walk_to(bucket)
grab(soap)
place_inside(bucket, soap)
walk_to(tap)
grab(bucket)
place_under(tap, bucket)
switch_on(tap)
wait_for(bucket_fill)
switch_off(tap)
walk_to(floor_stain)
grab(towel)
place_inside(bucket, towel)
grab(towel)
scrub(floor_stain, towel)
walk_to(floor_dust)
scrub(floor_dust, towel)
walk_to(tap)
rinse(towel)
switch_off(tap)
walk_to(floor_start)
scrub(floor_start, towel)
walk_to(floor_end)
scrub(floor_end, towel)
walk_to(bucket)
place_on_top(bucket, towel)