Task: move plunger from the floor 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              -1.25          0.900          2.0            0              0              0
   1  Candle             -2.253         1.300          2.283          0              0              0              30
   2  Candle             -1.730         0.124          0.213          0              0              0              16
   3  SprayBottle        -0.256         0.954          2.723          0              270            0              36
   4  HandTowel          -1.296         1.765          0.040          0              180            0              34
   5  SoapBar            -0.633         1.134          0.407          0              0              0              28
   6  ToiletPaper        -0.921         1.124          0.210          0              0              0              28
   7  Plunger            -0.735         -0.000         2.732          0              0              0              Floor|-00.08|
   8  Candle             -1.573         0.812          0.108          0              0              0              22
   9  TissueBox          -2.016         0.125          0.263          0              0              0              16
  10  ToiletPaper        -0.813         0.857          0.439          0              270            0              17
  11  SoapBottle         -3.064         0.692          0.148          0              0              0              21
  12  SprayBottle        -1.634         0.125          0.213          0              0              0              16
  13  Towel              -2.760         1.569          0.107          0              0              0              31
  14  Cloth              -3.511         0.219          1.268          0              0              0              37
  15  ScrubBrush         -0.657         -0.000         2.560          0              0              0              Floor|-00.08|
  16  Cabinet            -2.344         0.457          0.524          0              0              0
  17  Drawer             -0.813         0.956          0.384          0              270            0
  18  Cabinet            -1.891         0.443          1.982          0              0              0
  19  Cabinet            -0.605         0.457          0.524          0              0              0
  20  Drawer             -2.032         0.942          2.190          0              0              0
  21  Bathtub            -3.450         0.178          1.029          0              0              0
  22  CounterTop         -1.919         0.0            0.288          0              0              0
  23  Sink               -1.924         0.772          0.326          0              0              0
  24  Mirror             -1.934         1.666          0.107          0              0              0
  25  Faucet             -1.925         0.958          0.179          0              0              0
  26  Cabinet            -1.891         1.884          2.391          0              0              0
  27  Cabinet            -0.605         1.988          0.524          0              0              0
  28  CounterTop         -0.812         0.093          0.288          0              0              0
  29  Shelf              -2.029         1.183          2.189          0              0              0
  30  Shelf              -2.123         1.393          2.189          0              0              0
  31  TowelHolder        -2.760         1.555          0.000          0              0              0
  32  LightSwitch        0.0            1.427          1.993          0              270            0
  33  ToiletPaperHanger  0.0            1.014          2.237          0              270            0
  34  HandTowelHolder    -1.297         1.866          0.002          0              270            0
  35  Window             -4.149         1.717          1.154          90             270            0
  36  Toilet             -0.456         -0.000         2.257          0              180            0
  37  BathtubBasin       -3.520         0.210          0.940          0              0              0
  38  SinkBasin          -1.931         0.841          0.320          0              0              0
  39  GarbageCan         -0.257         -0.000         0.259          0              0              0
  40  ShowerHead         -3.522         1.719          1.776          0              0              0
  41  ShowerCurtain      -3.391         2.442          0.266          0              0              6.838
  42  NorthWall
  43  SouthWall
  44  SouthWall

Plan:
STEP 1: turn right, turn left to face the wall on the left of the toilet | STEP 2: pick up the plunger that is on the floor | STEP 3: turn around, take two steps, turn right, walk forward | STEP 4: put plunger in the bottom cabinet to the right | END