Policy main:
    if at(yellow_door) and not yellow_door.is_open:
        Execute toggle
    elif at(red_door) and not red_door.is_open:
        Execute toggle
    elif at(purple_door) and not purple_door.is_open:
        Execute toggle
    elif at(blue_door) and not blue_door.is_open:
        Execute toggle
    elif at(green_door) and not green_door.is_open:
        Execute toggle
    elif at(grey_door) and not grey_door.is_open:
        Execute toggle
