L,L1,L2 :: location(L).
T :: thing(T).

location(l1).
location(l2).
location(l3).

thing(monkey).
thing(bananas).
thing(box).

fc(hasBananas).
fc(onBox).
fc(loc(T)).
domain(loc(T), L).

ac(walk(L)).
ac(pushBox(L)).
ac(climbOn).
ac(climbOff).
ac(graspBananas).

% -- static laws

caused loc(bananas)=L if hasBananas & loc(monkey)=L.
caused loc(monkey)=L if onBox & loc(box)=L.

% fluent dynamic

walk(L) causes loc(monkey)=L.
nonexecutable walk(L) if loc(monkey)=L.
nonexecutable walk(L) if onBox.

pushBox(L) causes loc(box)=L.
pushBox(L) causes loc(monkey)=L.
nonexecutable pushBox(L) if loc(monkey)=L.
nonexecutable pushBox(L) if onBox.
nonexecutable pushBox(L) if loc(monkey)=L1 & loc(box)=L2 :-
 L1 \= L2.

climbOn causes onBox.
nonexecutable climbOn if onBox.
nonexecutable climbOn if loc(monkey)=L1 & loc(box)=L2 :-
 L1 \= L2.

climbOff causes -onBox.
nonexecutable climbOff if -onBox.

graspBananas causes hasBananas.
nonexecutable graspBananas if hasBananas.
nonexecutable graspBananas if -onBox.
nonexecutable graspBananas if loc(monkey)=L1 & loc(bananas)=L2 :-
 L1 \= L2.

nonexecutable walk(L) & pushBox(L).
nonexecutable walk(L) & climbOn.
nonexecutable pushBox(L) & climbOn.
nonexecutable climbOff & graspBananas.

% -- action dynamic

exogenous walk(L).
exogenous pushBox(L).
exogenous climbOn.
exogenous climbOff.
exogenous graspBananas.

% -- inertia

inertial FC :-
 fc(FC).
exogenous AC :-
 ac(AC).

% -- nC+

notpermitted onBox.

% -- queries

query(a(T), 3..6, [0:loc(T)=l1 & max:loc(T)=l3]).

query(getBananas, 1..5, [0:loc(monkey)=l1,
             0:loc(bananas)=l2,
             0:loc(box)=l3,
              max:hasBananas=tt]).

query(1, 1..5, [0:loc(monkey)=l1,
        0:loc(bananas)=l2,
        0:loc(box)=l3,
        max:hasBananas,
        max:status=green]).