Task: Put the washed fork on the dark cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           1.124          -0.5           0              90             0
   1  Pan             -1.750         0.343          1.523          0              0              0              48
   2  DishSponge      -1.094         1.322          -2.981         0              0              0              47
   3  DishSponge      0.856          0.953          0.711          0              0              0              69
   4  Fork            -1.920         1.323          0.770          0              0              0              47
   5  Fork            1.027          1.208          1.206          0              0              0              72
   6  Fork            -1.920         1.323          -1.681         0              0              0              47
   7  Spoon           0.896          1.324          -2.794         0              0              0              47
   8  Spatula         -2.049         1.337          0.445          0              0              0              47
   9  Pot             -1.660         1.329          -1.941         0              0              0              47
  10  Egg             -1.610         0.321          2.316          0              270            0              62
  11  Egg             1.246          1.351          1.016          0              270            0              72
  12  Cup             -1.165         1.320          -3.092         0              0              0              47
  13  Cup             -1.920         1.320          1.744          0              0              0              47
  14  Tomato          -1.380         1.356          -3.425         0              0              0              47
  15  Bowl            -2.049         1.321          1.094          0              0              0              47
  16  PepperShaker    0.778          1.202          1.238          0              0              0              72
  17  PepperShaker    -1.817         0.338          0.713          0              0              0              45
  18  Apple           1.213          1.359          0.861          0              270            0              72
  19  Bread           -1.513         1.380          0.662          0              0              0              47
  20  Pot             -0.125         1.332          -2.973         0              0              0              55
  21  Knife           0.636          1.352          -2.794         0              0              0              47
  22  Bowl            -1.602         0.342          -2.362         0              0              0              43
  23  Potato          1.095          1.796          2.112          0              270            0              60
  24  SoapBottle      -1.634         0.280          2.193          0              270            0              62
  25  Fork            0.636          1.323          -3.164         0              0              0              47
  26  Cup             -1.817         0.341          0.311          0              0              0              45
  27  Kettle          -2.049         1.324          -2.981         0              0              0              47
  28  Egg             -1.586         0.321          2.069          0              270            0              62
  29  Pan             -0.749         1.332          -2.973         0              0              0              50
  30  SaltShaker      -2.179         1.318          -2.721         0              0              0              47
  31  WineBottle      -1.952         0.344          0.613          0              0              0              45
  32  Lettuce         -1.920         1.399          -2.201         0              0              0              47
  33  Spatula         -1.730         0.435          -1.283         0              90             0              53
  34  PaperTowelRoll  -1.530         1.427          1.744          0              0              0              47
  35  Tomato          0.908          1.980          1.494          0              270            0              60
  36  Plate           -1.660         1.323          2.069          0              0              0              47
  37  PepperShaker    1.193          1.202          1.222          0              0              0              72
  38  DishSponge      -1.522         1.322          -2.760         0              0              0              47
  39  Spoon           -1.645         0.423          -1.348         0              0              0              53
  40  Apple           0.938          1.806          2.348          0              270            0              60
  41  Mug             0.970          1.519          1.724          0              270            0              60
  42  StoveBurner     -0.239         1.325          -3.301         0              180            0
  43  Cabinet         -1.461         0.775          -2.002         0              0              0
  44  StoveBurner     -0.630         1.325          -3.301         0              180            0
  45  Cabinet         -1.461         0.775          0.470          0              0              0
  46  Cabinet         0.578          0.776          -2.054         0              0              0
  47  CounterTop      -1.809         1.358          1.182          0              0              0
  48  Cabinet         -1.461         0.775          1.310          0              0              0
  49  Faucet          -2.063         1.362          -0.726         0              39.391         0
  50  StoveBurner     -0.749         1.325          -2.973         0              0              0
  51  Drawer          -1.610         0.681          -0.430         0              0              0
  52  Window          -2.566         1.799          -0.822         270            0              0
  53  Drawer          -1.610         0.681          -1.217         0              0              0
  54  Sink            -1.990         1.143          -0.975         0              0              0
  55  StoveBurner     -0.125         1.325          -2.973         0              0              0
  56  StoveKnob       -0.185         1.338          -2.741         0              270            180
  57  StoveKnob       -0.336         1.338          -2.741         0              270            180
  58  StoveKnob       -0.569         1.338          -2.741         0              270            180
  59  StoveKnob       -0.707         1.338          -2.741         0              270            180
  60  Fridge          1.013          0.227          1.917          0              270            0
  61  Microwave       0.994          1.310          -2.163         0              270            0
  62  GarbageCan      -1.633         0.212          2.192          0              270            0
  63  LightSwitch     1.386          1.565          -0.657         0              270            0
  64  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  65  SinkBasin       -1.835         1.039          -0.542         0              0              0
  66  ButterKnife     0.873          0.468          0.651          0              0              0
  67  Toaster         -1.885         1.310          -2.512         0              90             0
  68  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  69  Drawer          0.647          1.061          0.680          0              270            0
  70  Drawer          0.648          1.061          1.020          0              270            0
  71  Drawer          0.648          0.843          1.020          0              270            0
  72  SideTable       0.975          0.220          0.869          0              270            0
  73  Drawer          0.648          0.602          0.680          0              270            0
  74  Drawer          0.648          0.596          1.020          0              270            0
  75  Drawer          0.648          0.843          0.680          0              270            0
  76  Stool           0.606          0.222          -1.084         1.233          280.489        0
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: Turn around and walk over to the kitchen counter | STEP 2: Pick up the fork behind the bread loaf from the counter | STEP 3: Turn left and walk to the kitchen sink | STEP 4: Wash the fork under water in the sink then remove it | STEP 5: Turn around and walk across to the dark cabinet with the microwave on it | STEP 6: Put the fork down on the dark cabinet just left of the other fork | END