walk_to(bucket)
grab(bucket)
walk_to(sink)
place_inside(bucket, sink)
open(faucet)
wait
close(faucet)
grab(bucket)
walk_to(floor)
place_on_top(bucket, floor)
grab(soap)
place_inside(soap, bucket)
grab(towel)
dip(towel, bucket)
wipe(floor, towel)
repeat(dip(towel, bucket), wipe(floor, towel))
grab(bucket)
walk_to(sink)
place_inside(bucket, sink)
open(faucet)
rinse(towel)
close(faucet)
wring(towel)
place_on_top(towel, floor)
grab(bucket)
empty(bucket)
place_on_top(bucket, floor)
