Task: Move plunger from beside the toilet to under the counter

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.0           0.909          2.5            0              180            0
   1  Cloth              -1.639         0.111          0.454          0              0              0              40
   2  SoapBar            -2.291         0.054          3.290          0              0              0              33
   3  SoapBar            -0.481         1.104          3.369          0              0              0              27
   4  SprayBottle        -2.234         0.055          3.155          0              0              0              33
   5  SprayBottle        -1.498         1.105          2.905          0              0              0              27
   6  Candle             -0.355         1.103          3.292          0              0              0              27
   7  Candle             -0.560         1.069          0.302          0              0              0              46
   8  SoapBottle         -0.355         1.106          3.214          0              0              0              27
   9  Towel              0.861          1.358          2.855          0              270            0              38
  10  HandTowel          -0.242         1.76           3.427          0              0              0              44
  11  Plunger            -0.219         0.026          0.490          0              0              0
  12  SoapBar            -2.413         1.104          3.292          0              0              0              27
  13  ToiletPaper        -0.070         0.871          0.377          0              0              90             45
  14  SoapBottle         -0.145         0.073          3.217          0              270            0              42
  15  ToiletPaper        -0.137         0.058          3.297          0              0              0              42
  16  Towel              0.402          1.389          3.359          0              0              0              39
  17  PaperTowelRoll     -0.560         1.177          0.363          0              90             0              46
  18  ScrubBrush         -0.351         0.026          0.353          0              0              0
  19  Cloth              -2.073         0.111          0.454          0              0              0              40
  20  Candle             -0.822         1.069          0.394          0              0              0              46
  21  DishSponge         -1.639         0.108          0.634          0              0              0              40
  22  SprayBottle        -2.607         0.599          1.467          0              0              0              41
  23  Window             -3.447         1.593          0.648          0              0              0
  24  Mirror             -1.386         1.595          3.464          0              0              0
  25  SinkBasin          -0.837         0.960          3.091          0              180            0
  26  ShowerDoor         -2.477         1.774          2.386          0              0              0
  27  CounterTop         -1.358         1.094          3.151          0              0              0
  28  Sink               -0.846         0.952          3.144          0              180            0
  29  Cabinet            -1.399         0.425          2.867          0              0              0
  30  Bathtub            -2.234         0.288          0.722          0              0              0
  31  Cabinet            -0.337         0.425          2.867          0              0              0
  32  Cabinet            -1.362         0.425          2.867          0              0              0
  33  Cabinet            -2.423         0.425          2.867          0              0              0
  34  ShowerGlass        -2.895         1.423          2.342          0              0              0
  35  Faucet             -0.853         1.094          3.367          0              180            0
  36  ShowerHead         -2.949         2.154          3.427          0              0              0
  37  Window             -2.190         1.550          0.086          0              0              0
  38  TowelHolder        0.967          1.343          2.855          0              270            0
  39  TowelHolder        0.402          1.375          3.466          0              180            0
  40  BathtubBasin       -2.322         0.096          0.634          0              0              0
  41  Shelf              -2.930         0.589          1.425          0              0              0
  42  GarbageCan         -0.061         -0.001         3.131          0              270            0
  43  LightSwitch        0.968          1.432          1.128          0              270            0
  44  HandTowelHolder    -0.241         1.861          3.466          0              90             0
  45  ToiletPaperHanger  -0.039         0.958          0.201          0              0              0
  46  Toilet             -0.694         0.026          0.656          0              90             0
  47  Faucet             -1.944         1.094          3.367          0              180            0
  48  Sink               -1.934         0.952          3.144          0              180            0
  49  SinkBasin          -1.926         0.960          3.091          0              180            0
  50  Faucet             -1.342         0.638          0.629          0              90             0
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: Turn left, walk to end of counter, turn right, walk to wall | STEP 2: Pick up plunger off of floor | STEP 3: Turn around, walk to sink | STEP 4: Open cupboard below sink, place plunger inside, close cupboard | END