walk_to(bed)
grab(soap)
walk_to(bathroom)
open(sink)
switch-on(sink)
place_inside(sink, soap)
grab(towel)
place_on_top(floor, towel)
walk_to(bed)
grab(rag)
walk_to(bathroom)
place_inside(sink, rag)
walk_to(bed)
grab(stained_shoe_1)
walk_to(bathroom)
grab(soaked_rag)
walk_to(bed)
clean(stained_shoe_1, soaked_rag)
place_on_top(bed, cleaned_shoe_1)
grab(stained_shoe_2)
walk_to(bathroom)
grab(soaked_rag)
walk_to(bed)
clean(stained_shoe_2, soaked_rag)
place_on_top(bed, cleaned_shoe_2)
grab(dusty_shoe_1)
walk_to(bathroom)
grab(soaked_rag)
walk_to(bed)
dust_off(dusty_shoe_1, soaked_rag)
place_on_top(bed, cleaned_shoe_3)
grab(dusty_shoe_2)
walk_to(bathroom)
grab(soaked_rag)
walk_to(bed)
dust_off(dusty_shoe_2, soaked_rag)
place_on_top(bed, cleaned_shoe_4)
