scenario Chairs {

  [actor(ρ)∧¬sitting(ρ)]
    ρ walks around the room.
  []

  [actor(ρ)∧¬sitting(ρ)∧nearby(κ)∧empty(κ)]
    ρ sits down in the κ.
  [sitting(ρ)∧in(ρ,κ)∧¬empty(κ)]

  [actor(ρ)∧sitting(ρ)∧in(ρ,κ)]
    ρ leans back in the κ.
  []

  [actor(ρ)∧sitting(ρ)∧in(ρ,κ)]
    ρ gets up and stretches.
  [¬sitting(ρ)∧¬in(ρ,κ)∧empty(κ)]

  actor(Hastings).
  actor(Petersen).
  actor(Wembley).
  nearby(chair), empty(chair).
  nearby(recliner), empty(recliner).
  nearby(sofa), empty(sofa).

  goal [sitting(Hastings)∧sitting(Petersen)∧sitting(Wembley)].
}