walk_to(bucket)
grab(bucket)
walk_to(sink)
open(faucet)
place_inside(bucket, water)
close(faucet)
walk_to(soap)
grab(soap)
place_inside(bucket, soap)
walk_to(towel)
grab(towel)
walk_to(stained_area)
dip(towel, bucket)
scrub(floor, towel)
rinse(towel, bucket)
repeat(13-15)
walk_to(sink)
rinse(bucket)
walk_to(dry_area)
mop(floor, towel)
