walk_to(refrigerator)
open(refrigerator)
grab(food_item_1)
place_on_top(table, food_item_1)
grab(food_item_2)
place_on_top(table, food_item_2)
grab(food_item_3)
place_on_top(table, food_item_3)
walk_to(table)
grab(cleaning_agent)
walk_to(refrigerator)
switch_on(refrigerator)
open(refrigerator)
clean(refrigerator, cleaning_agent)
close(refrigerator)
switch_off(refrigerator)
