walk_to(bucket)
grab(bucket)
walk_to(cabinet1)
open(cabinet1)
grab(scrub_brush)
grab(rag)
close(cabinet1)
walk_to(cleansing_agent)
grab(cleansing_agent)
walk_to(cabinet1)
open(cabinet1)
place_inside(cabinet1, scrub_brush)
place_inside(cabinet1, rag)
close(cabinet1)
open(cabinet2)
grab(books)
place_inside(bucket, books)
close(cabinet2)
open(cabinet3)
grab(screwdriver)
place_inside(bin, screwdriver)
close(cabinet3)
open(cabinet2)
grab(markers)
place_inside(bucket, markers)
close(cabinet2)
walk_to(bin)
place_on_top(bin, screwdriver)
walk_to(bucket)
place_on_top(bucket, markers)
walk_to(cabinet1)
open(cabinet1)
clean(cabinet1)
close(cabinet1)
walk_to(cabinet2)
open(cabinet2)
clean(cabinet2)
close(cabinet2)
walk_to(cabinet3)
open(cabinet3)
clean(cabinet3)
close(cabinet3)
