walk_to(cabinet)
open(cabinet)
grab(teapot)
place_on_top(stove)
walk_to(refrigerator)
open(refrigerator)
grab(lemon)
walk_to(counter)
place(lemon, counter)
grab(knife)
slice(lemon)
walk_to(cabinet)
grab(tea_bag)
place_inside(teapot, tea_bag)
switch_on(stove)
wait_for(tea_to_steep)
switch_off(stove)
pour(tea, cup)
add(lemon_slice, tea)
