walk_to(bedroom)
walk_to(cabinet_1)
open(cabinet_1)
grab(book_1)
grab(pen)
walk_to(cabinet_2)
open(cabinet_2)
grab(book_2)
grab(book_3)
grab(marker_1)
grab(marker_2)
walk_to(cabinet_3)
open(cabinet_3)
walk_to(bed)
place_inside(bucket, pen)
place_inside(bucket, marker_1)
place_inside(bucket, marker_2)
walk_to(bin)
place_inside(bin, screwdriver)
place_on_top(floor, book_1)
place_on_top(floor, book_2)
place_on_top(floor, book_3)
walk_to(bed)
grab(cleansing_agent)
walk_to(cabinet_1)
grab(scrub_brush)
grab(rag)
clean(cabinet_1, cleansing_agent, scrub_brush, rag)
close(cabinet_1)
walk_to(cabinet_2)
clean(cabinet_2, cleansing_agent, scrub_brush, rag)
close(cabinet_2)
clean(cabinet_3, cleansing_agent, scrub_brush, rag)
close(cabinet_3)