walk_to(bed)
grab(soap)
walk_to(bathroom)
place_on_top(soap, sink)
open(faucet)
grab(rag)
place_inside(rag, sink)
close(faucet)
grab(rag)
walk_to(bedroom)
grab(stained_shoe1)
place_on_top(stained_shoe1, floor)
clean(stained_shoe1, rag)
place_on_top(stained_shoe1, bed)
grab(stained_shoe2)
place_on_top(stained_shoe2, floor)
clean(stained_shoe2, rag)
place_on_top(stained_shoe2, bed)
grab(dusty_shoe1)
dust_off(dusty_shoe1, rag)
place_on_top(dusty_shoe1, bed)
grab(dusty_shoe2)
dust_off(dusty_shoe2, rag)
place_on_top(dusty_shoe2, bed)
place_on_top(rag, bed)
grab(towel)
place_on_top(towel, floor)
