walk_to(bed)
grab(cleansing_agent)
grab(bucket)
walk_to(cabinet1)
open(cabinet1)
grab(scrub_brush)
grab(rag)
clean(cabinet1, cleansing_agent, scrub_brush)
place_inside(books, bin)
place_inside(writing_tools, bucket)
clean(cabinet2, cleansing_agent, scrub_brush)
place_inside(books, bin)
place_inside(markers, bucket)
clean(cabinet3, cleansing_agent, scrub_brush)
grab(screwdriver)
place_inside(screwdriver, bin)
place_on_top(scrub_brush, rag, bucket)
place_on_top(bucket, floor)
place_on_top(cleansing_agent, floor)
close(cabinet1)
close(cabinet2)
close(cabinet3)
