walk_to(sink)
grab(soap)
place_on_top(soap, countertop)
grab(teapot)
place_on_top(teapot, sink)
switch-on(water)
grab(scrub_brush)
use(scrub_brush, teapot)
switch-off(water)
grab(clean_rag)
use(clean_rag, teapot)
place_on_top(teapot, drying_area)
grab(kettle)
place_on_top(kettle, sink)
switch-on(water)
use(scrub_brush, kettle)
switch-off(water)
use(clean_rag, kettle)
place_on_top(kettle, drying_area)
grab(pan_1)
place_on_top(pan_1, sink)
switch-on(water)
use(scrub_brush, pan_1)
switch-off(water)
use(clean_rag, pan_1)
place_on_top(pan_1, drying_area)
grab(pan_2)
place_on_top(pan_2, sink)
switch-on(water)
use(scrub_brush, pan_2)
switch-off(water)
use(clean_rag, pan_2)
place_on_top(pan_2, drying_area)
grab(soup_ladle)
place_on_top(soup_ladle, sink)
switch-on(water)
use(scrub_brush, soup_ladle)
switch-off(water)
use(clean_rag, soup_ladle)
place_on_top(soup_ladle, drying_area)
grab(tablefork)
place_on_top(tablefork, sink)
switch-on(water)
use(scrub_brush, tablefork)
switch-off(water)
use(clean_rag, tablefork)
place_on_top(tablefork, drying_area)
walk_to(cabinet)
open(cabinet)
grab(teapot)
place_inside(teapot, cabinet)
grab(kettle)
place_inside(kettle, cabinet)
grab(pan_1)
place_inside(pan_1, cabinet)
grab(pan_2)
place_inside(pan_2, cabinet)
close(cabinet)
place_on_top(scrub_brush, drying_area)
place_on_top(clean_rag, drying_area)
walk_to(starting_position)