walk_to(cabinet)
open(cabinet)
grab(teapot)
walk_to(refrigerator)
open(refrigerator)
grab(lemon)
close(refrigerator)
walk_to(cabinet)
grab(knife)
walk_to(counter)
place_on_top(counter, teapot)
place_on_top(counter, lemon)
grab(knife)
slice(lemon, knife)
walk_to(cabinet)
grab(tea_bag)
walk_to(stove)
place_on_top(stove, teapot)
place_inside(teapot, tea_bag)
place_inside(teapot, lemon_slices)
switch-on(stove)
make_tea(teapot, stove)
