Task: Slice both potatoes in the sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.931          -0.5           0              0              0
   1  Potato          1.701          1.096          0.522          0              0              0              44
   2  Potato          -1.047         1.769          -1.269         0              270            0              56
   3  ButterKnife     -0.603         1.046          -1.397         0              0              0              42
   4  Pot             0.960          1.566          -1.463         0              270            0              46
   5  Fork            0.160          1.043          0.630          0              0              0              44
   6  Spoon           1.347          1.044          0.589          0              0              0              44
   7  Spatula         -0.775         1.061          -1.828         0              90             0              42
   8  Egg             -0.346         1.101          -1.720         0              0              0              42
   9  Egg             0.848          1.108          0.281          0              90             0              40
  10  Plate           1.588          0.217          -1.553         0              0              0              52
  11  Plate           -1.184         2.041          -1.482         0              0              0              49
  12  Bowl            -1.300         1.227          1.974          0              90             0              57
  13  SaltShaker      1.588          0.199          -1.262         0              0              0              52
  14  Mug             -1.419         1.484          1.974          0              90             0              57
  15  Apple           -1.126         1.007          2.153          0              90             0              57
  16  SoapBottle      1.854          0.123          2.386          0              270            0              58
  17  Apple           -1.250         1.991          2.242          0              90             0              57
  18  Potato          0.065          1.096          0.199          0              0              0              44
  19  Fork            1.015          1.043          0.720          0              0              0              44
  20  Kettle          1.158          0.200          -1.484         0              0              0              53
  21  Pan             1.589          1.019          -1.484         0              180            0              48
  22  Tomato          -1.103         1.279          2.242          0              90             0              57
  23  SaltShaker      1.155          1.041          -1.397         0              0              0              42
  24  Egg             -1.064         1.018          2.242          0              90             0              57
  25  Cup             -0.548         1.565          -1.470         0              0              0              47
  26  Spatula         -0.346         1.061          -1.397         0              0              0              42
  27  Knife           1.514          1.069          0.807          0              0              0              44
  28  Lettuce         0.682          1.103          0.676          0              0              0              44
  29  ButterKnife     1.701          1.043          0.738          0              0              0              44
  30  PepperShaker    -0.699         1.560          -1.693         0              0              0              47
  31  DishSponge      -1.183         0.202          -1.338         0              0              0              50
  32  Plate           0.890          0.212          -1.412         0              0              0              53
  33  Bread           0.405          1.104          0.352          0              337.138        0              44
  34  Spoon           1.181          1.044          0.676          0              0              0              44
  35  Pot             0.120          1.053          -1.630         0              0              0              45
  36  Mug             -0.491         0.198          -1.625         0              0              0              51
  37  Bowl            -0.670         0.202          -1.553         0              0              0              51
  38  StoveBurner     0.389          1.043          -1.630         0              0              0
  39  SinkBasin       1.211          0.882          0.236          0              90             0
  40  Sink            0.928          0.941          0.324          0              90             0
  41  StoveBurner     0.000          1.048          -1.399         0              0              0
  42  CounterTop      0.196          1.082          -1.504         0              0              0
  43  StoveBurner     0.5            1.048          -1.399         0              0              0
  44  CounterTop      0.968          1.078          0.415          0              0              0
  45  StoveBurner     0.120          1.043          -1.630         0              0              0
  46  Cabinet         1.322          1.955          -1.309         0              0              0
  47  Cabinet         -0.866         1.955          -1.309         0              0              0
  48  Cabinet         1.993          1.403          -1.110         0              0              0
  49  Cabinet         -1.547         2.001          -1.110         0              0              0
  50  Cabinet         -1.526         0.593          -1.110         0              0              0
  51  Cabinet         -0.852         0.589          -1.110         0              0              0
  52  Cabinet         1.990          0.593          -1.110         0              0              0
  53  Cabinet         1.336          0.589          -1.110         0              0              0
  54  StoveBurner     0.250          1.048          -1.399         0              0              0
  55  Toaster         -0.550         1.035          -1.776         0              0              0
  56  Microwave       -1.189         1.624          -1.284         0              0              0
  57  Fridge          -1.286         0.020          1.832          0              90             0
  58  GarbageCan      1.856          -0.019         2.386          0              270            0
  59  LightSwitch     1.016          1.360          2.619          0              180            0
  60  CoffeeMachine   1.929          1.031          0.440          0              270            0
  61  StoveKnob       0.0            1.046          -1.220         0              0              0
  62  StoveKnob       0.090          1.046          -1.220         0              0              0
  63  StoveKnob       0.246          1.046          -1.220         0              0              0
  64  StoveKnob       0.490          1.046          -1.220         0              0              0
  65  StoveKnob       0.389          1.046          -1.220         0              0              0
  66  Faucet          1.277          1.265          0.384          0              90             0
  67  Chair           0.343          0.031          0.976          0              166.747        0
  68  Chair           1.008          0.031          1.034          0              180            0
  69  Chair           1.575          0.031          1.050          0              210.000        0
  70  NorthWall
  71  EastWall
  72  SouthWall
  73  WestWall

Plan:
STEP 1: Walk towards the counter on the left | STEP 2: Grab a knife from the counter | STEP 3: Walk with the knife towards the sink | STEP 4: Put the knife on the sink and open the water | STEP 5: Grab the knife from the sink and put it back in again | STEP 6: Walk towards the microwave on top of the counter | STEP 7: Open the microwave and grab a potato from the microwave | STEP 8: Walk with the potato towards the sink | STEP 9: Put the potato in the sink | STEP 10: Grab the knife from the sink | STEP 11: Slice the potato in the sink  | STEP 12: Put the knife in the sink | STEP 13: Turn left  towards the counter | STEP 14: Grab the potato from the counter | STEP 15: Walk towards the sink | STEP 16: Put the potato in the sink | STEP 17: Grab the knife from the sink | STEP 18: Slice the potato in the sink | END