% For testing the Blocks World with a Long Table (BW_LONG_TABLE)

% Load domain description
:- include 'bw-long-table.cc'.

% Basic test to see if valid states exist
:- query
maxstep :: 0;
label :: 0.

% Basic test to see if a valid transition exists
:- query
maxstep :: 1;
label :: 1.

% Try the queries above with finding all solutions
%  set(num,all).
% If the default solver has problems with this, try
%  set(solver,grasp).

% Look for a plan to reverse the order of blocks in a tower
% This takes longer than in the regular blocks world
% because the robot has to move from one side of the table
% to the other.
:- query
maxstep :: 0..12;
label :: 2;
0: support(block1)=block2,
   support(block2)=block3,
   support(block3)=table,
   location(robot)=right,
   location(block3)=right;
maxstep: support(block1)=table,
   support(block2)=block1,
   support(block3)=block2,
   location(block3)=left.
