walk_to(kitchen_cabinet)
open(kitchen_cabinet)
grab(soap)
close(kitchen_cabinet)
walk_to(sink)
place_on_top(sink, soap)
switch-on(faucet)
walk_to(kitchen_cabinet)
open(kitchen_cabinet)
grab(dishtowel)
close(kitchen_cabinet)
place_inside(sink, soap)
place_inside(sink, dishtowel)
switch-off(faucet)
walk_to(dining_room_table)
place_on_top(dining_room_table, dishtowel)
grab(dishtowel)
walk_to(kitchen_cabinet)
open(kitchen_cabinet)
place_inside(kitchen_cabinet, dishtowel)
close(kitchen_cabinet)
