The task goal is to clean the cupboards. There are three cabinets in the bedroom. The first cabinet contains books and writing tools, the second cabinet contains more books and markers, and the third cabinet contains a screwdriver. There is also a scrub brush and a rag inside the first cabinet. On top of the bed, there is a cleansing agent, and on the floor, there is a bin and two folding chairs. Additionally, there is a bucket on top of the bed. The cabinets are dusty as shown in the images. The goal is to ensure that all the cabinets are dust-free. None of the cabinets should contain any books. The screwdriver should be inside the bin. All the markers and the pen should be inside the bucket.

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.
