Teaching heterogeneous robotic cells is difficult and time-consuming. We present a context-aware robot teaching solution based on an open-source framework that decouples the task instruction from the task execution to simplify the teaching workflow significantly. To demonstrate the advantages of the solution, a human operator uses a VR headset and controllers to teach a virtual robot to perform a task, e.g., pick-and-place in a virtual world. The task is automatically adapted to different settings of operation cells and executed by physical robots located at different geographical locations.