Task: Put a plunger in a cabinet.

Objects in the environment:
  id   object_type        position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  -----------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent              -0.5           0.902          0.5            0              90             0
   1  Candle             -1.057         1.087          0.814          0              180            0              31
   2  Candle             -0.158         0.558          0.434          0              0              0              17
   3  Towel              -0.490         1.367          0.902          0              180            0              25
   4  Candle             -1.959         0.122          0.825          0              0              0              19
   5  HandTowel          -3.096         1.587          0.744          0              270            0              29
   6  SoapBar            -2.286         0.961          0.915          0              0              0              15
   7  ToiletPaper        -2.890         0.179          -1.535         0              0              0              26
   8  Cloth              -2.541         0.081          0.825          0              0              0              16
   9  ToiletPaper        -0.865         1.038          0.946          357.597        0              0              31
  10  SprayBottle        -1.123         1.047          0.906          0              180            0              31
  11  ScrubBrush         -0.485         0.001          0.873          0              0              0              Floor|-00.81|
  12  SoapBottle         -1.687         0.083          0.760          0              0              0              18
  13  Plunger            -0.710         0.000          0.828          0              0              0              Floor|-00.81|
  14  Cabinet            -3.094         0.390          0.421          0              0              0
  15  CounterTop         -2.298         0.953          0.689          0              0              0
  16  Cabinet            -2.305         0.415          0.425          0              0              0
  17  Bathtub            0.286          0.290          -0.077         0              0              0
  18  Cabinet            -1.496         0.415          0.425          0              0              0
  19  Cabinet            -2.286         0.390          0.421          0              0              0
  20  Sink               -1.924         0.930          0.675          0              180            0
  21  Faucet             -1.922         1.015          0.887          0              0              0
  22  Mirror             -2.306         1.526          1.001          0              0              0
  23  Faucet             -2.681         1.015          0.887          0              0              0
  24  LightSwitch        -1.389         1.263          -1.693         0              0              0
  25  TowelHolder        -0.490         1.353          1.009          0              180            0
  26  GarbageCan         -2.857         0.016          -1.487         0              0              0
  27  BathtubBasin       0.349          0.023          -0.135         0              270            0
  28  SinkBasin          -1.908         0.961          0.669          0              180            0
  29  HandTowelHolder    -3.134         1.689          0.744          0              0              0
  30  ToiletPaperHanger  -1.485         0.805          0.691          0              90             0
  31  Toilet             -1.054         0.001          0.552          0              270            0
  32  ShowerCurtain      -0.292         1.886          -1.033         0              0              0
  33  Faucet             0.270          0.670          0.906          0              0              0
  34  SinkBasin          -2.666         0.961          0.669          0              180            0
  35  Sink               -2.681         0.930          0.675          0              180            0
  36  NorthWall
  37  EastWall
  38  SouthWall
  39  WestWall

Plan:
STEP 1: Turn to the left to face the black towel with a plunger and a brush below it. | STEP 2: Pick the plunger up from the floor. | STEP 3: Turn and go around the toilet to face the lower cabinets to the left of the toilet. | STEP 4: Open the lower cabinet door that is second from the right and put the plunger inside the cabinet and shut the door. | END