Task: Move the plunger from the corner to the cabinet

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.75          0.901          2.75           0              270            0
   1  SoapBar            0.306          0.893          1.618          0              0              0              31
   2  SoapBar            -1.547         0.994          3.100          0              0              0              25
   3  Candle             -1.620         0.067          3.327          0              0              0              24
   4  ToiletPaper        -1.262         0.065          2.908          0              0              0              18
   5  Towel              -0.200         1.174          1.286          0              0              0              27
   6  HandTowel          -1.275         1.6            3.961          0              0              0              29
   7  SoapBar            -1.560         0.067          2.341          0              0              0              20
   8  ToiletPaper        -1.441         0.065          3.793          0              0              0              26
   9  Plunger            0.248          0.000          1.306          0              0              0              Floor|-01.72|
  10  Candle             -1.561         0.068          3.894          0              0              0              26
  11  TissueBox          -1.561         0.069          2.757          0              0              0              18
  12  SoapBottle         -1.439         0.067          2.391          0              0              0              20
  13  ToiletPaper        -1.560         0.064          2.441          0              0              0              20
  14  SprayBottle        0.258          0.048          3.810          0              0              0              28
  15  Cloth              -1.481         0.994          3.873          0              0              0              25
  16  ScrubBrush         0.035          0.000          1.301          0              0              0              Floor|-01.72|
  17  Mirror             -1.703         1.661          3.509          0              0              0
  18  Cabinet            -1.187         0.394          3.030          0              0              0
  19  ShowerDoor         -1.631         1.014          1.170          0              0              0
  20  Cabinet            -1.187         0.394          2.127          0              0              0
  21  Sink               -1.326         0.960          2.567          0              90             0
  22  ShowerGlass        0.254          0.788          0.485          0              0              0
  23  Mirror             -1.703         1.661          2.480          0              0              0
  24  Cabinet            -1.187         0.394          3.063          0              0              0
  25  CounterTop         -1.348         0.972          2.945          0              0              0
  26  Cabinet            -1.187         0.394          3.966          0              0              0
  27  TowelHolder        -0.200         1.160          1.179          0              0              0
  28  GarbageCan         0.209          0.000          3.772          0              0              0
  29  HandTowelHolder    -1.275         1.702          3.999          0              90             0
  30  Window             -0.726         1.667          -0.009         90             0              0
  31  Toilet             -0.039         0.090          1.733          0              270            0
  32  SinkBasin          -1.317         0.998          2.567          0              90             0
  33  ToiletPaperHanger  0.444          0.809          1.350          0              270            0
  34  LightSwitch        0.444          1.368          3.323          0              270            0
  35  Faucet             -1.587         0.960          3.513          0              90             0
  36  ShowerHead         -1.618         1.251          0.558          0              180            0
  37  Sink               -1.325         0.960          3.512          0              90             0
  38  SinkBasin          -1.317         0.998          3.513          0              90             0
  39  Faucet             -1.587         0.960          2.569          0              90             0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Turn left, walk to the toilet | STEP 2: Grab the plunger on the floor | STEP 3: Turn left, walk to the cabinet under the sink | STEP 4: Open the cabinet on the left, put the plunger in, close the cabinet | END