walk_to(countertop)
grab(towel)
walk_to(sink)
place_on_top(towel, sink)
walk_to(countertop)
grab(brush)
walk_to(sink)
place_on_top(brush, sink)
walk_to(cabinet)
open(cabinet)
grab(soap)
walk_to(sink)
place_inside(soap, sink)
close(cabinet)
walk_to(living room)
walk_to(shoe1)
grab(shoe1)
walk_to(sink)
clean(shoe1, brush)
walk_to(living room)
walk_to(shoe2)
grab(shoe2)
walk_to(sink)
clean(shoe2, brush)
walk_to(shoe3)
grab(shoe3)
walk_to(sink)
clean(shoe3, brush)
walk_to(shoe4)
grab(shoe4)
walk_to(sink)
clean(shoe4, brush)
walk_to(shoe1)
place_on_top(shoe1, table)
walk_to(shoe2)
place_on_top(shoe2, table)
walk_to(shoe3)
place_inside(shoe3, table)
walk_to(shoe4)
place_inside(shoe4, table)