walk_to(table)
grab(nail)
walk_to(cabinet)
place_inside(cabinet, nail)
walk_to(table)
grab(hammer)
walk_to(cabinet)
place_inside(cabinet, hammer)
walk_to(cabinet)
open(cabinet)
grab(soap)
grab(dishtowel)
close(cabinet)
walk_to(sink)
place_inside(sink, soap)
switch_on(faucet)
place_inside(sink, dishtowel)
switch_off(faucet)
grab(dishtowel)
walk_to(table)
clean(table)
walk_to(sink)
