walk_to(utility_room)
open(cabinet)
grab(shampoo)
close(cabinet)
walk_to(sink)
place_on_top(sink, shampoo)
switch_on(faucet)
switch_off(faucet)
open(shampoo)
place_inside(sink, shampoo)
close(shampoo)
grab(hand_towel)
place_inside(sink, hand_towel)
grab(hand_towel)
walk_to(corridor)
clean(stain, hand_towel)
walk_to(utility_room)
walk_to(sink)
switch_on(faucet)
switch_off(faucet)
place_inside(sink, hand_towel)
walk_to(dryer)
place_inside(dryer, hand_towel)
walk_to(sink)
grab(shampoo)
walk_to(cabinet)
open(cabinet)
place_inside(cabinet, shampoo)
close(cabinet)
