walk_to(mop)
grab(mop)
walk_to(bathroom)
place_on_top(floor, mop)
walk_to(bucket)
grab(bucket)
walk_to(sink)
fill(bucket, water)
walk_to(soap)
grab(soap)
pour(soap, bucket)
walk_to(mop)
dip(mop, bucket)
mop(floor)
walk_to(scraper)
grab(scraper)
scrape(stains)
walk_to(mop)
dip(mop, bucket)
mop(floor)
walk_to(cloth)
grab(cloth)
wipe(floor)
