walk_to(cabinet)
open(cabinet)
grab(shampoo)
close(cabinet)
walk_to(mat)
place_on_top(shampoo, mat)
switch-on(washer)
walk_to(hand_towel)
grab(hand_towel)
walk_to(mat)
place_on_top(hand_towel, mat)
wait(for_washer_to_finish)
switch-off(washer)
walk_to(mat)
grab(hand_towel)
place_inside(cabinet, hand_towel)
walk_to(mat)
grab(shampoo)
place_inside(cabinet, shampoo)
