walk_to(countertop)
grab(soap)
walk_to(sink)
open(faucet)
walk_to(soap)
pour(water, soap)
walk_to(rag1)
grab(rag1)
walk_to(refrigerator)
open(refrigerator)
walk_to(tray1)
grab(tray1)
walk_to(sink)
clean(tray1, rag1)
walk_to(refrigerator)
place_inside(tray1, refrigerator)
walk_to(tray2)
grab(tray2)
walk_to(sink)
clean(tray2, rag1)
walk_to(refrigerator)
place_inside(tray2, refrigerator)
walk_to(tray3)
grab(tray3)
walk_to(sink)
clean(tray3, rag1)
walk_to(refrigerator)
place_inside(tray3, refrigerator)
walk_to(refrigerator)
close(refrigerator)
walk_to(bowl)
grab(bowl)
walk_to(sink)
clean(bowl, rag1)
walk_to(sink)
close(faucet)
walk_to(rag1)
wash(rag1, sink)
walk_to(cabinet)
open(cabinet)
walk_to(rag2)
grab(rag2)
walk_to(sink)
wash(rag2, sink)
walk_to(rag1)
place_on_top(rag1, sink)
walk_to(rag2)
place_on_top(rag2, sink)
walk_to(soap)
place_inside(soap, sink)
close(cabinet)