walk_to(table)
grab(nail)
walk_to(kitchen_cabinet)
place_inside(kitchen_cabinet, nail)
walk_to(table)
grab(hammer)
walk_to(kitchen_cabinet)
place_inside(kitchen_cabinet, hammer)
walk_to(kitchen_cabinet)
open(kitchen_cabinet)
grab(soap)
close(kitchen_cabinet)
walk_to(sink)
place_on_top(sink, soap)
walk_to(kitchen_cabinet)
open(kitchen_cabinet)
grab(dishtowel)
close(kitchen_cabinet)
walk_to(sink)
switch-on(sink)
place_inside(sink, soap)
place_inside(sink, dishtowel)
switch-off(sink)
walk_to(table)
place_on_top(table, dishtowel)
grab(dishtowel)
walk_to(kitchen_cabinet)
open(kitchen_cabinet)
place_inside(kitchen_cabinet, dishtowel)
place_inside(kitchen_cabinet, soap)
close(kitchen_cabinet)
