walk_to(bed)
grab(soap)
grab(rag)
walk_to(bathroom)
open(faucet)
wet(rag)
close(faucet)
walk_to(bed)
clean(shoe1, soap, rag)
clean(shoe2, soap, rag)
clean(shoe3, soap, rag)
clean(shoe4, soap, rag)
walk_to(bed)
place_on_top(bed, soap)
place_on_top(bed, rag)
walk_to(floor)
place_on_top(floor, towel)
