Situtation Calculus Sentence for the goal of having $box_{2}$ in $room_{2}$:

$ Box(box_{2}) \land at(box_{2}, X) \land in(X, room_{2}) $

Ground situation term that expresses a plan to achive this goal:

$ do(push(box_{2}, door_{2}, room_{2}loc_{1}), $

$ do(push(box_{2}, door_{1}, door_{2}), $

$ do(push(box_{2}, room_{1}loc_{2}, door_{1}), $

$ do(go(door_{1}), $

$ do(go(door3), s0))))) $