climboff

(def world
  '#{(connects G1 G2)
     (connects G2 G1)
     (connects G2 G3)
     (connects G3 G2)
     (on table G1)
     (climbable table)
     ;(platform table)
     (agent R)
     })


(def state1
  '#{(on R table)
     ;(holds R nil)
     })

(def ops
    '{pickup {:pre ((agent ?agent)
                         (manipulable ?obj)
                         (at ?agent ?place)
                         (on ?obj ?place)
                         (holds ?agent nil))

                  :add ((holds ?agent ?obj))
                  :del ((on ?obj ?place)
                         (holds ?agent nil))
                  :txt (pickup ?obj from ?place)
                  :cmd [grasp ?obj]
                  }
      drop {:pre ((at ?agent ?place)
                       (holds ?agent ?obj)
                       (holds ?agent ?platform))

                :add ((holds ?agent nil)
                       (on ?obj ?place))
                :del ((holds ?agent ?obj)
                       (holds ?agent ?platform))
                :txt (drop ?obj at ?place)
                :cmd [drop ?obj]
                }
      move {:pre ((agent ?agent)
                   (at ?agent ?p1)
                   (connects ?p1 ?p2))

            :add ((at ?agent ?p2))
            :del ((at ?agent ?p1))
            :txt (move ?p1 to ?p2)
            :cmd [move ?p2]
            }

      ;climbon  {:pre ((agent ?agent)
      ;                 (at ?agent ?place)
      ;                 (on ?obj ?place)
      ;                 (climbable ?obj))
      ;                 ;(platform ?obj)
      ;                 ;(holds ?agent nil))
      ;                 :del ((at ?agent ?place))
      ;                 :add ((at ?agent ?obj))
      ;                 :txt (climbon ?agent ?obj)
      ;                 :cmd [on ?agent ?obj]
      ;          }

      climboff (:pre ((agent ?agent)
                       (on ?agent ?platform)
                       (climbable ?climbable)
                       ;(connects ?p1 ?p2)
                       )

                       :del ((on ?agent ?platform))
                       :add ((at agent ?place))
                       :txt (climb off ?agent to ?place)
                       :cmd [at ?agent ?place])

      })

(ops-search state1 '((at R G3)) ops :world world)