Plan main:
    Execute go_to(red_door)
    Execute toggle
    Execute go_to(blue_door)
    Execute toggle

# Policy main:
#     if at(red_door) or at(blue_door):
#         Execute go_to(GoalTile)
#     elif not at(red_door) and not at(blue_door):
#         Execute step_towards(GoalTile)