Task: Put the basketball on the bed

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          0.906          -0.5           0              180            0
   1  Mug             -1.400         0.980          -1.687         0              90             0              37
   2  Mug             -1.001         1.534          -1.514         0              0              0              39
   3  CellPhone       -1.500         0.099          -1.345         0              0              0              35
   4  CellPhone       -0.995         0.982          -1.362         0              0              0              37
   5  Pencil          -0.430         1.539          -1.671         0              0              0              39
   6  Pencil          -1.382         1.539          -1.671         0              0              0              39
   7  CreditCard      -1.500         0.421          -1.210         0              0              0              38
   8  CreditCard      -0.995         0.982          -1.687         0              0              0              37
   9  AlarmClock      -1.001         1.537          -1.632         0              0              0              39
  10  Book            -0.590         0.982          -1.281         0              0              0              37
  11  Box             1.563          0.286          -1.069         0              347.500        0
  12  BasketBall      -1.657         0.126          -0.090         0              0              0
  13  Pen             -0.387         0.988          -1.200         0              0              0              37
  14  Pencil          -1.400         0.984          -1.281         0              0              0              37
  15  Laptop          -1.435         0.894          2.039          0              0              0              31
  16  Pillow          -1.435         0.952          1.453          0              0              0              31
  17  KeyChain        -0.811         1.536          -1.475         0              180            0              39
  18  Bowl            -1.183         1.528          -1.590         0              0              0              39
  19  CreditCard      -1.413         0.098          -1.255         0              0              0              35
  20  CellPhone       -1.603         0.982          -1.606         0              0              0              37
  21  CD              -0.013         0.089          -1.492         0              270            0              28
  22  AlarmClock      -1.400         0.982          -1.443         0              0              0              37
  23  Mug             -0.792         0.980          -1.200         0              0              0              37
  24  Statue          -1.503         1.528          -1.590         0              0              0              39
  25  Mirror          1.907          1.387          0.973          0              90             0
  26  LaundryHamper   -0.351         0.007          2.368          0              164.999        0
  27  DeskLamp        -0.343         1.545          -1.564         0              0              0
  28  GarbageCan      -0.035         0.007          -1.530         0              270            0
  29  Window          1.009          1.514          -2.089         90             0              0
  30  LightSwitch     0.397          1.197          2.729          0              180            0
  31  Bed             -1.299         1.937          1.441          0              0              0
  32  Blinds          1.064          2.382          -2.094         0              0              0
  33  Chair           0.884          0.012          -1.433         0              29.871         0
  34  Chair           -0.646         0.007          -1.206         0              195.000        0
  35  Drawer          -1.409         0.233          -1.303         0              0              0
  36  Drawer          -1.407         0.847          -1.302         0              0              0
  37  Desk            -0.993         0.006          -1.410         0              0              0
  38  Drawer          -1.408         0.558          -1.302         0              0              0
  39  Shelf           0.003          0.013          0.035          0              0              0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Turn around and face the end of the bed behind you | STEP 2: Look down and pick up the basketball from the floor | STEP 3: Walk around the side of the bed and turn left to face it | STEP 4: Put the basketball down on the bed in front of the red pillow | END