walk_to(broom)
grab(broom)
walk_to(bathroom)
place_inside(bathroom, broom)
walk_to(sink)
grab(soap)
open(bucket)
place_inside(bucket, soap)
switch_on(sink)
place_under(bucket, sink)
wait(fill)
switch_off(sink)
grab(cloth)
place_inside(bucket, cloth)
wring(cloth)
mop(floor)
place_inside(bucket, cloth)
walk_to(outside)
empty(bucket)
place_inside(bathroom, bucket)
