Task: Turn on the lamp with a basketball in hand.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.900          1.25           0              90             0
   1  CellPhone       -0.414         0.926          -0.177         0              0              0              33
   2  CreditCard      -0.131         0.925          -0.818         0              0              0              33
   3  CreditCard      -0.603         0.924          -1.245         0              0              0              33
   4  Laptop          0.333          0.548          2.433          0              0              0              18
   5  Pillow          -0.148         0.617          1.555          0              0              0              18
   6  Box             2.15           0.14           0.494          0              12.243         0
   7  Book            0.333          0.551          0.678          0              0              0              18
   8  BasketBall      -0.235         0.120          0.166          0              0              0
   9  Pen             -0.245         0.382          -0.469         0              0              0              32
  10  Pillow          0.333          0.617          1.555          0              0              0              18
  11  Pencil          2.253          0.053          2.634          0              0              0              24
  12  CellPhone       0.494          0.552          1.263          0              0              0              18
  13  KeyChain        2.170          0.097          -0.288         0              0              0              27
  14  CreditCard      2.380          0.842          -0.877         0              0              0              28
  15  AlarmClock      -0.414         0.925          -0.604         0              0              0              33
  16  CD              -0.509         0.924          -1.032         0              0              0              33
  17  Laptop          -0.148         0.548          0.971          0              0              0              18
  18  Bed             0.009          -0.004         1.577          0              0              0
  19  DeskLamp        -0.669         0.923          -0.062         0              90             0
  20  Painting        -0.787         1.809          -0.215         90             270            0
  21  Painting        -0.787         1.809          1.023          90             270            0
  22  Mirror          2.118          1.277          2.749          0              0              0
  23  LightSwitch     0.726          1.200          2.75           0              180            0
  24  GarbageCan      2.257          -0.008         2.603          353.970        0              0
  25  Window          0.665          1.356          -1.911         90             0              0
  26  Drawer          2.119          0.576          -0.491         4.458          270            0
  27  Drawer          2.147          0.213          -0.491         4.458          270            0
  28  SideTable       2.226          0.013          -0.492         4.458          270            0
  29  Chair           0.170          0.011          -1.214         0              261.719        0
  30  Blinds          0.695          1.983          -1.867         0              0              0
  31  Drawer          -0.079         0.513          -0.394         0              90             0
  32  Drawer          -0.079         0.226          -0.394         0              90             0
  33  Desk            -0.391         0.001          -0.811         0              90             0
  34  Drawer          -0.079         0.762          -0.394         0              90             0
  35  NorthWall
  36  EastWall
  37  SouthWall
  38  WestWall

Plan:
STEP 1: Turn right, walk straight, turn right to face the desk., walk straight to the desk. | STEP 2: Pick up the basketball from the floor. | STEP 3: Look up to the lamp. | STEP 4: Turn on the lamp. | END