set instance leia robot
set instance entrance room
set instance kitchen room
set instance bedroom room
set instance dinning room
set instance bathroom room
set instance chargingroom room

set predicate (connected entrance dinning)
set predicate (connected dinning entrance)
set predicate (connected dinning kitchen)
set predicate (connected kitchen dinning)
set predicate (connected dinning bedroom)
set predicate (connected bedroom dinning)
set predicate (connected bathroom bedroom)
set predicate (connected bedroom bathroom)
set predicate (connected chargingroom kitchen)
set predicate (connected kitchen chargingroom)
set predicate (charging_point_at chargingroom)
set predicate (battery_low leia)
set predicate (robot_at leia entrance)

set goal (and(robot_at leia bathroom))

quit

get plan

run

get plan

run (move leia entrance dinning)
run (askcharge leia entrance)

run (move leia bedroom kitchen)

remove predicate battery_full leia
set predicate battery_low leia
