walk_to(bedroom)
walk_to(floor)
grab(detergent)
walk_to(sweater1)
clean(sweater1, detergent)
place_on_top(floor, detergent)
walk_to(bed)
place_on_top(bed, sweater1)
walk_to(floor)
grab(scrub_brush)
walk_to(sweater2)
brush(sweater2, scrub_brush)
walk_to(bed)
grab(sweater3)
brush(sweater3, scrub_brush)
place_on_top(bed, sweater3)
grab(sweater4)
brush(sweater4, scrub_brush)
place_on_top(bed, sweater4)
walk_to(floor)
place_on_top(floor, scrub_brush)
