Task: Put the plunger inside the cupboard.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -2.25          0.909          1.5            0              0              0
   1  Cloth              -1.535         0.059          3.223          0              0              0              27
   2  Cloth              -3.120         0.603          1.426          0              180            0              39
   3  SoapBar            -1.284         1.104          3.292          0              0              0              25
   4  SprayBottle        -1.361         1.105          3.361          0              0              0              25
   5  DishSponge         -2.508         0.108          0.454          0              0              0              38
   6  DishSponge         -2.389         1.106          2.983          0              0              0              25
   7  SoapBottle         -2.915         0.600          1.384          0              0              0              39
   8  HandTowel          -0.242         1.76           3.427          0              0              0              42
   9  Plunger            -0.219         0.026          0.490          0              0              0
  10  SoapBar            -2.710         0.598          1.342          0              0              0              39
  11  ToiletPaper        -0.070         0.871          0.377          0              0              90             43
  12  SoapBottle         -2.315         1.106          3.214          0              0              0              25
  13  ToiletPaper        -2.812         0.595          1.426          0              0              0              39
  14  Towel              0.861          1.358          2.855          0              270            0              36
  15  PaperTowelRoll     -1.464         0.705          1.072          0              0              0              28
  16  ScrubBrush         -0.351         0.026          0.353          0              0              0
  17  Cloth              -1.173         0.059          3.290          0              0              0              30
  18  Candle             -1.161         0.598          0.728          0              0              0              28
  19  DishSponge         -2.291         0.055          3.088          0              0              0              31
  20  SprayBottle        -3.120         0.599          1.550          0              0              0              39
  21  Window             -3.447         1.593          0.648          0              0              0
  22  Mirror             -1.386         1.595          3.464          0              0              0
  23  SinkBasin          -0.837         0.960          3.091          0              180            0
  24  ShowerDoor         -2.477         1.774          2.386          0              0              0
  25  CounterTop         -1.358         1.094          3.151          0              0              0
  26  Sink               -0.846         0.952          3.144          0              180            0
  27  Cabinet            -1.399         0.425          2.867          0              0              0
  28  Bathtub            -2.234         0.288          0.722          0              0              0
  29  Cabinet            -0.337         0.425          2.867          0              0              0
  30  Cabinet            -1.362         0.425          2.867          0              0              0
  31  Cabinet            -2.423         0.425          2.867          0              0              0
  32  ShowerGlass        -2.895         1.423          2.342          0              0              0
  33  Faucet             -0.853         1.094          3.367          0              180            0
  34  ShowerHead         -2.949         2.154          3.427          0              0              0
  35  Window             -2.190         1.550          0.086          0              0              0
  36  TowelHolder        0.967          1.343          2.855          0              270            0
  37  TowelHolder        0.402          1.375          3.466          0              180            0
  38  BathtubBasin       -2.322         0.096          0.634          0              0              0
  39  Shelf              -2.930         0.589          1.425          0              0              0
  40  GarbageCan         -0.061         -0.001         3.131          0              270            0
  41  LightSwitch        0.968          1.432          1.128          0              270            0
  42  HandTowelHolder    -0.241         1.861          3.466          0              90             0
  43  ToiletPaperHanger  -0.039         0.958          0.201          0              0              0
  44  Toilet             -0.694         0.026          0.656          0              90             0
  45  Faucet             -1.944         1.094          3.367          0              180            0
  46  Sink               -1.934         0.952          3.144          0              180            0
  47  SinkBasin          -1.926         0.960          3.091          0              180            0
  48  Faucet             -1.342         0.638          0.629          0              90             0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Turn right and walk to the toilet roll holder.  | STEP 2: Pick up the plunger below the toilet roll holder.  | STEP 3: Turn around and walk to the cupboard under the sink.  | STEP 4: Open the right door and put the plunger inside the cupboard.  | END