walk_to(bed)
grab(rag)
walk_to(bathroom)
open(sink)
switch-on(sink)
place_inside(rag)
switch-off(sink)
close(sink)
walk_to(bed)
grab(soap)
walk_to(stained_shoes)
action(clean(stained_shoes))
walk_to(dusty_shoes)
action(clean(dusty_shoes))
walk_to(floor)
grab(towel)
place_on_top(floor)
