walk_to(sink)
grab(soap)
walk_to(countertop)
grab(teapot)
walk_to(sink)
wash(teapot, soap, scrub_brush)
rinse(teapot)
walk_to(cabinet)
open(cabinet)
place_inside(cabinet, teapot)
close(cabinet)
walk_to(countertop)
grab(kettle)
walk_to(sink)
wash(kettle, soap, scrub_brush)
rinse(kettle)
walk_to(cabinet)
open(cabinet)
place_inside(cabinet, kettle)
close(cabinet)
walk_to(countertop)
grab(pan1)
walk_to(sink)
wash(pan1, soap, scrub_brush)
rinse(pan1)
walk_to(cabinet)
open(cabinet)
place_inside(cabinet, pan1)
close(cabinet)
walk_to(countertop)
grab(pan2)
walk_to(sink)
wash(pan2, soap, scrub_brush)
rinse(pan2)
walk_to(cabinet)
open(cabinet)
place_inside(cabinet, pan2)
close(cabinet)
walk_to(countertop)
grab(soup_ladle)
walk_to(sink)
wash(soup_ladle, soap, rag)
rinse(soup_ladle)
place_on_top(countertop, soup_ladle)
grab(table_fork)
wash(table_fork, soap, rag)
rinse(table_fork)
place_on_top(countertop, table_fork)
place_inside(sink, soap)
place_inside(sink, scrub_brush)
place_on_top(countertop, rag)
