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. Two dusty and stained mats are on the floor. The goal is to remove the stains from the floor and mats 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.
