Task: pick up the basketball and turn on the desk lamp in the bedroom

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          -0.75          0              0              0
   1  Mug             -1.744         0.876          0.749          0              0              0              43
   2  CellPhone       0.800          0.784          0.787          0              0              0              24
   3  CellPhone       1.815          0.784          2.234          0              0              0              24
   4  Pen             -1.918         0.884          0.832          0              0              0              43
   5  Pencil          -2.151         1.353          0.448          0              0              0              35
   6  Pencil          -1.914         0.390          0.683          0              0              0              45
   7  Book            -0.511         0.083          -0.692         0              0              0              32
   8  Laptop          1.206          0.781          1.366          0              0              0              24
   9  AlarmClock      -1.224         0.879          0.832          0              0              0              43
  10  Book            1.206          0.783          1.655          0              0              0              24
  11  AlarmClock      -1.834         1.724          0.366          0              0              0              37
  12  BasketBall      1.976          0.120          0.211          0              331.076        0
  13  Pen             -1.744         0.884          0.665          0              0              0              43
  14  Laptop          -0.651         0.855          -0.663         0              0              0              33
  15  BaseballBat     1.953          0.659          -1.81          346.388        0              0
  16  Bowl            -0.483         0.861          -1.183         0              0              0              33
  17  Pillow          1.118          0.867          2.464          0              0              0              24
  18  KeyChain        -1.994         0.104          0.759          0              0              0              51
  19  CreditCard      -0.511         0.083          -1.013         0              0              0              32
  20  CellPhone       -0.819         0.858          -1.356         0              0              0              33
  21  CD              -0.735         0.857          -1.529         0              0              0              33
  22  Pencil          -1.728         1.727          0.530          0              0              0              38
  23  Mug             -0.567         0.855          -1.529         0              0              0              33
  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
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: turn right and walk to face the basketball underneath the foot of the bed | STEP 2: pick up the basketball from under the bed | STEP 3: turn left, walk through the room until the desk, turn left at the desk and face it | STEP 4: turn on the lamp on the desk | END