walk_to(cabinet)
open(cabinet)
grab(shampoo)
close(cabinet)
walk_to(corridor)
place_on_top(shampoo, floor)
walk_to(faucet)
open(faucet)
walk_to(shampoo)
pour(water, shampoo)
walk_to(hand towel)
grab(hand towel)
walk_to(corridor)
dip(hand towel, shampoo)
walk_to(floor)
clean(floor, hand towel)
walk_to(mat1)
grab(mat1)
walk_to(utility room)
place_on_top(mat1, washer)
walk_to(faucet)
close(faucet)
walk_to(hand towel)
wash(hand towel, sink)
walk_to(corridor)
dip(hand towel, shampoo)
walk_to(mat1)
clean(mat1, hand towel)
walk_to(hand towel)
wash(hand towel, sink)
walk_to(mat2)
grab(mat2)
walk_to(utility room)
place_on_top(mat2, washer)
walk_to(corridor)
dip(hand towel, shampoo)
walk_to(mat2)
clean(mat2, hand towel)
walk_to(hand towel)
wash(hand towel, sink)
walk_to(utility room)
place_on_top(hand towel, washer)
walk_to(shampoo)
place_inside(shampoo, cabinet)
close(cabinet)