walk_to(cabinet)
open(cabinet)
grab(soap)
grab(dishtowel)
close(cabinet)
walk_to(table)
grab(nail)
place_on_top(nail, table)
grab(hammer)
place_on_top(hammer, table)
walk_to(sink)
switch-on(sink)
place_inside(dishtowel, sink)
place_inside(soap, sink)
grab(dishtowel)
grab(soap)
walk_to(table)
clean(table, soap, dishtowel)
walk_to(sink)
place_inside(dishtowel, sink)
place_inside(soap, sink)
switch-off(sink)
walk_to(table)
grab(nail)
place_on_top(nail, table)
grab(hammer)
place_on_top(hammer, table)
