walk_to(sink)
switch-on(faucet)
grab(soap)
grab(scrub_brush)
grab(teapot)
scrub(teapot)
place_on_top(teapot, countertop)
grab(kettle)
scrub(kettle)
place_on_top(kettle, countertop)
grab(pan1)
scrub(pan1)
place_on_top(pan1, countertop)
grab(pan2)
scrub(pan2)
place_on_top(pan2, countertop)
switch-off(faucet)
open(cabinet)
place_inside(teapot, cabinet)
place_inside(kettle, cabinet)
place_inside(pan1, cabinet)
place_inside(pan2, cabinet)
close(cabinet)
