walk_to(sink)
grab(scrub_brush)
walk_to(teapot)
place_on_top(sink)
grab(teapot)
walk_to(cabinet)
open(cabinet)
place_inside(teapot, cabinet)
close(cabinet)
walk_to(kettle)
grab(kettle)
walk_to(cabinet)
open(cabinet)
place_inside(kettle, cabinet)
close(cabinet)
walk_to(pans)
grab(pans)
walk_to(cabinet)
open(cabinet)
place_inside(pans, cabinet)
close(cabinet)
place_on_top(sink, scrub_brush)
switch-on(water)
wash(pans)
switch-off(water)
