walk_to(bed)
grab(soap)
walk_to(bathroom)
open(sink)
switch-on(sink)
place_inside(sink, soap)
grab(rag)
place_inside(sink, rag)
wait_for_soak(rag)
walk_to(bed)
grab(stained_shoe_1)
walk_to(bathroom)
grab(rag)
scrub(stained_shoe_1, rag)
place_on_top(sink, stained_shoe_1)
grab(stained_shoe_2)
scrub(stained_shoe_2, rag)
place_on_top(sink, stained_shoe_2)
grab(dusty_shoe_1)
wipe(dusty_shoe_1, rag)
place_on_top(floor, dusty_shoe_1)
grab(dusty_shoe_2)
wipe(dusty_shoe_2, rag)
place_on_top(floor, dusty_shoe_2)
walk_to(bed)
grab(towel)
walk_to(floor)
place_on_top(floor, towel)
close(sink)
switch-off(sink)
