walk_to(countertop_1)
grab(scrub_brush)
walk_to(countertop_2)
grab(teapot)
walk_to(sink)
place_inside(sink, teapot)
switch-on(water)
switch-off(water)
place_on_top(teapot, scrub_brush)
grab(teapot)
walk_to(cabinet)
open(cabinet)
place_inside(teapot, cabinet)
close(cabinet)
walk_to(countertop_1)
grab(kettle)
walk_to(sink)
place_inside(sink, kettle)
switch-on(water)
switch-off(water)
place_on_top(kettle, scrub_brush)
grab(kettle)
walk_to(cabinet)
open(cabinet)
place_inside(cabinet, kettle)
close(cabinet)
walk_to(countertop_1)
grab(pan_1)
walk_to(sink)
place_inside(sink, pan_1)
switch-on(water)
switch-off(water)
place_on_top(pan_1, scrub_brush)
grab(pan_1)
walk_to(cabinet)
open(cabinet)
place_inside(cabinet, pan_1)
close(cabinet)
walk_to(countertop_2)
grab(pan_2)
walk_to(sink)
place_inside(sink, pan_2)
switch-on(water)
switch-off(water)
place_on_top(pan_2, scrub_brush)
grab(pan_2)
walk_to(cabinet)
open(cabinet)
place_inside(cabinet, pan_2)
close(cabinet)
walk_to(countertop_2)
grab(pan_3)
walk_to(sink)
place_inside(sink, pan_3)
switch-on(water)
switch-off(water)
place_on_top(pan_3, scrub_brush)
grab(pan_3)
walk_to(cabinet)
open(cabinet)
place_inside(cabinet, pan_3)
close(cabinet)
walk_to(sink)
grab(scrub_brush)
place_on_top(scrub_brush, countertop)