OPS5

(literalize goal
  status)

(literalize monkey-status
  location
  on-top-of
  holding)

(literalize object
  name
  location
  on-top-of
  weight)

(p initial-facts
  -->
  (make goal ^status get-bananas)
  (make monkey-status ^location t5-7 ^on-top-of floor ^holding blank)
  (make object ^name bananas ^location t2-2 ^on-top-of ceiling ^weight light)
  (make object ^name ladder ^location t4-4 ^on-top-of floor ^weight heavy))

(p walk-to-ladder
  (goal ^status get-bananas)
  (monkey-status ^location <> t4-4 ^on-top-of floor)
  (object ^name ladder ^location <l>)
  -->
  (modify 2 ^location <l>)
  (write |Monkey walks to ladder|))

(p climb-ladder
  (goal ^status get-bananas)
  (monkey-status ^location <l> ^on-top-of floor)
  (object ^name ladder ^location <l>)
  -->
  (modify 2 ^on-top-of ladder)
  (write |Monkey climbs ladder|))

(p grab-bananas
  (goal ^status get-bananas)
  (monkey-status ^on-top-of ladder ^holding blank ^location <l>)
  (object ^name bananas ^location <l>)
  -->
  (modify 2 ^holding bananas)
  (modify 1 ^status eat-bananas)
  (write |Monkey grabs bananas|))

(p eat-bananas
  (goal ^status eat-bananas)
  -->
  (write |Monkey eats bananas|)
  (halt))