The task is to fill a Christmas stocking. There are four cubes on the floor, four candies and four pens inside the kitchen cabinet. There are four stockings 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 cube inside a stocking. Place each candy inside a stocking. Place each pen 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.
