Plan main:
    Execute go_to(blue_key)
    Execute pickup
    Execute go_to(blue_door)
    Execute toggle
    Execute go_to(goal)

# Effect main:
#     if at(blue_door) and carrying(blue_key):
#         Reward +1

Effect main:
    if at(blue_door) and carrying(blue_key):
        Reward 1

Policy main:
    Execute go_to(green_ball)

