walk_to(sink)
grab(scrub_brush)
switch-on(water)
place_on_top(scrub_brush, sink)
grab(soap)
place_on_top(soap, sink)
grab(teapot)
place_inside(teapot, cabinet)
grab(kettle)
place_inside(kettle, cabinet)
grab(pan1)
place_inside(pan1, cabinet)
grab(pan2)
place_inside(pan2, cabinet)
grab(soup_ladle)
place_on_top(soup_ladle, sink)
grab(tablefork)
place_on_top(tablefork, sink)
grab(rag)
switch-on(water)
use(rag, soup_ladle)
use(rag, tablefork)
switch-off(water)
place_inside(rag, drawer)