walk_to(table)
grab(cleansing_agent)
grab(towel)
walk_to(refrigerator)
open(refrigerator)
grab(food_item1)
place_inside(sink, food_item1)
grab(food_item2)
place_inside(sink, food_item2)
grab(food_item3)
place_inside(sink, food_item3)
place_on_top(countertop, cleansing_agent)
place_on_top(countertop, towel)
grab(cleansing_agent)
apply(refrigerator_interior, cleansing_agent)
grab(towel)
wipe(refrigerator_interior, towel)
place_inside(sink, cleansing_agent)
place_inside(sink, towel)
close(refrigerator)
