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