walk_to(kitchen_countertop)
grab(brush)
grab(towel)
walk_to(kitchen_cabinet)
grab(soap)
walk_to(sink)
place_inside(sink, soup)
switch-on(faucet)
close(kitchen_cabinet)
walk_to(gym_shoe_1)
grab(gym_shoe_1)
walk_to(sink)
use(soap, gym_shoe_1)
use(brush, gym_shoe_1)
use(towel, gym_shoe_1)
walk_to(living_room_table)
place_on_top(living_room_floor, gym_shoe_1)
walk_to(gym_shoe_2)
grab(gym_shoe_2)
walk_to(sink)
use(soup, gym_shoe_2)
use(brush, gym_shoe_2)
use(towel, gym_shoe_2)
walk_to(living_room_table)
place_on_top(living_room_floor, gym_shoe_2)
walk_to(gym_shoe_3)
grab(gym_shoe_3)
walk_to(sink)
use(brush, gym_shoe_3)
use(towel, gym_shoe_3)
walk_to(living_room_table)
place_on_top(living_room_floor, gym_shoe_3)
walk_to(gym_shoe_4)
grab(gym_shoe_4)
walk_to(sink)
use(brush, gym_shoe_4)
use(towel, gym_shoe_4)
walk_to(living_room_table)
place_on_top(living_room_floor, gym_shoe_4)
walk_to(sink)
switch-off(faucet)
grab(towel)
grab(brush)
grab(soap)
walk_to(kitchen_countertop)
place_on_top(kitchen_countertop)
