Executing /usr/lib/jvm/jdk-15.0.2/bin/java -classpath /home/leandro/jason/build/libs/ant-launcher-1.10.5.jar org.apache.tools.ant.launch.Launcher -e -f bin/mars.xml run
Buildfile: /home/leandro/jason/examples/cleaning-robots/bin/mars.xml

init:

user-init:

compile:

run:
Running project mars
Can't load log handler "#"
java.lang.ClassNotFoundException: #
java.lang.ClassNotFoundException: #
	at java.base/jdk.internal.loader.BuiltinClassLoader.loadClass(BuiltinClassLoader.java:606)
	at java.base/jdk.internal.loader.ClassLoaders$AppClassLoader.loadClass(ClassLoaders.java:168)
	at java.base/java.lang.ClassLoader.loadClass(ClassLoader.java:522)
	at java.logging/java.util.logging.LogManager.createLoggerHandlers(LogManager.java:1000)
	at java.logging/java.util.logging.LogManager$4.run(LogManager.java:970)
	at java.logging/java.util.logging.LogManager$4.run(LogManager.java:966)
	at java.base/java.security.AccessController.doPrivileged(AccessController.java:312)
	at java.logging/java.util.logging.LogManager.loadLoggerHandlers(LogManager.java:966)
	at java.logging/java.util.logging.LogManager.initializeGlobalHandlers(LogManager.java:2417)
	at java.logging/java.util.logging.LogManager$RootLogger.accessCheckedHandlers(LogManager.java:2511)
	at java.logging/java.util.logging.Logger.getHandlers(Logger.java:2089)
	at jason.infra.local.RunLocalMAS.init(RunLocalMAS.java:141)
	at jason.infra.local.RunLocalMAS.main(RunLocalMAS.java:92)
[BaseLocalMAS] Creating environment MarsEnv
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 274
[BaseLocalMAS] Creating agent r1 (1/1)
[httpserver] HttpServer created http 0.0.0.0/0.0.0.0:3272
Jason Http Server running on http://127.0.1.1:3272
[httpserver] context created: /
[httpserver] context created: /agents
[httpserver] context created: /agent-mind/no_ag
[httpserver] context created: /df
[r1] as2j: AgentSpeak program 'file:r1.asl' parsed successfully!
[r1] as2j: AgentSpeak program 'jar:file:/home/leandro/jason/build/libs/jason-3.1.jar!/asl/kqmlPlans.asl' parsed successfully!
[r1] Doing (add) brf for kqml::clear_source_self([],[])[hide_in_mind_inspector,source(self)]
[r1] brf added kqml::clear_source_self([],[])[hide_in_mind_inspector,source(self)]
[r1] Added event +kqml::clear_source_self([],[])[hide_in_mind_inspector,source(self)], events = [+!check(slots)[source(self)], +kqml::clear_source_self([],[])[hide_in_mind_inspector,source(self)]]
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 1
[r1] Added event +pos(r1,0,0)[source(percept)], events = [+!check(slots)[source(self)], +kqml::clear_source_self([],[])[hide_in_mind_inspector,source(self)], +pos(r1,0,0)[source(percept)]]
[r1] Added event +pos(r2,3,3)[source(percept)], events = [+!check(slots)[source(self)], +kqml::clear_source_self([],[])[hide_in_mind_inspector,source(self)], +pos(r1,0,0)[source(percept)], +pos(r2,3,3)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 3131597
[r1] Selected event +!check(slots)[source(self)]
[r1]      | no candidate belief for garbage(r1) with {}
[r1] Selected intention intention 1: 
    +!check(slots)[source(self)] <- ... next(slot); !check(slots) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 664554
[MarsEnv] r1 doing: next(slot)
[r1] LBB LocalAgArch, sense time (ns): 5905665
[r1] LBB LocalAgArch, delib time (ns): 4813523
[r1] LBB LocalAgArch, act time (ns): 3109012
[r1] LBB LocalAgArch, resCycle time (ns): 13828200
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 2
[r1] LBB TransitionS, perceive+buf time (ns): 7220
[r1] Selected event +kqml::clear_source_self([],[])[hide_in_mind_inspector,source(self)]
[r1] Selected event +pos(r1,0,0)[source(percept)]
[r1] Selected event +pos(r2,3,3)[source(percept)]
[r1] LBB LocalAgArch, senseLBB time (ns): 296185
[r1] LBB LocalAgArch, sense time (ns): 978291
[r1] LBB LocalAgArch, delib time (ns): 3258538
[r1] LBB LocalAgArch, act time (ns): 16223
[r1] LBB LocalAgArch, resCycle time (ns): 4253052
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 3
[r1] LBB TransitionS, perceive+buf time (ns): 13398
[r1] LBB LocalAgArch, senseLBB time (ns): 695209
[r1] LBB LocalAgArch, sense time (ns): 1482941
[r1] LBB LocalAgArch, delib time (ns): 17436
[r1] LBB LocalAgArch, act time (ns): 8603
[r1] LBB LocalAgArch, resCycle time (ns): 1508980
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 4
[r1] LBB TransitionS, perceive+buf time (ns): 12151
[r1] LBB LocalAgArch, senseLBB time (ns): 736502
[r1] LBB LocalAgArch, sense time (ns): 1585990
[r1] LBB LocalAgArch, delib time (ns): 11036
[r1] LBB LocalAgArch, act time (ns): 9966
[r1] LBB LocalAgArch, resCycle time (ns): 1606992
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 5
[r1] LBB TransitionS, perceive+buf time (ns): 11478
[r1] LBB LocalAgArch, senseLBB time (ns): 735777
[r1] LBB LocalAgArch, sense time (ns): 1435327
[r1] LBB LocalAgArch, delib time (ns): 8881
[r1] LBB LocalAgArch, act time (ns): 8038
[r1] LBB LocalAgArch, resCycle time (ns): 1452246
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 6
[r1] LBB TransitionS, perceive+buf time (ns): 12800
[r1] LBB LocalAgArch, senseLBB time (ns): 770619
[r1] LBB LocalAgArch, sense time (ns): 1623619
[r1] LBB LocalAgArch, delib time (ns): 9470
[r1] LBB LocalAgArch, act time (ns): 8871
[r1] LBB LocalAgArch, resCycle time (ns): 1641960
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 7
[r1] LBB TransitionS, perceive+buf time (ns): 8539
[r1] LBB LocalAgArch, senseLBB time (ns): 673653
[r1] LBB LocalAgArch, sense time (ns): 1376346
[r1] LBB LocalAgArch, delib time (ns): 7664
[r1] LBB LocalAgArch, act time (ns): 6684
[r1] LBB LocalAgArch, resCycle time (ns): 1390694
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(8)[source(self)]
[r1] brf added CBS(8)[source(self)]
[r1] Added event +CBS(8)[source(self)], events = [+CBS(8)[source(self)]]
[r1] Start sense 8
[r1] LBB TransitionS, perceive+buf time (ns): 8959
[r1] Selected event +CBS(8)[source(self)]
[r1] LBB LocalAgArch, senseLBB time (ns): 2406546
[r1] LBB LocalAgArch, sense time (ns): 2975725
[r1] LBB LocalAgArch, delib time (ns): 439961
[r1] LBB LocalAgArch, act time (ns): 8471
[r1] LBB LocalAgArch, resCycle time (ns): 3424157
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 2250
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 9
[r1] Added event +pos(r1,1,0)[source(percept)], events = [+pos(r1,1,0)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 1135194
[r1] Selected event +pos(r1,1,0)[source(percept)]
[r1] Selected intention intention 1: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 598852
[r1] LBB LocalAgArch, sense time (ns): 2294854
[r1] LBB LocalAgArch, delib time (ns): 659773
[r1] LBB LocalAgArch, act time (ns): 779897
[r1] LBB LocalAgArch, resCycle time (ns): 3734524
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 10
[r1] LBB TransitionS, perceive+buf time (ns): 7277
[r1] Selected event +!check(slots)[source(self)]
intention 1: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}

[r1]      | no candidate belief for garbage(r1) with {}
[r1] Selected intention intention 1: 
    +!check(slots)[source(self)] <- ... next(slot); !check(slots) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 254432
[MarsEnv] r1 doing: next(slot)
[r1] LBB LocalAgArch, sense time (ns): 719611
[r1] LBB LocalAgArch, delib time (ns): 1495536
[r1] LBB LocalAgArch, act time (ns): 800260
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 211
[r1] LBB LocalAgArch, resCycle time (ns): 3015407
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 11
[r1] Added event +pos(r1,2,0)[source(percept)], events = [+pos(r1,2,0)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 1256068
[r1] Selected event +pos(r1,2,0)[source(percept)]
[r1] LBB LocalAgArch, senseLBB time (ns): 582384
[r1] LBB LocalAgArch, sense time (ns): 2787453
[r1] LBB LocalAgArch, delib time (ns): 572371
[r1] LBB LocalAgArch, act time (ns): 17034
[r1] LBB LocalAgArch, resCycle time (ns): 3376858
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 12
[r1] LBB TransitionS, perceive+buf time (ns): 10190
[r1] Selected intention intention 1: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 612934
[r1] LBB LocalAgArch, sense time (ns): 1342166
[r1] LBB LocalAgArch, delib time (ns): 7866
[r1] LBB LocalAgArch, act time (ns): 715154
[r1] LBB LocalAgArch, resCycle time (ns): 2065186
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 13
[r1] LBB TransitionS, perceive+buf time (ns): 6530
[r1] Selected event +!check(slots)[source(self)]
intention 1: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}

[r1]      | no candidate belief for garbage(r1) with {}
[r1] Selected intention intention 1: 
    +!check(slots)[source(self)] <- ... next(slot); !check(slots) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 197293
[r1] LBB LocalAgArch, sense time (ns): 648424
[MarsEnv] r1 doing: next(slot)
[r1] LBB LocalAgArch, delib time (ns): 1084778
[r1] LBB LocalAgArch, act time (ns): 833044
[r1] LBB LocalAgArch, resCycle time (ns): 2566246
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 208
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 14
[r1] Added event +pos(r1,3,0)[source(percept)], events = [+pos(r1,3,0)[source(percept)]]
[r1] Added event +garbage(r1)[source(percept)], events = [+pos(r1,3,0)[source(percept)], +garbage(r1)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 1935628
[r1] Selected event +pos(r1,3,0)[source(percept)]
[r1] Selected event +garbage(r1)[source(percept)]
[r1] LBB LocalAgArch, senseLBB time (ns): 583628
[r1] LBB LocalAgArch, sense time (ns): 3117566
[r1] LBB LocalAgArch, delib time (ns): 5508421
[r1] LBB LocalAgArch, act time (ns): 76747
[r1] LBB LocalAgArch, resCycle time (ns): 8702734
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 15
[r1] LBB TransitionS, perceive+buf time (ns): 10350
[r1] option for +!carry_to(r2)[source(self)] is plan p__3[source(self),url("file:r1.asl")] +!carry_to(R) : null -- with unification {R=r2}
[r1]      p__3[source(self),url("file:r1.asl")] is applicable with unification {R=r2}
[r1] Selected option (@p__3[source(self),url("file:r1.asl")] +!carry_to(R) <- ?pos(r1,X,Y); -+pos(last,X,Y); !take(garb,R); !at(last); !check(slots).,{R=r2}) for event +!carry_to(r2)[source(self)]
intention 2: 
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(r1,X,Y), belief pos(r1,3,0)[source(percept)] is an option -- {X=3, Y=0, R=r2}
[r1] LBB LocalAgArch, senseLBB time (ns): 208969
[r1] LBB LocalAgArch, sense time (ns): 753323
[r1] LBB LocalAgArch, delib time (ns): 5922152
[r1] LBB LocalAgArch, act time (ns): 4424649
[r1] LBB LocalAgArch, resCycle time (ns): 11100124
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(16)[source(self)]
[r1] brf added CBS(16)[source(self)]
[r1] Added event +CBS(16)[source(self)], events = [+CBS(16)[source(self)]]
[r1] Start sense 16
[r1] LBB TransitionS, perceive+buf time (ns): 6993
[r1]      | for pos(_20,_21,_22)[source(self)], belief annotation pos(r1,3,0)[source(percept)] is NOT an option -- {X=3, Y=0, R=r2, _20=r1, _22=0, _21=3}
[r1]      | for pos(_20,_21,_22)[source(self)], belief annotation pos(r2,3,3)[source(percept)] is NOT an option -- {X=3, Y=0, R=r2, _20=r2, _22=3, _21=3}
[r1]      | NO more options for pos(_20,_21,_22)[source(self)]
[r1] Doing (del) brf for pos(_20,_21,_22)[source(self)] in BB=false
[r1] Doing (add) brf for pos(last,3,0)[source(self)]
[r1] brf added pos(last,3,0)[source(self)]
[r1] Added event +pos(last,3,0)[source(self)]
intention 2: 
    +!carry_to(r2)[source(self)] <- ... -+pos(last,X,Y); !take(garb,R); !at(last); !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}
, events = [+CBS(16)[source(self)]]
[r1] LBB LocalAgArch, senseLBB time (ns): 1310559
[r1] LBB LocalAgArch, sense time (ns): 1683984
[r1] LBB LocalAgArch, delib time (ns): 8961
[r1] LBB LocalAgArch, act time (ns): 5906639
[r1] LBB LocalAgArch, resCycle time (ns): 7599584
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 17
[r1] LBB TransitionS, perceive+buf time (ns): 6131
[r1] LBB LocalAgArch, senseLBB time (ns): 132869
[r1] LBB LocalAgArch, sense time (ns): 556712
[r1] LBB LocalAgArch, delib time (ns): 169078
[r1] LBB LocalAgArch, act time (ns): 95033
[r1] LBB LocalAgArch, resCycle time (ns): 820823
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 18
[r1] LBB TransitionS, perceive+buf time (ns): 10021
[r1] option for +!take(garb,r2)[source(self)] is plan p__4[source(self),url("file:r1.asl")] +!take(S,L) : null -- with unification {S=garb, L=r2}
[r1]      p__4[source(self),url("file:r1.asl")] is applicable with unification {S=garb, L=r2}
[r1] Selected option (@p__4[source(self),url("file:r1.asl")] +!take(S,L) <- !ensure_pick(S); !at(L); drop(S).,{S=garb, L=r2}) for event +!take(garb,r2)[source(self)]
intention 2: 
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 214190
[r1] LBB LocalAgArch, sense time (ns): 708722
[r1] LBB LocalAgArch, delib time (ns): 2245292
[r1] LBB LocalAgArch, act time (ns): 87972
[r1] LBB LocalAgArch, resCycle time (ns): 3041986
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 19
[r1] LBB TransitionS, perceive+buf time (ns): 10734
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) -- with unification {S=garb}
[r1]      | for garbage(r1), belief garbage(r1)[source(percept)] is an option -- {S=garb}
[r1]      p__5[source(self),url("file:r1.asl")] is applicable with unification {S=garb}
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1) : null -- with unification {_1=garb}
[r1]      p__6[source(self),url("file:r1.asl")] is applicable with unification {_1=garb}
[r1] Selected option (@p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) <- pick(garb); !ensure_pick(S).,{S=garb}) for event +!ensure_pick(garb)[source(self)]
intention 2: 
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 205011
[r1] LBB LocalAgArch, sense time (ns): 576064
[MarsEnv] r1 doing: pick(garb)
[r1] LBB LocalAgArch, delib time (ns): 3930235
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 193
[r1] LBB LocalAgArch, act time (ns): 275482
[r1] LBB LocalAgArch, resCycle time (ns): 4781781
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 20
[r1] LBB TransitionS, perceive+buf time (ns): 69939
[r1] LBB LocalAgArch, senseLBB time (ns): 302029
[r1] LBB LocalAgArch, sense time (ns): 572940
[r1] LBB LocalAgArch, delib time (ns): 5616
[r1] LBB LocalAgArch, act time (ns): 77803
[r1] LBB LocalAgArch, resCycle time (ns): 656359
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 21
[r1] LBB TransitionS, perceive+buf time (ns): 11876
[r1] LBB LocalAgArch, senseLBB time (ns): 724885
[r1] LBB LocalAgArch, sense time (ns): 1298508
[r1] LBB LocalAgArch, delib time (ns): 12261
[r1] LBB LocalAgArch, act time (ns): 20931
[r1] LBB LocalAgArch, resCycle time (ns): 1331700
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 22
[r1] LBB TransitionS, perceive+buf time (ns): 10851
[r1] LBB LocalAgArch, senseLBB time (ns): 521642
[r1] LBB LocalAgArch, sense time (ns): 943018
[r1] LBB LocalAgArch, delib time (ns): 8852
[r1] LBB LocalAgArch, act time (ns): 257058
[r1] LBB LocalAgArch, resCycle time (ns): 1208928
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 23
[r1] LBB TransitionS, perceive+buf time (ns): 7351
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) -- with unification {S=garb}
[r1]      | for garbage(r1), belief garbage(r1)[source(percept)] is an option -- {S=garb}
[r1]      p__5[source(self),url("file:r1.asl")] is applicable with unification {S=garb}
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1) : null -- with unification {_1=garb}
[r1]      p__6[source(self),url("file:r1.asl")] is applicable with unification {_1=garb}
[r1] Selected option (@p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) <- pick(garb); !ensure_pick(S).,{S=garb}) for event +!ensure_pick(garb)[source(self)]
intention 2: 
    +!ensure_pick(garb)[source(self)] <- ... !ensure_pick(S) / {S=garb}
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 182685
[MarsEnv] r1 doing: pick(garb)
[r1] LBB LocalAgArch, sense time (ns): 537931
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 210
[r1] LBB LocalAgArch, delib time (ns): 4875155
[r1] LBB LocalAgArch, act time (ns): 192911
[r1] LBB LocalAgArch, resCycle time (ns): 5605997
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(24)[source(self)]
[r1] brf added CBS(24)[source(self)]
[r1] Added event +CBS(24)[source(self)], events = [+CBS(16)[source(self)], +CBS(24)[source(self)]]
[r1] Start sense 24
[r1] LBB TransitionS, perceive+buf time (ns): 234393
[r1] LBB LocalAgArch, senseLBB time (ns): 1965084
[r1] LBB LocalAgArch, sense time (ns): 2586287
[r1] LBB LocalAgArch, delib time (ns): 65144
[r1] LBB LocalAgArch, act time (ns): 17707
[r1] LBB LocalAgArch, resCycle time (ns): 2669138
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 25
[r1] LBB TransitionS, perceive+buf time (ns): 7476
[r1] LBB LocalAgArch, senseLBB time (ns): 314976
[r1] LBB LocalAgArch, sense time (ns): 522184
[r1] LBB LocalAgArch, delib time (ns): 5684
[r1] LBB LocalAgArch, act time (ns): 123803
[r1] LBB LocalAgArch, resCycle time (ns): 651671
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 26
[r1] LBB TransitionS, perceive+buf time (ns): 5839
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) -- with unification {S=garb}
[r1]      | no candidate belief for garbage(r1) with {S=garb}
[r1]      p__5[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1) : null -- with unification {_1=garb}
[r1]      p__6[source(self),url("file:r1.asl")] is applicable with unification {_1=garb}
[r1] Selected option (@p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1).,{_1=garb}) for event +!ensure_pick(garb)[source(self)]
intention 2: 
    +!ensure_pick(garb)[source(self)] <- ... !ensure_pick(S) / {S=garb}
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__6[source(self),url("file:r1.asl")], te=+!ensure_pick(garb)[source(self)] unif={_1=garb}
[r1] LBB LocalAgArch, senseLBB time (ns): 61190
[r1] LBB LocalAgArch, sense time (ns): 211004
[r1] LBB LocalAgArch, delib time (ns): 1457237
[r1] LBB LocalAgArch, act time (ns): 407018
[r1] LBB LocalAgArch, resCycle time (ns): 2075259
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 27
[r1] LBB TransitionS, perceive+buf time (ns): 4652
[r1] LBB LocalAgArch, senseLBB time (ns): 58182
[r1] LBB LocalAgArch, sense time (ns): 191312
[r1] LBB LocalAgArch, delib time (ns): 3674
[r1] LBB LocalAgArch, act time (ns): 55022
[r1] LBB LocalAgArch, resCycle time (ns): 250008
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 28
[r1] LBB TransitionS, perceive+buf time (ns): 2968
[r1] option for +!at(r2)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=r2}
[r1]      | for at(r2), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=r2}
[r1]      | for pos(P,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(r2)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=r2}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=r2}) for event +!at(r2)[source(self)]
intention 2: 
    +!take(garb,r2)[source(self)] <- ... !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {L=r2, X=3, Y=3}
[r1] LBB LocalAgArch, senseLBB time (ns): 69110
[r1] LBB LocalAgArch, sense time (ns): 215005
[r1] LBB LocalAgArch, delib time (ns): 3338498
[r1] LBB LocalAgArch, act time (ns): 331230
[r1] LBB LocalAgArch, resCycle time (ns): 3884733
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 29
[r1] LBB TransitionS, perceive+buf time (ns): 5162
[r1] LBB LocalAgArch, senseLBB time (ns): 80374
[r1] LBB LocalAgArch, sense time (ns): 225561
[MarsEnv] r1 doing: move_towards(3,3)
[r1] LBB LocalAgArch, delib time (ns): 3277
[r1] LBB LocalAgArch, act time (ns): 70273
[r1] LBB LocalAgArch, resCycle time (ns): 299111
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 211
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 30
[r1] Added event +pos(r1,3,1)[source(percept)], events = [+CBS(16)[source(self)], +CBS(24)[source(self)], +pos(r1,3,1)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 881517
[r1] LBB LocalAgArch, senseLBB time (ns): 477179
[r1] LBB LocalAgArch, sense time (ns): 1728995
[r1] LBB LocalAgArch, delib time (ns): 7576
[r1] LBB LocalAgArch, act time (ns): 12171
[r1] LBB LocalAgArch, resCycle time (ns): 1748742
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 31
[r1] LBB TransitionS, perceive+buf time (ns): 8654
[r1] LBB LocalAgArch, senseLBB time (ns): 400018
[r1] LBB LocalAgArch, sense time (ns): 762480
[r1] LBB LocalAgArch, delib time (ns): 883956
[r1] LBB LocalAgArch, act time (ns): 162336
[r1] LBB LocalAgArch, resCycle time (ns): 1808772
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(32)[source(self)]
[r1] brf added CBS(32)[source(self)]
[r1] Added event +CBS(32)[source(self)], events = [+CBS(16)[source(self)], +CBS(24)[source(self)], +pos(r1,3,1)[source(percept)], +CBS(32)[source(self)]]
[r1] Start sense 32
[r1] LBB TransitionS, perceive+buf time (ns): 7336
[r1] option for +!at(r2)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=r2}
[r1]      | for at(r2), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=r2}
[r1]      | for pos(P,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(r2)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=r2}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=r2}) for event +!at(r2)[source(self)]
intention 2: 
    +!at(r2)[source(self)] <- ... !at(L) / {X=3, Y=3, L=r2}
    +!take(garb,r2)[source(self)] <- ... !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {L=r2, X=3, Y=3}
[r1] LBB LocalAgArch, senseLBB time (ns): 1637767
[r1] LBB LocalAgArch, sense time (ns): 1917635
[r1] LBB LocalAgArch, delib time (ns): 3563853
[r1] LBB LocalAgArch, act time (ns): 440321
[r1] LBB LocalAgArch, resCycle time (ns): 5921809
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 33
[r1] LBB TransitionS, perceive+buf time (ns): 5891
[r1] LBB LocalAgArch, senseLBB time (ns): 114328
[r1] LBB LocalAgArch, sense time (ns): 358133
[MarsEnv] r1 doing: move_towards(3,3)
[r1] LBB LocalAgArch, delib time (ns): 5565
[r1] LBB LocalAgArch, act time (ns): 86332
[r1] LBB LocalAgArch, resCycle time (ns): 450030
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 211
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 34
[r1] Added event +pos(r1,3,2)[source(percept)], events = [+CBS(16)[source(self)], +CBS(24)[source(self)], +pos(r1,3,1)[source(percept)], +CBS(32)[source(self)], +pos(r1,3,2)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 722993
[r1] LBB LocalAgArch, senseLBB time (ns): 1209145
[r1] LBB LocalAgArch, sense time (ns): 2300081
[r1] LBB LocalAgArch, delib time (ns): 7980
[r1] LBB LocalAgArch, act time (ns): 13027
[r1] LBB LocalAgArch, resCycle time (ns): 2321088
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 35
[r1] LBB TransitionS, perceive+buf time (ns): 11594
[r1] LBB LocalAgArch, senseLBB time (ns): 350182
[r1] LBB LocalAgArch, sense time (ns): 668226
[r1] LBB LocalAgArch, delib time (ns): 8185
[r1] LBB LocalAgArch, act time (ns): 156958
[r1] LBB LocalAgArch, resCycle time (ns): 833369
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 36
[r1] LBB TransitionS, perceive+buf time (ns): 7270
[r1] option for +!at(r2)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=r2}
[r1]      | for at(r2), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=r2}
[r1]      | for pos(P,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(r2)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=r2}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=r2}) for event +!at(r2)[source(self)]
intention 2: 
    +!at(r2)[source(self)] <- ... !at(L) / {X=3, Y=3, L=r2}
    +!take(garb,r2)[source(self)] <- ... !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {L=r2, X=3, Y=3}
[r1] LBB LocalAgArch, senseLBB time (ns): 102590
[r1] LBB LocalAgArch, sense time (ns): 285103
[r1] LBB LocalAgArch, delib time (ns): 2253098
[r1] LBB LocalAgArch, act time (ns): 510657
[r1] LBB LocalAgArch, resCycle time (ns): 3048858
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 37
[r1] LBB TransitionS, perceive+buf time (ns): 5992
[r1] LBB LocalAgArch, senseLBB time (ns): 83720
[r1] LBB LocalAgArch, sense time (ns): 296080
[MarsEnv] r1 doing: move_towards(3,3)
[r1] LBB LocalAgArch, delib time (ns): 5261
[r1] LBB LocalAgArch, act time (ns): 90834
[r1] LBB LocalAgArch, resCycle time (ns): 392175
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 209
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 38
[r1] Added event +pos(r1,3,3)[source(percept)], events = [+CBS(16)[source(self)], +CBS(24)[source(self)], +pos(r1,3,1)[source(percept)], +CBS(32)[source(self)], +pos(r1,3,2)[source(percept)], +pos(r1,3,3)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 687691
[r1] LBB LocalAgArch, senseLBB time (ns): 327320
[r1] LBB LocalAgArch, sense time (ns): 1296044
[r1] LBB LocalAgArch, delib time (ns): 10231
[r1] LBB LocalAgArch, act time (ns): 12357
[r1] LBB LocalAgArch, resCycle time (ns): 1318632
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 39
[r1] LBB TransitionS, perceive+buf time (ns): 11285
[r1] LBB LocalAgArch, senseLBB time (ns): 300097
[r1] LBB LocalAgArch, sense time (ns): 584926
[r1] LBB LocalAgArch, delib time (ns): 10199
[r1] LBB LocalAgArch, act time (ns): 147624
[r1] LBB LocalAgArch, resCycle time (ns): 742749
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(40)[source(self)]
[r1] brf added CBS(40)[source(self)]
[r1] Added event +CBS(40)[source(self)], events = [+CBS(16)[source(self)], +CBS(24)[source(self)], +pos(r1,3,1)[source(percept)], +CBS(32)[source(self)], +pos(r1,3,2)[source(percept)], +pos(r1,3,3)[source(percept)], +CBS(40)[source(self)]]
[r1] Start sense 40
[r1] LBB TransitionS, perceive+buf time (ns): 7712
[r1] option for +!at(r2)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=r2}
[r1]      | for at(r2), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=r2}
[r1]      | for pos(P,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | for pos(r1,X,Y), belief pos(r1,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | for at(L), rule at(r2)[source(self)] is an option -- {L=r2}
[r1]      p__7[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] option for +!at(r2)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=r2}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] Selected option (@p__7[source(self),url("file:r1.asl")] +!at(L) : at(L).,{L=r2}) for event +!at(r2)[source(self)]
intention 2: 
    +!at(r2)[source(self)] <- ... !at(L) / {X=3, Y=3, L=r2}
    +!take(garb,r2)[source(self)] <- ... !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__7[source(self),url("file:r1.asl")], te=+!at(r2)[source(self)] unif={L=r2}
[r1] LBB LocalAgArch, senseLBB time (ns): 920498
[r1] LBB LocalAgArch, sense time (ns): 1136228
[r1] LBB LocalAgArch, delib time (ns): 3001249
[r1] LBB LocalAgArch, act time (ns): 197820
[r1] LBB LocalAgArch, resCycle time (ns): 4335297
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 41
[r1] LBB TransitionS, perceive+buf time (ns): 7168
[r1] LBB LocalAgArch, senseLBB time (ns): 150713
[MarsEnv] r1 doing: drop(garb)
[r1] LBB LocalAgArch, sense time (ns): 374284
[r1] LBB LocalAgArch, delib time (ns): 5174
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 208
[r1] LBB LocalAgArch, act time (ns): 82771
[r1] LBB LocalAgArch, resCycle time (ns): 462229
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 42
[r1] Added event +garbage(r2)[source(percept)], events = [+CBS(16)[source(self)], +CBS(24)[source(self)], +pos(r1,3,1)[source(percept)], +CBS(32)[source(self)], +pos(r1,3,2)[source(percept)], +pos(r1,3,3)[source(percept)], +CBS(40)[source(self)], +garbage(r2)[source(percept)]]
[r1] Added event +garbage(r1)[source(percept)], events = [+CBS(16)[source(self)], +CBS(24)[source(self)], +pos(r1,3,1)[source(percept)], +CBS(32)[source(self)], +pos(r1,3,2)[source(percept)], +pos(r1,3,3)[source(percept)], +CBS(40)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 906647
[r1] LBB LocalAgArch, senseLBB time (ns): 452840
[r1] LBB LocalAgArch, sense time (ns): 1668669
[r1] LBB LocalAgArch, delib time (ns): 7798
[r1] LBB LocalAgArch, act time (ns): 11932
[r1] LBB LocalAgArch, resCycle time (ns): 1688399
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 43
[r1] LBB TransitionS, perceive+buf time (ns): 11093
[r1] Returning from IM p__4[source(self),url("file:r1.asl")], te=+!take(garb,r2)[source(self)] unif={S=garb, L=r2}
[r1] LBB LocalAgArch, senseLBB time (ns): 329892
[r1] LBB LocalAgArch, sense time (ns): 703176
[r1] LBB LocalAgArch, delib time (ns): 8054
[r1] LBB LocalAgArch, act time (ns): 360984
[r1] LBB LocalAgArch, resCycle time (ns): 1072214
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 44
[r1] LBB TransitionS, perceive+buf time (ns): 5463
[r1] option for +!at(last)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=last}
[r1]      | for at(last), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=last}
[r1]      | for pos(P,X,Y), belief pos(last,3,0)[source(self)] is an option -- {P=last, X=3, Y=0}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(last)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=last}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=last}) for event +!at(last)[source(self)]
intention 2: 
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(last,3,0)[source(self)] is an option -- {L=last, X=3, Y=0}
[r1] LBB LocalAgArch, senseLBB time (ns): 68539
[r1] LBB LocalAgArch, sense time (ns): 197352
[r1] LBB LocalAgArch, delib time (ns): 1838749
[r1] LBB LocalAgArch, act time (ns): 277793
[r1] LBB LocalAgArch, resCycle time (ns): 2313894
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 45
[r1] LBB TransitionS, perceive+buf time (ns): 5120
[r1] LBB LocalAgArch, senseLBB time (ns): 77717
[r1] LBB LocalAgArch, sense time (ns): 205954
[MarsEnv] r1 doing: move_towards(3,0)
[r1] LBB LocalAgArch, delib time (ns): 4835
[r1] LBB LocalAgArch, act time (ns): 86313
[r1] LBB LocalAgArch, resCycle time (ns): 297102
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 207
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 46
[r1] Added event +pos(r1,3,2)[source(percept)], events = [+CBS(16)[source(self)], +CBS(24)[source(self)], +pos(r1,3,1)[source(percept)], +CBS(32)[source(self)], +pos(r1,3,2)[source(percept)], +pos(r1,3,3)[source(percept)], +CBS(40)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,3,2)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 763730
[r1] LBB LocalAgArch, senseLBB time (ns): 378147
[r1] LBB LocalAgArch, sense time (ns): 1344162
[r1] LBB LocalAgArch, delib time (ns): 7225
[r1] LBB LocalAgArch, act time (ns): 16254
[r1] LBB LocalAgArch, resCycle time (ns): 1367641
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 47
[r1] LBB TransitionS, perceive+buf time (ns): 11872
[r1] LBB LocalAgArch, senseLBB time (ns): 269567
[r1] LBB LocalAgArch, sense time (ns): 499690
[r1] LBB LocalAgArch, delib time (ns): 8593
[r1] LBB LocalAgArch, act time (ns): 250901
[r1] LBB LocalAgArch, resCycle time (ns): 759184
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(48)[source(self)]
[r1] brf added CBS(48)[source(self)]
[r1] Added event +CBS(48)[source(self)], events = [+CBS(16)[source(self)], +CBS(24)[source(self)], +pos(r1,3,1)[source(percept)], +CBS(32)[source(self)], +pos(r1,3,2)[source(percept)], +pos(r1,3,3)[source(percept)], +CBS(40)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,3,2)[source(percept)], +CBS(48)[source(self)]]
[r1] Start sense 48
[r1] LBB TransitionS, perceive+buf time (ns): 6618
[r1] option for +!at(last)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=last}
[r1]      | for at(last), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=last}
[r1]      | for pos(P,X,Y), belief pos(last,3,0)[source(self)] is an option -- {P=last, X=3, Y=0}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(last)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=last}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=last}) for event +!at(last)[source(self)]
intention 2: 
    +!at(last)[source(self)] <- ... !at(L) / {X=3, Y=0, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(last,3,0)[source(self)] is an option -- {L=last, X=3, Y=0}
[r1] LBB LocalAgArch, senseLBB time (ns): 1040030
[r1] LBB LocalAgArch, sense time (ns): 1190565
[r1] LBB LocalAgArch, delib time (ns): 2302455
[r1] LBB LocalAgArch, act time (ns): 264018
[r1] LBB LocalAgArch, resCycle time (ns): 3757038
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 49
[r1] LBB TransitionS, perceive+buf time (ns): 4796
[r1] LBB LocalAgArch, senseLBB time (ns): 62230
[r1] LBB LocalAgArch, sense time (ns): 191236
[r1] LBB LocalAgArch, delib time (ns): 4517
[MarsEnv] r1 doing: move_towards(3,0)
[r1] LBB LocalAgArch, act time (ns): 81743
[r1] LBB LocalAgArch, resCycle time (ns): 277496
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 207
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 50
[r1] Added event +pos(r1,3,1)[source(percept)], events = [+CBS(16)[source(self)], +CBS(24)[source(self)], +pos(r1,3,1)[source(percept)], +CBS(32)[source(self)], +pos(r1,3,2)[source(percept)], +pos(r1,3,3)[source(percept)], +CBS(40)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 818237
[r1] LBB LocalAgArch, senseLBB time (ns): 329706
[r1] LBB LocalAgArch, sense time (ns): 1405273
[r1] LBB LocalAgArch, delib time (ns): 7539
[r1] LBB LocalAgArch, act time (ns): 12268
[r1] LBB LocalAgArch, resCycle time (ns): 1425080
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 51
[r1] LBB TransitionS, perceive+buf time (ns): 10556
[r1] LBB LocalAgArch, senseLBB time (ns): 274716
[r1] LBB LocalAgArch, sense time (ns): 532110
[r1] LBB LocalAgArch, delib time (ns): 7665
[r1] LBB LocalAgArch, act time (ns): 166776
[r1] LBB LocalAgArch, resCycle time (ns): 706551
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 52
[r1] LBB TransitionS, perceive+buf time (ns): 4592
[r1] option for +!at(last)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=last}
[r1]      | for at(last), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=last}
[r1]      | for pos(P,X,Y), belief pos(last,3,0)[source(self)] is an option -- {P=last, X=3, Y=0}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(last)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=last}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=last}) for event +!at(last)[source(self)]
intention 2: 
    +!at(last)[source(self)] <- ... !at(L) / {X=3, Y=0, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(last,3,0)[source(self)] is an option -- {L=last, X=3, Y=0}
[r1] LBB LocalAgArch, senseLBB time (ns): 65500
[r1] LBB LocalAgArch, sense time (ns): 188738
[r1] LBB LocalAgArch, delib time (ns): 2661618
[r1] LBB LocalAgArch, act time (ns): 266181
[r1] LBB LocalAgArch, resCycle time (ns): 3116537
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 53
[r1] LBB TransitionS, perceive+buf time (ns): 6568
[r1] LBB LocalAgArch, senseLBB time (ns): 77613
[r1] LBB LocalAgArch, sense time (ns): 211227
[MarsEnv] r1 doing: move_towards(3,0)
[r1] LBB LocalAgArch, delib time (ns): 5395
[r1] LBB LocalAgArch, act time (ns): 102066
[r1] LBB LocalAgArch, resCycle time (ns): 318688
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 207
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 54
[r1] Added event +pos(r1,3,0)[source(percept)], events = [+CBS(16)[source(self)], +CBS(24)[source(self)], +pos(r1,3,1)[source(percept)], +CBS(32)[source(self)], +pos(r1,3,2)[source(percept)], +pos(r1,3,3)[source(percept)], +CBS(40)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 651940
[r1] LBB LocalAgArch, senseLBB time (ns): 315210
[r1] LBB LocalAgArch, sense time (ns): 1161374
[r1] LBB LocalAgArch, delib time (ns): 7308
[r1] LBB LocalAgArch, act time (ns): 11424
[r1] LBB LocalAgArch, resCycle time (ns): 1180106
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 55
[r1] LBB TransitionS, perceive+buf time (ns): 47911
[r1] LBB LocalAgArch, senseLBB time (ns): 258326
[r1] LBB LocalAgArch, sense time (ns): 499318
[r1] LBB LocalAgArch, delib time (ns): 7973
[r1] LBB LocalAgArch, act time (ns): 149791
[r1] LBB LocalAgArch, resCycle time (ns): 657082
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(56)[source(self)]
[r1] brf added CBS(56)[source(self)]
[r1] Added event +CBS(56)[source(self)], events = [+CBS(16)[source(self)], +CBS(24)[source(self)], +pos(r1,3,1)[source(percept)], +CBS(32)[source(self)], +pos(r1,3,2)[source(percept)], +pos(r1,3,3)[source(percept)], +CBS(40)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)]]
[r1] Start sense 56
[r1] LBB TransitionS, perceive+buf time (ns): 6459
[r1] option for +!at(last)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=last}
[r1]      | for at(last), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=last}
[r1]      | for pos(P,X,Y), belief pos(last,3,0)[source(self)] is an option -- {P=last, X=3, Y=0}
[r1]      | for pos(r1,X,Y), belief pos(r1,3,0)[source(percept)] is an option -- {P=last, X=3, Y=0}
[r1]      | for at(L), rule at(last)[source(self)] is an option -- {L=last}
[r1]      p__7[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] option for +!at(last)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=last}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] Selected option (@p__7[source(self),url("file:r1.asl")] +!at(L) : at(L).,{L=last}) for event +!at(last)[source(self)]
intention 2: 
    +!at(last)[source(self)] <- ... !at(L) / {X=3, Y=0, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__7[source(self),url("file:r1.asl")], te=+!at(last)[source(self)] unif={L=last}
[r1] LBB LocalAgArch, senseLBB time (ns): 790492
[r1] LBB LocalAgArch, sense time (ns): 920114
[r1] LBB LocalAgArch, delib time (ns): 1632327
[r1] LBB LocalAgArch, act time (ns): 134587
[r1] LBB LocalAgArch, resCycle time (ns): 2687028
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 57
[r1] LBB TransitionS, perceive+buf time (ns): 4910
[r1] LBB LocalAgArch, senseLBB time (ns): 61612
[r1] LBB LocalAgArch, sense time (ns): 178950
[r1] LBB LocalAgArch, delib time (ns): 4387
[r1] LBB LocalAgArch, act time (ns): 60394
[r1] LBB LocalAgArch, resCycle time (ns): 243731
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 58
[r1] LBB TransitionS, perceive+buf time (ns): 3569
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | NO more options for garbage(r1)
[r1]      p__1[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) <- next(slot); !check(slots).,{}) for event +!check(slots)[source(self)]
intention 2: 
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 56034
[r1] LBB LocalAgArch, sense time (ns): 166221
[r1] LBB LocalAgArch, delib time (ns): 1658547
[MarsEnv] r1 doing: next(slot)
[r1] LBB LocalAgArch, act time (ns): 73917
[r1] LBB LocalAgArch, resCycle time (ns): 1898685
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 207
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 59
[r1] Added event +pos(r1,4,0)[source(percept)], events = [+CBS(16)[source(self)], +CBS(24)[source(self)], +pos(r1,3,1)[source(percept)], +CBS(32)[source(self)], +pos(r1,3,2)[source(percept)], +pos(r1,3,3)[source(percept)], +CBS(40)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 736756
[r1] LBB LocalAgArch, senseLBB time (ns): 324130
[r1] LBB LocalAgArch, sense time (ns): 1286655
[r1] LBB LocalAgArch, delib time (ns): 8694
[r1] LBB LocalAgArch, act time (ns): 12889
[r1] LBB LocalAgArch, resCycle time (ns): 1308238
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 60
[r1] LBB TransitionS, perceive+buf time (ns): 8018
[r1] LBB LocalAgArch, senseLBB time (ns): 199012
[r1] LBB LocalAgArch, sense time (ns): 362033
[r1] LBB LocalAgArch, delib time (ns): 6224
[r1] LBB LocalAgArch, act time (ns): 151427
[r1] LBB LocalAgArch, resCycle time (ns): 519684
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 61
[r1] LBB TransitionS, perceive+buf time (ns): 4126
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | NO more options for garbage(r1)
[r1]      p__1[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) <- next(slot); !check(slots).,{}) for event +!check(slots)[source(self)]
intention 2: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 106837
[r1] LBB LocalAgArch, sense time (ns): 223622
[MarsEnv] r1 doing: next(slot)
[r1] LBB LocalAgArch, delib time (ns): 1006649
[r1] LBB LocalAgArch, act time (ns): 67135
[r1] LBB LocalAgArch, resCycle time (ns): 1297406
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 62
[r1] Added event +pos(r1,5,0)[source(percept)], events = [+CBS(16)[source(self)], +CBS(24)[source(self)], +pos(r1,3,1)[source(percept)], +CBS(32)[source(self)], +pos(r1,3,2)[source(percept)], +pos(r1,3,3)[source(percept)], +CBS(40)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 567177
[r1] LBB LocalAgArch, senseLBB time (ns): 233603
[r1] LBB LocalAgArch, sense time (ns): 965205
[r1] LBB LocalAgArch, delib time (ns): 7844
[r1] LBB LocalAgArch, act time (ns): 11144
[r1] LBB LocalAgArch, resCycle time (ns): 984193
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 63
[r1] LBB TransitionS, perceive+buf time (ns): 8846
[r1] LBB LocalAgArch, senseLBB time (ns): 198061
[r1] LBB LocalAgArch, sense time (ns): 375208
[r1] LBB LocalAgArch, delib time (ns): 6868
[r1] LBB LocalAgArch, act time (ns): 132000
[r1] LBB LocalAgArch, resCycle time (ns): 514076
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(64)[source(self)]
[r1] brf added CBS(64)[source(self)]
[r1] Added event +CBS(64)[source(self)], events = [+CBS(16)[source(self)], +CBS(24)[source(self)], +pos(r1,3,1)[source(percept)], +CBS(32)[source(self)], +pos(r1,3,2)[source(percept)], +pos(r1,3,3)[source(percept)], +CBS(40)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)]]
[r1] Start sense 64
[r1] LBB TransitionS, perceive+buf time (ns): 17201
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | NO more options for garbage(r1)
[r1]      p__1[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) <- next(slot); !check(slots).,{}) for event +!check(slots)[source(self)]
intention 2: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 792482
[r1] LBB LocalAgArch, sense time (ns): 931571
[r1] LBB LocalAgArch, delib time (ns): 1013016
[r1] LBB LocalAgArch, act time (ns): 71494
[MarsEnv] r1 doing: next(slot)
[r1] LBB LocalAgArch, resCycle time (ns): 2016081
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 65
[r1] Added event +pos(r1,6,0)[source(percept)], events = [+CBS(16)[source(self)], +CBS(24)[source(self)], +pos(r1,3,1)[source(percept)], +CBS(32)[source(self)], +pos(r1,3,2)[source(percept)], +pos(r1,3,3)[source(percept)], +CBS(40)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)]]
[r1] Added event +garbage(r1)[source(percept)], events = [+CBS(16)[source(self)], +CBS(24)[source(self)], +pos(r1,3,1)[source(percept)], +CBS(32)[source(self)], +pos(r1,3,2)[source(percept)], +pos(r1,3,3)[source(percept)], +CBS(40)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 1250117
[r1] LBB LocalAgArch, senseLBB time (ns): 261979
[r1] LBB LocalAgArch, sense time (ns): 1722419
[r1] LBB LocalAgArch, delib time (ns): 6990
[r1] LBB LocalAgArch, act time (ns): 11828
[r1] LBB LocalAgArch, resCycle time (ns): 1741237
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 66
[r1] LBB TransitionS, perceive+buf time (ns): 10603
[r1] LBB LocalAgArch, senseLBB time (ns): 222574
[r1] LBB LocalAgArch, sense time (ns): 429901
[r1] LBB LocalAgArch, delib time (ns): 9259
[r1] LBB LocalAgArch, act time (ns): 130096
[r1] LBB LocalAgArch, resCycle time (ns): 569256
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 67
[r1] LBB TransitionS, perceive+buf time (ns): 4612
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | for garbage(r1), belief garbage(r1)[source(percept)] is an option -- {}
[r1]      p__1[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__2[source(self),url("file:r1.asl")] +!check(slots).,{}) for event +!check(slots)[source(self)]
intention 2: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__2[source(self),url("file:r1.asl")], te=+!check(slots)[source(self)] unif={}
[r1] Returning from IM p__3[source(self),url("file:r1.asl")], te=+!carry_to(r2)[source(self)] unif={X=3, Y=0, R=r2}
[r1] Returning from IM lg[atomic,source(self),url("file:r1.asl")], te=+garbage(r1)[source(percept)] unif={}
[r1] LBB LocalAgArch, senseLBB time (ns): 67728
[r1] LBB LocalAgArch, sense time (ns): 214270
[r1] LBB LocalAgArch, delib time (ns): 804185
[r1] LBB LocalAgArch, act time (ns): 174209
[r1] LBB LocalAgArch, resCycle time (ns): 1192664
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 68
[r1] LBB TransitionS, perceive+buf time (ns): 2793
[r1] Selected event +CBS(16)[source(self)]
[r1] Selected event +CBS(24)[source(self)]
[r1] Selected event +pos(r1,3,1)[source(percept)]
[r1] Selected event +CBS(32)[source(self)]
[r1] Selected event +pos(r1,3,2)[source(percept)]
[r1] Selected event +pos(r1,3,3)[source(percept)]
[r1] Selected event +CBS(40)[source(self)]
[r1] Selected event +garbage(r2)[source(percept)]
[r1] Selected event +garbage(r1)[source(percept)]
[r1] LBB LocalAgArch, senseLBB time (ns): 26451
[r1] LBB LocalAgArch, sense time (ns): 76570
[r1] LBB LocalAgArch, delib time (ns): 570837
[r1] LBB LocalAgArch, act time (ns): 20942
[r1] LBB LocalAgArch, resCycle time (ns): 668349
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 69
[r1] LBB TransitionS, perceive+buf time (ns): 1851
[r1] option for +!carry_to(r2)[source(self)] is plan p__3[source(self),url("file:r1.asl")] +!carry_to(R) : null -- with unification {R=r2}
[r1]      p__3[source(self),url("file:r1.asl")] is applicable with unification {R=r2}
[r1] Selected option (@p__3[source(self),url("file:r1.asl")] +!carry_to(R) <- ?pos(r1,X,Y); -+pos(last,X,Y); !take(garb,R); !at(last); !check(slots).,{R=r2}) for event +!carry_to(r2)[source(self)]
intention 3: 
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(r1,X,Y), belief pos(r1,6,0)[source(percept)] is an option -- {X=6, Y=0, R=r2}
[r1] LBB LocalAgArch, senseLBB time (ns): 24206
[r1] LBB LocalAgArch, sense time (ns): 72270
[r1] LBB LocalAgArch, delib time (ns): 244633
[r1] LBB LocalAgArch, act time (ns): 106133
[r1] LBB LocalAgArch, resCycle time (ns): 423036
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 70
[r1] LBB TransitionS, perceive+buf time (ns): 1870
[r1]      | for pos(_23,_24,_25)[source(self)], belief annotation pos(r1,6,0)[source(percept)] is NOT an option -- {X=6, _24=6, Y=0, _23=r1, R=r2, _25=0}
[r1]      | for pos(_23,_24,_25)[source(self)], belief annotation pos(last,3,0)[source(self)] is an option -- {X=6, _24=3, Y=0, _23=last, R=r2, _25=0}
[r1] Doing (del) brf for pos(_23,_24,_25)[source(self)] in BB=true
[r1] Removed:pos(last,3,0)[source(self)]
[r1] Added event -pos(last,3,0)[source(self)], events = [+pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,0)[source(self)]]
[r1] Doing (add) brf for pos(last,6,0)[source(self)]
[r1] brf added pos(last,6,0)[source(self)]
[r1] Added event +pos(last,6,0)[source(self)]
intention 3: 
    +!carry_to(r2)[source(self)] <- ... -+pos(last,X,Y); !take(garb,R); !at(last); !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}
, events = [+pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,0)[source(self)]]
[r1] LBB LocalAgArch, senseLBB time (ns): 24144
[r1] LBB LocalAgArch, sense time (ns): 71535
[r1] LBB LocalAgArch, delib time (ns): 1583
[r1] LBB LocalAgArch, act time (ns): 1323384
[r1] LBB LocalAgArch, resCycle time (ns): 1396502
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 71
[r1] LBB TransitionS, perceive+buf time (ns): 2025
[r1] LBB LocalAgArch, senseLBB time (ns): 24705
[r1] LBB LocalAgArch, sense time (ns): 71611
[r1] LBB LocalAgArch, delib time (ns): 20489
[r1] LBB LocalAgArch, act time (ns): 22682
[r1] LBB LocalAgArch, resCycle time (ns): 114782
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(72)[source(self)]
[r1] brf added CBS(72)[source(self)]
[r1] Added event +CBS(72)[source(self)], events = [+pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,0)[source(self)], +CBS(72)[source(self)]]
[r1] Start sense 72
[r1] LBB TransitionS, perceive+buf time (ns): 2526
[r1] option for +!take(garb,r2)[source(self)] is plan p__4[source(self),url("file:r1.asl")] +!take(S,L) : null -- with unification {S=garb, L=r2}
[r1]      p__4[source(self),url("file:r1.asl")] is applicable with unification {S=garb, L=r2}
[r1] Selected option (@p__4[source(self),url("file:r1.asl")] +!take(S,L) <- !ensure_pick(S); !at(L); drop(S).,{S=garb, L=r2}) for event +!take(garb,r2)[source(self)]
intention 3: 
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 255524
[r1] LBB LocalAgArch, sense time (ns): 304716
[r1] LBB LocalAgArch, delib time (ns): 250084
[r1] LBB LocalAgArch, act time (ns): 88400
[r1] LBB LocalAgArch, resCycle time (ns): 643200
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 73
[r1] LBB TransitionS, perceive+buf time (ns): 2053
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) -- with unification {S=garb}
[r1]      | for garbage(r1), belief garbage(r1)[source(percept)] is an option -- {S=garb}
[r1]      p__5[source(self),url("file:r1.asl")] is applicable with unification {S=garb}
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1) : null -- with unification {_1=garb}
[r1]      p__6[source(self),url("file:r1.asl")] is applicable with unification {_1=garb}
[r1] Selected option (@p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) <- pick(garb); !ensure_pick(S).,{S=garb}) for event +!ensure_pick(garb)[source(self)]
intention 3: 
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 24288
[r1] LBB LocalAgArch, sense time (ns): 70837
[r1] LBB LocalAgArch, delib time (ns): 382717
[r1] LBB LocalAgArch, act time (ns): 34893
[MarsEnv] r1 doing: pick(garb)
[r1] LBB LocalAgArch, resCycle time (ns): 488447
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 208
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 74
[r1] LBB TransitionS, perceive+buf time (ns): 213367
[r1] LBB LocalAgArch, senseLBB time (ns): 236454
[r1] LBB LocalAgArch, sense time (ns): 650406
[r1] LBB LocalAgArch, delib time (ns): 6227
[r1] LBB LocalAgArch, act time (ns): 10079
[r1] LBB LocalAgArch, resCycle time (ns): 666712
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 75
[r1] LBB TransitionS, perceive+buf time (ns): 7423
[r1] LBB LocalAgArch, senseLBB time (ns): 216246
[r1] LBB LocalAgArch, sense time (ns): 380388
[r1] LBB LocalAgArch, delib time (ns): 8256
[r1] LBB LocalAgArch, act time (ns): 145449
[r1] LBB LocalAgArch, resCycle time (ns): 534093
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 76
[r1] LBB TransitionS, perceive+buf time (ns): 5539
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) -- with unification {S=garb}
[r1]      | NO more options for garbage(r1)
[r1]      p__5[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1) : null -- with unification {_1=garb}
[r1]      p__6[source(self),url("file:r1.asl")] is applicable with unification {_1=garb}
[r1] Selected option (@p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1).,{_1=garb}) for event +!ensure_pick(garb)[source(self)]
intention 3: 
    +!ensure_pick(garb)[source(self)] <- ... !ensure_pick(S) / {S=garb}
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__6[source(self),url("file:r1.asl")], te=+!ensure_pick(garb)[source(self)] unif={_1=garb}
[r1] LBB LocalAgArch, senseLBB time (ns): 60096
[r1] LBB LocalAgArch, sense time (ns): 186471
[r1] LBB LocalAgArch, delib time (ns): 1255059
[r1] LBB LocalAgArch, act time (ns): 130193
[r1] LBB LocalAgArch, resCycle time (ns): 1571723
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 77
[r1] LBB TransitionS, perceive+buf time (ns): 4518
[r1] LBB LocalAgArch, senseLBB time (ns): 59714
[r1] LBB LocalAgArch, sense time (ns): 173770
[r1] LBB LocalAgArch, delib time (ns): 4361
[r1] LBB LocalAgArch, act time (ns): 75718
[r1] LBB LocalAgArch, resCycle time (ns): 253849
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 78
[r1] LBB TransitionS, perceive+buf time (ns): 3658
[r1] option for +!at(r2)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=r2}
[r1]      | for at(r2), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=r2}
[r1]      | for pos(P,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(r2)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=r2}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=r2}) for event +!at(r2)[source(self)]
intention 3: 
    +!take(garb,r2)[source(self)] <- ... !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {L=r2, X=3, Y=3}
[r1] LBB LocalAgArch, senseLBB time (ns): 57474
[r1] LBB LocalAgArch, sense time (ns): 167907
[r1] LBB LocalAgArch, delib time (ns): 1416874
[r1] LBB LocalAgArch, act time (ns): 232628
[r1] LBB LocalAgArch, resCycle time (ns): 1817409
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 79
[r1] LBB TransitionS, perceive+buf time (ns): 4393
[r1] LBB LocalAgArch, senseLBB time (ns): 60766
[r1] LBB LocalAgArch, sense time (ns): 175535
[MarsEnv] r1 doing: move_towards(3,3)
[r1] LBB LocalAgArch, delib time (ns): 4449
[r1] LBB LocalAgArch, act time (ns): 79845
[r1] LBB LocalAgArch, resCycle time (ns): 259829
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 208
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(80)[source(self)]
[r1] brf added CBS(80)[source(self)]
[r1] Added event +CBS(80)[source(self)], events = [+pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)]]
[r1] Start sense 80
[r1] Added event +pos(r1,5,1)[source(percept)], events = [+pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 457822
[r1] LBB LocalAgArch, senseLBB time (ns): 872082
[r1] LBB LocalAgArch, sense time (ns): 1473635
[r1] LBB LocalAgArch, delib time (ns): 6879
[r1] LBB LocalAgArch, act time (ns): 11852
[r1] LBB LocalAgArch, resCycle time (ns): 1492366
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 81
[r1] LBB TransitionS, perceive+buf time (ns): 7114
[r1] LBB LocalAgArch, senseLBB time (ns): 184148
[r1] LBB LocalAgArch, sense time (ns): 343000
[r1] LBB LocalAgArch, delib time (ns): 6091
[r1] LBB LocalAgArch, act time (ns): 148657
[r1] LBB LocalAgArch, resCycle time (ns): 497748
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 82
[r1] LBB TransitionS, perceive+buf time (ns): 3946
[r1] option for +!at(r2)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=r2}
[r1]      | for at(r2), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=r2}
[r1]      | for pos(P,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(r2)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=r2}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=r2}) for event +!at(r2)[source(self)]
intention 3: 
    +!at(r2)[source(self)] <- ... !at(L) / {X=3, Y=3, L=r2}
    +!take(garb,r2)[source(self)] <- ... !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {L=r2, X=3, Y=3}
[r1] LBB LocalAgArch, senseLBB time (ns): 76855
[r1] LBB LocalAgArch, sense time (ns): 191977
[r1] LBB LocalAgArch, delib time (ns): 1557272
[r1] LBB LocalAgArch, act time (ns): 214474
[r1] LBB LocalAgArch, resCycle time (ns): 1963723
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 83
[r1] LBB TransitionS, perceive+buf time (ns): 4170
[r1] LBB LocalAgArch, senseLBB time (ns): 61015
[r1] LBB LocalAgArch, sense time (ns): 175439
[r1] LBB LocalAgArch, delib time (ns): 4164
[MarsEnv] r1 doing: move_towards(3,3)
[r1] LBB LocalAgArch, act time (ns): 96527
[r1] LBB LocalAgArch, resCycle time (ns): 276130
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 84
[r1] Added event +pos(r1,4,2)[source(percept)], events = [+pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 532688
[r1] LBB LocalAgArch, senseLBB time (ns): 247832
[r1] LBB LocalAgArch, sense time (ns): 943751
[r1] LBB LocalAgArch, delib time (ns): 6246
[r1] LBB LocalAgArch, act time (ns): 15549
[r1] LBB LocalAgArch, resCycle time (ns): 965546
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 85
[r1] LBB TransitionS, perceive+buf time (ns): 7555
[r1] LBB LocalAgArch, senseLBB time (ns): 197310
[r1] LBB LocalAgArch, sense time (ns): 348662
[r1] LBB LocalAgArch, delib time (ns): 5362
[r1] LBB LocalAgArch, act time (ns): 135692
[r1] LBB LocalAgArch, resCycle time (ns): 489716
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 86
[r1] LBB TransitionS, perceive+buf time (ns): 3877
[r1] option for +!at(r2)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=r2}
[r1]      | for at(r2), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=r2}
[r1]      | for pos(P,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(r2)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=r2}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=r2}) for event +!at(r2)[source(self)]
intention 3: 
    +!at(r2)[source(self)] <- ... !at(L) / {X=3, Y=3, L=r2}
    +!take(garb,r2)[source(self)] <- ... !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {L=r2, X=3, Y=3}
[r1] LBB LocalAgArch, senseLBB time (ns): 71755
[r1] LBB LocalAgArch, sense time (ns): 182285
[r1] LBB LocalAgArch, delib time (ns): 1613901
[r1] LBB LocalAgArch, act time (ns): 362075
[r1] LBB LocalAgArch, resCycle time (ns): 2158261
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 87
[r1] LBB TransitionS, perceive+buf time (ns): 5110
[r1] LBB LocalAgArch, senseLBB time (ns): 62532
[r1] LBB LocalAgArch, sense time (ns): 182081
[r1] LBB LocalAgArch, delib time (ns): 4272
[r1] LBB LocalAgArch, act time (ns): 94095
[MarsEnv] r1 doing: move_towards(3,3)
[r1] LBB LocalAgArch, resCycle time (ns): 280448
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(88)[source(self)]
[r1] brf added CBS(88)[source(self)]
[r1] Added event +CBS(88)[source(self)], events = [+pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)]]
[r1] Start sense 88
[r1] Added event +pos(r1,3,3)[source(percept)], events = [+pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)]]
[r1] Added event +garbage(r1)[source(percept)], events = [+pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 789371
[r1] LBB LocalAgArch, senseLBB time (ns): 794042
[r1] LBB LocalAgArch, sense time (ns): 1729057
[r1] LBB LocalAgArch, delib time (ns): 5720
[r1] LBB LocalAgArch, act time (ns): 33529
[r1] LBB LocalAgArch, resCycle time (ns): 1768306
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 89
[r1] LBB TransitionS, perceive+buf time (ns): 9075
[r1] LBB LocalAgArch, senseLBB time (ns): 254806
[r1] LBB LocalAgArch, sense time (ns): 441447
[r1] LBB LocalAgArch, delib time (ns): 7931
[r1] LBB LocalAgArch, act time (ns): 154184
[r1] LBB LocalAgArch, resCycle time (ns): 603562
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 90
[r1] LBB TransitionS, perceive+buf time (ns): 4472
[r1] option for +!at(r2)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=r2}
[r1]      | for at(r2), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=r2}
[r1]      | for pos(P,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | for pos(r1,X,Y), belief pos(r1,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | for at(L), rule at(r2)[source(self)] is an option -- {L=r2}
[r1]      p__7[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] option for +!at(r2)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=r2}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] Selected option (@p__7[source(self),url("file:r1.asl")] +!at(L) : at(L).,{L=r2}) for event +!at(r2)[source(self)]
intention 3: 
    +!at(r2)[source(self)] <- ... !at(L) / {X=3, Y=3, L=r2}
    +!take(garb,r2)[source(self)] <- ... !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__7[source(self),url("file:r1.asl")], te=+!at(r2)[source(self)] unif={L=r2}
[r1] LBB LocalAgArch, senseLBB time (ns): 74254
[r1] LBB LocalAgArch, sense time (ns): 190298
[r1] LBB LocalAgArch, delib time (ns): 1671234
[r1] LBB LocalAgArch, act time (ns): 148567
[r1] LBB LocalAgArch, resCycle time (ns): 2010099
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 91
[r1] LBB TransitionS, perceive+buf time (ns): 4975
[r1] LBB LocalAgArch, senseLBB time (ns): 60040
[r1] LBB LocalAgArch, sense time (ns): 187490
[MarsEnv] r1 doing: drop(garb)
[r1] LBB LocalAgArch, delib time (ns): 4151
[r1] LBB LocalAgArch, act time (ns): 73411
[r1] LBB LocalAgArch, resCycle time (ns): 265052
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 92
[r1] LBB TransitionS, perceive+buf time (ns): 125161
[r1] LBB LocalAgArch, senseLBB time (ns): 240940
[r1] LBB LocalAgArch, sense time (ns): 621736
[r1] LBB LocalAgArch, delib time (ns): 6484
[r1] LBB LocalAgArch, act time (ns): 9437
[r1] LBB LocalAgArch, resCycle time (ns): 637657
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 93
[r1] LBB TransitionS, perceive+buf time (ns): 8801
[r1] Returning from IM p__4[source(self),url("file:r1.asl")], te=+!take(garb,r2)[source(self)] unif={S=garb, L=r2}
[r1] LBB LocalAgArch, senseLBB time (ns): 270778
[r1] LBB LocalAgArch, sense time (ns): 460250
[r1] LBB LocalAgArch, delib time (ns): 7436
[r1] LBB LocalAgArch, act time (ns): 401958
[r1] LBB LocalAgArch, resCycle time (ns): 869644
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 94
[r1] LBB TransitionS, perceive+buf time (ns): 4972
[r1] option for +!at(last)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=last}
[r1]      | for at(last), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=last}
[r1]      | for pos(P,X,Y), belief pos(last,6,0)[source(self)] is an option -- {P=last, X=6, Y=0}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(last)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=last}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=last}) for event +!at(last)[source(self)]
intention 3: 
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(last,6,0)[source(self)] is an option -- {L=last, X=6, Y=0}
[r1] LBB LocalAgArch, senseLBB time (ns): 64191
[r1] LBB LocalAgArch, sense time (ns): 179369
[r1] LBB LocalAgArch, delib time (ns): 1614566
[r1] LBB LocalAgArch, act time (ns): 229374
[r1] LBB LocalAgArch, resCycle time (ns): 2023309
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 95
[r1] LBB TransitionS, perceive+buf time (ns): 20669
[r1] LBB LocalAgArch, senseLBB time (ns): 57700
[MarsEnv] r1 doing: move_towards(6,0)
[r1] LBB LocalAgArch, sense time (ns): 209563
[r1] LBB LocalAgArch, delib time (ns): 4231
[r1] LBB LocalAgArch, act time (ns): 75609
[r1] LBB LocalAgArch, resCycle time (ns): 289403
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(96)[source(self)]
[r1] brf added CBS(96)[source(self)]
[r1] Added event +CBS(96)[source(self)], events = [+pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)]]
[r1] Start sense 96
[r1] Added event +pos(r1,4,2)[source(percept)], events = [+pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 577502
[r1] LBB LocalAgArch, senseLBB time (ns): 977618
[r1] LBB LocalAgArch, sense time (ns): 1694398
[r1] LBB LocalAgArch, delib time (ns): 6140
[r1] LBB LocalAgArch, act time (ns): 11299
[r1] LBB LocalAgArch, resCycle time (ns): 1711837
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 97
[r1] LBB TransitionS, perceive+buf time (ns): 10562
[r1] LBB LocalAgArch, senseLBB time (ns): 253002
[r1] LBB LocalAgArch, sense time (ns): 452379
[r1] LBB LocalAgArch, delib time (ns): 7107
[r1] LBB LocalAgArch, act time (ns): 167943
[r1] LBB LocalAgArch, resCycle time (ns): 627429
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 98
[r1] LBB TransitionS, perceive+buf time (ns): 5030
[r1] option for +!at(last)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=last}
[r1]      | for at(last), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=last}
[r1]      | for pos(P,X,Y), belief pos(last,6,0)[source(self)] is an option -- {P=last, X=6, Y=0}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(last)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=last}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=last}) for event +!at(last)[source(self)]
intention 3: 
    +!at(last)[source(self)] <- ... !at(L) / {X=6, Y=0, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(last,6,0)[source(self)] is an option -- {L=last, X=6, Y=0}
[r1] LBB LocalAgArch, senseLBB time (ns): 65076
[r1] LBB LocalAgArch, sense time (ns): 184293
[r1] LBB LocalAgArch, delib time (ns): 1747108
[r1] LBB LocalAgArch, act time (ns): 211660
[r1] LBB LocalAgArch, resCycle time (ns): 2143061
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 99
[r1] LBB TransitionS, perceive+buf time (ns): 5111
[r1] LBB LocalAgArch, senseLBB time (ns): 60113
[r1] LBB LocalAgArch, sense time (ns): 178308
[r1] LBB LocalAgArch, delib time (ns): 5171
[r1] LBB LocalAgArch, act time (ns): 75503
[MarsEnv] r1 doing: move_towards(6,0)
[r1] LBB LocalAgArch, resCycle time (ns): 258982
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 100
[r1] Added event +pos(r1,5,1)[source(percept)], events = [+pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 595862
[r1] LBB LocalAgArch, senseLBB time (ns): 237620
[r1] LBB LocalAgArch, sense time (ns): 1003169
[r1] LBB LocalAgArch, delib time (ns): 7724
[r1] LBB LocalAgArch, act time (ns): 13070
[r1] LBB LocalAgArch, resCycle time (ns): 1023963
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 101
[r1] LBB TransitionS, perceive+buf time (ns): 10684
[r1] LBB LocalAgArch, senseLBB time (ns): 206424
[r1] LBB LocalAgArch, sense time (ns): 414418
[r1] LBB LocalAgArch, delib time (ns): 8194
[r1] LBB LocalAgArch, act time (ns): 156190
[r1] LBB LocalAgArch, resCycle time (ns): 578802
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 102
[r1] LBB TransitionS, perceive+buf time (ns): 5210
[r1] option for +!at(last)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=last}
[r1]      | for at(last), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=last}
[r1]      | for pos(P,X,Y), belief pos(last,6,0)[source(self)] is an option -- {P=last, X=6, Y=0}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(last)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=last}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=last}) for event +!at(last)[source(self)]
intention 3: 
    +!at(last)[source(self)] <- ... !at(L) / {X=6, Y=0, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(last,6,0)[source(self)] is an option -- {L=last, X=6, Y=0}
[r1] LBB LocalAgArch, senseLBB time (ns): 66937
[r1] LBB LocalAgArch, sense time (ns): 203861
[r1] LBB LocalAgArch, delib time (ns): 1544862
[r1] LBB LocalAgArch, act time (ns): 209512
[r1] LBB LocalAgArch, resCycle time (ns): 1958235
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 103
[r1] LBB TransitionS, perceive+buf time (ns): 4403
[r1] LBB LocalAgArch, senseLBB time (ns): 61770
[r1] LBB LocalAgArch, sense time (ns): 180385
[r1] LBB LocalAgArch, delib time (ns): 4741
[MarsEnv] r1 doing: move_towards(6,0)
[r1] LBB LocalAgArch, act time (ns): 74787
[r1] LBB LocalAgArch, resCycle time (ns): 259913
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(104)[source(self)]
[r1] brf added CBS(104)[source(self)]
[r1] Added event +CBS(104)[source(self)], events = [+pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)]]
[r1] Start sense 104
[r1] Added event +pos(r1,6,0)[source(percept)], events = [+pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 505443
[r1] LBB LocalAgArch, senseLBB time (ns): 900614
[r1] LBB LocalAgArch, sense time (ns): 1538465
[r1] LBB LocalAgArch, delib time (ns): 6581
[r1] LBB LocalAgArch, act time (ns): 12131
[r1] LBB LocalAgArch, resCycle time (ns): 1557177
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 105
[r1] LBB TransitionS, perceive+buf time (ns): 7526
[r1] LBB LocalAgArch, senseLBB time (ns): 195886
[r1] LBB LocalAgArch, sense time (ns): 348811
[r1] LBB LocalAgArch, delib time (ns): 6457
[r1] LBB LocalAgArch, act time (ns): 110102
[r1] LBB LocalAgArch, resCycle time (ns): 465370
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 106
[r1] LBB TransitionS, perceive+buf time (ns): 4168
[r1] option for +!at(last)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=last}
[r1]      | for at(last), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=last}
[r1]      | for pos(P,X,Y), belief pos(last,6,0)[source(self)] is an option -- {P=last, X=6, Y=0}
[r1]      | for pos(r1,X,Y), belief pos(r1,6,0)[source(percept)] is an option -- {P=last, X=6, Y=0}
[r1]      | for at(L), rule at(last)[source(self)] is an option -- {L=last}
[r1]      p__7[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] option for +!at(last)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=last}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] Selected option (@p__7[source(self),url("file:r1.asl")] +!at(L) : at(L).,{L=last}) for event +!at(last)[source(self)]
intention 3: 
    +!at(last)[source(self)] <- ... !at(L) / {X=6, Y=0, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__7[source(self),url("file:r1.asl")], te=+!at(last)[source(self)] unif={L=last}
[r1] LBB LocalAgArch, senseLBB time (ns): 74318
[r1] LBB LocalAgArch, sense time (ns): 187504
[r1] LBB LocalAgArch, delib time (ns): 1408194
[r1] LBB LocalAgArch, act time (ns): 128609
[r1] LBB LocalAgArch, resCycle time (ns): 1724307
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 107
[r1] LBB TransitionS, perceive+buf time (ns): 4901
[r1] LBB LocalAgArch, senseLBB time (ns): 59608
[r1] LBB LocalAgArch, sense time (ns): 181104
[r1] LBB LocalAgArch, delib time (ns): 38281
[r1] LBB LocalAgArch, act time (ns): 43188
[r1] LBB LocalAgArch, resCycle time (ns): 262573
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 108
[r1] LBB TransitionS, perceive+buf time (ns): 3960
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | NO more options for garbage(r1)
[r1]      p__1[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) <- next(slot); !check(slots).,{}) for event +!check(slots)[source(self)]
intention 3: 
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 56380
[r1] LBB LocalAgArch, sense time (ns): 179163
[r1] LBB LocalAgArch, delib time (ns): 820144
[r1] LBB LocalAgArch, act time (ns): 62399
[MarsEnv] r1 doing: next(slot)
[r1] LBB LocalAgArch, resCycle time (ns): 1061706
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 206
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 109
[r1] Added event +pos(r1,0,1)[source(percept)], events = [+pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 665731
[r1] LBB LocalAgArch, senseLBB time (ns): 293580
[r1] LBB LocalAgArch, sense time (ns): 1209821
[r1] LBB LocalAgArch, delib time (ns): 7941
[r1] LBB LocalAgArch, act time (ns): 12658
[r1] LBB LocalAgArch, resCycle time (ns): 1230420
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 110
[r1] LBB TransitionS, perceive+buf time (ns): 9208
[r1] LBB LocalAgArch, senseLBB time (ns): 199459
[r1] LBB LocalAgArch, sense time (ns): 362782
[r1] LBB LocalAgArch, delib time (ns): 5434
[r1] LBB LocalAgArch, act time (ns): 112498
[r1] LBB LocalAgArch, resCycle time (ns): 480714
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 111
[r1] LBB TransitionS, perceive+buf time (ns): 3989
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | NO more options for garbage(r1)
[r1]      p__1[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) <- next(slot); !check(slots).,{}) for event +!check(slots)[source(self)]
intention 3: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 73083
[r1] LBB LocalAgArch, sense time (ns): 185341
[MarsEnv] r1 doing: next(slot)
[r1] LBB LocalAgArch, delib time (ns): 976018
[r1] LBB LocalAgArch, act time (ns): 72075
[r1] LBB LocalAgArch, resCycle time (ns): 1233434
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(112)[source(self)]
[r1] brf added CBS(112)[source(self)]
[r1] Added event +CBS(112)[source(self)], events = [+pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)]]
[r1] Start sense 112
[r1] Added event +pos(r1,1,1)[source(percept)], events = [+pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 602557
[r1] LBB LocalAgArch, senseLBB time (ns): 938968
[r1] LBB LocalAgArch, sense time (ns): 1674325
[r1] LBB LocalAgArch, delib time (ns): 6777
[r1] LBB LocalAgArch, act time (ns): 10841
[r1] LBB LocalAgArch, resCycle time (ns): 1691943
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 113
[r1] LBB TransitionS, perceive+buf time (ns): 7536
[r1] LBB LocalAgArch, senseLBB time (ns): 190267
[r1] LBB LocalAgArch, sense time (ns): 346244
[r1] LBB LocalAgArch, delib time (ns): 5934
[r1] LBB LocalAgArch, act time (ns): 98307
[r1] LBB LocalAgArch, resCycle time (ns): 450485
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 114
[r1] LBB TransitionS, perceive+buf time (ns): 4230
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | NO more options for garbage(r1)
[r1]      p__1[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) <- next(slot); !check(slots).,{}) for event +!check(slots)[source(self)]
intention 3: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 57563
[r1] LBB LocalAgArch, sense time (ns): 180005
[MarsEnv] r1 doing: next(slot)
[r1] LBB LocalAgArch, delib time (ns): 917356
[r1] LBB LocalAgArch, act time (ns): 68035
[r1] LBB LocalAgArch, resCycle time (ns): 1165396
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 115
[r1] Added event +pos(r1,2,1)[source(percept)], events = [+pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 1080834
[r1] LBB LocalAgArch, senseLBB time (ns): 277514
[r1] LBB LocalAgArch, sense time (ns): 1584625
[r1] LBB LocalAgArch, delib time (ns): 7649
[r1] LBB LocalAgArch, act time (ns): 15916
[r1] LBB LocalAgArch, resCycle time (ns): 1608190
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 116
[r1] LBB TransitionS, perceive+buf time (ns): 11088
[r1] LBB LocalAgArch, senseLBB time (ns): 230956
[r1] LBB LocalAgArch, sense time (ns): 589039
[r1] LBB LocalAgArch, delib time (ns): 7103
[r1] LBB LocalAgArch, act time (ns): 108838
[r1] LBB LocalAgArch, resCycle time (ns): 704980
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 117
[r1] LBB TransitionS, perceive+buf time (ns): 4284
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | NO more options for garbage(r1)
[r1]      p__1[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) <- next(slot); !check(slots).,{}) for event +!check(slots)[source(self)]
intention 3: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 69779
[r1] LBB LocalAgArch, sense time (ns): 201950
[r1] LBB LocalAgArch, delib time (ns): 1024178
[MarsEnv] r1 doing: next(slot)
[r1] LBB LocalAgArch, act time (ns): 72365
[r1] LBB LocalAgArch, resCycle time (ns): 1298493
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 118
[r1] Added event +pos(r1,3,1)[source(percept)], events = [+pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 670700
[r1] LBB LocalAgArch, senseLBB time (ns): 360924
[r1] LBB LocalAgArch, sense time (ns): 1199977
[r1] LBB LocalAgArch, delib time (ns): 6808
[r1] LBB LocalAgArch, act time (ns): 12312
[r1] LBB LocalAgArch, resCycle time (ns): 1219097
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 119
[r1] LBB TransitionS, perceive+buf time (ns): 8070
[r1] LBB LocalAgArch, senseLBB time (ns): 189644
[r1] LBB LocalAgArch, sense time (ns): 372188
[r1] LBB LocalAgArch, delib time (ns): 13354
[r1] LBB LocalAgArch, act time (ns): 105165
[r1] LBB LocalAgArch, resCycle time (ns): 490707
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(120)[source(self)]
[r1] brf added CBS(120)[source(self)]
[r1] Added event +CBS(120)[source(self)], events = [+pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)]]
[r1] Start sense 120
[r1] LBB TransitionS, perceive+buf time (ns): 6886
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | NO more options for garbage(r1)
[r1]      p__1[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) <- next(slot); !check(slots).,{}) for event +!check(slots)[source(self)]
intention 3: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 871423
[r1] LBB LocalAgArch, sense time (ns): 1023716
[MarsEnv] r1 doing: next(slot)
[r1] LBB LocalAgArch, delib time (ns): 1058071
[r1] LBB LocalAgArch, act time (ns): 69504
[r1] LBB LocalAgArch, resCycle time (ns): 2151291
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 207
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 121
[r1] Added event +pos(r1,4,1)[source(percept)], events = [+pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 724938
[r1] LBB LocalAgArch, senseLBB time (ns): 188921
[r1] LBB LocalAgArch, sense time (ns): 1060264
[r1] LBB LocalAgArch, delib time (ns): 5103
[r1] LBB LocalAgArch, act time (ns): 10596
[r1] LBB LocalAgArch, resCycle time (ns): 1075963
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 122
[r1] LBB TransitionS, perceive+buf time (ns): 10686
[r1] LBB LocalAgArch, senseLBB time (ns): 214658
[r1] LBB LocalAgArch, sense time (ns): 409976
[r1] LBB LocalAgArch, delib time (ns): 7671
[r1] LBB LocalAgArch, act time (ns): 113761
[r1] LBB LocalAgArch, resCycle time (ns): 531408
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 123
[r1] LBB TransitionS, perceive+buf time (ns): 4585
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | NO more options for garbage(r1)
[r1]      p__1[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) <- next(slot); !check(slots).,{}) for event +!check(slots)[source(self)]
intention 3: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 69640
[r1] LBB LocalAgArch, sense time (ns): 201159
[r1] LBB LocalAgArch, delib time (ns): 1024558
[MarsEnv] r1 doing: next(slot)
[r1] LBB LocalAgArch, act time (ns): 70215
[r1] LBB LocalAgArch, resCycle time (ns): 1295932
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 124
[r1] Added event +pos(r1,5,1)[source(percept)], events = [+pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 615555
[r1] LBB LocalAgArch, senseLBB time (ns): 176086
[r1] LBB LocalAgArch, sense time (ns): 946477
[r1] LBB LocalAgArch, delib time (ns): 5017
[r1] LBB LocalAgArch, act time (ns): 9451
[r1] LBB LocalAgArch, resCycle time (ns): 960945
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 125
[r1] LBB TransitionS, perceive+buf time (ns): 11331
[r1] LBB LocalAgArch, senseLBB time (ns): 249774
[r1] LBB LocalAgArch, sense time (ns): 475831
[r1] LBB LocalAgArch, delib time (ns): 8697
[r1] LBB LocalAgArch, act time (ns): 142168
[r1] LBB LocalAgArch, resCycle time (ns): 626696
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 126
[r1] LBB TransitionS, perceive+buf time (ns): 4579
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | NO more options for garbage(r1)
[r1]      p__1[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) <- next(slot); !check(slots).,{}) for event +!check(slots)[source(self)]
intention 3: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 59557
[r1] LBB LocalAgArch, sense time (ns): 172868
[MarsEnv] r1 doing: next(slot)
[r1] LBB LocalAgArch, delib time (ns): 1058679
[r1] LBB LocalAgArch, act time (ns): 171589
[r1] LBB LocalAgArch, resCycle time (ns): 1403136
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 127
[r1] Added event +pos(r1,6,1)[source(percept)], events = [+pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 823373
[r1] LBB LocalAgArch, senseLBB time (ns): 279725
[r1] LBB LocalAgArch, sense time (ns): 1304313
[r1] LBB LocalAgArch, delib time (ns): 7385
[r1] LBB LocalAgArch, act time (ns): 13486
[r1] LBB LocalAgArch, resCycle time (ns): 1325184
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(128)[source(self)]
[r1] brf added CBS(128)[source(self)]
[r1] Added event +CBS(128)[source(self)], events = [+pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)]]
[r1] Start sense 128
[r1] LBB TransitionS, perceive+buf time (ns): 12477
[r1] LBB LocalAgArch, senseLBB time (ns): 1071151
[r1] LBB LocalAgArch, sense time (ns): 1278070
[r1] LBB LocalAgArch, delib time (ns): 10560
[r1] LBB LocalAgArch, act time (ns): 162902
[r1] LBB LocalAgArch, resCycle time (ns): 1451532
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 129
[r1] LBB TransitionS, perceive+buf time (ns): 4799
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | NO more options for garbage(r1)
[r1]      p__1[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) <- next(slot); !check(slots).,{}) for event +!check(slots)[source(self)]
intention 3: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 65337
[r1] LBB LocalAgArch, sense time (ns): 188062
[MarsEnv] r1 doing: next(slot)
[r1] LBB LocalAgArch, delib time (ns): 955361
[r1] LBB LocalAgArch, act time (ns): 75165
[r1] LBB LocalAgArch, resCycle time (ns): 1218588
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 130
[r1] Added event +pos(r1,0,2)[source(percept)], events = [+pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 718981
[r1] LBB LocalAgArch, senseLBB time (ns): 278643
[r1] LBB LocalAgArch, sense time (ns): 1161356
[r1] LBB LocalAgArch, delib time (ns): 7420
[r1] LBB LocalAgArch, act time (ns): 12301
[r1] LBB LocalAgArch, resCycle time (ns): 1181077
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 131
[r1] LBB TransitionS, perceive+buf time (ns): 12116
[r1] LBB LocalAgArch, senseLBB time (ns): 299367
[r1] LBB LocalAgArch, sense time (ns): 608792
[r1] LBB LocalAgArch, delib time (ns): 8771
[r1] LBB LocalAgArch, act time (ns): 121749
[r1] LBB LocalAgArch, resCycle time (ns): 739312
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 132
[r1] LBB TransitionS, perceive+buf time (ns): 5381
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | NO more options for garbage(r1)
[r1]      p__1[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) <- next(slot); !check(slots).,{}) for event +!check(slots)[source(self)]
intention 3: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 66322
[r1] LBB LocalAgArch, sense time (ns): 186388
[r1] LBB LocalAgArch, delib time (ns): 931313
[r1] LBB LocalAgArch, act time (ns): 69665
[MarsEnv] r1 doing: next(slot)
[r1] LBB LocalAgArch, resCycle time (ns): 1187366
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 133
[r1] Added event +pos(r1,1,2)[source(percept)], events = [+pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)]]
[r1] Added event +garbage(r1)[source(percept)], events = [+pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 1003077
[r1] LBB LocalAgArch, senseLBB time (ns): 179867
[r1] LBB LocalAgArch, sense time (ns): 1310419
[r1] LBB LocalAgArch, delib time (ns): 8443
[r1] LBB LocalAgArch, act time (ns): 11085
[r1] LBB LocalAgArch, resCycle time (ns): 1329947
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 134
[r1] LBB TransitionS, perceive+buf time (ns): 9250
[r1] LBB LocalAgArch, senseLBB time (ns): 223526
[r1] LBB LocalAgArch, sense time (ns): 397547
[r1] LBB LocalAgArch, delib time (ns): 14627
[r1] LBB LocalAgArch, act time (ns): 191289
[r1] LBB LocalAgArch, resCycle time (ns): 603463
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 135
[r1] LBB TransitionS, perceive+buf time (ns): 4727
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | for garbage(r1), belief garbage(r1)[source(percept)] is an option -- {}
[r1]      p__1[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__2[source(self),url("file:r1.asl")] +!check(slots).,{}) for event +!check(slots)[source(self)]
intention 3: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__2[source(self),url("file:r1.asl")], te=+!check(slots)[source(self)] unif={}
[r1] Returning from IM p__3[source(self),url("file:r1.asl")], te=+!carry_to(r2)[source(self)] unif={_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
[r1] Returning from IM lg[atomic,source(self),url("file:r1.asl")], te=+garbage(r1)[source(percept)] unif={}
[r1] LBB LocalAgArch, senseLBB time (ns): 73428
[r1] LBB LocalAgArch, sense time (ns): 205442
[r1] LBB LocalAgArch, delib time (ns): 870010
[r1] LBB LocalAgArch, act time (ns): 355001
[r1] LBB LocalAgArch, resCycle time (ns): 1430453
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(136)[source(self)]
[r1] brf added CBS(136)[source(self)]
[r1] Added event +CBS(136)[source(self)], events = [+pos(r1,3,2)[source(percept)], +CBS(48)[source(self)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +CBS(56)[source(self)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +CBS(64)[source(self)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)]]
[r1] Start sense 136
[r1] LBB TransitionS, perceive+buf time (ns): 5238
[r1] Selected event +pos(r1,3,2)[source(percept)]
[r1] Selected event +CBS(48)[source(self)]
[r1] Selected event +pos(r1,3,1)[source(percept)]
[r1] Selected event +pos(r1,3,0)[source(percept)]
[r1] Selected event +CBS(56)[source(self)]
[r1] Selected event +pos(r1,4,0)[source(percept)]
[r1] Selected event +pos(r1,5,0)[source(percept)]
[r1] Selected event +CBS(64)[source(self)]
[r1] Selected event +pos(r1,6,0)[source(percept)]
[r1] Selected event +garbage(r1)[source(percept)]
[r1] LBB LocalAgArch, senseLBB time (ns): 704170
[r1] LBB LocalAgArch, sense time (ns): 838500
[r1] LBB LocalAgArch, delib time (ns): 1427939
[r1] LBB LocalAgArch, act time (ns): 54568
[r1] LBB LocalAgArch, resCycle time (ns): 2321007
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 137
[r1] LBB TransitionS, perceive+buf time (ns): 4546
[r1] option for +!carry_to(r2)[source(self)] is plan p__3[source(self),url("file:r1.asl")] +!carry_to(R) : null -- with unification {R=r2}
[r1]      p__3[source(self),url("file:r1.asl")] is applicable with unification {R=r2}
[r1] Selected option (@p__3[source(self),url("file:r1.asl")] +!carry_to(R) <- ?pos(r1,X,Y); -+pos(last,X,Y); !take(garb,R); !at(last); !check(slots).,{R=r2}) for event +!carry_to(r2)[source(self)]
intention 4: 
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(r1,X,Y), belief pos(r1,1,2)[source(percept)] is an option -- {X=1, Y=2, R=r2}
[r1] LBB LocalAgArch, senseLBB time (ns): 61340
[r1] LBB LocalAgArch, sense time (ns): 172336
[r1] LBB LocalAgArch, delib time (ns): 608967
[r1] LBB LocalAgArch, act time (ns): 195132
[r1] LBB LocalAgArch, resCycle time (ns): 976435
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 138
[r1] LBB TransitionS, perceive+buf time (ns): 4145
[r1]      | for pos(_26,_27,_28)[source(self)], belief annotation pos(r1,1,2)[source(percept)] is NOT an option -- {X=1, Y=2, R=r2, _26=r1, _28=2, _27=1}
[r1]      | for pos(_26,_27,_28)[source(self)], belief annotation pos(last,6,0)[source(self)] is an option -- {X=1, Y=2, R=r2, _26=last, _28=0, _27=6}
[r1] Doing (del) brf for pos(_26,_27,_28)[source(self)] in BB=true
[r1] Removed:pos(last,6,0)[source(self)]
[r1] Added event -pos(last,6,0)[source(self)], events = [-pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)]]
[r1] Doing (add) brf for pos(last,1,2)[source(self)]
[r1] brf added pos(last,1,2)[source(self)]
[r1] Added event +pos(last,1,2)[source(self)]
intention 4: 
    +!carry_to(r2)[source(self)] <- ... -+pos(last,X,Y); !take(garb,R); !at(last); !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}
, events = [-pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)]]
[r1] LBB LocalAgArch, senseLBB time (ns): 59788
[r1] LBB LocalAgArch, sense time (ns): 171497
[r1] LBB LocalAgArch, delib time (ns): 4060
[r1] LBB LocalAgArch, act time (ns): 1926617
[r1] LBB LocalAgArch, resCycle time (ns): 2102174
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 139
[r1] LBB TransitionS, perceive+buf time (ns): 4654
[r1] LBB LocalAgArch, senseLBB time (ns): 58312
[r1] LBB LocalAgArch, sense time (ns): 167075
[r1] LBB LocalAgArch, delib time (ns): 56135
[r1] LBB LocalAgArch, act time (ns): 45485
[r1] LBB LocalAgArch, resCycle time (ns): 268695
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 140
[r1] LBB TransitionS, perceive+buf time (ns): 3812
[r1] option for +!take(garb,r2)[source(self)] is plan p__4[source(self),url("file:r1.asl")] +!take(S,L) : null -- with unification {S=garb, L=r2}
[r1]      p__4[source(self),url("file:r1.asl")] is applicable with unification {S=garb, L=r2}
[r1] Selected option (@p__4[source(self),url("file:r1.asl")] +!take(S,L) <- !ensure_pick(S); !at(L); drop(S).,{S=garb, L=r2}) for event +!take(garb,r2)[source(self)]
intention 4: 
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 56700
[r1] LBB LocalAgArch, sense time (ns): 172422
[r1] LBB LocalAgArch, delib time (ns): 578714
[r1] LBB LocalAgArch, act time (ns): 42011
[r1] LBB LocalAgArch, resCycle time (ns): 793147
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 141
[r1] LBB TransitionS, perceive+buf time (ns): 4380
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) -- with unification {S=garb}
[r1]      | for garbage(r1), belief garbage(r1)[source(percept)] is an option -- {S=garb}
[r1]      p__5[source(self),url("file:r1.asl")] is applicable with unification {S=garb}
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1) : null -- with unification {_1=garb}
[r1]      p__6[source(self),url("file:r1.asl")] is applicable with unification {_1=garb}
[r1] Selected option (@p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) <- pick(garb); !ensure_pick(S).,{S=garb}) for event +!ensure_pick(garb)[source(self)]
intention 4: 
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 58023
[r1] LBB LocalAgArch, sense time (ns): 173772
[r1] LBB LocalAgArch, delib time (ns): 807142
[MarsEnv] r1 doing: pick(garb)
[r1] LBB LocalAgArch, act time (ns): 64345
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 213
[r1] LBB LocalAgArch, resCycle time (ns): 1045259
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 142
[r1] LBB TransitionS, perceive+buf time (ns): 174037
[r1] LBB LocalAgArch, senseLBB time (ns): 268057
[r1] LBB LocalAgArch, sense time (ns): 653631
[r1] LBB LocalAgArch, delib time (ns): 28000
[r1] LBB LocalAgArch, act time (ns): 9912
[r1] LBB LocalAgArch, resCycle time (ns): 691543
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 143
[r1] LBB TransitionS, perceive+buf time (ns): 9148
[r1] LBB LocalAgArch, senseLBB time (ns): 183486
[r1] LBB LocalAgArch, sense time (ns): 348391
[r1] LBB LocalAgArch, delib time (ns): 8284
[r1] LBB LocalAgArch, act time (ns): 124451
[r1] LBB LocalAgArch, resCycle time (ns): 481126
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(144)[source(self)]
[r1] brf added CBS(144)[source(self)]
[r1] Added event +CBS(144)[source(self)], events = [-pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)]]
[r1] Start sense 144
[r1] LBB TransitionS, perceive+buf time (ns): 5629
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) -- with unification {S=garb}
[r1]      | NO more options for garbage(r1)
[r1]      p__5[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1) : null -- with unification {_1=garb}
[r1]      p__6[source(self),url("file:r1.asl")] is applicable with unification {_1=garb}
[r1] Selected option (@p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1).,{_1=garb}) for event +!ensure_pick(garb)[source(self)]
intention 4: 
    +!ensure_pick(garb)[source(self)] <- ... !ensure_pick(S) / {S=garb}
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__6[source(self),url("file:r1.asl")], te=+!ensure_pick(garb)[source(self)] unif={_1=garb}
[r1] LBB LocalAgArch, senseLBB time (ns): 672521
[r1] LBB LocalAgArch, sense time (ns): 859325
[r1] LBB LocalAgArch, delib time (ns): 1102286
[r1] LBB LocalAgArch, act time (ns): 176492
[r1] LBB LocalAgArch, resCycle time (ns): 2138103
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 145
[r1] LBB TransitionS, perceive+buf time (ns): 5019
[r1] LBB LocalAgArch, senseLBB time (ns): 67352
[r1] LBB LocalAgArch, sense time (ns): 215045
[r1] LBB LocalAgArch, delib time (ns): 4954
[r1] LBB LocalAgArch, act time (ns): 50311
[r1] LBB LocalAgArch, resCycle time (ns): 270310
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 146
[r1] LBB TransitionS, perceive+buf time (ns): 3920
[r1] option for +!at(r2)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=r2}
[r1]      | for at(r2), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=r2}
[r1]      | for pos(P,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(r2)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=r2}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=r2}) for event +!at(r2)[source(self)]
intention 4: 
    +!take(garb,r2)[source(self)] <- ... !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {L=r2, X=3, Y=3}
[r1] LBB LocalAgArch, senseLBB time (ns): 63682
[r1] LBB LocalAgArch, sense time (ns): 188066
[r1] LBB LocalAgArch, delib time (ns): 1493466
[r1] LBB LocalAgArch, act time (ns): 227485
[r1] LBB LocalAgArch, resCycle time (ns): 1909017
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 147
[r1] LBB TransitionS, perceive+buf time (ns): 4805
[r1] LBB LocalAgArch, senseLBB time (ns): 82633
[r1] LBB LocalAgArch, sense time (ns): 210795
[r1] LBB LocalAgArch, delib time (ns): 4380
[MarsEnv] r1 doing: move_towards(3,3)
[r1] LBB LocalAgArch, act time (ns): 73706
[r1] LBB LocalAgArch, resCycle time (ns): 288881
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 208
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 148
[r1] Added event +pos(r1,2,3)[source(percept)], events = [-pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 833627
[r1] LBB LocalAgArch, senseLBB time (ns): 263372
[r1] LBB LocalAgArch, sense time (ns): 1287902
[r1] LBB LocalAgArch, delib time (ns): 8203
[r1] LBB LocalAgArch, act time (ns): 16792
[r1] LBB LocalAgArch, resCycle time (ns): 1312897
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 149
[r1] LBB TransitionS, perceive+buf time (ns): 9784
[r1] LBB LocalAgArch, senseLBB time (ns): 193468
[r1] LBB LocalAgArch, sense time (ns): 367789
[r1] LBB LocalAgArch, delib time (ns): 7086
[r1] LBB LocalAgArch, act time (ns): 120434
[r1] LBB LocalAgArch, resCycle time (ns): 495309
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 150
[r1] LBB TransitionS, perceive+buf time (ns): 4642
[r1] option for +!at(r2)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=r2}
[r1]      | for at(r2), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=r2}
[r1]      | for pos(P,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(r2)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=r2}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=r2}) for event +!at(r2)[source(self)]
intention 4: 
    +!at(r2)[source(self)] <- ... !at(L) / {X=3, Y=3, L=r2}
    +!take(garb,r2)[source(self)] <- ... !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {L=r2, X=3, Y=3}
[r1] LBB LocalAgArch, senseLBB time (ns): 79377
[r1] LBB LocalAgArch, sense time (ns): 199089
[r1] LBB LocalAgArch, delib time (ns): 1465224
[r1] LBB LocalAgArch, act time (ns): 286134
[r1] LBB LocalAgArch, resCycle time (ns): 1950447
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 151
[r1] LBB TransitionS, perceive+buf time (ns): 8006
[r1] LBB LocalAgArch, senseLBB time (ns): 113097
[MarsEnv] r1 doing: move_towards(3,3)
[r1] LBB LocalAgArch, sense time (ns): 306395
[r1] LBB LocalAgArch, delib time (ns): 6210
[r1] LBB LocalAgArch, act time (ns): 152271
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r1] LBB LocalAgArch, resCycle time (ns): 464876
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(152)[source(self)]
[r1] brf added CBS(152)[source(self)]
[r1] Added event +CBS(152)[source(self)], events = [-pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)]]
[r1] Start sense 152
[r1] Added event +pos(r1,3,3)[source(percept)], events = [-pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)]]
[r1] Added event +garbage(r1)[source(percept)], events = [-pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 841668
[r1] LBB LocalAgArch, senseLBB time (ns): 1023182
[r1] LBB LocalAgArch, sense time (ns): 2009833
[r1] LBB LocalAgArch, delib time (ns): 9449
[r1] LBB LocalAgArch, act time (ns): 9853
[r1] LBB LocalAgArch, resCycle time (ns): 2029135
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 153
[r1] LBB TransitionS, perceive+buf time (ns): 8098
[r1] LBB LocalAgArch, senseLBB time (ns): 250816
[r1] LBB LocalAgArch, sense time (ns): 469406
[r1] LBB LocalAgArch, delib time (ns): 9431
[r1] LBB LocalAgArch, act time (ns): 122363
[r1] LBB LocalAgArch, resCycle time (ns): 601200
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 154
[r1] LBB TransitionS, perceive+buf time (ns): 3794
[r1] option for +!at(r2)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=r2}
[r1]      | for at(r2), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=r2}
[r1]      | for pos(P,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | for pos(r1,X,Y), belief pos(r1,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | for at(L), rule at(r2)[source(self)] is an option -- {L=r2}
[r1]      p__7[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] option for +!at(r2)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=r2}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] Selected option (@p__7[source(self),url("file:r1.asl")] +!at(L) : at(L).,{L=r2}) for event +!at(r2)[source(self)]
intention 4: 
    +!at(r2)[source(self)] <- ... !at(L) / {X=3, Y=3, L=r2}
    +!take(garb,r2)[source(self)] <- ... !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__7[source(self),url("file:r1.asl")], te=+!at(r2)[source(self)] unif={L=r2}
[r1] LBB LocalAgArch, senseLBB time (ns): 61981
[r1] LBB LocalAgArch, sense time (ns): 177165
[r1] LBB LocalAgArch, delib time (ns): 1443740
[r1] LBB LocalAgArch, act time (ns): 140776
[r1] LBB LocalAgArch, resCycle time (ns): 1761681
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 155
[r1] LBB TransitionS, perceive+buf time (ns): 4262
[r1] LBB LocalAgArch, senseLBB time (ns): 62282
[r1] LBB LocalAgArch, sense time (ns): 181622
[MarsEnv] r1 doing: drop(garb)
[r1] LBB LocalAgArch, delib time (ns): 3889
[r1] LBB LocalAgArch, act time (ns): 79106
[r1] LBB LocalAgArch, resCycle time (ns): 264617
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 156
[r1] LBB TransitionS, perceive+buf time (ns): 128448
[r1] LBB LocalAgArch, senseLBB time (ns): 295146
[r1] LBB LocalAgArch, sense time (ns): 631186
[r1] LBB LocalAgArch, delib time (ns): 8880
[r1] LBB LocalAgArch, act time (ns): 14608
[r1] LBB LocalAgArch, resCycle time (ns): 654674
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 157
[r1] LBB TransitionS, perceive+buf time (ns): 10865
[r1] Returning from IM p__4[source(self),url("file:r1.asl")], te=+!take(garb,r2)[source(self)] unif={S=garb, L=r2}
[r1] LBB LocalAgArch, senseLBB time (ns): 289380
[r1] LBB LocalAgArch, sense time (ns): 588604
[r1] LBB LocalAgArch, delib time (ns): 9770
[r1] LBB LocalAgArch, act time (ns): 366484
[r1] LBB LocalAgArch, resCycle time (ns): 964858
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 158
[r1] LBB TransitionS, perceive+buf time (ns): 9511
[r1] option for +!at(last)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=last}
[r1]      | for at(last), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=last}
[r1]      | for pos(P,X,Y), belief pos(last,1,2)[source(self)] is an option -- {P=last, X=1, Y=2}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(last)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=last}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=last}) for event +!at(last)[source(self)]
intention 4: 
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(last,1,2)[source(self)] is an option -- {L=last, X=1, Y=2}
[r1] LBB LocalAgArch, senseLBB time (ns): 85729
[r1] LBB LocalAgArch, sense time (ns): 370926
[r1] LBB LocalAgArch, delib time (ns): 1518033
[r1] LBB LocalAgArch, act time (ns): 222725
[r1] LBB LocalAgArch, resCycle time (ns): 2111684
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 159
[r1] LBB TransitionS, perceive+buf time (ns): 4687
[r1] LBB LocalAgArch, senseLBB time (ns): 81238
[r1] LBB LocalAgArch, sense time (ns): 216040
[r1] LBB LocalAgArch, delib time (ns): 4377
[r1] LBB LocalAgArch, act time (ns): 89061
[MarsEnv] r1 doing: move_towards(1,2)
[r1] LBB LocalAgArch, resCycle time (ns): 309478
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 206
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(160)[source(self)]
[r1] brf added CBS(160)[source(self)]
[r1] Added event +CBS(160)[source(self)], events = [-pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)]]
[r1] Start sense 160
[r1] Added event +pos(r1,2,2)[source(percept)], events = [-pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)], +pos(r1,2,2)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 477300
[r1] LBB LocalAgArch, senseLBB time (ns): 2381307
[r1] LBB LocalAgArch, sense time (ns): 3029468
[r1] LBB LocalAgArch, delib time (ns): 9074
[r1] LBB LocalAgArch, act time (ns): 14397
[r1] LBB LocalAgArch, resCycle time (ns): 3052939
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 161
[r1] LBB TransitionS, perceive+buf time (ns): 8083
[r1] LBB LocalAgArch, senseLBB time (ns): 274136
[r1] LBB LocalAgArch, sense time (ns): 477833
[r1] LBB LocalAgArch, delib time (ns): 8584
[r1] LBB LocalAgArch, act time (ns): 159708
[r1] LBB LocalAgArch, resCycle time (ns): 646125
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 162
[r1] LBB TransitionS, perceive+buf time (ns): 4144
[r1] option for +!at(last)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=last}
[r1]      | for at(last), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=last}
[r1]      | for pos(P,X,Y), belief pos(last,1,2)[source(self)] is an option -- {P=last, X=1, Y=2}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(last)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=last}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=last}) for event +!at(last)[source(self)]
intention 4: 
    +!at(last)[source(self)] <- ... !at(L) / {X=1, Y=2, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(last,1,2)[source(self)] is an option -- {L=last, X=1, Y=2}
[r1] LBB LocalAgArch, senseLBB time (ns): 67303
[r1] LBB LocalAgArch, sense time (ns): 191737
[r1] LBB LocalAgArch, delib time (ns): 1363736
[r1] LBB LocalAgArch, act time (ns): 189035
[r1] LBB LocalAgArch, resCycle time (ns): 1744508
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 163
[r1] LBB TransitionS, perceive+buf time (ns): 4287
[r1] LBB LocalAgArch, senseLBB time (ns): 65575
[r1] LBB LocalAgArch, sense time (ns): 193279
[r1] LBB LocalAgArch, delib time (ns): 5522
[r1] LBB LocalAgArch, act time (ns): 67205
[MarsEnv] r1 doing: move_towards(1,2)
[r1] LBB LocalAgArch, resCycle time (ns): 266006
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 164
[r1] Added event +pos(r1,1,2)[source(percept)], events = [-pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 646172
[r1] LBB LocalAgArch, senseLBB time (ns): 252977
[r1] LBB LocalAgArch, sense time (ns): 1077078
[r1] LBB LocalAgArch, delib time (ns): 7961
[r1] LBB LocalAgArch, act time (ns): 14948
[r1] LBB LocalAgArch, resCycle time (ns): 1099987
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 165
[r1] LBB TransitionS, perceive+buf time (ns): 7232
[r1] LBB LocalAgArch, senseLBB time (ns): 309305
[r1] LBB LocalAgArch, sense time (ns): 494870
[r1] LBB LocalAgArch, delib time (ns): 7447
[r1] LBB LocalAgArch, act time (ns): 110889
[r1] LBB LocalAgArch, resCycle time (ns): 613206
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 166
[r1] LBB TransitionS, perceive+buf time (ns): 4891
[r1] option for +!at(last)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=last}
[r1]      | for at(last), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=last}
[r1]      | for pos(P,X,Y), belief pos(last,1,2)[source(self)] is an option -- {P=last, X=1, Y=2}
[r1]      | for pos(r1,X,Y), belief pos(r1,1,2)[source(percept)] is an option -- {P=last, X=1, Y=2}
[r1]      | for at(L), rule at(last)[source(self)] is an option -- {L=last}
[r1]      p__7[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] option for +!at(last)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=last}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] Selected option (@p__7[source(self),url("file:r1.asl")] +!at(L) : at(L).,{L=last}) for event +!at(last)[source(self)]
intention 4: 
    +!at(last)[source(self)] <- ... !at(L) / {X=1, Y=2, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__7[source(self),url("file:r1.asl")], te=+!at(last)[source(self)] unif={L=last}
[r1] LBB LocalAgArch, senseLBB time (ns): 66956
[r1] LBB LocalAgArch, sense time (ns): 349137
[r1] LBB LocalAgArch, delib time (ns): 1334724
[r1] LBB LocalAgArch, act time (ns): 105658
[r1] LBB LocalAgArch, resCycle time (ns): 1789519
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 167
[r1] LBB TransitionS, perceive+buf time (ns): 4442
[r1] LBB LocalAgArch, senseLBB time (ns): 94554
[r1] LBB LocalAgArch, sense time (ns): 224093
[r1] LBB LocalAgArch, delib time (ns): 4646
[r1] LBB LocalAgArch, act time (ns): 47285
[r1] LBB LocalAgArch, resCycle time (ns): 276024
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(168)[source(self)]
[r1] brf added CBS(168)[source(self)]
[r1] Added event +CBS(168)[source(self)], events = [-pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)]]
[r1] Start sense 168
[r1] LBB TransitionS, perceive+buf time (ns): 4717
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | NO more options for garbage(r1)
[r1]      p__1[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) <- next(slot); !check(slots).,{}) for event +!check(slots)[source(self)]
intention 4: 
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 614003
[r1] LBB LocalAgArch, sense time (ns): 743483
[MarsEnv] r1 doing: next(slot)
[r1] LBB LocalAgArch, delib time (ns): 756160
[r1] LBB LocalAgArch, act time (ns): 56931
[r1] LBB LocalAgArch, resCycle time (ns): 1556574
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 207
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 169
[r1] Added event +pos(r1,2,2)[source(percept)], events = [-pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 531915
[r1] LBB LocalAgArch, senseLBB time (ns): 247258
[r1] LBB LocalAgArch, sense time (ns): 967400
[r1] LBB LocalAgArch, delib time (ns): 6446
[r1] LBB LocalAgArch, act time (ns): 12231
[r1] LBB LocalAgArch, resCycle time (ns): 986077
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 170
[r1] LBB TransitionS, perceive+buf time (ns): 9155
[r1] LBB LocalAgArch, senseLBB time (ns): 193919
[r1] LBB LocalAgArch, sense time (ns): 377937
[r1] LBB LocalAgArch, delib time (ns): 7701
[r1] LBB LocalAgArch, act time (ns): 174335
[r1] LBB LocalAgArch, resCycle time (ns): 559973
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 171
[r1] LBB TransitionS, perceive+buf time (ns): 3624
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | NO more options for garbage(r1)
[r1]      p__1[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) <- next(slot); !check(slots).,{}) for event +!check(slots)[source(self)]
intention 4: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 64899
[r1] LBB LocalAgArch, sense time (ns): 200539
[MarsEnv] r1 doing: next(slot)
[r1] LBB LocalAgArch, delib time (ns): 859757
[r1] LBB LocalAgArch, act time (ns): 60377
[r1] LBB LocalAgArch, resCycle time (ns): 1120673
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 172
[r1] Added event +pos(r1,3,2)[source(percept)], events = [-pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 553155
[r1] LBB LocalAgArch, senseLBB time (ns): 232424
[r1] LBB LocalAgArch, sense time (ns): 994035
[r1] LBB LocalAgArch, delib time (ns): 8182
[r1] LBB LocalAgArch, act time (ns): 15080
[r1] LBB LocalAgArch, resCycle time (ns): 1017297
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 173
[r1] LBB TransitionS, perceive+buf time (ns): 7762
[r1] LBB LocalAgArch, senseLBB time (ns): 189563
[r1] LBB LocalAgArch, sense time (ns): 386824
[r1] LBB LocalAgArch, delib time (ns): 8493
[r1] LBB LocalAgArch, act time (ns): 95288
[r1] LBB LocalAgArch, resCycle time (ns): 490605
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 174
[r1] LBB TransitionS, perceive+buf time (ns): 4635
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | NO more options for garbage(r1)
[r1]      p__1[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) <- next(slot); !check(slots).,{}) for event +!check(slots)[source(self)]
intention 4: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 66762
[r1] LBB LocalAgArch, sense time (ns): 241328
[r1] LBB LocalAgArch, delib time (ns): 827787
[MarsEnv] r1 doing: next(slot)
[r1] LBB LocalAgArch, act time (ns): 60276
[r1] LBB LocalAgArch, resCycle time (ns): 1129391
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 175
[r1] Added event +pos(r1,4,2)[source(percept)], events = [-pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 728176
[r1] LBB LocalAgArch, senseLBB time (ns): 240063
[r1] LBB LocalAgArch, sense time (ns): 1143715
[r1] LBB LocalAgArch, delib time (ns): 7364
[r1] LBB LocalAgArch, act time (ns): 14473
[r1] LBB LocalAgArch, resCycle time (ns): 1165552
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(176)[source(self)]
[r1] brf added CBS(176)[source(self)]
[r1] Added event +CBS(176)[source(self)], events = [-pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)]]
[r1] Start sense 176
[r1] LBB TransitionS, perceive+buf time (ns): 7846
[r1] LBB LocalAgArch, senseLBB time (ns): 928430
[r1] LBB LocalAgArch, sense time (ns): 1073589
[r1] LBB LocalAgArch, delib time (ns): 6626
[r1] LBB LocalAgArch, act time (ns): 92895
[r1] LBB LocalAgArch, resCycle time (ns): 1173110
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 177
[r1] LBB TransitionS, perceive+buf time (ns): 3735
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | NO more options for garbage(r1)
[r1]      p__1[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) <- next(slot); !check(slots).,{}) for event +!check(slots)[source(self)]
intention 4: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 77178
[r1] LBB LocalAgArch, sense time (ns): 189977
[r1] LBB LocalAgArch, delib time (ns): 826159
[MarsEnv] r1 doing: next(slot)
[r1] LBB LocalAgArch, act time (ns): 62253
[r1] LBB LocalAgArch, resCycle time (ns): 1078389
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 178
[r1] Added event +pos(r1,5,2)[source(percept)], events = [-pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)], +pos(r1,5,2)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 350534
[r1] LBB LocalAgArch, senseLBB time (ns): 236618
[r1] LBB LocalAgArch, sense time (ns): 672621
[r1] LBB LocalAgArch, delib time (ns): 5605
[r1] LBB LocalAgArch, act time (ns): 8741
[r1] LBB LocalAgArch, resCycle time (ns): 686967
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 179
[r1] LBB TransitionS, perceive+buf time (ns): 9232
[r1] LBB LocalAgArch, senseLBB time (ns): 229592
[r1] LBB LocalAgArch, sense time (ns): 411389
[r1] LBB LocalAgArch, delib time (ns): 7672
[r1] LBB LocalAgArch, act time (ns): 115811
[r1] LBB LocalAgArch, resCycle time (ns): 534872
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 180
[r1] LBB TransitionS, perceive+buf time (ns): 4070
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | NO more options for garbage(r1)
[r1]      p__1[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) <- next(slot); !check(slots).,{}) for event +!check(slots)[source(self)]
intention 4: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 76973
[r1] LBB LocalAgArch, sense time (ns): 191660
[r1] LBB LocalAgArch, delib time (ns): 873660
[r1] LBB LocalAgArch, act time (ns): 67572
[MarsEnv] r1 doing: next(slot)
[r1] LBB LocalAgArch, resCycle time (ns): 1132892
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 181
[r1] Added event +pos(r1,6,2)[source(percept)], events = [-pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 841514
[r1] LBB LocalAgArch, senseLBB time (ns): 341691
[r1] LBB LocalAgArch, sense time (ns): 1393384
[r1] LBB LocalAgArch, delib time (ns): 8924
[r1] LBB LocalAgArch, act time (ns): 16244
[r1] LBB LocalAgArch, resCycle time (ns): 1418552
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 182
[r1] LBB TransitionS, perceive+buf time (ns): 6750
[r1] LBB LocalAgArch, senseLBB time (ns): 181425
[r1] LBB LocalAgArch, sense time (ns): 361522
[r1] LBB LocalAgArch, delib time (ns): 7799
[r1] LBB LocalAgArch, act time (ns): 97385
[r1] LBB LocalAgArch, resCycle time (ns): 466706
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 183
[r1] LBB TransitionS, perceive+buf time (ns): 3871
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | NO more options for garbage(r1)
[r1]      p__1[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) <- next(slot); !check(slots).,{}) for event +!check(slots)[source(self)]
intention 4: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 58888
[r1] LBB LocalAgArch, sense time (ns): 169467
[r1] LBB LocalAgArch, delib time (ns): 763694
[r1] LBB LocalAgArch, act time (ns): 77713
[MarsEnv] r1 doing: next(slot)
[r1] LBB LocalAgArch, resCycle time (ns): 1010874
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(184)[source(self)]
[r1] brf added CBS(184)[source(self)]
[r1] Added event +CBS(184)[source(self)], events = [-pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +CBS(184)[source(self)]]
[r1] Start sense 184
[r1] Added event +pos(r1,0,3)[source(percept)], events = [-pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +CBS(184)[source(self)], +pos(r1,0,3)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 546597
[r1] LBB LocalAgArch, senseLBB time (ns): 804450
[r1] LBB LocalAgArch, sense time (ns): 1486992
[r1] LBB LocalAgArch, delib time (ns): 7398
[r1] LBB LocalAgArch, act time (ns): 11393
[r1] LBB LocalAgArch, resCycle time (ns): 1505783
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 185
[r1] LBB TransitionS, perceive+buf time (ns): 9700
[r1] LBB LocalAgArch, senseLBB time (ns): 212674
[r1] LBB LocalAgArch, sense time (ns): 377941
[r1] LBB LocalAgArch, delib time (ns): 6734
[r1] LBB LocalAgArch, act time (ns): 99003
[r1] LBB LocalAgArch, resCycle time (ns): 483678
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 186
[r1] LBB TransitionS, perceive+buf time (ns): 4423
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | NO more options for garbage(r1)
[r1]      p__1[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) <- next(slot); !check(slots).,{}) for event +!check(slots)[source(self)]
intention 4: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 57896
[r1] LBB LocalAgArch, sense time (ns): 178157
[r1] LBB LocalAgArch, delib time (ns): 1210725
[MarsEnv] r1 doing: next(slot)
[r1] LBB LocalAgArch, act time (ns): 81246
[r1] LBB LocalAgArch, resCycle time (ns): 1470128
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 187
[r1] Added event +pos(r1,1,3)[source(percept)], events = [-pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +CBS(184)[source(self)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 571530
[r1] LBB LocalAgArch, senseLBB time (ns): 238736
[r1] LBB LocalAgArch, sense time (ns): 972370
[r1] LBB LocalAgArch, delib time (ns): 6750
[r1] LBB LocalAgArch, act time (ns): 11860
[r1] LBB LocalAgArch, resCycle time (ns): 990980
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 188
[r1] LBB TransitionS, perceive+buf time (ns): 6979
[r1] LBB LocalAgArch, senseLBB time (ns): 185057
[r1] LBB LocalAgArch, sense time (ns): 334881
[r1] LBB LocalAgArch, delib time (ns): 7171
[r1] LBB LocalAgArch, act time (ns): 97627
[r1] LBB LocalAgArch, resCycle time (ns): 439679
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 189
[r1] LBB TransitionS, perceive+buf time (ns): 3392
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | NO more options for garbage(r1)
[r1]      p__1[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) <- next(slot); !check(slots).,{}) for event +!check(slots)[source(self)]
intention 4: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 54551
[r1] LBB LocalAgArch, sense time (ns): 169815
[MarsEnv] r1 doing: next(slot)
[r1] LBB LocalAgArch, delib time (ns): 724268
[r1] LBB LocalAgArch, act time (ns): 60689
[r1] LBB LocalAgArch, resCycle time (ns): 954772
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 190
[r1] Added event +pos(r1,2,3)[source(percept)], events = [-pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +CBS(184)[source(self)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 681496
[r1] LBB LocalAgArch, senseLBB time (ns): 245150
[r1] LBB LocalAgArch, sense time (ns): 1107572
[r1] LBB LocalAgArch, delib time (ns): 8148
[r1] LBB LocalAgArch, act time (ns): 13322
[r1] LBB LocalAgArch, resCycle time (ns): 1129042
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 191
[r1] LBB TransitionS, perceive+buf time (ns): 7698
[r1] LBB LocalAgArch, senseLBB time (ns): 221780
[r1] LBB LocalAgArch, sense time (ns): 387230
[r1] LBB LocalAgArch, delib time (ns): 8518
[r1] LBB LocalAgArch, act time (ns): 102324
[r1] LBB LocalAgArch, resCycle time (ns): 498072
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(192)[source(self)]
[r1] brf added CBS(192)[source(self)]
[r1] Added event +CBS(192)[source(self)], events = [-pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +CBS(184)[source(self)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +CBS(192)[source(self)]]
[r1] Start sense 192
[r1] LBB TransitionS, perceive+buf time (ns): 4280
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | NO more options for garbage(r1)
[r1]      p__1[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) <- next(slot); !check(slots).,{}) for event +!check(slots)[source(self)]
intention 4: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 595870
[r1] LBB LocalAgArch, sense time (ns): 700869
[MarsEnv] r1 doing: next(slot)
[r1] LBB LocalAgArch, delib time (ns): 766658
[r1] LBB LocalAgArch, act time (ns): 61779
[r1] LBB LocalAgArch, resCycle time (ns): 1529306
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 193
[r1] Added event +pos(r1,3,3)[source(percept)], events = [-pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +CBS(184)[source(self)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +CBS(192)[source(self)], +pos(r1,3,3)[source(percept)]]
[r1] Added event +garbage(r1)[source(percept)], events = [-pos(last,3,0)[source(self)], +CBS(72)[source(self)], +CBS(80)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(88)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +CBS(184)[source(self)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +CBS(192)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 886353
[r1] LBB LocalAgArch, senseLBB time (ns): 132207
[r1] LBB LocalAgArch, sense time (ns): 1132435
[r1] LBB LocalAgArch, delib time (ns): 5291
[r1] LBB LocalAgArch, act time (ns): 9512
[r1] LBB LocalAgArch, resCycle time (ns): 1147238
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 194
[r1] LBB TransitionS, perceive+buf time (ns): 9448
[r1] LBB LocalAgArch, senseLBB time (ns): 275153
[r1] LBB LocalAgArch, sense time (ns): 503388
[r1] LBB LocalAgArch, delib time (ns): 9771
[r1] LBB LocalAgArch, act time (ns): 125144
[r1] LBB LocalAgArch, resCycle time (ns): 638303
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 195
[r1] LBB TransitionS, perceive+buf time (ns): 4378
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | for garbage(r1), belief garbage(r1)[source(percept)] is an option -- {}
[r1]      p__1[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__2[source(self),url("file:r1.asl")] +!check(slots).,{}) for event +!check(slots)[source(self)]
intention 4: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__2[source(self),url("file:r1.asl")], te=+!check(slots)[source(self)] unif={}
[r1] Returning from IM p__3[source(self),url("file:r1.asl")], te=+!carry_to(r2)[source(self)] unif={R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
[r1] Returning from IM lg[atomic,source(self),url("file:r1.asl")], te=+garbage(r1)[source(percept)] unif={}
[r1] LBB LocalAgArch, senseLBB time (ns): 62119
[r1] LBB LocalAgArch, sense time (ns): 175538
[r1] LBB LocalAgArch, delib time (ns): 837954
[r1] LBB LocalAgArch, act time (ns): 310080
[r1] LBB LocalAgArch, resCycle time (ns): 1323572
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 196
[r1] LBB TransitionS, perceive+buf time (ns): 5872
[r1] Selected event -pos(last,3,0)[source(self)]
[r1] Selected event +CBS(72)[source(self)]
[r1] Selected event +CBS(80)[source(self)]
[r1] Selected event +pos(r1,5,1)[source(percept)]
[r1] Selected event +pos(r1,4,2)[source(percept)]
[r1] Selected event +CBS(88)[source(self)]
[r1] Selected event +pos(r1,3,3)[source(percept)]
[r1] Selected event +garbage(r1)[source(percept)]
[r1] LBB LocalAgArch, senseLBB time (ns): 61318
[r1] LBB LocalAgArch, sense time (ns): 180778
[r1] LBB LocalAgArch, delib time (ns): 1123963
[r1] LBB LocalAgArch, act time (ns): 43690
[r1] LBB LocalAgArch, resCycle time (ns): 1348431
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 197
[r1] LBB TransitionS, perceive+buf time (ns): 4098
[r1] option for +!carry_to(r2)[source(self)] is plan p__3[source(self),url("file:r1.asl")] +!carry_to(R) : null -- with unification {R=r2}
[r1]      p__3[source(self),url("file:r1.asl")] is applicable with unification {R=r2}
[r1] Selected option (@p__3[source(self),url("file:r1.asl")] +!carry_to(R) <- ?pos(r1,X,Y); -+pos(last,X,Y); !take(garb,R); !at(last); !check(slots).,{R=r2}) for event +!carry_to(r2)[source(self)]
intention 5: 
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(r1,X,Y), belief pos(r1,3,3)[source(percept)] is an option -- {X=3, Y=3, R=r2}
[r1] LBB LocalAgArch, senseLBB time (ns): 73149
[r1] LBB LocalAgArch, sense time (ns): 189668
[r1] LBB LocalAgArch, delib time (ns): 437496
[r1] LBB LocalAgArch, act time (ns): 223142
[r1] LBB LocalAgArch, resCycle time (ns): 850306
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 198
[r1] LBB TransitionS, perceive+buf time (ns): 4731
[r1]      | for pos(_29,_30,_31)[source(self)], belief annotation pos(r1,3,3)[source(percept)] is NOT an option -- {X=3, Y=3, R=r2, _31=3, _30=3, _29=r1}
[r1]      | for pos(_29,_30,_31)[source(self)], belief annotation pos(last,1,2)[source(self)] is an option -- {X=3, Y=3, R=r2, _31=2, _30=1, _29=last}
[r1] Doing (del) brf for pos(_29,_30,_31)[source(self)] in BB=true
[r1] Removed:pos(last,1,2)[source(self)]
[r1] Added event -pos(last,1,2)[source(self)], events = [+CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +CBS(184)[source(self)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +CBS(192)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)]]
[r1] Doing (add) brf for pos(last,3,3)[source(self)]
[r1] brf added pos(last,3,3)[source(self)]
[r1] Added event +pos(last,3,3)[source(self)]
intention 5: 
    +!carry_to(r2)[source(self)] <- ... -+pos(last,X,Y); !take(garb,R); !at(last); !check(slots) / {R=r2, _29=last, X=3, Y=3, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}
, events = [+CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +CBS(184)[source(self)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +CBS(192)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)]]
[r1] LBB LocalAgArch, senseLBB time (ns): 61827
[r1] LBB LocalAgArch, sense time (ns): 177450
[r1] LBB LocalAgArch, delib time (ns): 4255
[r1] LBB LocalAgArch, act time (ns): 1594536
[r1] LBB LocalAgArch, resCycle time (ns): 1776241
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 199
[r1] LBB TransitionS, perceive+buf time (ns): 4642
[r1] LBB LocalAgArch, senseLBB time (ns): 61170
[r1] LBB LocalAgArch, sense time (ns): 174553
[r1] LBB LocalAgArch, delib time (ns): 38545
[r1] LBB LocalAgArch, act time (ns): 45053
[r1] LBB LocalAgArch, resCycle time (ns): 258151
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(200)[source(self)]
[r1] brf added CBS(200)[source(self)]
[r1] Added event +CBS(200)[source(self)], events = [+CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +CBS(184)[source(self)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +CBS(192)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +CBS(200)[source(self)]]
[r1] Start sense 200
[r1] LBB TransitionS, perceive+buf time (ns): 5123
[r1] option for +!take(garb,r2)[source(self)] is plan p__4[source(self),url("file:r1.asl")] +!take(S,L) : null -- with unification {S=garb, L=r2}
[r1]      p__4[source(self),url("file:r1.asl")] is applicable with unification {S=garb, L=r2}
[r1] Selected option (@p__4[source(self),url("file:r1.asl")] +!take(S,L) <- !ensure_pick(S); !at(L); drop(S).,{S=garb, L=r2}) for event +!take(garb,r2)[source(self)]
intention 5: 
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {R=r2, _29=last, X=3, Y=3, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 508936
[r1] LBB LocalAgArch, sense time (ns): 638034
[r1] LBB LocalAgArch, delib time (ns): 427604
[r1] LBB LocalAgArch, act time (ns): 41329
[r1] LBB LocalAgArch, resCycle time (ns): 1106967
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 201
[r1] LBB TransitionS, perceive+buf time (ns): 4364
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) -- with unification {S=garb}
[r1]      | for garbage(r1), belief garbage(r1)[source(percept)] is an option -- {S=garb}
[r1]      p__5[source(self),url("file:r1.asl")] is applicable with unification {S=garb}
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1) : null -- with unification {_1=garb}
[r1]      p__6[source(self),url("file:r1.asl")] is applicable with unification {_1=garb}
[r1] Selected option (@p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) <- pick(garb); !ensure_pick(S).,{S=garb}) for event +!ensure_pick(garb)[source(self)]
intention 5: 
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {R=r2, _29=last, X=3, Y=3, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 71061
[r1] LBB LocalAgArch, sense time (ns): 189759
[r1] LBB LocalAgArch, delib time (ns): 666144
[r1] LBB LocalAgArch, act time (ns): 68821
[MarsEnv] r1 doing: pick(garb)
[r1] LBB LocalAgArch, resCycle time (ns): 924724
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 212
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 202
[r1] LBB TransitionS, perceive+buf time (ns): 185120
[r1] LBB LocalAgArch, senseLBB time (ns): 249803
[r1] LBB LocalAgArch, sense time (ns): 623067
[r1] LBB LocalAgArch, delib time (ns): 8732
[r1] LBB LocalAgArch, act time (ns): 13816
[r1] LBB LocalAgArch, resCycle time (ns): 645615
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 203
[r1] LBB TransitionS, perceive+buf time (ns): 10100
[r1] LBB LocalAgArch, senseLBB time (ns): 256040
[r1] LBB LocalAgArch, sense time (ns): 441346
[r1] LBB LocalAgArch, delib time (ns): 9371
[r1] LBB LocalAgArch, act time (ns): 120610
[r1] LBB LocalAgArch, resCycle time (ns): 571327
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 204
[r1] LBB TransitionS, perceive+buf time (ns): 4257
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) -- with unification {S=garb}
[r1]      | no candidate belief for garbage(r1) with {S=garb}
[r1]      p__5[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1) : null -- with unification {_1=garb}
[r1]      p__6[source(self),url("file:r1.asl")] is applicable with unification {_1=garb}
[r1] Selected option (@p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1).,{_1=garb}) for event +!ensure_pick(garb)[source(self)]
intention 5: 
    +!ensure_pick(garb)[source(self)] <- ... !ensure_pick(S) / {S=garb}
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {R=r2, _29=last, X=3, Y=3, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__6[source(self),url("file:r1.asl")], te=+!ensure_pick(garb)[source(self)] unif={_1=garb}
[r1] LBB LocalAgArch, senseLBB time (ns): 63318
[r1] LBB LocalAgArch, sense time (ns): 175583
[r1] LBB LocalAgArch, delib time (ns): 840262
[r1] LBB LocalAgArch, act time (ns): 109535
[r1] LBB LocalAgArch, resCycle time (ns): 1125380
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 205
[r1] LBB TransitionS, perceive+buf time (ns): 4536
[r1] LBB LocalAgArch, senseLBB time (ns): 59888
[r1] LBB LocalAgArch, sense time (ns): 183703
[r1] LBB LocalAgArch, delib time (ns): 4248
[r1] LBB LocalAgArch, act time (ns): 46983
[r1] LBB LocalAgArch, resCycle time (ns): 234934
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 206
[r1] LBB TransitionS, perceive+buf time (ns): 3330
[r1] option for +!at(r2)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=r2}
[r1]      | for at(r2), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=r2}
[r1]      | for pos(P,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | for pos(r1,X,Y), belief pos(r1,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | for at(L), rule at(r2)[source(self)] is an option -- {L=r2}
[r1]      p__7[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] option for +!at(r2)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=r2}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] Selected option (@p__7[source(self),url("file:r1.asl")] +!at(L) : at(L).,{L=r2}) for event +!at(r2)[source(self)]
intention 5: 
    +!take(garb,r2)[source(self)] <- ... !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {R=r2, _29=last, X=3, Y=3, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__7[source(self),url("file:r1.asl")], te=+!at(r2)[source(self)] unif={L=r2}
[r1] LBB LocalAgArch, senseLBB time (ns): 56358
[r1] LBB LocalAgArch, sense time (ns): 181197
[r1] LBB LocalAgArch, delib time (ns): 1101426
[r1] LBB LocalAgArch, act time (ns): 99450
[r1] LBB LocalAgArch, resCycle time (ns): 1382073
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 207
[r1] LBB TransitionS, perceive+buf time (ns): 4289
[r1] LBB LocalAgArch, senseLBB time (ns): 59391
[r1] LBB LocalAgArch, sense time (ns): 173965
[MarsEnv] r1 doing: drop(garb)
[r1] LBB LocalAgArch, delib time (ns): 3955
[r1] LBB LocalAgArch, act time (ns): 66467
[r1] LBB LocalAgArch, resCycle time (ns): 244387
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 206
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(208)[source(self)]
[r1] brf added CBS(208)[source(self)]
[r1] Added event +CBS(208)[source(self)], events = [+CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +CBS(184)[source(self)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +CBS(192)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +CBS(200)[source(self)], +CBS(208)[source(self)]]
[r1] Start sense 208
[r1] Added event +garbage(r2)[source(percept)], events = [+CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +CBS(184)[source(self)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +CBS(192)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +CBS(200)[source(self)], +CBS(208)[source(self)], +garbage(r2)[source(percept)]]
[r1] Added event +garbage(r1)[source(percept)], events = [+CBS(96)[source(self)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +CBS(104)[source(self)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +CBS(112)[source(self)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +CBS(120)[source(self)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +CBS(128)[source(self)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], +CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +CBS(184)[source(self)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +CBS(192)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +CBS(200)[source(self)], +CBS(208)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 768702
[r1] LBB LocalAgArch, senseLBB time (ns): 1016315
[r1] LBB LocalAgArch, sense time (ns): 1933124
[r1] LBB LocalAgArch, delib time (ns): 7505
[r1] LBB LocalAgArch, act time (ns): 15119
[r1] LBB LocalAgArch, resCycle time (ns): 1955748
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 209
[r1] LBB TransitionS, perceive+buf time (ns): 8333
[r1] Returning from IM p__4[source(self),url("file:r1.asl")], te=+!take(garb,r2)[source(self)] unif={S=garb, L=r2}
[r1] LBB LocalAgArch, senseLBB time (ns): 238323
[r1] LBB LocalAgArch, sense time (ns): 411826
[r1] LBB LocalAgArch, delib time (ns): 7759
[r1] LBB LocalAgArch, act time (ns): 367735
[r1] LBB LocalAgArch, resCycle time (ns): 787320
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 210
[r1] LBB TransitionS, perceive+buf time (ns): 5441
[r1] option for +!at(last)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=last}
[r1]      | for at(last), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=last}
[r1]      | for pos(P,X,Y), belief pos(last,3,3)[source(self)] is an option -- {P=last, X=3, Y=3}
[r1]      | for pos(r1,X,Y), belief pos(r1,3,3)[source(percept)] is an option -- {P=last, X=3, Y=3}
[r1]      | for at(L), rule at(last)[source(self)] is an option -- {L=last}
[r1]      p__7[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] option for +!at(last)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=last}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] Selected option (@p__7[source(self),url("file:r1.asl")] +!at(L) : at(L).,{L=last}) for event +!at(last)[source(self)]
intention 5: 
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {R=r2, _29=last, X=3, Y=3, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__7[source(self),url("file:r1.asl")], te=+!at(last)[source(self)] unif={L=last}
[r1] LBB LocalAgArch, senseLBB time (ns): 58055
[r1] LBB LocalAgArch, sense time (ns): 172965
[r1] LBB LocalAgArch, delib time (ns): 1181399
[r1] LBB LocalAgArch, act time (ns): 100071
[r1] LBB LocalAgArch, resCycle time (ns): 1454435
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 211
[r1] LBB TransitionS, perceive+buf time (ns): 4447
[r1] LBB LocalAgArch, senseLBB time (ns): 61590
[r1] LBB LocalAgArch, sense time (ns): 187378
[r1] LBB LocalAgArch, delib time (ns): 4980
[r1] LBB LocalAgArch, act time (ns): 43737
[r1] LBB LocalAgArch, resCycle time (ns): 236095
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 212
[r1] LBB TransitionS, perceive+buf time (ns): 3119
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | for garbage(r1), belief garbage(r1)[source(percept)] is an option -- {}
[r1]      p__1[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__2[source(self),url("file:r1.asl")] +!check(slots).,{}) for event +!check(slots)[source(self)]
intention 5: 
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, _29=last, X=3, Y=3, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__2[source(self),url("file:r1.asl")], te=+!check(slots)[source(self)] unif={}
[r1] Returning from IM p__3[source(self),url("file:r1.asl")], te=+!carry_to(r2)[source(self)] unif={R=r2, _29=last, X=3, Y=3, _31=2, _30=1}
[r1] Returning from IM lg[atomic,source(self),url("file:r1.asl")], te=+garbage(r1)[source(percept)] unif={}
[r1] LBB LocalAgArch, senseLBB time (ns): 52508
[r1] LBB LocalAgArch, sense time (ns): 154894
[r1] LBB LocalAgArch, delib time (ns): 649936
[r1] LBB LocalAgArch, act time (ns): 255486
[r1] LBB LocalAgArch, resCycle time (ns): 1060316
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 213
[r1] LBB TransitionS, perceive+buf time (ns): 3966
[r1] Selected event +CBS(96)[source(self)]
[r1] Selected event +pos(r1,4,2)[source(percept)]
[r1] Selected event +pos(r1,5,1)[source(percept)]
[r1] Selected event +CBS(104)[source(self)]
[r1] Selected event +pos(r1,6,0)[source(percept)]
[r1] Selected event +pos(r1,0,1)[source(percept)]
[r1] Selected event +CBS(112)[source(self)]
[r1] Selected event +pos(r1,1,1)[source(percept)]
[r1] Selected event +pos(r1,2,1)[source(percept)]
[r1] Selected event +pos(r1,3,1)[source(percept)]
[r1] Selected event +CBS(120)[source(self)]
[r1] Selected event +pos(r1,4,1)[source(percept)]
[r1] Selected event +pos(r1,5,1)[source(percept)]
[r1] Selected event +pos(r1,6,1)[source(percept)]
[r1] Selected event +CBS(128)[source(self)]
[r1] Selected event +pos(r1,0,2)[source(percept)]
[r1] Selected event +pos(r1,1,2)[source(percept)]
[r1] Selected event +garbage(r1)[source(percept)]
[r1] LBB LocalAgArch, senseLBB time (ns): 65639
[r1] LBB LocalAgArch, sense time (ns): 173481
[r1] LBB LocalAgArch, delib time (ns): 1856924
[r1] LBB LocalAgArch, act time (ns): 37201
[r1] LBB LocalAgArch, resCycle time (ns): 2067606
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 214
[r1] LBB TransitionS, perceive+buf time (ns): 3974
[r1] option for +!carry_to(r2)[source(self)] is plan p__3[source(self),url("file:r1.asl")] +!carry_to(R) : null -- with unification {R=r2}
[r1]      p__3[source(self),url("file:r1.asl")] is applicable with unification {R=r2}
[r1] Selected option (@p__3[source(self),url("file:r1.asl")] +!carry_to(R) <- ?pos(r1,X,Y); -+pos(last,X,Y); !take(garb,R); !at(last); !check(slots).,{R=r2}) for event +!carry_to(r2)[source(self)]
intention 6: 
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(r1,X,Y), belief pos(r1,3,3)[source(percept)] is an option -- {X=3, Y=3, R=r2}
[r1] LBB LocalAgArch, senseLBB time (ns): 56546
[r1] LBB LocalAgArch, sense time (ns): 164801
[r1] LBB LocalAgArch, delib time (ns): 496003
[r1] LBB LocalAgArch, act time (ns): 173750
[r1] LBB LocalAgArch, resCycle time (ns): 834554
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 215
[r1] LBB TransitionS, perceive+buf time (ns): 3958
[r1]      | for pos(_32,_33,_34)[source(self)], belief annotation pos(last,3,3)[source(self)] is an option -- {X=3, Y=3, _34=3, R=r2, _33=3, _32=last}
[r1] Doing (del) brf for pos(_32,_33,_34)[source(self)] in BB=true
[r1] Removed:pos(last,3,3)[source(self)]
[r1] Added event -pos(last,3,3)[source(self)], events = [+CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +CBS(184)[source(self)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +CBS(192)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +CBS(200)[source(self)], +CBS(208)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,3)[source(self)]]
[r1] Doing (add) brf for pos(last,3,3)[source(self)]
[r1] brf added pos(last,3,3)[source(self)]
[r1] Added event +pos(last,3,3)[source(self)]
intention 6: 
    +!carry_to(r2)[source(self)] <- ... -+pos(last,X,Y); !take(garb,R); !at(last); !check(slots) / {_34=3, R=r2, X=3, Y=3, _33=3, _32=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}
, events = [+CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +CBS(184)[source(self)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +CBS(192)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +CBS(200)[source(self)], +CBS(208)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,3)[source(self)]]
[r1] LBB LocalAgArch, senseLBB time (ns): 57229
[r1] LBB LocalAgArch, sense time (ns): 164917
[r1] LBB LocalAgArch, delib time (ns): 4118
[r1] LBB LocalAgArch, act time (ns): 1431520
[r1] LBB LocalAgArch, resCycle time (ns): 1600555
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(216)[source(self)]
[r1] brf added CBS(216)[source(self)]
[r1] Added event +CBS(216)[source(self)], events = [+CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +CBS(184)[source(self)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +CBS(192)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +CBS(200)[source(self)], +CBS(208)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,3)[source(self)], +CBS(216)[source(self)]]
[r1] Start sense 216
[r1] LBB TransitionS, perceive+buf time (ns): 4760
[r1] LBB LocalAgArch, senseLBB time (ns): 477258
[r1] LBB LocalAgArch, sense time (ns): 590806
[r1] LBB LocalAgArch, delib time (ns): 39700
[r1] LBB LocalAgArch, act time (ns): 44080
[r1] LBB LocalAgArch, resCycle time (ns): 674586
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 217
[r1] LBB TransitionS, perceive+buf time (ns): 3208
[r1] option for +!take(garb,r2)[source(self)] is plan p__4[source(self),url("file:r1.asl")] +!take(S,L) : null -- with unification {S=garb, L=r2}
[r1]      p__4[source(self),url("file:r1.asl")] is applicable with unification {S=garb, L=r2}
[r1] Selected option (@p__4[source(self),url("file:r1.asl")] +!take(S,L) <- !ensure_pick(S); !at(L); drop(S).,{S=garb, L=r2}) for event +!take(garb,r2)[source(self)]
intention 6: 
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {_34=3, R=r2, X=3, Y=3, _33=3, _32=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 54336
[r1] LBB LocalAgArch, sense time (ns): 165244
[r1] LBB LocalAgArch, delib time (ns): 408582
[r1] LBB LocalAgArch, act time (ns): 33300
[r1] LBB LocalAgArch, resCycle time (ns): 607126
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 218
[r1] LBB TransitionS, perceive+buf time (ns): 3125
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) -- with unification {S=garb}
[r1]      | for garbage(r1), belief garbage(r1)[source(percept)] is an option -- {S=garb}
[r1]      p__5[source(self),url("file:r1.asl")] is applicable with unification {S=garb}
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1) : null -- with unification {_1=garb}
[r1]      p__6[source(self),url("file:r1.asl")] is applicable with unification {_1=garb}
[r1] Selected option (@p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) <- pick(garb); !ensure_pick(S).,{S=garb}) for event +!ensure_pick(garb)[source(self)]
intention 6: 
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {_34=3, R=r2, X=3, Y=3, _33=3, _32=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 61728
[r1] LBB LocalAgArch, sense time (ns): 154042
[r1] LBB LocalAgArch, delib time (ns): 595411
[r1] LBB LocalAgArch, act time (ns): 62101
[MarsEnv] r1 doing: pick(garb)
[r1] LBB LocalAgArch, resCycle time (ns): 811554
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 214
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 219
[r1] LBB TransitionS, perceive+buf time (ns): 192389
[r1] LBB LocalAgArch, senseLBB time (ns): 253004
[r1] LBB LocalAgArch, sense time (ns): 653083
[r1] LBB LocalAgArch, delib time (ns): 12036
[r1] LBB LocalAgArch, act time (ns): 14761
[r1] LBB LocalAgArch, resCycle time (ns): 679880
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 220
[r1] LBB TransitionS, perceive+buf time (ns): 9911
[r1] LBB LocalAgArch, senseLBB time (ns): 212640
[r1] LBB LocalAgArch, sense time (ns): 414714
[r1] LBB LocalAgArch, delib time (ns): 7150
[r1] LBB LocalAgArch, act time (ns): 140399
[r1] LBB LocalAgArch, resCycle time (ns): 562263
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 221
[r1] LBB TransitionS, perceive+buf time (ns): 5746
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) -- with unification {S=garb}
[r1]      | for garbage(r1), belief garbage(r1)[source(percept)] is an option -- {S=garb}
[r1]      p__5[source(self),url("file:r1.asl")] is applicable with unification {S=garb}
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1) : null -- with unification {_1=garb}
[r1]      p__6[source(self),url("file:r1.asl")] is applicable with unification {_1=garb}
[r1] Selected option (@p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) <- pick(garb); !ensure_pick(S).,{S=garb}) for event +!ensure_pick(garb)[source(self)]
intention 6: 
    +!ensure_pick(garb)[source(self)] <- ... !ensure_pick(S) / {S=garb}
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {_34=3, R=r2, X=3, Y=3, _33=3, _32=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 60667
[r1] LBB LocalAgArch, sense time (ns): 175621
[MarsEnv] r1 doing: pick(garb)
[r1] LBB LocalAgArch, delib time (ns): 996326
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] LBB LocalAgArch, act time (ns): 66086
[r1] LBB LocalAgArch, resCycle time (ns): 1238033
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 222
[r1] LBB TransitionS, perceive+buf time (ns): 230781
[r1] LBB LocalAgArch, senseLBB time (ns): 213352
[r1] LBB LocalAgArch, sense time (ns): 644134
[r1] LBB LocalAgArch, delib time (ns): 7050
[r1] LBB LocalAgArch, act time (ns): 14095
[r1] LBB LocalAgArch, resCycle time (ns): 665279
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 223
[r1] LBB TransitionS, perceive+buf time (ns): 7392
[r1] LBB LocalAgArch, senseLBB time (ns): 169891
[r1] LBB LocalAgArch, sense time (ns): 321519
[r1] LBB LocalAgArch, delib time (ns): 6804
[r1] LBB LocalAgArch, act time (ns): 127382
[r1] LBB LocalAgArch, resCycle time (ns): 455705
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(224)[source(self)]
[r1] brf added CBS(224)[source(self)]
[r1] Added event +CBS(224)[source(self)], events = [+CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +CBS(184)[source(self)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +CBS(192)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +CBS(200)[source(self)], +CBS(208)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,3)[source(self)], +CBS(216)[source(self)], +CBS(224)[source(self)]]
[r1] Start sense 224
[r1] LBB TransitionS, perceive+buf time (ns): 5078
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) -- with unification {S=garb}
[r1]      | no candidate belief for garbage(r1) with {S=garb}
[r1]      p__5[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1) : null -- with unification {_1=garb}
[r1]      p__6[source(self),url("file:r1.asl")] is applicable with unification {_1=garb}
[r1] Selected option (@p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1).,{_1=garb}) for event +!ensure_pick(garb)[source(self)]
intention 6: 
    +!ensure_pick(garb)[source(self)] <- ... !ensure_pick(S) / {S=garb}
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {_34=3, R=r2, X=3, Y=3, _33=3, _32=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__6[source(self),url("file:r1.asl")], te=+!ensure_pick(garb)[source(self)] unif={_1=garb}
[r1] LBB LocalAgArch, senseLBB time (ns): 608016
[r1] LBB LocalAgArch, sense time (ns): 731815
[r1] LBB LocalAgArch, delib time (ns): 765125
[r1] LBB LocalAgArch, act time (ns): 114632
[r1] LBB LocalAgArch, resCycle time (ns): 1611572
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 225
[r1] LBB TransitionS, perceive+buf time (ns): 4352
[r1] LBB LocalAgArch, senseLBB time (ns): 57757
[r1] LBB LocalAgArch, sense time (ns): 185125
[r1] LBB LocalAgArch, delib time (ns): 3382
[r1] LBB LocalAgArch, act time (ns): 89469
[r1] LBB LocalAgArch, resCycle time (ns): 277976
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 226
[r1] LBB TransitionS, perceive+buf time (ns): 3205
[r1] option for +!at(r2)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=r2}
[r1]      | for at(r2), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=r2}
[r1]      | for pos(P,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | for pos(r1,X,Y), belief pos(r1,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | for at(L), rule at(r2)[source(self)] is an option -- {L=r2}
[r1]      p__7[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] option for +!at(r2)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=r2}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] Selected option (@p__7[source(self),url("file:r1.asl")] +!at(L) : at(L).,{L=r2}) for event +!at(r2)[source(self)]
intention 6: 
    +!take(garb,r2)[source(self)] <- ... !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {_34=3, R=r2, X=3, Y=3, _33=3, _32=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__7[source(self),url("file:r1.asl")], te=+!at(r2)[source(self)] unif={L=r2}
[r1] LBB LocalAgArch, senseLBB time (ns): 55746
[r1] LBB LocalAgArch, sense time (ns): 161152
[r1] LBB LocalAgArch, delib time (ns): 1227612
[r1] LBB LocalAgArch, act time (ns): 113884
[r1] LBB LocalAgArch, resCycle time (ns): 1502648
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 227
[r1] LBB TransitionS, perceive+buf time (ns): 4339
[r1] LBB LocalAgArch, senseLBB time (ns): 58642
[r1] LBB LocalAgArch, sense time (ns): 170404
[r1] LBB LocalAgArch, delib time (ns): 3346
[r1] LBB LocalAgArch, act time (ns): 142181
[r1] LBB LocalAgArch, resCycle time (ns): 315931
[MarsEnv] r1 doing: drop(garb)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 207
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 228
[r1] Added event +garbage(r2)[source(percept)], events = [+CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +CBS(184)[source(self)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +CBS(192)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +CBS(200)[source(self)], +CBS(208)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,3)[source(self)], +CBS(216)[source(self)], +CBS(224)[source(self)], +garbage(r2)[source(percept)]]
[r1] Added event +garbage(r1)[source(percept)], events = [+CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +CBS(184)[source(self)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +CBS(192)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +CBS(200)[source(self)], +CBS(208)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,3)[source(self)], +CBS(216)[source(self)], +CBS(224)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 1042703
[r1] LBB LocalAgArch, senseLBB time (ns): 317730
[r1] LBB LocalAgArch, sense time (ns): 1571140
[r1] LBB LocalAgArch, delib time (ns): 6452
[r1] LBB LocalAgArch, act time (ns): 14552
[r1] LBB LocalAgArch, resCycle time (ns): 1592144
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 229
[r1] LBB TransitionS, perceive+buf time (ns): 5889
[r1] Returning from IM p__4[source(self),url("file:r1.asl")], te=+!take(garb,r2)[source(self)] unif={S=garb, L=r2}
[r1] LBB LocalAgArch, senseLBB time (ns): 220469
[r1] LBB LocalAgArch, sense time (ns): 389259
[r1] LBB LocalAgArch, delib time (ns): 5248
[r1] LBB LocalAgArch, act time (ns): 261435
[r1] LBB LocalAgArch, resCycle time (ns): 655942
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 230
[r1] LBB TransitionS, perceive+buf time (ns): 4201
[r1] option for +!at(last)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=last}
[r1]      | for at(last), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=last}
[r1]      | for pos(P,X,Y), belief pos(last,3,3)[source(self)] is an option -- {P=last, X=3, Y=3}
[r1]      | for pos(r1,X,Y), belief pos(r1,3,3)[source(percept)] is an option -- {P=last, X=3, Y=3}
[r1]      | for at(L), rule at(last)[source(self)] is an option -- {L=last}
[r1]      p__7[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] option for +!at(last)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=last}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] Selected option (@p__7[source(self),url("file:r1.asl")] +!at(L) : at(L).,{L=last}) for event +!at(last)[source(self)]
intention 6: 
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {_34=3, R=r2, X=3, Y=3, _33=3, _32=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__7[source(self),url("file:r1.asl")], te=+!at(last)[source(self)] unif={L=last}
[r1] LBB LocalAgArch, senseLBB time (ns): 56719
[r1] LBB LocalAgArch, sense time (ns): 163715
[r1] LBB LocalAgArch, delib time (ns): 1266794
[r1] LBB LocalAgArch, act time (ns): 97165
[r1] LBB LocalAgArch, resCycle time (ns): 1527674
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 231
[r1] LBB TransitionS, perceive+buf time (ns): 4176
[r1] LBB LocalAgArch, senseLBB time (ns): 55321
[r1] LBB LocalAgArch, sense time (ns): 158904
[r1] LBB LocalAgArch, delib time (ns): 3591
[r1] LBB LocalAgArch, act time (ns): 35961
[r1] LBB LocalAgArch, resCycle time (ns): 198456
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(232)[source(self)]
[r1] brf added CBS(232)[source(self)]
[r1] Added event +CBS(232)[source(self)], events = [+CBS(136)[source(self)], -pos(last,6,0)[source(self)], +CBS(144)[source(self)], +pos(r1,2,3)[source(percept)], +CBS(152)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +CBS(184)[source(self)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +CBS(192)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +CBS(200)[source(self)], +CBS(208)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,3)[source(self)], +CBS(216)[source(self)], +CBS(224)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +CBS(232)[source(self)]]
[r1] Start sense 232
[r1] LBB TransitionS, perceive+buf time (ns): 4443
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | for garbage(r1), belief garbage(r1)[source(percept)] is an option -- {}
[r1]      p__1[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__2[source(self),url("file:r1.asl")] +!check(slots).,{}) for event +!check(slots)[source(self)]
intention 6: 
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_34=3, R=r2, X=3, Y=3, _33=3, _32=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__2[source(self),url("file:r1.asl")], te=+!check(slots)[source(self)] unif={}
[r1] Returning from IM p__3[source(self),url("file:r1.asl")], te=+!carry_to(r2)[source(self)] unif={_34=3, R=r2, X=3, Y=3, _33=3, _32=last}
[r1] Returning from IM lg[atomic,source(self),url("file:r1.asl")], te=+garbage(r1)[source(percept)] unif={}
[r1] LBB LocalAgArch, senseLBB time (ns): 484065
[r1] LBB LocalAgArch, sense time (ns): 589247
[r1] LBB LocalAgArch, delib time (ns): 641643
[r1] LBB LocalAgArch, act time (ns): 247856
[r1] LBB LocalAgArch, resCycle time (ns): 1478746
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 233
[r1] LBB TransitionS, perceive+buf time (ns): 3983
[r1] Selected event +CBS(136)[source(self)]
[r1] Selected event -pos(last,6,0)[source(self)]
[r1] Selected event +CBS(144)[source(self)]
[r1] Selected event +pos(r1,2,3)[source(percept)]
[r1] Selected event +CBS(152)[source(self)]
[r1] Selected event +pos(r1,3,3)[source(percept)]
[r1] Selected event +garbage(r1)[source(percept)]
[r1] LBB LocalAgArch, senseLBB time (ns): 54143
[r1] LBB LocalAgArch, sense time (ns): 155943
[r1] LBB LocalAgArch, delib time (ns): 900425
[r1] LBB LocalAgArch, act time (ns): 53593
[r1] LBB LocalAgArch, resCycle time (ns): 1109961
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 234
[r1] LBB TransitionS, perceive+buf time (ns): 4131
[r1] option for +!carry_to(r2)[source(self)] is plan p__3[source(self),url("file:r1.asl")] +!carry_to(R) : null -- with unification {R=r2}
[r1]      p__3[source(self),url("file:r1.asl")] is applicable with unification {R=r2}
[r1] Selected option (@p__3[source(self),url("file:r1.asl")] +!carry_to(R) <- ?pos(r1,X,Y); -+pos(last,X,Y); !take(garb,R); !at(last); !check(slots).,{R=r2}) for event +!carry_to(r2)[source(self)]
intention 7: 
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(r1,X,Y), belief pos(r1,3,3)[source(percept)] is an option -- {X=3, Y=3, R=r2}
[r1] LBB LocalAgArch, senseLBB time (ns): 54259
[r1] LBB LocalAgArch, sense time (ns): 173845
[r1] LBB LocalAgArch, delib time (ns): 368263
[r1] LBB LocalAgArch, act time (ns): 210859
[r1] LBB LocalAgArch, resCycle time (ns): 752967
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 235
[r1] LBB TransitionS, perceive+buf time (ns): 3780
[r1]      | for pos(_35,_36,_37)[source(self)], belief annotation pos(last,3,3)[source(self)] is an option -- {X=3, _35=last, Y=3, R=r2, _37=3, _36=3}
[r1] Doing (del) brf for pos(_35,_36,_37)[source(self)] in BB=true
[r1] Removed:pos(last,3,3)[source(self)]
[r1] Added event -pos(last,3,3)[source(self)], events = [+CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +CBS(184)[source(self)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +CBS(192)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +CBS(200)[source(self)], +CBS(208)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,3)[source(self)], +CBS(216)[source(self)], +CBS(224)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +CBS(232)[source(self)], -pos(last,3,3)[source(self)]]
[r1] Doing (add) brf for pos(last,3,3)[source(self)]
[r1] brf added pos(last,3,3)[source(self)]
[r1] Added event +pos(last,3,3)[source(self)]
intention 7: 
    +!carry_to(r2)[source(self)] <- ... -+pos(last,X,Y); !take(garb,R); !at(last); !check(slots) / {_35=last, R=r2, _37=3, _36=3, X=3, Y=3}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}
, events = [+CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +CBS(184)[source(self)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +CBS(192)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +CBS(200)[source(self)], +CBS(208)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,3)[source(self)], +CBS(216)[source(self)], +CBS(224)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +CBS(232)[source(self)], -pos(last,3,3)[source(self)]]
[r1] LBB LocalAgArch, senseLBB time (ns): 55120
[r1] LBB LocalAgArch, sense time (ns): 156502
[r1] LBB LocalAgArch, delib time (ns): 3116
[r1] LBB LocalAgArch, act time (ns): 1237258
[r1] LBB LocalAgArch, resCycle time (ns): 1396876
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 236
[r1] LBB TransitionS, perceive+buf time (ns): 4322
[r1] LBB LocalAgArch, senseLBB time (ns): 65297
[r1] LBB LocalAgArch, sense time (ns): 170630
[r1] LBB LocalAgArch, delib time (ns): 37310
[r1] LBB LocalAgArch, act time (ns): 40379
[r1] LBB LocalAgArch, resCycle time (ns): 248319
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 237
[r1] LBB TransitionS, perceive+buf time (ns): 2875
[r1] option for +!take(garb,r2)[source(self)] is plan p__4[source(self),url("file:r1.asl")] +!take(S,L) : null -- with unification {S=garb, L=r2}
[r1]      p__4[source(self),url("file:r1.asl")] is applicable with unification {S=garb, L=r2}
[r1] Selected option (@p__4[source(self),url("file:r1.asl")] +!take(S,L) <- !ensure_pick(S); !at(L); drop(S).,{S=garb, L=r2}) for event +!take(garb,r2)[source(self)]
intention 7: 
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {_35=last, R=r2, _37=3, _36=3, X=3, Y=3}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 50996
[r1] LBB LocalAgArch, sense time (ns): 157387
[r1] LBB LocalAgArch, delib time (ns): 402998
[r1] LBB LocalAgArch, act time (ns): 39533
[r1] LBB LocalAgArch, resCycle time (ns): 599918
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 238
[r1] LBB TransitionS, perceive+buf time (ns): 3694
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) -- with unification {S=garb}
[r1]      | for garbage(r1), belief garbage(r1)[source(percept)] is an option -- {S=garb}
[r1]      p__5[source(self),url("file:r1.asl")] is applicable with unification {S=garb}
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1) : null -- with unification {_1=garb}
[r1]      p__6[source(self),url("file:r1.asl")] is applicable with unification {_1=garb}
[r1] Selected option (@p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) <- pick(garb); !ensure_pick(S).,{S=garb}) for event +!ensure_pick(garb)[source(self)]
intention 7: 
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {_35=last, R=r2, _37=3, _36=3, X=3, Y=3}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 64408
[r1] LBB LocalAgArch, sense time (ns): 166723
[r1] LBB LocalAgArch, delib time (ns): 695784
[r1] LBB LocalAgArch, act time (ns): 64473
[MarsEnv] r1 doing: pick(garb)
[r1] LBB LocalAgArch, resCycle time (ns): 926980
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 213
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 239
[r1] LBB TransitionS, perceive+buf time (ns): 114485
[r1] LBB LocalAgArch, senseLBB time (ns): 281108
[r1] LBB LocalAgArch, sense time (ns): 582770
[r1] LBB LocalAgArch, delib time (ns): 7350
[r1] LBB LocalAgArch, act time (ns): 30512
[r1] LBB LocalAgArch, resCycle time (ns): 620632
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(240)[source(self)]
[r1] brf added CBS(240)[source(self)]
[r1] Added event +CBS(240)[source(self)], events = [+CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +CBS(184)[source(self)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +CBS(192)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +CBS(200)[source(self)], +CBS(208)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,3)[source(self)], +CBS(216)[source(self)], +CBS(224)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +CBS(232)[source(self)], -pos(last,3,3)[source(self)], +CBS(240)[source(self)]]
[r1] Start sense 240
[r1] LBB TransitionS, perceive+buf time (ns): 6663
[r1] LBB LocalAgArch, senseLBB time (ns): 615715
[r1] LBB LocalAgArch, sense time (ns): 713572
[r1] LBB LocalAgArch, delib time (ns): 5390
[r1] LBB LocalAgArch, act time (ns): 80505
[r1] LBB LocalAgArch, resCycle time (ns): 799467
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 241
[r1] LBB TransitionS, perceive+buf time (ns): 1886
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) -- with unification {S=garb}
[r1]      | for garbage(r1), belief garbage(r1)[source(percept)] is an option -- {S=garb}
[r1]      p__5[source(self),url("file:r1.asl")] is applicable with unification {S=garb}
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1) : null -- with unification {_1=garb}
[r1]      p__6[source(self),url("file:r1.asl")] is applicable with unification {_1=garb}
[r1] Selected option (@p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) <- pick(garb); !ensure_pick(S).,{S=garb}) for event +!ensure_pick(garb)[source(self)]
intention 7: 
    +!ensure_pick(garb)[source(self)] <- ... !ensure_pick(S) / {S=garb}
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {_35=last, R=r2, _37=3, _36=3, X=3, Y=3}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 32345
[r1] LBB LocalAgArch, sense time (ns): 90422
[MarsEnv] r1 doing: pick(garb)
[r1] LBB LocalAgArch, delib time (ns): 578307
[r1] LBB LocalAgArch, act time (ns): 46386
[r1] LBB LocalAgArch, resCycle time (ns): 715115
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 242
[r1] LBB TransitionS, perceive+buf time (ns): 157159
[r1] LBB LocalAgArch, senseLBB time (ns): 183219
[r1] LBB LocalAgArch, sense time (ns): 482738
[r1] LBB LocalAgArch, delib time (ns): 5830
[r1] LBB LocalAgArch, act time (ns): 9466
[r1] LBB LocalAgArch, resCycle time (ns): 498034
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 243
[r1] LBB TransitionS, perceive+buf time (ns): 8129
[r1] LBB LocalAgArch, senseLBB time (ns): 215357
[r1] LBB LocalAgArch, sense time (ns): 379688
[r1] LBB LocalAgArch, delib time (ns): 6763
[r1] LBB LocalAgArch, act time (ns): 108300
[r1] LBB LocalAgArch, resCycle time (ns): 494751
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 244
[r1] LBB TransitionS, perceive+buf time (ns): 3367
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) -- with unification {S=garb}
[r1]      | for garbage(r1), belief garbage(r1)[source(percept)] is an option -- {S=garb}
[r1]      p__5[source(self),url("file:r1.asl")] is applicable with unification {S=garb}
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1) : null -- with unification {_1=garb}
[r1]      p__6[source(self),url("file:r1.asl")] is applicable with unification {_1=garb}
[r1] Selected option (@p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) <- pick(garb); !ensure_pick(S).,{S=garb}) for event +!ensure_pick(garb)[source(self)]
intention 7: 
    +!ensure_pick(garb)[source(self)] <- ... !ensure_pick(S) / {S=garb}
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {_35=last, R=r2, _37=3, _36=3, X=3, Y=3}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 51753
[r1] LBB LocalAgArch, sense time (ns): 176136
[MarsEnv] r1 doing: pick(garb)
[r1] LBB LocalAgArch, delib time (ns): 828163
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] LBB LocalAgArch, act time (ns): 59705
[r1] LBB LocalAgArch, resCycle time (ns): 1064004
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 245
[r1] LBB TransitionS, perceive+buf time (ns): 202810
[r1] LBB LocalAgArch, senseLBB time (ns): 246699
[r1] LBB LocalAgArch, sense time (ns): 649782
[r1] LBB LocalAgArch, delib time (ns): 7509
[r1] LBB LocalAgArch, act time (ns): 14982
[r1] LBB LocalAgArch, resCycle time (ns): 672273
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 246
[r1] LBB TransitionS, perceive+buf time (ns): 9607
[r1] LBB LocalAgArch, senseLBB time (ns): 222138
[r1] LBB LocalAgArch, sense time (ns): 406961
[r1] LBB LocalAgArch, delib time (ns): 7194
[r1] LBB LocalAgArch, act time (ns): 116900
[r1] LBB LocalAgArch, resCycle time (ns): 531055
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 247
[r1] LBB TransitionS, perceive+buf time (ns): 3621
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) -- with unification {S=garb}
[r1]      | no candidate belief for garbage(r1) with {S=garb}
[r1]      p__5[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1) : null -- with unification {_1=garb}
[r1]      p__6[source(self),url("file:r1.asl")] is applicable with unification {_1=garb}
[r1] Selected option (@p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1).,{_1=garb}) for event +!ensure_pick(garb)[source(self)]
intention 7: 
    +!ensure_pick(garb)[source(self)] <- ... !ensure_pick(S) / {S=garb}
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {_35=last, R=r2, _37=3, _36=3, X=3, Y=3}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__6[source(self),url("file:r1.asl")], te=+!ensure_pick(garb)[source(self)] unif={_1=garb}
[r1] LBB LocalAgArch, senseLBB time (ns): 62513
[r1] LBB LocalAgArch, sense time (ns): 169239
[r1] LBB LocalAgArch, delib time (ns): 856825
[r1] LBB LocalAgArch, act time (ns): 108799
[r1] LBB LocalAgArch, resCycle time (ns): 1134863
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(248)[source(self)]
[r1] brf added CBS(248)[source(self)]
[r1] Added event +CBS(248)[source(self)], events = [+CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +CBS(184)[source(self)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +CBS(192)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +CBS(200)[source(self)], +CBS(208)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,3)[source(self)], +CBS(216)[source(self)], +CBS(224)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +CBS(232)[source(self)], -pos(last,3,3)[source(self)], +CBS(240)[source(self)], +CBS(248)[source(self)]]
[r1] Start sense 248
[r1] LBB TransitionS, perceive+buf time (ns): 5234
[r1] LBB LocalAgArch, senseLBB time (ns): 525850
[r1] LBB LocalAgArch, sense time (ns): 644505
[r1] LBB LocalAgArch, delib time (ns): 4642
[r1] LBB LocalAgArch, act time (ns): 49518
[r1] LBB LocalAgArch, resCycle time (ns): 698665
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 249
[r1] LBB TransitionS, perceive+buf time (ns): 3151
[r1] option for +!at(r2)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=r2}
[r1]      | for at(r2), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=r2}
[r1]      | for pos(P,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | for pos(r1,X,Y), belief pos(r1,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | for at(L), rule at(r2)[source(self)] is an option -- {L=r2}
[r1]      p__7[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] option for +!at(r2)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=r2}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] Selected option (@p__7[source(self),url("file:r1.asl")] +!at(L) : at(L).,{L=r2}) for event +!at(r2)[source(self)]
intention 7: 
    +!take(garb,r2)[source(self)] <- ... !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {_35=last, R=r2, _37=3, _36=3, X=3, Y=3}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__7[source(self),url("file:r1.asl")], te=+!at(r2)[source(self)] unif={L=r2}
[r1] LBB LocalAgArch, senseLBB time (ns): 63622
[r1] LBB LocalAgArch, sense time (ns): 167980
[r1] LBB LocalAgArch, delib time (ns): 1183935
[r1] LBB LocalAgArch, act time (ns): 100926
[r1] LBB LocalAgArch, resCycle time (ns): 1452841
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 250
[r1] LBB TransitionS, perceive+buf time (ns): 5196
[r1] LBB LocalAgArch, senseLBB time (ns): 57326
[r1] LBB LocalAgArch, sense time (ns): 175648
[r1] LBB LocalAgArch, delib time (ns): 3682
[r1] LBB LocalAgArch, act time (ns): 82174
[MarsEnv] r1 doing: drop(garb)
[r1] LBB LocalAgArch, resCycle time (ns): 261504
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 206
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 251
[r1] Added event +garbage(r2)[source(percept)], events = [+CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +CBS(184)[source(self)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +CBS(192)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +CBS(200)[source(self)], +CBS(208)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,3)[source(self)], +CBS(216)[source(self)], +CBS(224)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +CBS(232)[source(self)], -pos(last,3,3)[source(self)], +CBS(240)[source(self)], +CBS(248)[source(self)], +garbage(r2)[source(percept)]]
[r1] Added event +garbage(r1)[source(percept)], events = [+CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +CBS(184)[source(self)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +CBS(192)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +CBS(200)[source(self)], +CBS(208)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,3)[source(self)], +CBS(216)[source(self)], +CBS(224)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +CBS(232)[source(self)], -pos(last,3,3)[source(self)], +CBS(240)[source(self)], +CBS(248)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 908759
[r1] LBB LocalAgArch, senseLBB time (ns): 241330
[r1] LBB LocalAgArch, sense time (ns): 1321188
[r1] LBB LocalAgArch, delib time (ns): 6245
[r1] LBB LocalAgArch, act time (ns): 16327
[r1] LBB LocalAgArch, resCycle time (ns): 1343760
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 252
[r1] LBB TransitionS, perceive+buf time (ns): 7053
[r1] Returning from IM p__4[source(self),url("file:r1.asl")], te=+!take(garb,r2)[source(self)] unif={S=garb, L=r2}
[r1] LBB LocalAgArch, senseLBB time (ns): 172459
[r1] LBB LocalAgArch, sense time (ns): 324958
[r1] LBB LocalAgArch, delib time (ns): 5796
[r1] LBB LocalAgArch, act time (ns): 301586
[r1] LBB LocalAgArch, resCycle time (ns): 632340
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 253
[r1] LBB TransitionS, perceive+buf time (ns): 4355
[r1] option for +!at(last)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=last}
[r1]      | for at(last), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=last}
[r1]      | for pos(P,X,Y), belief pos(last,3,3)[source(self)] is an option -- {P=last, X=3, Y=3}
[r1]      | for pos(r1,X,Y), belief pos(r1,3,3)[source(percept)] is an option -- {P=last, X=3, Y=3}
[r1]      | for at(L), rule at(last)[source(self)] is an option -- {L=last}
[r1]      p__7[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] option for +!at(last)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=last}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] Selected option (@p__7[source(self),url("file:r1.asl")] +!at(L) : at(L).,{L=last}) for event +!at(last)[source(self)]
intention 7: 
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {_35=last, R=r2, _37=3, _36=3, X=3, Y=3}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__7[source(self),url("file:r1.asl")], te=+!at(last)[source(self)] unif={L=last}
[r1] LBB LocalAgArch, senseLBB time (ns): 58611
[r1] LBB LocalAgArch, sense time (ns): 168113
[r1] LBB LocalAgArch, delib time (ns): 1100803
[r1] LBB LocalAgArch, act time (ns): 99198
[r1] LBB LocalAgArch, resCycle time (ns): 1368114
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 254
[r1] LBB TransitionS, perceive+buf time (ns): 4554
[r1] LBB LocalAgArch, senseLBB time (ns): 69098
[r1] LBB LocalAgArch, sense time (ns): 176681
[r1] LBB LocalAgArch, delib time (ns): 3673
[r1] LBB LocalAgArch, act time (ns): 56744
[r1] LBB LocalAgArch, resCycle time (ns): 237098
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 255
[r1] LBB TransitionS, perceive+buf time (ns): 3419
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | for garbage(r1), belief garbage(r1)[source(percept)] is an option -- {}
[r1]      p__1[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__2[source(self),url("file:r1.asl")] +!check(slots).,{}) for event +!check(slots)[source(self)]
intention 7: 
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_35=last, R=r2, _37=3, _36=3, X=3, Y=3}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__2[source(self),url("file:r1.asl")], te=+!check(slots)[source(self)] unif={}
[r1] Returning from IM p__3[source(self),url("file:r1.asl")], te=+!carry_to(r2)[source(self)] unif={_35=last, R=r2, _37=3, _36=3, X=3, Y=3}
[r1] Returning from IM lg[atomic,source(self),url("file:r1.asl")], te=+garbage(r1)[source(percept)] unif={}
[r1] LBB LocalAgArch, senseLBB time (ns): 53291
[r1] LBB LocalAgArch, sense time (ns): 172611
[r1] LBB LocalAgArch, delib time (ns): 629527
[r1] LBB LocalAgArch, act time (ns): 246297
[r1] LBB LocalAgArch, resCycle time (ns): 1048435
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(256)[source(self)]
[r1] brf added CBS(256)[source(self)]
[r1] Added event +CBS(256)[source(self)], events = [+CBS(160)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +CBS(168)[source(self)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +CBS(176)[source(self)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +CBS(184)[source(self)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +CBS(192)[source(self)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +CBS(200)[source(self)], +CBS(208)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,3)[source(self)], +CBS(216)[source(self)], +CBS(224)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +CBS(232)[source(self)], -pos(last,3,3)[source(self)], +CBS(240)[source(self)], +CBS(248)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +CBS(256)[source(self)]]
[r1] Start sense 256
[r1] LBB TransitionS, perceive+buf time (ns): 10726
[r1] Selected event +CBS(160)[source(self)]
[r1] Selected event +pos(r1,2,2)[source(percept)]
[r1] Selected event +pos(r1,1,2)[source(percept)]
[r1] Selected event +CBS(168)[source(self)]
[r1] Selected event +pos(r1,2,2)[source(percept)]
[r1] Selected event +pos(r1,3,2)[source(percept)]
[r1] Selected event +pos(r1,4,2)[source(percept)]
[r1] Selected event +CBS(176)[source(self)]
[r1] Selected event +pos(r1,5,2)[source(percept)]
[r1] Selected event +pos(r1,6,2)[source(percept)]
[r1] Selected event +CBS(184)[source(self)]
[r1] Selected event +pos(r1,0,3)[source(percept)]
[r1] Selected event +pos(r1,1,3)[source(percept)]
[r1] Selected event +pos(r1,2,3)[source(percept)]
[r1] Selected event +CBS(192)[source(self)]
[r1] Selected event +pos(r1,3,3)[source(percept)]
[r1] Selected event +garbage(r1)[source(percept)]
[r1] LBB LocalAgArch, senseLBB time (ns): 3329207
[r1] LBB LocalAgArch, sense time (ns): 3490550
[r1] LBB LocalAgArch, delib time (ns): 1663480
[r1] LBB LocalAgArch, act time (ns): 47086
[r1] LBB LocalAgArch, resCycle time (ns): 5201116
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 257
[r1] LBB TransitionS, perceive+buf time (ns): 4469
[r1] option for +!carry_to(r2)[source(self)] is plan p__3[source(self),url("file:r1.asl")] +!carry_to(R) : null -- with unification {R=r2}
[r1]      p__3[source(self),url("file:r1.asl")] is applicable with unification {R=r2}
[r1] Selected option (@p__3[source(self),url("file:r1.asl")] +!carry_to(R) <- ?pos(r1,X,Y); -+pos(last,X,Y); !take(garb,R); !at(last); !check(slots).,{R=r2}) for event +!carry_to(r2)[source(self)]
intention 8: 
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(r1,X,Y), belief pos(r1,3,3)[source(percept)] is an option -- {X=3, Y=3, R=r2}
[r1] LBB LocalAgArch, senseLBB time (ns): 69389
[r1] LBB LocalAgArch, sense time (ns): 176258
[r1] LBB LocalAgArch, delib time (ns): 429401
[r1] LBB LocalAgArch, act time (ns): 178613
[r1] LBB LocalAgArch, resCycle time (ns): 784272
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 258
[r1] LBB TransitionS, perceive+buf time (ns): 4270
[r1]      | for pos(_38,_39,_40)[source(self)], belief annotation pos(last,3,3)[source(self)] is an option -- {X=3, Y=3, R=r2, _40=3, _39=3, _38=last}
[r1] Doing (del) brf for pos(_38,_39,_40)[source(self)] in BB=true
[r1] Removed:pos(last,3,3)[source(self)]
[r1] Added event -pos(last,3,3)[source(self)], events = [-pos(last,1,2)[source(self)], +CBS(200)[source(self)], +CBS(208)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,3)[source(self)], +CBS(216)[source(self)], +CBS(224)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +CBS(232)[source(self)], -pos(last,3,3)[source(self)], +CBS(240)[source(self)], +CBS(248)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +CBS(256)[source(self)], -pos(last,3,3)[source(self)]]
[r1] Doing (add) brf for pos(last,3,3)[source(self)]
[r1] brf added pos(last,3,3)[source(self)]
[r1] Added event +pos(last,3,3)[source(self)]
intention 8: 
    +!carry_to(r2)[source(self)] <- ... -+pos(last,X,Y); !take(garb,R); !at(last); !check(slots) / {R=r2, _39=3, _38=last, X=3, Y=3, _40=3}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}
, events = [-pos(last,1,2)[source(self)], +CBS(200)[source(self)], +CBS(208)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,3)[source(self)], +CBS(216)[source(self)], +CBS(224)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +CBS(232)[source(self)], -pos(last,3,3)[source(self)], +CBS(240)[source(self)], +CBS(248)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +CBS(256)[source(self)], -pos(last,3,3)[source(self)]]
[r1] LBB LocalAgArch, senseLBB time (ns): 55986
[r1] LBB LocalAgArch, sense time (ns): 160729
[r1] LBB LocalAgArch, delib time (ns): 3615
[r1] LBB LocalAgArch, act time (ns): 1334520
[r1] LBB LocalAgArch, resCycle time (ns): 1498864
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 259
[r1] LBB TransitionS, perceive+buf time (ns): 4437
[r1] LBB LocalAgArch, senseLBB time (ns): 55618
[r1] LBB LocalAgArch, sense time (ns): 157302
[r1] LBB LocalAgArch, delib time (ns): 36461
[r1] LBB LocalAgArch, act time (ns): 68184
[r1] LBB LocalAgArch, resCycle time (ns): 261947
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 260
[r1] LBB TransitionS, perceive+buf time (ns): 3274
[r1] option for +!take(garb,r2)[source(self)] is plan p__4[source(self),url("file:r1.asl")] +!take(S,L) : null -- with unification {S=garb, L=r2}
[r1]      p__4[source(self),url("file:r1.asl")] is applicable with unification {S=garb, L=r2}
[r1] Selected option (@p__4[source(self),url("file:r1.asl")] +!take(S,L) <- !ensure_pick(S); !at(L); drop(S).,{S=garb, L=r2}) for event +!take(garb,r2)[source(self)]
intention 8: 
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {R=r2, _39=3, _38=last, X=3, Y=3, _40=3}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 52954
[r1] LBB LocalAgArch, sense time (ns): 150669
[r1] LBB LocalAgArch, delib time (ns): 374346
[r1] LBB LocalAgArch, act time (ns): 36569
[r1] LBB LocalAgArch, resCycle time (ns): 561584
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 261
[r1] LBB TransitionS, perceive+buf time (ns): 3739
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) -- with unification {S=garb}
[r1]      | for garbage(r1), belief garbage(r1)[source(percept)] is an option -- {S=garb}
[r1]      p__5[source(self),url("file:r1.asl")] is applicable with unification {S=garb}
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1) : null -- with unification {_1=garb}
[r1]      p__6[source(self),url("file:r1.asl")] is applicable with unification {_1=garb}
[r1] Selected option (@p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) <- pick(garb); !ensure_pick(S).,{S=garb}) for event +!ensure_pick(garb)[source(self)]
intention 8: 
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {R=r2, _39=3, _38=last, X=3, Y=3, _40=3}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 53955
[r1] LBB LocalAgArch, sense time (ns): 154318
[MarsEnv] r1 doing: pick(garb)
[r1] LBB LocalAgArch, delib time (ns): 616696
[r1] LBB LocalAgArch, act time (ns): 86527
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 216
[r1] LBB LocalAgArch, resCycle time (ns): 857541
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 262
[r1] LBB TransitionS, perceive+buf time (ns): 113138
[r1] LBB LocalAgArch, senseLBB time (ns): 255983
[r1] LBB LocalAgArch, sense time (ns): 550230
[r1] LBB LocalAgArch, delib time (ns): 34657
[r1] LBB LocalAgArch, act time (ns): 22787
[r1] LBB LocalAgArch, resCycle time (ns): 607674
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 263
[r1] LBB TransitionS, perceive+buf time (ns): 7331
[r1] LBB LocalAgArch, senseLBB time (ns): 175298
[r1] LBB LocalAgArch, sense time (ns): 345468
[r1] LBB LocalAgArch, delib time (ns): 38997
[r1] LBB LocalAgArch, act time (ns): 132472
[r1] LBB LocalAgArch, resCycle time (ns): 516937
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(264)[source(self)]
[r1] brf added CBS(264)[source(self)]
[r1] Added event +CBS(264)[source(self)], events = [-pos(last,1,2)[source(self)], +CBS(200)[source(self)], +CBS(208)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,3)[source(self)], +CBS(216)[source(self)], +CBS(224)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +CBS(232)[source(self)], -pos(last,3,3)[source(self)], +CBS(240)[source(self)], +CBS(248)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +CBS(256)[source(self)], -pos(last,3,3)[source(self)], +CBS(264)[source(self)]]
[r1] Start sense 264
[r1] LBB TransitionS, perceive+buf time (ns): 9061
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) -- with unification {S=garb}
[r1]      | for garbage(r1), belief garbage(r1)[source(percept)] is an option -- {S=garb}
[r1]      p__5[source(self),url("file:r1.asl")] is applicable with unification {S=garb}
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1) : null -- with unification {_1=garb}
[r1]      p__6[source(self),url("file:r1.asl")] is applicable with unification {_1=garb}
[r1] Selected option (@p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) <- pick(garb); !ensure_pick(S).,{S=garb}) for event +!ensure_pick(garb)[source(self)]
intention 8: 
    +!ensure_pick(garb)[source(self)] <- ... !ensure_pick(S) / {S=garb}
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {R=r2, _39=3, _38=last, X=3, Y=3, _40=3}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 695284
[r1] LBB LocalAgArch, sense time (ns): 1472668
[r1] LBB LocalAgArch, delib time (ns): 1236570
[MarsEnv] r1 doing: pick(garb)
[r1] LBB LocalAgArch, act time (ns): 58245
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r1] LBB LocalAgArch, resCycle time (ns): 2767483
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 265
[r1] LBB TransitionS, perceive+buf time (ns): 197408
[r1] LBB LocalAgArch, senseLBB time (ns): 195973
[r1] LBB LocalAgArch, sense time (ns): 550280
[r1] LBB LocalAgArch, delib time (ns): 4206
[r1] LBB LocalAgArch, act time (ns): 9616
[r1] LBB LocalAgArch, resCycle time (ns): 564102
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 266
[r1] LBB TransitionS, perceive+buf time (ns): 6155
[r1] LBB LocalAgArch, senseLBB time (ns): 167542
[r1] LBB LocalAgArch, sense time (ns): 297219
[r1] LBB LocalAgArch, delib time (ns): 4197
[r1] LBB LocalAgArch, act time (ns): 94500
[r1] LBB LocalAgArch, resCycle time (ns): 395916
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 267
[r1] LBB TransitionS, perceive+buf time (ns): 3244
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) -- with unification {S=garb}
[r1]      | for garbage(r1), belief garbage(r1)[source(percept)] is an option -- {S=garb}
[r1]      p__5[source(self),url("file:r1.asl")] is applicable with unification {S=garb}
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1) : null -- with unification {_1=garb}
[r1]      p__6[source(self),url("file:r1.asl")] is applicable with unification {_1=garb}
[r1] Selected option (@p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) <- pick(garb); !ensure_pick(S).,{S=garb}) for event +!ensure_pick(garb)[source(self)]
intention 8: 
    +!ensure_pick(garb)[source(self)] <- ... !ensure_pick(S) / {S=garb}
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {R=r2, _39=3, _38=last, X=3, Y=3, _40=3}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, senseLBB time (ns): 49908
[r1] LBB LocalAgArch, sense time (ns): 145128
[r1] LBB LocalAgArch, delib time (ns): 798999
[r1] LBB LocalAgArch, act time (ns): 55174
[MarsEnv] r1 doing: pick(garb)
[r1] LBB LocalAgArch, resCycle time (ns): 999301
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 268
[r1] LBB TransitionS, perceive+buf time (ns): 226216
[r1] LBB LocalAgArch, senseLBB time (ns): 176310
[r1] LBB LocalAgArch, sense time (ns): 582298
[r1] LBB LocalAgArch, delib time (ns): 4798
[r1] LBB LocalAgArch, act time (ns): 9899
[r1] LBB LocalAgArch, resCycle time (ns): 596995
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 269
[r1] LBB TransitionS, perceive+buf time (ns): 9187
[r1] LBB LocalAgArch, senseLBB time (ns): 205899
[r1] LBB LocalAgArch, sense time (ns): 375453
[r1] LBB LocalAgArch, delib time (ns): 4657
[r1] LBB LocalAgArch, act time (ns): 106403
[r1] LBB LocalAgArch, resCycle time (ns): 486513
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 270
[r1] LBB TransitionS, perceive+buf time (ns): 3842
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) -- with unification {S=garb}
[r1]      | no candidate belief for garbage(r1) with {S=garb}
[r1]      p__5[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1) : null -- with unification {_1=garb}
[r1]      p__6[source(self),url("file:r1.asl")] is applicable with unification {_1=garb}
[r1] Selected option (@p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1).,{_1=garb}) for event +!ensure_pick(garb)[source(self)]
intention 8: 
    +!ensure_pick(garb)[source(self)] <- ... !ensure_pick(S) / {S=garb}
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {R=r2, _39=3, _38=last, X=3, Y=3, _40=3}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__6[source(self),url("file:r1.asl")], te=+!ensure_pick(garb)[source(self)] unif={_1=garb}
[r1] LBB LocalAgArch, senseLBB time (ns): 56188
[r1] LBB LocalAgArch, sense time (ns): 163455
[r1] LBB LocalAgArch, delib time (ns): 784894
[r1] LBB LocalAgArch, act time (ns): 127165
[r1] LBB LocalAgArch, resCycle time (ns): 1075514
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 271
[r1] LBB TransitionS, perceive+buf time (ns): 5028
[r1] LBB LocalAgArch, senseLBB time (ns): 87014
[r1] LBB LocalAgArch, sense time (ns): 196537
[r1] LBB LocalAgArch, delib time (ns): 2730
[r1] LBB LocalAgArch, act time (ns): 43108
[r1] LBB LocalAgArch, resCycle time (ns): 242375
[Environment] updateCBS was not implemented in the default environment.
[r1] Doing (add) brf for CBS(272)[source(self)]
[r1] brf added CBS(272)[source(self)]
[r1] Added event +CBS(272)[source(self)], events = [-pos(last,1,2)[source(self)], +CBS(200)[source(self)], +CBS(208)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,3,3)[source(self)], +CBS(216)[source(self)], +CBS(224)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +CBS(232)[source(self)], -pos(last,3,3)[source(self)], +CBS(240)[source(self)], +CBS(248)[source(self)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +CBS(256)[source(self)], -pos(last,3,3)[source(self)], +CBS(264)[source(self)], +CBS(272)[source(self)]]
[r1] Start sense 272
[r1] LBB TransitionS, perceive+buf time (ns): 4623
[r1] option for +!at(r2)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=r2}
[r1]      | for at(r2), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=r2}
[r1]      | for pos(P,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | for pos(r1,X,Y), belief pos(r1,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | for at(L), rule at(r2)[source(self)] is an option -- {L=r2}
[r1]      p__7[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] option for +!at(r2)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=r2}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] Selected option (@p__7[source(self),url("file:r1.asl")] +!at(L) : at(L).,{L=r2}) for event +!at(r2)[source(self)]
intention 8: 
    +!take(garb,r2)[source(self)] <- ... !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {R=r2, _39=3, _38=last, X=3, Y=3, _40=3}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__7[source(self),url("file:r1.asl")], te=+!at(r2)[source(self)] unif={L=r2}
[r1] LBB LocalAgArch, senseLBB time (ns): 450610
[r1] LBB LocalAgArch, sense time (ns): 594242
[r1] LBB LocalAgArch, delib time (ns): 987414
[r1] LBB LocalAgArch, act time (ns): 113059
[r1] LBB LocalAgArch, resCycle time (ns): 1694715
[Environment] updateCBS was not implemented in the default environment.
[r1] Start sense 273
[r1] LBB TransitionS, perceive+buf time (ns): 4113
[r1] LBB LocalAgArch, senseLBB time (ns): 60873
[r1] LBB LocalAgArch, sense time (ns): 167784
[r1] LBB LocalAgArch, delib time (ns): 2511
[r1] LBB LocalAgArch, act time (ns): 59719
[MarsEnv] r1 doing: drop(garb)
[r1] LBB LocalAgArch, resCycle time (ns): 230014
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 206
