walk_to(scrub_brush)
grab(scrub_brush)
walk_to(detergent)
grab(detergent)
walk_to(sweater1_on_floor)
grab(sweater1_on_floor)
place_on_top(sweater1_on_floor, bed)
open(detergent)
switch-on(scrub_brush)
brush(sweater1_on_bed, scrub_brush)
walk_to(sweater2_on_floor)
grab(sweater2_on_floor)
place_on_top(sweater2_on_floor, bed)
brush(sweater2_on_bed, scrub_brush)
walk_to(sweater1_on_bed)
grab(sweater1_on_bed)
place_on_top(sweater1_on_bed, floor)
walk_to(sweater2_on_bed)
grab(sweater2_on_bed)
place_on_top(sweater2_on_bed, floor)
walk_to(sweater_stained)
grab(sweater_stained)
brush(sweater_stained, scrub_brush)
place_inside(detergent)
close(detergent)
switch-off(scrub_brush)
