walk_to(kitchen)
walk_to(refrigerator)
grab(bowl_in_refrigerator)
grab(tray1)
grab(tray2)
close(refrigerator)
walk_to(sink)
place_inside(sink, bowl_in_refrigerator)
place_inside(sink, tray1)
place_inside(sink, tray2)
walk_to(counter)
grab(rag_on_counter)
grab(bowl_on_counter)
place_inside(sink, rag_on_counter)
place_inside(sink, bowl_on_counter)
walk_to(cabinet)
open(cabinet)
grab(rag1)
grab(rag2)
close(cabinet)
walk_to(counter)
grab(soap)
walk_to(sink)
place_next_to(sink, rag1)
place_next_to(sink, rag2)
place_inside(sink, soap)
switch_on(faucet)
clean(rag_on_counter, soap)
grab(rag1)
place_inside(sink, rag1)
clean(tray1, soap, rag1)
clean(tray2, soap, rag1)
clean(bowl_on_counter, soap, rag1)
clean(bowl_in_refrigerator, soap, rag1)
grab(rag2)
clean(soap, rag2)
switch_off(faucet)
grab(rag2)
walk_to(refrigerator)
clean(refrigerator_outside, rag2)
open(refrigerator)
clean(refrigerator_inside, rag2)
close(refrigerator)
