walk_to(pad1)
grab(pad1)
walk_to(ashcan)
place_inside(ashcan, pad1)
walk_to(pad2)
grab(pad2)
walk_to(ashcan)
place_inside(ashcan, pad2)
walk_to(pop1)
grab(pop1)
walk_to(ashcan)
place_inside(ashcan, pop1)
walk_to(pop2)
grab(pop2)
walk_to(ashcan)
place_inside(ashcan, pop2)
