room livingroom kitchen ?R1 ?R2
object beer ?Obj
#####
OPERATOR opendoor ?R1 ?R2
IF
at robot ?R1
doorclosed ?R1 ?R2
doorclosed ?R2 ?R1
ADD
dooropen ?R1 ?R2
dooropen ?R2 ?R1
DELETE
doorclosed ?R1 ?R2
doorclosed ?R2 ?R1
#####
OPERATOR closedoor ?R1 ?R2
IF
at robot ?R1
dooropen ?R1 ?R2
dooropen ?R2 ?R1
ADD
doorclosed ?R1 ?R2
doorclosed ?R2 ?R1
DELETE
dooropen ?R1 ?R2
dooropen ?R2 ?R1
#####
OPERATOR move ?R1 ?R2
IF
at robot ?R1
dooropen ?R1 ?R2
dooropen ?R2 ?R1
ADD
at robot ?R2
DELETE
at robot ?R1
#####
OPERATOR carry ?R1 ?R2 ?Obj
IF
dooropen ?R1 ?R2
dooropen ?R2 ?R1
at robot ?R1
at ?Obj ?R1
ADD
at robot ?R2
at ?Obj ?R2
DELETE
at robot ?R1
at ?Obj ?R1
#####
INITIAL
at robot livingroom
at beer kitchen
at fred livingroom
doorclosed kitchen livingroom
doorclosed livingroom kitchen
#####
GOAL
at beer livingroom
at fred livingroom
dooropen kitchen livingroom
dooropen livingroom kitchen
at robot kitchen