walk_to(cabinet)
open(cabinet)
grab(soap)
grab(dishtowel)
walk_to(table)
place_on_top(soap, table)
place_on_top(dishtowel, table)
grab(nail)
grab(hammer)
place_on_top(nail, table)
place_on_top(hammer, table)
switch_on(water)
walk_to(sink)
place_inside(dishtowel, sink)
switch_off(water)
walk_to(table)
grab(dishtowel)
place_on_top(dishtowel, table)
rub(table, dishtowel)
walk_to(cabinet)
place_inside(soap, cabinet)
place_inside(dishtowel, cabinet)
close(cabinet)
