walk_to(dry rag)
grab(dry rag)
walk_to(shoes)
place_on_top(dry rag, shoes)
walk_to(soap)
grab(soap)
walk_to(shoes)
place_on_top(soap, shoes)
walk_to(water tap)
open(water tap)
soak(dry rag)
walk_to(shoes)
grab(shoes)
place_inside(shoes, water tap)
scrub(shoes)
walk_to(towel)
grab(towel)
walk_to(floor)
place_on_top(towel, floor)