walk_to(table)
grab(nail)
walk_to(cabinet)
place_inside(nail, cabinet)
close(cabinet)
walk_to(table)
grab(hammer)
walk_to(cabinet)
place_inside(hammer, cabinet)
close(cabinet)
walk_to(cabinet)
open(cabinet)
grab(soap)
close(cabinet)
walk_to(sink)
open(faucet)
walk_to(soap)
pour(water, soap)
walk_to(dishtowel)
grab(dishtowel)
walk_to(table)
dip(dishtowel, soap)
walk_to(table)
clean(table, dishtowel)
walk_to(sink)
close(faucet)
walk_to(dishtowel)
wash(dishtowel, sink)
walk_to(cabinet)
place_inside(dishtowel, cabinet)
close(cabinet)
walk_to(soap)
place_inside(soap, cabinet)
close(cabinet)