walk_to(table)
grab(cleansing_agent)
grab(towel)
walk_to(refrigerator)
grab(food_item1)
walk_to(sink)
place_inside(sink, food_item1)
walk_to(refrigerator)
grab(food_item2)
walk_to(sink)
place_inside(sink, food_item2)
walk_to(refrigerator)
grab(food_item3)
walk_to(sink)
place_inside(sink, food_item3)
walk_to(countertop)
grab(cleansing_agent)
grab(towel)
walk_to(refrigerator)
open(cleansing_agent)
place_on_top(stain, cleansing_agent)
clean(stain)
close(refrigerator)
walk_to(sink)
place_inside(sink, cleansing_agent)
place_inside(sink, towel)
