Task: grab the basketball on the floor, turn on the 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          0.5            0              90             0
   1  CD              -0.349         0.088          -0.653         0              0              0              40
   2  CD              2.253          0.048          2.606          0              0              0              32
   3  CellPhone       2.333          0.844          -0.090         0              0              0              36
   4  CellPhone       -0.698         0.926          -0.391         0              0              0              41
   5  Pen             2.285          0.848          -0.615         0              0              0              36
   6  Pencil          2.238          0.846          -0.877         0              0              0              36
   7  CreditCard      -0.142         0.668          -0.376         0              0              0              42
   8  CreditCard      -0.698         0.925          -0.604         0              0              0              41
   9  KeyChain        -0.414         0.925          -0.604         0              0              0              41
  10  Book            -0.297         0.377          -0.469         0              0              0              39
  11  Book            2.170          0.095          -0.777         0              90             0              35
  12  AlarmClock      -0.603         0.925          -1.459         0              0              0              41
  13  Pillow          -0.309         0.617          0.971          0              0              0              26
  14  Box             2.15           0.14           0.494          0              12.243         0
  15  Book            2.190          0.844          -0.484         0              0              0              36
  16  BasketBall      -0.235         0.120          0.166          0              0              0
  17  Pen             -0.320         0.930          -1.245         0              0              0              41
  18  Pillow          -0.025         0.561          2.458          0              0              0              26
  19  Pencil          2.285          0.846          -0.352         0              0              0              36
  20  CellPhone       -0.225         0.927          -1.459         0              0              0              41
  21  KeyChain        -0.509         0.925          -0.604         0              0              0              41
  22  CreditCard      2.333          0.842          -0.746         0              0              0              36
  23  AlarmClock      -0.509         0.925          -1.245         0              0              0              41
  24  CD              -0.402         0.376          -0.101         0              0              0              40
  25  Laptop          -0.428         0.919          -0.901         0              20.959         0              41
  26  Bed             0.009          -0.004         1.577          0              0              0
  27  DeskLamp        -0.669         0.923          -0.062         0              90             0
  28  Painting        -0.787         1.809          -0.215         90             270            0
  29  Painting        -0.787         1.809          1.023          90             270            0
  30  Mirror          2.118          1.277          2.749          0              0              0
  31  LightSwitch     0.726          1.200          2.75           0              180            0
  32  GarbageCan      2.257          -0.008         2.603          353.970        0              0
  33  Window          0.665          1.356          -1.911         90             0              0
  34  Drawer          2.119          0.576          -0.491         4.458          270            0
  35  Drawer          2.147          0.213          -0.491         4.458          270            0
  36  SideTable       2.226          0.013          -0.492         4.458          270            0
  37  Chair           0.170          0.011          -1.214         0              261.719        0
  38  Blinds          0.695          1.983          -1.867         0              0              0
  39  Drawer          -0.079         0.513          -0.394         0              90             0
  40  Drawer          -0.079         0.226          -0.394         0              90             0
  41  Desk            -0.391         0.001          -0.811         0              90             0
  42  Drawer          -0.079         0.762          -0.394         0              90             0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: turn around to the night stand | STEP 2: grab the basketball on the floor | STEP 3: turn up to the top of the night stand  | STEP 4: turn on the lamp on the night stand | END