walk_to(table)
grab(bowls, plates, cups)
place_on_top(sink)
walk_to(hamburger)
grab(hamburger)
place_inside(sack)
place_on_top(floor)
walk_to(cleaning_supplies)
switch-on(faucet)
place_on_top(sink, bowls, plates, cups)
clean(bowls, plates, cups)
place_on_top(table, cleaned_bowls, cleaned_plates, cleaned_cups)
check(floor, chairs, table)
if(stained)
   - walk_to(cleaning_supplies)
   - clean(floor, chairs, table)
- Gather the dirty dishes (bowls, plates, cups)
