0              0              0              29
  20  Laptop          -0.428         0.919          -0.901         0              20.959         0              36
  21  Bed             0.009          -0.004         1.577          0              0              0
  22  DeskLamp        -0.669         0.923          -0.062         0              90             0
  23  Painting        -0.787         1.809          -0.215         90             270            0
  24  Painting        -0.787         1.809          1.023          90             270            0
  25  Mirror          2.118          1.277          2.749          0              0              0
  26  LightSwitch     0.726          1.200          2.75           0              180            0
  27  GarbageCan      2.257          -0.008         2.603          353.970        0              0
  28  Window          0.665          1.356          -1.911         90             0              0
  29  Drawer          2.119          0.576          -0.491         4.458          270            0
  30  Drawer          2.147          0.213          -0.491         4.458          270            0
  31  SideTable       2.226          0.013          -0.492         4.458          270            0
  32  Chair           0.170          0.011          -1.214         0              261.719        0
  33  Blinds          0.695          1.983          -1.867         0              0              0
  34  Drawer          -0.079         0.513          -0.394         0              90             0
  35  Drawer          -0.079         0.226          -0.394         0              90             0
  36  Desk            -0.391         0.001          -0.811         0              90             0
  37  Drawer          -0.079         0.762          -0.394         0              90             0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: Turn to the left and walk to the desk. | STEP 2: Take the basketball on the floor between the desk and the bed.  | STEP 3: Look upward to the desk.  | STEP 4: Turn on the lamp on the right corner of the desk.  | END