The task goal is to clean a bedroom. There are two cabinets in the bedroom, both of which are dusty. There are two pieces of apparel on bed, jewelry and perfume on the floor. A painting is on bed, and a hand towel and a sheet are on the floor. There is a vacuum cleaner on the floor as well. The goal is to place all the apparel inside the cabinets. The jewelry and perfume should be inside the cabinet. The sheet should be on top of the bed. Both cabinets should be dust-free. The vacuum cleaner should be next to the bed, and the painting should be on top of the sheet.
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.
