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 []. }