walk_to(bed)
grab(rag)
grab(soap)
walk_to(bathroom)
walk_to(sink)
place_inside(sink, soap)
open(sink)
switch-on(faucet)
place_inside(rag)
switch-off(faucet)
close(sink)
walk_to(bed)
grab(shoe_1)
walk_to(sink)
clean(shoe_1)
grab(shoe_1)
place_on_top(floor, shoe_1)
walk_to(bed)
grab(shoe_2)
walk_to(sink)
clean(shoe_2)
walk_to(bed)
grab(shoe_2)
walk_to(sink)
clean(shoe_2)
grab(shoe_2)
place_on_top(floor, shoe_2)
walk_to(bed)
grab(shoe_3)
walk_to(sink)
clean(shoe_3)
walk_to(bed)
grab(shoe_3)
walk_to(sink)
clean(shoe_3)
grab(shoe_3)
place_on_top(floor, shoe_3)
walk_to(bed)
grab(shoe_4)
walk_to(sink)
clean(shoe_4)
walk_to(bed)
grab(shoe_4)
walk_to(sink)
clean(shoe_4)
grab(shoe_4)
place_on_top(floor, shoe_4)