Task: grab the key chain from the sofa, put it at the bottom of the coffee table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.927          4.75           0              0              0
   1  Plate           -6.062         0.648          3.266          0              0              0              74
   2  KeyChain        -2.925         0.278          3.451          0              0              0              75
   3  KeyChain        -3.732         0.278          3.381          0              0              0              75
   4  RemoteControl   -6.663         0.434          5.107          0              270            0              45
   5  RemoteControl   -2.804         0.301          2.226          0              270            0              78
   6  Laptop          -2.781         0.298          1.930          0              0              0              78
   7  Laptop          -6.062         0.639          1.861          0              0              0              74
   8  Box             -2.362         0.657          0.306          0              300.000        0              49
   9  Statue          -5.448         0.647          2.564          0              0              0              74
  10  KeyChain        -2.925         0.278          3.591          0              0              0              75
  11  Vase            -1.701         0.930          0.179          0              0              0              29
  12  Vase            -0.764         0.940          0.203          0              0              0              46
  13  Vase            -5.571         0.646          1.510          0              0              0              74
  14  Newspaper       -1.289         0.955          0.220          0              180            0              46
  15  CreditCard      -3.530         0.276          3.521          0              0              0              75
  16  RemoteControl   -2.136         0.167          0.282          0              0              0              50
  17  Laptop          -5.571         0.639          3.266          0              0              0              74
  18  Pillow          -1.515         0.438          3.319          0              300.000        90             77
  19  Vase            -2.328         0.300          2.065          0              0              0              78
  20  Statue          -4.437         0.495          0.264          0              90             0              74
  21  Vase            -1.352         1.258          0.228          0              0              0              53
  22  Plate           -5.694         0.648          3.617          0              0              0              74
  23  Vase            -4.958         0.940          5.201          0              0              0              43
  24  Statue          -5.033         1.566          5.212          0              180            0              56
  25  Statue          -0.812         1.565          0.209          0              0              0              48
  26  Statue          -5.694         0.651          2.212          0              0              0              74
  27  Statue          -3.174         1.105          5.193          0              0              0              57
  28  Statue          -5.865         0.634          2.786          0              65.579         0              74
  29  Shelf           -1.776         0.988          0.184          0              180            0
  30  Chair           -5.413         0.024          1.780          0              0              0
  31  Cabinet         -5.365         1.170          5.031          0              0              0
  32  Chair           -5.388         0.024          3.369          0              355.695        0
  33  Chair           -6.211         0.024          2.517          0              172.601        0
  34  Shelf           -3.937         0.988          5.170          0              0              0
  35  Shelf           -6.572         1.144          5.170          0              0              0
  36  Cabinet         -4.181         1.873          5.029          0              0              0
  37  Shelf           -5.606         0.444          5.170          0              0              0
  38  Drawer          -6.324         0.823          5.001          0              0              0
  39  Cabinet         -2.017         1.714          0.323          0              180            0
  40  Cabinet         -2.465         1.329          5.029          0              0              0
  41  Drawer          -1.093         0.233          0.462          0              0              0
  42  Shelf           -4.672         1.317          5.170          0              0              0
  43  Shelf           -4.672         0.998          5.170          0              0              0
  44  Shelf           -2.221         0.444          5.170          0              0              0
  45  Drawer          -6.324         0.508          5.001          0              0              0
  46  Shelf           -1.041         0.998          0.184          0              180            0
  47  Drawer          -4.264         0.233          0.462          0              0              0
  48  Shelf           -0.810         1.688          0.185          0              180            0
  49  Shelf           -2.671         0.610          0.272          0              90             0
  50  Drawer          -2.681         0.233          0.462          0              0              0
  51  Drawer          -2.940         0.508          5.001          0              0              0
  52  Cabinet         -3.696         1.714          5.031          0              0              0
  53  Shelf           -1.041         1.317          0.184          0              180            0
  54  Cabinet         -1.532         1.873          0.325          0              180            0
  55  Chair           -5.382         0.024          2.695          0              6.230          0
  56  Shelf           -4.903         1.688          5.170          0              0              0
  57  Shelf           -3.187         1.144          5.170          0              0              0
  58  Drawer          -2.940         0.823          5.001          0              0              0
  59  Chair           -6.252         0.024          3.427          0              195.000        0
  60  Cabinet         -5.850         1.329          5.029          0              0              0
  61  Cabinet         -1.980         1.170          5.031          0              0              0
  62  Chair           -6.296         0.024          1.672          0              180            0
  63  FloorLamp       -0.369         0.016          4.992          0              59.992         0
  64  GarbageCan      -6.846         0.024          0.258          0              91.057         0
  65  Television      -3.503         1.506          0.001          0              0              0
  66  LightSwitch     0.0            1.184          4.410          0              270            0
  67  HousePlant      -1.105         0.315          2.740          0              0              0
  68  Painting        -5.769         1.394          -0.026         90             180            0
  69  Window          0.001          1.246          2.471          90             270            0
  70  Window          0.001          1.246          3.558          90             270            0
  71  Window          0.001          1.246          1.368          90             270            0
  72  Painting        -0.967         1.396          5.268          90             180            0
  73  CoffeeTable     -3.002         0.028          1.726          0              0              0
  74  DiningTable     -5.816         0.025          2.563          0              270            0
  75  Sofa            -3.328         0.023          3.632          0              180            0
  76  ArmChair        -1.012         0.028          2.084          0              270            0
  77  ArmChair        -1.577         0.028          3.295          0              210.000        0
  78  CoffeeTable     -2.667         0.025          1.999          0              5.810          0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: turn left, walk around the sofa, face the sofa | STEP 2: grab the key chain near the credit card | STEP 3: turn around, walk to the coffee table  | STEP 4: put the key chain at the bottom of the coffee table | END