climbon

(def world
  '#{(connects G1 G2)
     (connects G2 G1)
     (connects G2 G3)
     (on table1 G1)
     (climbable table)
     (platform table)
     (agent R)
     })


(def state1
  '#{(at R G1)
     ;(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 ?platform ?place)
                     (climbable ?climbable)
                     (platform ?platform))
                     ;(holds ?agent nil))
                     :del ((at ?agent ?place))
                     :add ((on ?agent ?platform))
                     :txt (climbon ?agent ?platform)
                     :cmd [on ?agent ?platform]
              }

    ;climboff (:pre ((agent ?agent)
    ;                 (on ?agent ?obj)
    ;                 :del ((on ?agent ?obj))
    ;                 :add ((at agent ?p2))
    ;                 :txt (climb off ?agent ?p2)
    ;                 :cmd [on ?agent ?p2])
    ;           )

    })

(ops-search state1 '((on R table)) ops :world world)