Wash clothes
Get clothes.  Go to laundry room.  Put clothes in washer. turn on washer.


[FIND] <basket_for_clothes> (1.1000)
[GRAB] <basket_for_clothes> (1.1000)
[FIND] <washing_machine> (1.1001)
[OPEN] <washing_machine> (1.1001)
[PUTBACK] <basket_for_clothes> (1.1000) <washing_machine> (1.1001)
[FIND] <soap> (1.1002)
[GRAB] <soap> (1.1002)
[PUTBACK] <soap> (1.1002) <washing_machine> (1.1001)
[CLOSE] <washing_machine> (1.1001)
[SWITCHON] <washing_machine> (1.1001)
