Task: Place a basketball on the desk.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          0.5            0              180            0
   1  CD              2.256          0.777          -1.684         0              0              0              33
   2  CD              0.052          0.120          -1.676         0              180            0              26
   3  Pen             0.221          0.652          -1.585         0              0              0              27
   4  Pencil          0.152          0.650          -1.744         0              0              0              27
   5  Laptop          -0.642         0.505          -1.115         0              0              0              18
   6  Book            -0.308         0.507          -0.143         0              0              0              18
   7  Pencil          2.450          1.142          -1.614         0              0              0              36
   8  BasketBall      1.144          0.120          -1.656         0              23.931         0              Floor|-00.24|
   9  Laptop          -0.475         0.505          -1.602         0              0              0              18
  10  Pen             2.061          1.144          -1.614         0              0              0              36
  11  KeyChain        0.253          0.120          -1.676         0              180            0              26
  12  CreditCard      0.289          0.647          -1.823         0              0              0              27
  13  CellPhone       2.158          1.139          -1.684         0              0              0              36
  14  CD              2.633          0.049          1.248          0              0              0              20
  15  AlarmClock      1.659          0.778          -1.754         0              0              0              32
  16  Pillow          -1.154         0.54           -1.607         0              13.257         0              18
  17  Chair           2.161          0.008          -1.129         0              256.825        0
  18  Bed             -0.809         0.010          -0.891         0              180            0
  19  DeskLamp        0.047          0.668          -1.761         0              0              0
  20  GarbageCan      2.657          -0.021         1.275          0              0              0
  21  Mirror          2.821          1.764          -0.068         0              90             0
  22  Window          -1.677         1.402          0.365          90             270            0
  23  LightSwitch     -0.606         1.253          1.435          0              180            0
  24  Shelf           2.025          1.440          -1.730         0              0              0
  25  Drawer          0.187          0.455          -1.577         0              0              0
  26  Drawer          0.187          0.163          -1.577         0              0              0
  27  SideTable       0.186          -0.001         -1.643         0              0              0
  28  Dumbbell        1.576          0.083          -1.563         0              0              0
  29  Desk            2.017          0.000          -1.578         0              0              0
  30  GarbageBag      0.806          0.318          1.143          270            186.178        83.264
  31  Shelf           1.570          0.415          -1.563         0              0              0
  32  Shelf           1.612          0.945          -1.744         0              0              0
  33  Shelf           2.265          0.941          -1.722         0              0              0
  34  Shelf           1.572          0.630          -1.563         0              0              0
  35  Shelf           1.569          0.172          -1.563         0              0              0
  36  Shelf           2.267          1.248          -1.722         0              0              0
  37  Shelf           1.614          1.252          -1.745         0              0              0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: Turn left and move toward the gray trash bin the corner and then turn right and move to the basketball on the floor next to the desk and then turn left. | STEP 2: Pick up the basketball that is on top of the wire on the floor. | STEP 3: Move towards the desk with the black chair. | STEP 4: Place the basketball on the right corner of the desk facing the bed. | END