walk_to(mop)
grab(mop)
walk_to(bathroom)
open(sink)
switch_on(sink)
place_inside(bucket, sink)
switch_off(sink)
grab(soap)
place_inside(soap, bucket)
grab(cloth)
place_inside(cloth, bucket)
grab(bucket)
mopping_motion(floor)
place_on_top(mop, floor)
place_on_top(bucket, floor)
grab(cloth)
wipe_dry(floor, cloth)
place_on_top(cloth, floor)
