Plan main:
    Execute go_to(blue_ball)
    Execute pickup
    Execute right
    Execute drop
    Execute go_to(green_key)
    Execute pickup
    Execute go_to(green_door)
    Execute toggle
    Execute right
    Execute drop
    Execute go_to(green_ball)
    Execute pickup

Policy main:
    if at(green_door) and carrying(green_key) and not green_door.is_open:
        Execute toggle

    elif at(grey_door) and carrying(grey_key) and not grey_door.is_open:
        Execute toggle

