walk_to(vacuum)
grab(vacuum)
walk_to(ashcan)
open(ashcan)
switch-on(vacuum)
grab(red box)
place_inside(red box, ashcan)
grab(blue box)
place_inside(blue box, ashcan)
grab(red bracelet)
place_inside(red bracelet, ashcan)
grab(blue bracelet)
place_inside(blue bracelet, ashcan)
switch-off(vacuum)
close(ashcan)
place_on_top(vacuum, floor)
