walk_to(cube1)
grab(cube1)
walk_to(stocking1)
place_inside(stocking1, cube1)
walk_to(cube2)
grab(cube2)
walk_to(stocking2)
place_inside(stocking2, cube2)
walk_to(cube3)
grab(cube3)
walk_to(stocking3)
place_inside(stocking3, cube3)
walk_to(cube4)
grab(cube4)
walk_to(stocking4)
place_inside(stocking4, cube4)
walk_to(kitchen_cabinet)
open(kitchen_cabinet)
grab(clean_pen1)
walk_to(stocking1)
place_inside(stocking1, clean_pen1)
walk_to(kitchen_cabinet)
grab(clean_pen2)
walk_to(stocking2)
place_inside(stocking2, clean_pen2)
walk_to(kitchen_cabinet)
grab(stained_pen1)
walk_to(ashcan)
place_inside(ashcan, stained_pen1)
walk_to(kitchen_cabinet)
grab(stained_pen2)
walk_to(ashcan)
place_inside(ashcan, stained_pen2)
close(kitchen_cabinet)
