Based on the given task and the images, here is a set of admissible procedural plans using the planning steps described with action(object)
walk_to(cubes)
   grab(cubes)
   walk_to(stockings)
   place_inside(cubes, stockings)
walk_to(candies)
   grab(candies)
   walk_to(stockings)
   place_inside(candies, stockings)
walk_to(pens)
   grab(clean_pens)
   walk_to(stockings)
   place_inside(clean_pens, stockings)
walk_to(stained_pens)
   open(cabinet)
   place_inside(stained_pens, cabinet)
   close(cabinet)
