;; monkeys and bananas


(literalize monkey
	    at
	    on
	    holds
)

(literalize object
	    name
	    at
	    weight
	    on
)

(literalize goal
	status
	type
	object
	to
)

(p mb1
   (goal ^status active ^type holds ^object )
   (object ^name  ^at 
 ^on ceiling)
   -->
   (make goal ^status active ^type move ^object ladder ^to 
)
)

(p mb2
   (goal ^status active ^type holds ^object )
   (object ^name  ^at 
 ^on ceiling)
   (object ^name ladder ^at 
)
   -->
   (make goal ^status active ^type on ^object ladder)
)

(p mb3
   (goal ^status active ^type holds ^object )
   (object ^name  ^at 
 ^on ceiling)
   (object ^name ladder ^at 
)
   (monkey ^on ladder)
   -->
   (make goal ^status active ^type holds ^object nil)
)

(p mb4
	(goal ^status active ^type holds ^object )
	(object ^name  ^at 
 ^on ceiling)
	(object ^name ladder ^at 
)
	(monkey ^on ladder ^holds nil)
    -->
	(write (crlf) grab )
	(modify 4 ^holds )
	(modify 1 ^status satisfied)
)

(p mb5
	(goal ^status active ^type holds ^object )
	(object ^name  ^at 
 ^on floor)
    -->
	(make goal ^status active ^type walk-to ^object 
)
)

(p mb6
	(goal ^status active ^type holds ^object )
	(object ^name  ^at 
 ^on floor)
	(monkey ^at 
)
    -->
	(make goal ^status active ^type holds ^object nil)
)

(p mb7
	(goal ^status active ^type holds ^object )
	(object ^name  ^at 
 ^on floor)
	(monkey ^at 
 ^holds nil)
    -->
	(write (crlf) grab )
	(modify 3 ^holds )
	(modify 1 ^status satisfied)
)

(p mb8
	(goal ^status active ^type move ^object  ^to 
)
	(object ^name  ^weight light ^at <> 
)
    -->
	(make goal ^status active ^type holds ^object )
)

(p mb9
	(goal ^status active ^type move ^object  ^to 
)
	(object ^name  ^weight light ^at <> 
)
	(monkey ^holds )
    -->
	(make goal ^status active ^type walk-to ^object 
)
)

(p mb10
	(goal ^status active ^type move ^object  ^to 
)
	(object ^name  ^weight light ^at 
)
    -->
	(modify 1 ^status satisfied)
)

(p mb11
	(goal ^status active ^type walk-to ^object 
)
    -->
	(make goal ^status active ^type on ^object floor)
)

(p mb12
	(goal ^status active ^type walk-to ^object 
)
	(monkey ^on floor ^at { <> 
} ^holds nil)
    -->
	(write (crlf) walk to 
)
	(modify 2 ^at 
)
	(modify 1 ^status satisfied)
)

(p mb13
	(goal ^status active ^type walk-to ^object 
)
	(monkey ^on floor ^at { <> 
} ^holds { <> nil})
	(object ^name )
    -->
	(write (crlf) walk to 
)
	(modify 2 ^at 
)
	(modify 3 ^at 
)
	(modify 1 ^status satisfied)
)

(p mb14
   (goal ^status active ^type on ^object floor)
   (monkey ^on { <> floor})
   -->
   (write (crlf) jump onto the floor)
   (modify 2 ^on floor)
   (modify 1 ^status satisfied)
)

(p mb15
   (goal ^status active ^type on ^object )
   (object ^name  ^at 
)
   -->
   (make goal ^status active ^type walk-to ^object 
)
)

(p mb16
   (goal ^status active ^type on ^object )
   (object ^name  ^at 
)
   (monkey ^at 
)
   -->
   (make goal ^status active ^type holds ^object nil)
)

(p mb17
   (goal ^status active ^type on ^object )
   (object ^name  ^at 
)
   (monkey ^at 
 ^holds nil)
   -->
   (write (crlf) climb onto )
   (modify 3 ^on )
   (modify 1 ^status satisfied)
)

(p mb18
   (goal ^status active ^type holds ^object nil)
   (monkey ^holds { <> nil})
   -->
   (write (crlf) drop )
   (modify 2 ^holds nil)
   (modify 1 ^status satisfied)
)

(p mb19
   (goal ^status active)
   -->
   (modify 1 ^status not-processed)
)

(p start
	(start)
    -->
	(make monkey ^at 5-7 ^on couch)
	(make object ^name couch ^at 5-7 ^weight heavy)
	(make object ^name bananas ^on ceiling ^at 2-2)
	(make object ^name ladder ^on floor ^at 9-5 ^weight light)
	(make goal   ^status active ^type holds ^object bananas)
)