Task: Place the plunger underneath the sink in 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          -0.25          0              270            0
   1  Candle             -0.745         1.046          -3.826         0              0              0              33
   2  Candle             -0.679         1.046          -3.795         0              0              0              33
   3  SprayBottle        -2.931         0.996          -2.158         0              0              0              20
   4  SoapBottle         -2.567         0.082          -1.008         0              270            0              21
   5  SoapBottle         -1.446         0.063          -0.186         0              180            0              23
   6  Towel              -1.051         1.535          -2.887         0              90             0              26
   7  HandTowel          -2.591         1.635          -0.047         0              0              0              28
   8  SoapBar            -0.548         1.045          -3.826         0              0              0              33
   9  ToiletPaper        -0.351         1.042          -3.856         0              0              0              33
  10  ToiletPaper        -0.084         0.902          -3.286         0              270            90             33
  11  SoapBottle         -0.679         1.048          -3.918         0              0              0              33
  12  Candle             -2.719         0.080          -0.357         0              0              0              23
  13  ScrubBrush         -1.048         0.000          -3.830         0              0              0              29
  14  Plunger            -1.066         0.000          -3.527         0              0              0              Floor|-00.04|
  15  Cloth              -2.770         0.079          -2.032         0              0              0              19
  16  SprayBottle        -2.804         0.996          -0.292         0              0              0              20
  17  ShowerDoor         -2.204         1.044          -2.503         0              0              0
  18  Mirror             -2.947         1.559          -1.194         0              0              0
  19  Cabinet            -2.504         0.400          -2.208         0              0              0
  20  CounterTop         -2.744         0.986          -1.243         0              0              0
  21  Cabinet            -2.504         0.400          -1.238         0              0              0
  22  ShowerGlass        -2.079         1.482          -3.264         0              0              0
  23  Cabinet            -2.508         0.426          -0.290         0              0              0
  24  Sink               -2.907         0.986          -1.761         0              90             0
  25  Cabinet            -2.508         0.426          -1.260         0              0              0
  26  TowelHolder        -1.158         1.521          -2.887         0              90             0
  27  ToiletPaperHanger  0.0            0.984          -2.651         0              270            0
  28  HandTowelHolder    -2.591         1.737          -0.009         0              90             0
  29  GarbageCan         -0.908         -0.031         -3.646         0              90             0
  30  Window             -0.566         1.730          -4.102         90             0              0
  31  LightSwitch        -1.332         1.391          0.001          0              180            0
  32  SinkBasin          -2.724         0.916          -1.755         351.180        90             0
  33  Toilet             -0.319         0.000          -3.533         0              90             0
  34  Faucet             -2.907         0.993          -1.761         0              90             0
  35  SinkBasin          -2.724         0.916          -0.726         351.180        90             0
  36  Sink               -2.907         0.986          -0.732         0              90             0
  37  Faucet             -2.907         0.993          -0.731         0              90             0
  38  ShowerHead         -2.868         1.219          -3.223         0              180            0
  39  EastWall
  40  EastWall
  41  SouthWall

Plan:
STEP 1: turn to the left and go forward to the toilet | STEP 2: pick up the plunger on the right side of the toilet | STEP 3: turn completely around facing the other direction and go forward a few steps and turn to the left and go forward to the sink cabinet | STEP 4: open the right hand side door of the sink cabinet and place the plunger inside and close the door | END