place_on_top(countertop, towel)
place_next_to(towel, brush)
walk_to(sink)
switch_on(faucet)
place_inside(sink, soap)
switch_off(faucet)
walk_to(living_room)
walk_to(sneaker1)
clean(sneaker1, soap, brush)
walk_to(sneaker2)
clean(sneaker2, soap, brush)
walk_to(sneaker3)
clean(sneaker3, soap, brush)
walk_to(sneaker4)
clean(sneaker4, soap, brush)
walk_to(sneaker1)
grab(sneaker1)
walk_to(table)
place_next_to(table, sneaker1)
walk_to(sneaker2)
grab(sneaker2)
walk_to(table)
place_under(table, sneaker2)
walk_to(sneaker3)
grab(sneaker3)
walk_to(table)
place_next_to(table, sneaker3)
walk_to(sneaker4)
grab(sneaker4)
walk_to(table)
place_under(table, sneaker4)
