walk_to(carton)
grab(socks_1_from_carton)
walk_to(sofa)
place_on_top(sofa, socks_1_from_carton)
walk_to(carton)
grab(socks_2_from_carton)
walk_to(sofa)
place_on_top(sofa, socks_2_from_carton)
walk_to(carton)
grab(perfume_from_carton)
walk_to(sofa)
place_on_top(sofa, perfume_from_carton)
walk_to(carton)
grab(toothbrush_from_carton)
walk_to(sofa)
place_on_top(sofa, toothbrush_from_carton)
walk_to(carton)
grab(notebook_from_carton)
walk_to(sofa)
place_on_top(sofa, notebook_from_carton)