Task: Turn on a lamp while holding a basketball

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.900          1.25           0              180            0
   1  CD              -2.240         0.039          2.682          0              180            0              48
   2  CellPhone       1.409          0.784          1.655          0              0              0              24
   3  CreditCard      -0.511         0.364          -1.013         0              0              0              32
   4  KeyChain        -2.151         1.349          0.366          0              180            0              35
   5  Book            0.598          0.783          2.234          0              0              0              24
   6  Pillow          1.409          0.918          1.655          0              0              0              24
   7  Laptop          1.409          0.781          1.076          0              0              0              24
   8  AlarmClock      -1.233         1.724          0.489          0              0              0              37
   9  AlarmClock      -0.735         0.858          -0.663         0              0              0              33
  10  Book            1.815          0.783          1.366          0              0              0              24
  11  AlarmClock      -0.514         0.851          -0.619         0              56.206         0              33
  12  BasketBall      1.976          0.120          0.211          0              331.076        0
  13  Pen             -0.549         0.089          -0.852         0              0              0              32
  14  Laptop          -1.783         0.871          0.732          0              0              0              43
  15  BaseballBat     1.953          0.659          -1.81          346.388        0              0
  16  Bowl            -0.827         0.850          -1.641         0              0              0              33
  17  Pillow          1.003          0.918          1.366          0              0              0              24
  18  KeyChain        -2.083         0.039          2.682          0              180            0              48
  19  CreditCard      -1.918         0.878          0.498          0              0              0              36
  20  CellPhone       -2.292         0.040          2.522          0              180            0              48
  21  CD              -0.511         0.083          -0.692         0              0              0              32
  22  Pencil          -0.473         0.368          -0.692         0              0              0              34
  23  Mug             -1.406         0.871          0.684          0              156.757        0              43
  24  Bed             1.227          -0.002         1.664          0              0              0
  25  LightSwitch     2.151          1.233          -0.518         0              270            0
  26  GarbageCan      -0.747         0.014          -0.327         0              0              0
  27  Mirror          -1.358         1.427          2.855          0              0              0
  28  DeskLamp        -2.296         0.858          0.750          0              0              0
  29  Window          -0.421         1.534          -1.947         90             0              0
  30  Window          0.579          1.534          -1.947         90             0              0
  31  Drawer          -0.491         0.739          -0.855         0              90             0
  32  Drawer          -0.491         0.204          -0.855         0              90             0
  33  Desk            -0.639         0.009          -1.187         0              90             0
  34  Drawer          -0.491         0.487          -0.855         0              90             0
  35  Shelf           -1.965         1.514          0.416          0              0              0
  36  Shelf           -1.965         1.092          0.416          0              0              0
  37  Shelf           -1.312         1.888          0.416          0              0              0
  38  Shelf           -1.965         1.888          0.416          0              0              0
  39  Shelf           -1.312         1.092          0.416          0              0              0
  40  Shelf           -1.312         1.514          0.416          0              0              0
  41  Blinds          0.601          2.161          -1.916         0              0              0
  42  Blinds          -0.402         2.161          -1.916         0              0              0
  43  Desk            -1.726         0.001          0.575          0              0              0
  44  Drawer          -2.058         0.733          0.734          0              0              0
  45  Drawer          -2.058         0.482          0.734          0              0              0
  46  Drawer          -2.058         0.198          0.735          0              0              0
  47  Chair           -0.137         0.000          -1.587         0              315            0
  48  Safe            -2.183         -7.748         2.576          0              180            0
  49  Chair           -1.433         0.009          0.780          357.672        206.726        0
  50  LaundryHamper   0.163          0.003          2.635          0              86.390         0
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: Move to the foot of the bed closest to the wall | STEP 2: Pick up the basketball sitting on the floor next to the foot of the bed | STEP 3: Carry the basketball to the left side of the wooden desk top | STEP 4: Turn on the lamp that is on top of the desk | END