The task goal is to clean the shoes. On the bed, there is soap, a dry rag, and four shoes. On the floor, there is a towel and a paintbrush. Two shoes are stained, while two shoes are dusty. The rag is currently not soaked. In the bedroom, there is also a floor and a bed. In the bathroom, there is a sink as shown in the images. The goal is to remove the stains from all the shoes, ensure they are not dusty, and place the towel on the floor.

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.
