walk_to(cabinet)
open(cabinet)
grab(rag1)
grab(rag2)
close(cabinet)
walk_to(sink)
place_next_to(sink, rag1)
place_next_to(sink, rag2)
grab(soap)
place_inside(sink, soap)
switch_on(faucet)
walk_to(refrigerator)
open(refrigerator)
grab(tray1)
walk_to(sink)
clean(tray1, soap, rag1)
walk_to(refrigerator)
place_inside(refrigerator, tray1)
grab(tray2)
walk_to(sink)
clean(tray2, soap, rag1)
walk_to(refrigerator)
place_inside(refrigerator, tray2)
grab(bowl)
walk_to(sink)
clean(bowl, soap, rag2)
place_next_to(sink, bowl)
walk_to(refrigerator)
clean(refrigerator, soap, rag2)
close(refrigerator)
switch_off(faucet)