The task is to pack boxes for a household move or a trip in the living room. There are two cartons on the floor, two books and a plate on the table, a sweater, two shirts, two plates, and a dishtowel on the floor as shown in the images. The goal is to achieve the following: Ensure that there exists a carton in which all plates and the dishtowel are inside. Ensure that there exists a carton in which all books, shirts, and the sweater are inside.
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.
