The task is to put away dishes in the kitchen after cleaning them. There are plates on the countertops. There is a saucepan in the cabinet. There are countertops and cabinet in the kitchen as shown in the images. The goal is to achieve the following: Ensure that all the plates are inside the cabinet.
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.
