walk_to(cabinet)
open(cabinet)
grab(rag)
grab(rag)
close(cabinet)
walk_to(sink)
place_on_top(rag, sink)
place_on_top(rag, sink)
walk_to(countertop)
grab(soap)
walk_to(sink)
place_inside(soap, sink)
walk_to(refrigerator)
open(refrigerator)
grab(tray)
place_inside(tray, refrigerator)
grab(tray)
place_inside(tray, refrigerator)
grab(bowl)
close(refrigerator)
walk_to(sink)
place_on_top(bowl, sink)
switch-on(sink)
place_inside(bowl, sink)
switch-off(sink)
place_on_top(bowl, sink)