Task: Move a basketball from the floor to a table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.75           0.900          1.5            0              90             0
   1  CD              -0.320         0.924          -0.391         0              0              0              36
   2  CD              -0.320         0.924          -0.177         0              0              0              36
   3  CellPhone       -0.320         0.927          -0.604         0              0              0              36
   4  CellPhone       -0.131         0.926          -0.391         0              0              0              36
   5  CreditCard      2.145          0.094          -0.679         0              0              0              30
   6  CreditCard      -0.603         0.924          -1.459         0              0              0              36
   7  KeyChain        2.238          0.843          -0.090         0              0              0              31
   8  AlarmClock      2.190          0.843          -0.615         0              0              0              31
   9  Box             2.15           0.14           0.494          0              12.243         0
  10  Book            0.494          0.551          1.848          0              0              0              21
  11  BasketBall      -0.235         0.120          0.166          0              0              0
  12  Pen             2.285          0.848          -0.877         0              0              0              31
  13  Pillow          0.172          0.617          1.263          0              0              0              21
  14  Pencil          -0.603         0.928          -1.245         0              0              0              36
  15  CellPhone       -0.509         0.927          -0.604         0              0              0              36
  16  KeyChain        -0.131         0.925          -1.032         0              0              0              36
  17  CreditCard      2.143          0.842          -0.877         0              0              0              31
  18  AlarmClock      -0.414         0.925          -1.245         0              0              0              36
  19  CD              2.225          0.049          2.579          0              0              0              27
  20  Laptop          0.012          0.548          2.433          0              0              0              21
  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: Move towards the wooden dresser on the side closest to the bed | STEP 2: Pick up the basketball on the floor between the bed and the dresser | STEP 3: Carry the basketball to the green side table | STEP 4: Place the basketball on top of the green table between the red item and the keys | END