walk_to(bedroom)
walk_to(bed)
grab(soap)
grab(dry_reg)
grab(shoe_1)
grab(shoe_2)
grab(shoe_3)
grab(shoe_4)
walk_to(bathroom)
place_inside(sink, soap)
place_inside(sink, dry_reg)
soak(dry_reg)
grab(wet_reg)
clean(shoe1, soap, wet_reg)
clean(shoe2, soap, wet_reg)
clean(shoe3, soap, wet_reg)
clean(shoe4, soap, wet_reg)
