walk_to(utility_room)
walk_to(cabinet)
open(cabinet)
grab(shampoo)
close(cabinet)
walk_to(sink)
place_on_top(sink, shampoo)
switch-on(sink)
walk_to(hand_towel)
grab(hand_towel)
walk_to(sink)
place_inside(sink, hand_towel)
switch-off(sink)
walk_to(cabinet)
place_on_top(cabinet, shampoo)
grab(hand_towel)
walk_to(corridor)
place_on_top(stain, hand_towel)
