The task goal is to clean the table after clearing it. The table, is currently stained. Inside the kitchen cabinet, there is soap and a dishtowel. A nail and a hammer are on the table. In the kitchen, there is the cabinet and the sink as shown in the images. The goal is to remove the stains from the table.

Generate admissible procedural plans without natural language, 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.
