walk_to(kitchen_cabinet)
open(kitchen_cabinet)
grab(rag_1)
close(kitchen_cabinet)
walk_to(kitchen_cabinet)
open(kitchen_cabinet)
grab(rag_2)
close(kitchen_cabinet)
walk_to(countertop)
grab(soap)
walk_to(refrigerator)
open(refrigerator)
grab(tray_1)
walk_to(kitchen_sink)
place_on_top(kitchen_sink, soap)
place_on_top(kitchen_sink, rag_1)
grab(tray_1)
walk_to(refrigerator)
place_inside(refrigerator, tray_1)
grab(tray_2)
walk_to(kitchen_sink)
place_on_top(kitchen_sink, rag_2)
grab(tray_2)
walk_to(refrigerator)
place_inside(refrigerator, tray_2)
grab(bowl)
walk_to(kitchen_sink)
place_on_top(kitchen_sink, bowl)
grab(bowl)
place_on_top(countertop, bowl)
place_on_top(kitchen_sink, rag_1)
place_on_top(kitchen_sink, rag_2)
place_inside(sink, soap)
close(refrigerator)
