walk_to(scrub_brush)
grab(scrub_brush)
walk_to(bed)
grab(sweater_1)
brush(sweater_1)
place_on_top(bed, sweater_1)
grab(sweater_2)
brush(sweater_2)
place_on_top(bed, sweater_2)
walk_to(floor)
grab(sweater_3)
walk_to(bed)
brush(sweater_3)
place_on_top(bed, sweater_3)
walk_to(detergent)
grab(detergent)
walk_to(sweater_4)
open(detergent)
place_on_top(sweater_4, detergent)
close(detergent)
grab(sweater_4)
walk_to(bed)
brush(sweater_4)
place_on_top(bed, sweater_4)