walk_to(electric_refrigerator)
open(electric_refrigerator)
grab(lemon)
close(electric_refrigerator)
walk_to(countertop)
grab(knife)
place_on_top(countertop, lemon)
walk_to(kitchen_cabinet)
open(kitchen_cabinet)
grab(teapot)
close(kitchen_cabinet)
walk_to(stove)
place_on_top(stove, teapot)open(kitchen_cabinet)
grab(tea_bag)
close(kitchen_cabinet)
place_inside(teapot, tea_bag)
place_inside(teapot, lemon)
switch-on(stove)