walk_to(bed_room)
walk_to(floor)
grab(vacuum)
walk_to(cabinet1)
open(cabinet1)
clean(cabinet1, vacuum)
walk_to(cabinet2)
open(cabinet2)
switch_on(vacuum)
clean(cabinet2, vacuum)
switch_off(vacuum)
walk_to(bed)
place_next_to(bed, vacuum)
grab(apparel1)
grab(apparel2)
grab(jewelry)
grab(perfume)
walk_to(floor)
grab(hand_towel)
walk_to(cabinet1)
place_inside(cabinet1, apparel1)
place_inside(cabinet1, apparel2)
place_inside(cabinet1, hand_towel)
walk_to(cabinet2)
place_inside(cabinet2, jewelry)
place_inside(cabinet2, perfume)
walk_to(floor)
grab(sheet)
walk_to(bed)
grab(painting)
place_on_top(bed, sheet)
place_on_top(sheet, painting)