The task is to pack lunches in the kitchen. There is a salad and a sandwich inside the electric refrigerator, chips in the cabinet, milk and yogurt on the table, an eggplant, a banana, a muffin, cookies and a plum on the countertop. One of the cookies is burnt. Two cartons are on the floor as shown in the images. The goal is to achieve the following: Ensure that each type of chip is inside one of the cartons. Ensure that cookie and muffin are inside one of the cartons. Ensure that either the salad and milk are inside one carton, or the sandwich and yogurt are inside the other carton. Ensure that fruits are inside the cartons.
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.
