O300	lemon	1
S262	whole
O138	colander	0
S54	empty
M38	pick-and-place	Assumed	Assumed
O300	lemon	1
S262	whole
S88	in colander
O138	colander	0
S139	ingredients inside	{lemon}
//
O207	faucet	1
S166	off
M69	turn on	Assumed	Assumed
O207	faucet	1
S168	on
O567	water	1
S63	from faucet
//
O207	faucet	0
S168	on
O567	water	0
S63	from faucet
O138	colander	1
S139	ingredients inside	{lemon}
O300	lemon	1
S262	whole
S88	in colander
M72	wash	Assumed	Assumed
O300	lemon	1
S262	whole
S260	washed
S88	in colander
//
O207	faucet	1
S168	on
O567	water	1
S63	from faucet
M68	turn off	Assumed	Assumed
O207	faucet	1
S166	off
//
O51	bowl	0
S54	empty
O138	colander	0
S139	ingredients inside	{lemon}
O300	lemon	1
S262	whole
S260	washed
S88	in colander
M38	pick-and-place	Assumed	Assumed
O51	bowl	0
S139	ingredients inside	{lemon}
O300	lemon	1
S262	whole
S84	in bowl
O138	colander	0
S45	dirty
//
O51	bowl	0
S139	ingredients inside	{lemon}
O300	lemon	1
S262	whole
S84	in bowl
O180	cutting board	0
S54	empty
S199	on surface
M38	pick-and-place	Assumed	Assumed
O180	cutting board	0
S145	ingredients on top	{lemon}
S199	on surface
O300	lemon	1
S262	whole
S176	on cutting board
//
O180	cutting board	0
S145	ingredients on top	{lemon}
S199	on surface
O300	lemon	1
S262	whole
S176	on cutting board
M48	roll	0:15	0:26
O300	lemon	1
S242	softened
S176	on cutting board
//
O334	measuring cup	0
S54	empty
O248	grater	0
S23	clean
O300	lemon	1
S242	softened
S176	on cutting board
M28	grate	0:27	0:31
O300	lemon	1
S267	zested
S176	on cutting board
O334	measuring cup	0
S139	ingredients inside	{lemon zest}
O305	lemon zest	1
S103	in measuring cup
O248	grater	0
S45	dirty
//
O465	saucepan	1
S54	empty
O516	stove	0
S166	off
M38	pick-and-place	Assumed	Assumed
O465	saucepan	1
S54	empty
S198	on stove
O516	stove	0
S166	off
S209	pan on top
//
O465	saucepan	0
S54	empty
S198	on stove
O334	measuring cup	1
S139	ingredients inside	{water}
O567	water	1
S103	in measuring cup
M40	pour	0:40	0:43
O465	saucepan	0
S139	ingredients inside	{water}
S198	on stove
O567	water	1
S114	in pan
//
O51	bowl	1
S139	ingredients inside	{sugar}
O519	sugar	1
S67	granulated
S84	in bowl
O465	saucepan	0
S139	ingredients inside	{water}
S198	on stove
M40	pour	0:45	0:49
O465	saucepan	0
S139	ingredients inside	{water,sugar}
S198	on stove
O519	sugar	1
S67	granulated
S114	in pan
O51	bowl	1
S45	dirty
//
O334	measuring cup	1
S139	ingredients inside	{lemon zest}
O305	lemon zest	1
S103	in measuring cup
O51	bowl	0
S54	empty
M40	pour	Assumed	Assumed
O51	bowl	0
S139	ingredients inside	{lemon zest}
O305	lemon zest	1
S84	in bowl
O334	measuring cup	1
S45	dirty
//
O465	saucepan	0
S139	ingredients inside	{water,sugar}
S198	on stove
O51	bowl	1
S139	ingredients inside	{lemon zest}
O305	lemon zest	1
S84	in bowl
M40	pour	0:51	0:53
O465	saucepan	0
S139	ingredients inside	{water,sugar,lemon zest}
S198	on stove
O305	lemon zest	1
S114	in pan
O51	bowl	1
S45	dirty
//
O516	stove	0
S168	on
S209	pan on top
O465	saucepan	0
S139	ingredients inside	{water,sugar,lemon zest}
S198	on stove
M30	heat	Assumed	Assumed
O465	saucepan	0
S138	ingredients heated inside	{water,sugar,lemon zest}
S198	on stove
//
O465	saucepan	0
S138	ingredients heated inside	{water,sugar,lemon zest}
S198	on stove
O507	spoon	1
S23	clean
M66	stir	0:55	1:05
O465	saucepan	0
S143	ingredients mixed inside	{lemon mixture}
S198	on stove
O304	lemon mixture	1
S138	ingredients heated inside	{water,sugar,lemon zest}
S114	in pan
//
O180	cutting board	0
S145	ingredients on top	{lemon}
S199	on surface
O300	lemon	1
S262	whole
S176	on cutting board
O293	knife	1
S23	clean
M15	cut	1:08	1:09
O300	lemon	1
S73	halved
S176	on cutting board
//
O513	squeezer	0
S23	clean
S199	on surface
O300	lemon	1
S73	halved
S176	on cutting board
M65	squeeze	1:10	1:20
O513	squeezer	0
S139	ingredients inside	{lemon juice}
S199	on surface
O303	lemon juice	1
S127	in squeezer
O300	lemon	1
S247	squeezed
//
O517	strainer	1
S23	clean
O51	bowl	0
S54	empty
M38	pick-and-place	Assumed	Assumed
O517	strainer	1
S23	clean
S84	in bowl
//
O513	squeezer	0
S139	ingredients inside	{lemon juice}
S199	on surface
O303	lemon juice	1
S127	in squeezer
O517	strainer	0
S23	clean
S84	in bowl
O51	bowl	0
S54	empty
M40	pour	1:22	1:54
O517	strainer	0
S139	ingredients inside	{pulp}
S84	in bowl
O513	squeezer	0
S45	dirty
O51	bowl	0
S139	ingredients inside	{lemon juice}
O303	lemon juice	1
S84	in bowl
//
O465	saucepan	1
S143	ingredients mixed inside	{lemon mixture}
S198	on stove
O304	lemon mixture	1
S138	ingredients heated inside	{water,sugar,lemon zest}
S114	in pan
O517	strainer	0
S139	ingredients inside	{pulp}
S84	in bowl
O51	bowl	0
S139	ingredients inside	{lemon juice}
M40	pour	1:29	1:32
O51	bowl	0
S139	ingredients inside	{lemon juice,lemon mixture}
O304	lemon mixture	1
S138	ingredients heated inside	{water,sugar,lemon zest}
S84	in bowl
//
O51	bowl	0
S139	ingredients inside	{lemon juice,lemon mixture}
O303	lemon juice	1
S84	in bowl
O304	lemon mixture	1
S138	ingredients heated inside	{water,sugar,lemon zest}
S84	in bowl
O507	spoon	1
S23	clean
M66	stir	Assumed	Assumed
O51	bowl	0
S53	drink inside	{lemonade}
O306	lemonade	1
S28	concentrated
S138	ingredients heated inside	{water,sugar,lemon zest,lemon juice}
S84	in bowl
//
O51	bowl	1
S53	drink inside	{lemonade}
O306	lemonade	1
S28	concentrated
S138	ingredients heated inside	{water,sugar,lemon zest,lemon juice}
S84	in bowl
O409	pitcher	0
S54	empty
M40	pour	1:34	1:39
O409	pitcher	0
S53	drink inside	{lemonade}
O306	lemonade	1
S28	concentrated
S138	ingredients heated inside	{water,sugar,lemon zest,lemon juice}
S115	in pitcher
O51	bowl	1
S45	dirty
//
O409	pitcher	0
S53	drink inside	{lemonade}
O306	lemonade	0
S28	concentrated
S138	ingredients heated inside	{water,sugar,lemon zest,lemon juice}
S115	in pitcher
O334	measuring cup	1
S139	ingredients inside	{water}
O567	water	1
S103	in measuring cup
M40	pour	1:43	1:47
O306	lemonade	0
S138	ingredients heated inside	{water,sugar,lemon zest,lemon juice}
S115	in pitcher
//
O191	drinking glass	0
S54	empty
O51	bowl	1
S139	ingredients inside	{ice}
O275	ice	1
S84	in bowl
M38	pick-and-place	1:53	1:55
O191	drinking glass	0
S139	ingredients inside	{ice}
O275	ice	1
S90	in cup
//
O191	drinking glass	0
S139	ingredients inside	{ice}
O306	lemonade	1
S138	ingredients heated inside	{water,sugar,lemon zest,lemon juice}
S115	in pitcher
O409	pitcher	1
S53	drink inside	{lemonade}
M40	pour	1:57	2:03
O191	drinking glass	0
S53	drink inside	{lemonade}
O306	lemonade	1
S90	in cup
//