;;; ****************************************************************
;;; OPS5 Interpreter ***********************************************
;;; ****************************************************************
;;; This Common Lisp version of OPS5 is in the public domain.  It is based
;;; in part on based on a Franz Lisp implementation done by Charles L. Forgy
;;; at Carnegie-Mellon University, which was placed in the public domain by
;;; the author in accordance with CMU policies.  Ported to Common Lisp by 
;;; George Wood and Jim Kowalski. CMU Common Lisp modifications by
;;; Dario Guise, Skef Wholey, Michael Parzen, and Dan Kuokka. 
;;; Modified to work in CLtL1, CLtL2 and X3J13 compatible lisps by 
;;; Mark Kantrowitz on 14-OCT-92.
;;; 
;;; This code is made available is, and without warranty of any kind by the
;;; authors or by Carnegie-Mellon University.
;;;

(reset-ops)

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


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


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


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



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


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


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

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


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


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


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

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


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

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

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



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


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

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

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

(p t1
	(start 1)
    -->
	(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))