walk_to(table)
grab(nail)
place_inside(cabinet, nail)
grab(hammer)
place_inside(cabinet, hammer)
walk_to(cabinet)
open(cabinet)
grab(soap)
grab(dishtowel)
close(cabinet)
walk_to(sink)
place_on_top(soap, counter)
place_on_top(dishtowel, counter)
grab(sponge)
clean(table)
walk_to(sink)
place_on_top(sponge, counter)
