The task is to fill a Christmas stocking. There are four cubes on the floor, four candies and four pens inside the kitchen cabinet. Two of the pens are stained. There are four stockings and an ashcan on the floor. The agent is on the floor in the living room as shown in the images. The goal is to achieve the following: Place each clean gift inside a stocking.

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.
