The task is to serve hors d'oeuvres in the dining room. There are salads, parsley and cheese in the refrigerator. There are crackers on the table, and a tray on floor in the dining room. The goal is to achieve the following: Ensure that the tray is on top of the dining room table. Ensure that each cracker is on top of the dining room table. Ensure that each salad is next to a cracker on the dining room table. Ensure that each parsley is on top of a cheese on the dining room table.
Generate admissible procedural plans using the planning steps described with action(object). The available actions include walk_to, place_on_top, grab, place_inside, open/close, and switch-on/off.
