Task: Pick up the key-chain from the bigger sofa and put it on the smaller sofa

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.0           0.920          5.75           0              0              0
   1  Newspaper       -2.402         0.453          4.279          0              0              0              40
   2  CreditCard      -4.279         0.536          3.836          0              90             0              38
   3  RemoteControl   -3.015         0.450          3.614          0              0              0              40
   4  Box             -4.508         0.661          2.929          0              180            0              38
   5  Box             -2.525         0.573          4.501          0              180            0              40
   6  Plate           -0.319         0.285          6.492          0              270            0              24
   7  Vase            -2.280         0.447          3.836          0              0              0              40
   8  WateringCan     -0.672         0.617          0.919          0              0              0              37
   9  Newspaper       -0.600         1.467          5.989          0              270            0              23
  10  Vase            -2.893         0.452          3.836          0              0              0              40
  11  KeyChain        -2.191         0.539          0.793          0              180            0              39
  12  Pillow          -1.578         0.608          0.667          0              0              0              39
  13  Statue          -2.525         0.452          3.836          0              0              0              40
  14  RemoteControl   -2.770         0.448          4.501          0              0              0              40
  15  CreditCard      -4.164         0.536          3.232          0              90             0              38
  16  Statue          -0.600         1.471          5.495          0              270            0              23
  17  Laptop          -4.342         0.523          2.224          0              32.685         0              38
  18  Statue          -0.240         0.287          6.739          0              270            0              24
  19  Curtains        -2.827         2.473          0.039          357.605        0              0
  20  Curtains        -2.184         2.473          0.039          357.605        0              0
  21  Curtains        -0.046         2.474          2.633          0              0              357.064
  22  DeskLamp        -0.484         0.612          0.691          0              0              1.144
  23  Shelf           -0.391         1.452          5.953          0              270            0
  24  Shelf           -0.398         0.270          5.961          0              270            0
  25  Television      -0.75          1.661          3.936          0              270            0
  26  GarbageCan      -0.525         -0.009         2.822          0              0              0
  27  Painting        -2.670         1.574          7.000          90             180            0
  28  Bowl            -2.400         0.464          3.442          0              0              0
  29  LightSwitch     -5.0           1.246          5.857          0              90             0
  30  Window          -1.373         1.565          0.008          90             180            0
  31  Window          -0.014         1.567          1.496          90             270            0
  32  Window          -3.726         1.565          0.008          90             180            0
  33  FloorLamp       -4.514         0.027          0.663          0              0              0
  34  HousePlant      -2.659         0.466          4.165          0              0              0
  35  Shelf           -0.594         0.104          0.841          0              0              0
  36  Shelf           -0.594         0.359          0.841          0              0              0
  37  SideTable       -0.594         0.018          0.841          0              0              0
  38  Sofa            -4.360         0.028          2.929          0              90             0
  39  Sofa            -2.493         0.028          0.725          0              0              0
  40  CoffeeTable     -2.648         0.019          4.058          0              270            0
  41  ArmChair        -4.446         0.017          6.450          0              90             0
  42  NorthWall
  43  SouthWall
  44  SouthWall

Plan:
STEP 1: Turn around to go across the room to face the sofa with cushion on the left side | STEP 2: Pick up the key-chain from the sofa | STEP 3: Turn around and go to the opposite end of the room with a small single sofa | STEP 4: Place the key-chain on the sofa | END