Task: slice 2 pieces of potato putting them inside 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           1.5            0.931          -0.5           0              180            0
   1  Pan             1.743          1.019          -1.484         0              90             0              52
   2  Pan             1.514          1.043          0.676          0              90             0              48
   3  Potato          -1.103         1.281          2.153          0              90             0              61
   4  Potato          1.238          1.100          -1.181         0              0              0              46
   5  Potato          -1.047         1.769          -1.300         0              270            0              60
   6  Kettle          0.160          1.044          0.307          0              0              0              48
   7  Pot             0.250          1.057          -1.4           0              0              0              58
   8  Spoon           1.155          1.048          -1.289         0              0              0              46
   9  Spoon           0.892          1.054          0.281          0              180            0              44
  10  Spatula         0.160          1.058          0.738          0              0              0              48
  11  Egg             1.271          0.947          0.158          0              90             0              43
  12  Cup             -1.268         1.948          1.974          0              90             0              61
  13  Cup             -1.276         1.713          2.063          0              90             0              61
  14  Plate           -0.699         1.577          -1.767         0              0              0              51
  15  Plate           -1.105         0.215          -1.482         0              0              0              54
  16  Tomato          -1.103         1.279          1.796          0              90             0              61
  17  SaltShaker      1.188          1.560          -1.538         0              0              0              50
  18  Mug             0.848          1.038          0.632          0              0              0              48
  19  Apple           1.181          0.936          0.158          0              90             0              43
  20  SoapBottle      -0.548         1.565          -1.396         0              0              0              51
  21  Apple           -1.431         1.271          2.331          0              90             0              61
  22  Potato          -0.030         1.096          0.199          0              0              0              48
  23  Fork            1.181          1.043          0.632          0              0              0              48
  24  Kettle          -0.398         1.566          -1.545         0              0              0              51
  25  Pan             0.965          1.035          -1.66          0              290.450        0              46
  26  Tomato          -1.342         1.540          1.885          0              90             0              61
  27  SaltShaker      0.712          0.194          -1.484         0              0              0              57
  28  Egg             -1.431         1.282          2.063          0              90             0              61
  29  Cup             -1.064         0.964          2.153          0              90             0              61
  30  Spatula         -0.346         1.061          -1.181         0              0              0              46
  31  Knife           0.877          1.042          -1.362         90             315            0              46
  32  Lettuce         0.858          1.103          0.135          30.591         304.297        0              44
  33  ButterKnife     1.347          1.043          0.632          0              0              0              48
  34  PepperShaker    -0.473         1.560          -1.841         0              0              0              51
  35  DishSponge      -0.689         1.046          -1.181         0              0              0              46
  36  Plate           -1.106         2.041          -1.409         0              0              0              53
  37  Bread           0.406          1.104          0.352          0              337.138        0              48
  38  Spoon           0.892          1.054          0.231          0              180            0              44
  39  Pot             1.588          0.206          -1.553         0              270            0              56
  40  Mug             1.765          1.081          0.331          0              270            0              64
  41  Bowl            0.885          1.563          -1.614         0              0              0              50
  42  StoveBurner     0.389          1.043          -1.630         0              0              0
  43  SinkBasin       1.211          0.882          0.236          0              90             0
  44  Sink            0.928          0.941          0.324          0              90             0
  45  StoveBurner     0.000          1.048          -1.399         0              0              0
  46  CounterTop      0.196          1.082          -1.504         0              0              0
  47  StoveBurner     0.5            1.048          -1.399         0              0              0
  48  CounterTop      0.968          1.078          0.415          0              0              0
  49  StoveBurner     0.120          1.043          -1.630         0              0              0
  50  Cabinet         1.322          1.955          -1.309         0              0              0
  51  Cabinet         -0.866         1.955          -1.309         0              0              0
  52  Cabinet         1.993          1.403          -1.110         0              0              0
  53  Cabinet         -1.547         2.001          -1.110         0              0              0
  54  Cabinet         -1.526         0.593          -1.110         0              0              0
  55  Cabinet         -0.852         0.589          -1.110         0              0              0
  56  Cabinet         1.990          0.593          -1.110         0              0              0
  57  Cabinet         1.336          0.589          -1.110         0              0              0
  58  StoveBurner     0.250          1.048          -1.399         0              0              0
  59  Toaster         -0.550         1.035          -1.776         0              0              0
  60  Microwave       -1.189         1.624          -1.284         0              0              0
  61  Fridge          -1.286         0.020          1.832          0              90             0
  62  GarbageCan      1.856          -0.019         2.386          0              270            0
  63  LightSwitch     1.016          1.360          2.619          0              180            0
  64  CoffeeMachine   1.929          1.031          0.440          0              270            0
  65  StoveKnob       0.0            1.046          -1.220         0              0              0
  66  StoveKnob       0.090          1.046          -1.220         0              0              0
  67  StoveKnob       0.246          1.046          -1.220         0              0              0
  68  StoveKnob       0.490          1.046          -1.220         0              0              0
  69  StoveKnob       0.389          1.046          -1.220         0              0              0
  70  Faucet          1.277          1.265          0.384          0              90             0
  71  Chair           0.343          0.031          0.976          0              166.747        0
  72  Chair           1.008          0.031          1.034          0              180            0
  73  Chair           1.575          0.031          1.050          0              210.000        0
  74  NorthWall
  75  EastWall
  76  SouthWall
  77  WestWall

Plan:
STEP 1: turn to the right and across the room go right face the counter | STEP 2: pick up a potato from the counter | STEP 3: turn to the right across the room | STEP 4: leave the potato in the sink | STEP 5: turn around to the right | STEP 6: pick up the knife from the counter | STEP 7: turn to the left | STEP 8: slice the potato that is on the counter | STEP 9: turn to the right face the sink | STEP 10: slice the potato that is in the sink | STEP 11: turn around to the right | STEP 12: pick up a slice of potato | STEP 13: turn around to the right again | STEP 14: face the counter area pick up a slice of potato | STEP 15: turn to the right leave the slice inside the sink | END