walk_to(cabinet)
open(cabinet)
grab(soap)
grab(dishtowel)
close(cabinet)
walk_to(sink)
switch-on(sink)
place_inside(sink, dishtowel)
place_on_top(sink, soap)
walk_to(table)
grab(dishtowel)
grab(soap)
clean_table(table, dishtowel, soap)
walk_to(sink)
place_inside(sink, dishtowel)
switch-off(sink)
