walk_to(bucket)
grab(bucket)
walk_to(sink)
open(sink)
place_inside(bucket, water)
close(sink)
walk_to(soap)
grab(soap)
walk_to(floor)
place_on_top(soap, floor)
walk_to(towel)
grab(towel)
walk_to(floor)
wipe_floor(towel)
place_on_top(towel, floor)
