 (StateVariable p_top 1 p11 p12 p21 p22 p3 p4)
 (StateVariable r_freight 1 r1 r2)
 
+# TODO DEFINE RESOURCES
 
 ################################
 ####  OPERATORS ################

 (Ordering s3 s4)
 (Ordering s4 s5)
)

  r_freight   # r_freight(robot container)

# Operators:
  !leave      # !leave(robot dock waypoint) leaves a dock to a waypoint
  !enter      # !enter(robot dock waypoint) enters a dock from a waypoint
  !move       # !move(robot waypoint waypoint)
  !stack      # ?crane holding ?container stacks it on top of ?pile
  !unstack    # empty ?crane unstacks ?container from ?pile
  !put        # ?crane holding ?conrainer puts it on ?robot which was empty
  !take       # empty ?crane takes ?conrainer from ?robot

# Methods
  load        # load ?container from ?pile onto ?robot
  unload      # unload ?container from ?robot onto ?pile
  uncover     # ?container in ?pile is rearranged onto the top of ?pile
  navigate    # ?robot navigates between two waypoints
  goto        # ?robot goes to ?dock
  bring       # bring ?container to ?pile
  robot_bring # robot brings container to pile
)

(StateVariable r_loc 1 r1 r2)
(StateVariable d_occupant 1 d1 d2 d3 d4)
(StateVariable k_attached 1 k1 k2 k3 k4)
