walk_to(kitchen)
walk_to(countertop)
grab(teapot)
grab(kettle)
grab(pan1)
grab(pan2)
grab(pan3)
walk_to(sink)
place_inside(sink, teapot)
place_inside(sink, kettle)
place_inside(sink, pan1)
place_inside(sink, pan2)
place_inside(sink, pan3)
walk_to(countertop)
grab(scrub_brush)
walk_to(sink)
grab(soap)
clean(teapot, scrub_brush, soap)
clean(kettle, scrub_brush, soap)
clean(pan1, scrub_brush, soap)
clean(pan2, scrub_brush, soap)
clean(pan3, scrub_brush, soap)
place_inside(sink, soap)
place_inside(sink, scrub_brush)
grab(teapot)
grab(kettle)
grab(pan1)
grab(pan2)
grab(pan3)
walk_to(cabinet1)
open(cabinet1)
place_inside(cabinet1, teapot)
place_inside(cabinet1, kettle)
place_inside(cabinet1, pan1)
place_inside(cabinet1, pan2)
place_inside(cabinet1, pan3)
close(cabinet1)
walk_to(countertop)
grab(soup_ladle)
grab(tablefork)
walk_to(sink)
place_inside(sink, soup_ladle)
place_inside(sink, tablefork)
grab(scrub_brush)
grab(soap)
clean(soup_ladle, scrub_brush, soap)
clean(tablefork, scrub_brush, soap)
grab(soup_ladle)
grab(tablefork)
walk_to(cabinet2)
open(cabinet2)
place_inside(cabinet2, soup_ladle)
place_inside(cabinet2, tablefork)
close(cabinet2)