The people have some animals with them.
animals and people can be together
To be with something is to be together with it.
exists e1 x1 x2.(n_thing(x1) & n_people(x1) & Theme(e1,x2) & Actor(e1,x1) & v_have(e1) & with(x2,x1) & n_animal(x2))
exists e1 p1 x1 x2 x3.(exists s1.(Theme(s1,x1) & a_together(s1)) & Topic(e1,p1) & Actor(e1,x1) & v_can(e1) & subset_of(x3,x1) & n_people(x3) & subset_of(x2,x1) & n_animal(x2))