walk_to(refrigerator)
open(refrigerator)
grab(food_items)
place_inside(trash_can, food_items)
close(refrigerator)
walk_to(cleaning_supplies)
grab(cleansing_agent)
walk_to(refrigerator)
switch-on(refrigerator)
place_on_top(refrigerator, cleansing_agent)
grab(towel)
clean(refrigerator, towel)
discard(towel)