The task is to wash pots and pans in the kitchen. There are several items on the countertop: a stained teapot, a stained kettle, two stained pans, and a soaked scrub brush. The teapot, kettle, and pans are on top of the countertop. There is soap inside the sink as shown in the images. The goal is to achieve the following: Ensure that all pans are not stained and are inside a cabinet. Ensure that the kettle is not stained and is inside a cabinet. Ensure that the teapot is not stained and is inside a cabinet.
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.
