walk_to(cabinet)
open(cabinet)
grab(soap)
place_on_top(soap, table)
grab(dishtowel)
place_on_top(dishtowel, table)
walk_to(sink)
switch_on(sink)
grab(water)
place_on_top(water, table)
use(soap, table)
use(dishtowel, table)
switch_off(sink)
walk_to(table)
inspect(table)
