The task goal is to clean the carpets. The floor is stained. There is a hand towel on the floor. The shampoo is inside a cabinet. The rooms involved are the corridor and the utility room. The utility room contains a washer, a dryer, a cabinet, and a sink. The goal is to remove the stains from the floor as shown in the images. 
Generate admissible procedural plans without natural language using the planning steps described with action(object). The available actions include walk_to, place_on_top, grab, place_inside, open/close, and switch-on/off.
