walk_to(sink)
open(soap)
grab(scrub_brush)
switch-on(water)
grab(teapot)
scrub(teapot, scrub_brush, soap, water)
switch-off(water)
open(cabinet)
place_inside(teapot, cabinet)
close(cabinet)
switch-on(water)
grab(kettle)
scrub(kettle, scrub_brush, soap, water)
switch-off(water)
open(cabinet)
place_inside(kettle, cabinet)
close(cabinet)
switch-on(water)
grab(pan1)
scrub(pan1, scrub_brush, soap, water)
open(cabinet)
place_inside(pan1, cabinet)
close(cabinet)
grab(pan2)
scrub(pan2, scrub_brush, soap, water)
open(cabinet)
place_inside(pan2, cabinet)
close(cabinet)
grab(ladle)
scrub(ladle, scrub_brush, soap, water)
place_on_top(ladle, countertop)
grab(fork)
scrub(fork, scrub_brush, soap, water)
place_on_top(fork, countertop)
rinse(scrub_brush, water)
place_on_top(scrub_brush, countertop)
