[1] Mario Bollini, Jennifer Barry, and Daniela Rus. "BakeBot: Baking Cookies with the PR2.", https://citeseerx.ist.psu.edu/document?repid=rep1&type=pdf&doi=2fe5150f68e0749d8cf904970d 9b0e63451ee0cd
[2] Masahiro Inagawa, Toshinobu Takei, and Etsujiro Imanishi. "Analysis of cooking recipes written in Japanese and motion planning for cooking robot. Inagawa et al. Robomech J (2021). https://zendy.io/pdf-viewer/10.1186%2Fs40648-021-00204-6