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)
grab(tray_1)
walk_to(kitchen_sink)
switch-on(faucet)
place_inside(kitchen_sink, tray_1)
place_on_top(tray_1, soap)
place_on_top(tray_1, rag_1)
switch-off(faucet)
grab(tray_1)
place_on_top(countertop, tray_1)
walk_to(refrigerator)
grab(bowl)
walk_to(kitchen_sink)
switch-on(faucet)
place_inside(kitchen_sink, bowl)
place_on_top(bowl, soap)
place_on_top(bowl, rag_1)
switch-off(faucet)
grab(bowl)
place_on_top(countertop, bowl)
walk_to(refrigerator)
grab(tray_2)
walk_to(kitchen_sink)
switch-on(faucet)
place_inside(kitchen_sink, tray_2)
place_on_top(tray_2, soap)
place_on_top(tray_2, rag_1)
switch-off(faucet)
grab(tray_2)
place_on_top(countertop, tray_2)
grab(rag_2)
walk_to(refrigerator)
place_on_top(stain, rag_2)
grab(rag_2)
walk_to(countertop)
place_on_top(countertop, rag_2)
grab(tray1)
walk_to(refrigerator)
place_inside(refrigerator, tray_1)
walk_to(countertop)
grab(tray2)
walk_to(refrigerator)
place_inside(refrigerator, tray_2)
close(refrigerator)