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
[BaseLocalMAS] Creating environment MarsEnv
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 330
[BaseLocalMAS] Creating agent r1 (1/1)
Jason Http Server running on http://127.0.1.1:3272
[httpserver] HttpServer created http 0.0.0.0/0.0.0.0:3272
[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)]]
[BaseLocalMAS] Creating agent r2 (1/1)
[r2] as2j: AgentSpeak program 'file:r2.asl' parsed successfully!
[r2] as2j: AgentSpeak program 'jar:file:/home/leandro/jason/build/libs/jason-3.1.jar!/asl/kqmlPlans.asl' parsed successfully!
[r2] Doing (add) brf for kqml::clear_source_self([],[])[hide_in_mind_inspector,source(self)]
[r2] brf added kqml::clear_source_self([],[])[hide_in_mind_inspector,source(self)]
[r2] Added event +kqml::clear_source_self([],[])[hide_in_mind_inspector,source(self)], events = [+kqml::clear_source_self([],[])[hide_in_mind_inspector,source(self)]]
[r1] LBB Start sense 1
[r2] LBB Start sense 1
[r1] percepts: [pos(r1,0,0), pos(r2,3,3)]
[r2] percepts: [pos(r1,0,0), pos(r2,3,3)]
[r2] Added event +pos(r1,0,0)[source(percept)], events = [+kqml::clear_source_self([],[])[hide_in_mind_inspector,source(self)], +pos(r1,0,0)[source(percept)]]
[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)]]
[r2] Added event +pos(r2,3,3)[source(percept)], events = [+kqml::clear_source_self([],[])[hide_in_mind_inspector,source(self)], +pos(r1,0,0)[source(percept)], +pos(r2,3,3)[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)]]
[r2] Start sense 1
[r1] Start sense 1
[r1] Selected event +!check(slots)[source(self)]
[r2] Selected event +kqml::clear_source_self([],[])[hide_in_mind_inspector,source(self)]
[r1]      | no candidate belief for garbage(r1) with {}
[r2] Selected event +pos(r1,0,0)[source(percept)]
[r2] Selected event +pos(r2,3,3)[source(percept)]
[r2] LB-cycle time (ns): 11570470
[r1] Selected intention intention 1: 
    +!check(slots)[source(self)] <- ... next(slot); !check(slots) / {}

[r1] LB-cycle time (ns): 14207978
[MarsEnv] r1 doing: next(slot)
[r1] LBB Start sense 2
[r1] Start sense 2
[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] LB-cycle time (ns): 2754304
[r2] LBB Start sense 2
[r2] Start sense 2
[r2] LB-cycle time (ns): 1062241
[r1] LBB Start sense 3
[r1] Start sense 3
[r1] LB-cycle time (ns): 784517
[r2] LBB Start sense 3
[r2] Start sense 3
[r2] LB-cycle time (ns): 1094897
[r1] LBB Start sense 4
[r1] Start sense 4
[r1] LB-cycle time (ns): 959095
[r2] LBB Start sense 4
[r2] Start sense 4
[r2] LB-cycle time (ns): 1110329
[r1] LBB Start sense 5
[r1] Start sense 5
[r1] LB-cycle time (ns): 825851
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 954
[r2] LBB Start sense 5
[r2] percepts: [pos(r1,1,0), pos(r2,3,3)]
[r2] Added event +pos(r1,1,0)[source(percept)], events = [+pos(r1,1,0)[source(percept)]]
[r2] Start sense 5
[r2] Selected event +pos(r1,1,0)[source(percept)]
[r2] LB-cycle time (ns): 3944953
[r1] LBB Start sense 6
[r1] percepts: [pos(r1,1,0), pos(r2,3,3)]
[r1] Added event +pos(r1,1,0)[source(percept)], events = [+pos(r1,1,0)[source(percept)]]
[r1] Start sense 6
[r1] Selected event +pos(r1,1,0)[source(percept)]
[r1] LB-cycle time (ns): 2722045
[r2] LBB Start sense 6
[r1] LBB Start sense 7
[r2] Start sense 6
[r1] Start sense 7
[r2] LB-cycle time (ns): 1285576
[r1] Selected intention intention 1: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}

[r1] LB-cycle time (ns): 2431225
[r1] LBB Start sense 8
[r1] Start sense 8
[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] LB-cycle time (ns): 3074752
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 209
[r1] LBB Start sense 9
[r1] percepts: [pos(r1,2,0), pos(r2,3,3)]
[r1] Added event +pos(r1,2,0)[source(percept)], events = [+pos(r1,2,0)[source(percept)]]
[r1] Start sense 9
[r1] Selected event +pos(r1,2,0)[source(percept)]
[r1] LB-cycle time (ns): 3825902
[r2] LBB Start sense 7
[r2] percepts: [pos(r1,2,0), pos(r2,3,3)]
[r2] Added event +pos(r1,2,0)[source(percept)], events = [+pos(r1,2,0)[source(percept)]]
[r2] Start sense 7
[r2] Selected event +pos(r1,2,0)[source(percept)]
[r2] LB-cycle time (ns): 2948726
[r2] LBB Start sense 8
[r1] LBB Start sense 10
[r2] Start sense 8
[r1] Start sense 10
[r2] LB-cycle time (ns): 1575077
[r1] Selected intention intention 1: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}

[r1] LB-cycle time (ns): 3446062
[r1] LBB Start sense 11
[r1] Start sense 11
[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] LB-cycle time (ns): 4077069
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 211
[r1] LBB Start sense 12
[r1] percepts: [pos(r1,3,0), pos(r2,3,3), garbage(r1)]
[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] Start sense 12
[r1] Selected event +pos(r1,3,0)[source(percept)]
[r1] Selected event +garbage(r1)[source(percept)]
[r1] LB-cycle time (ns): 9288692
[r1] LBB Start sense 13
[r1] Start sense 13
[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] LB-cycle time (ns): 13878619
[r1] LBB Start sense 14
[r1] Start sense 14
[r1]      | for pos(_38,_39,_40)[source(self)], belief annotation pos(r1,3,0)[source(percept)] is NOT an option -- {X=3, Y=0, R=r2, _40=0, _39=3, _38=r1}
[r1]      | for pos(_38,_39,_40)[source(self)], belief annotation pos(r2,3,3)[source(percept)] is NOT an option -- {X=3, Y=0, R=r2, _40=3, _39=3, _38=r2}
[r1]      | NO more options for pos(_38,_39,_40)[source(self)]
[r1] Doing (del) brf for pos(_38,_39,_40)[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 = []
[r1] LB-cycle time (ns): 7411142
[r1] LBB Start sense 15
[r1] Start sense 15
[r1] LB-cycle time (ns): 699472
[r1] LBB Start sense 16
[r1] Start sense 16
[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] LB-cycle time (ns): 2539256
[r1] LBB Start sense 17
[r1] Start sense 17
[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] LB-cycle time (ns): 4897175
[MarsEnv] r1 doing: pick(garb)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 91
[r2] LBB Start sense 9
[r2] percepts: [pos(r1,3,0), pos(r2,3,3), garbage(r1)]
[r2] Added event +pos(r1,3,0)[source(percept)], events = [+pos(r1,3,0)[source(percept)]]
[r2] Added event +garbage(r1)[source(percept)], events = [+pos(r1,3,0)[source(percept)], +garbage(r1)[source(percept)]]
[r2] Start sense 9
[r2] Selected event +pos(r1,3,0)[source(percept)]
[r2] Selected event +garbage(r1)[source(percept)]
[r2] LB-cycle time (ns): 3971984
[r1] LBB Start sense 18
[r2] LBB Start sense 10
[r1] percepts: [pos(r1,3,0), pos(r2,3,3), garbage(r1)]
[r2] Start sense 10
[r1] Start sense 18
[r2] LB-cycle time (ns): 1484743
[r1] LB-cycle time (ns): 1748455
[r1] LBB Start sense 19
[r1] Start sense 19
[r1] LB-cycle time (ns): 896910
[r2] LBB Start sense 11
[r1] LBB Start sense 20
[r2] Start sense 11
[r1] Start sense 20
[r2] LB-cycle time (ns): 1021123
[r1] LB-cycle time (ns): 1339859
[r1] LBB Start sense 21
[r1] Start sense 21
[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] LB-cycle time (ns): 4820521
[MarsEnv] r1 doing: pick(garb)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 208
[r2] LBB Start sense 12
[r2] percepts: [pos(r1,3,0), pos(r2,3,3), garbage(r1)]
[r2] Start sense 12
[r2] LB-cycle time (ns): 1267302
[r1] LBB Start sense 22
[r1] percepts: [pos(r1,3,0), pos(r2,3,3), garbage(r1)]
[r1] Start sense 22
[r1] LB-cycle time (ns): 1242150
[r2] LBB Start sense 13
[r1] LBB Start sense 23
[r2] Start sense 13
[r1] Start sense 23
[r2] LB-cycle time (ns): 750653
[r1] LB-cycle time (ns): 1122028
[r1] LBB Start sense 24
[r1] Start sense 24
[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] LB-cycle time (ns): 4645071
[MarsEnv] r1 doing: pick(garb)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 207
[r1] LBB Start sense 25
[r1] percepts: [pos(r1,3,0), pos(r2,3,3)]
[r1] Start sense 25
[r1] LB-cycle time (ns): 1670801
[r2] LBB Start sense 14
[r2] percepts: [pos(r1,3,0), pos(r2,3,3)]
[r2] Start sense 14
[r2] LB-cycle time (ns): 1267351
[r2] LBB Start sense 15
[r1] LBB Start sense 26
[r2] Start sense 15
[r1] Start sense 26
[r2] LB-cycle time (ns): 1007802
[r1] LB-cycle time (ns): 1387498
[r1] LBB Start sense 27
[r1] Start sense 27
[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] LB-cycle time (ns): 4069280
[r1] LBB Start sense 28
[r1] Start sense 28
[r1] LB-cycle time (ns): 391573
[r1] LBB Start sense 29
[r1] Start sense 29
[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] LB-cycle time (ns): 7972012
[r1] LBB Start sense 30
[r1] Start sense 30
[r1] LB-cycle time (ns): 361555
[MarsEnv] r1 doing: move_towards(3,3)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 218
[r2] LBB Start sense 16
[r2] percepts: [pos(r1,3,1), pos(r2,3,3)]
[r2] Added event +pos(r1,3,1)[source(percept)], events = [+pos(r1,3,1)[source(percept)]]
[r2] Start sense 16
[r2] Selected event +pos(r1,3,1)[source(percept)]
[r2] LB-cycle time (ns): 2975365
[r1] LBB Start sense 31
[r1] percepts: [pos(r1,3,1), pos(r2,3,3)]
[r1] Added event +pos(r1,3,1)[source(percept)], events = [+pos(r1,3,1)[source(percept)]]
[r1] Start sense 31
[r1] LB-cycle time (ns): 1915883
[r2] LBB Start sense 17
[r1] LBB Start sense 32
[r2] Start sense 17
[r1] Start sense 32
[r2] LB-cycle time (ns): 850899
[r1] LB-cycle time (ns): 1154410
[r1] LBB Start sense 33
[r1] Start sense 33
[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] LB-cycle time (ns): 3484535
[r1] LBB Start sense 34
[r1] Start sense 34
[r1] LB-cycle time (ns): 371209
[MarsEnv] r1 doing: move_towards(3,3)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 207
[r2] LBB Start sense 18
[r2] percepts: [pos(r1,3,2), pos(r2,3,3)]
[r2] Added event +pos(r1,3,2)[source(percept)], events = [+pos(r1,3,2)[source(percept)]]
[r2] Start sense 18
[r2] Selected event +pos(r1,3,2)[source(percept)]
[r2] LB-cycle time (ns): 1781729
[r1] LBB Start sense 35
[r1] percepts: [pos(r1,3,2), pos(r2,3,3)]
[r1] Added event +pos(r1,3,2)[source(percept)], events = [+pos(r1,3,1)[source(percept)], +pos(r1,3,2)[source(percept)]]
[r1] Start sense 35
[r1] LB-cycle time (ns): 1268781
[r2] LBB Start sense 19
[r1] LBB Start sense 36
[r2] Start sense 19
[r1] Start sense 36
[r2] LB-cycle time (ns): 791049
[r1] LB-cycle time (ns): 1065580
[r1] LBB Start sense 37
[r1] Start sense 37
[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] LB-cycle time (ns): 3521411
[r1] LBB Start sense 38
[r1] Start sense 38
[r1] LB-cycle time (ns): 343966
[MarsEnv] r1 doing: move_towards(3,3)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 207
[r2] LBB Start sense 20
[r2] percepts: [pos(r1,3,3), pos(r2,3,3)]
[r2] Added event +pos(r1,3,3)[source(percept)], events = [+pos(r1,3,3)[source(percept)]]
[r2] Start sense 20
[r2] Selected event +pos(r1,3,3)[source(percept)]
[r2] LB-cycle time (ns): 1664652
[r1] LBB Start sense 39
[r1] percepts: [pos(r1,3,3), pos(r2,3,3)]
[r1] Added event +pos(r1,3,3)[source(percept)], events = [+pos(r1,3,1)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,3,3)[source(percept)]]
[r1] Start sense 39
[r1] LB-cycle time (ns): 1026845
[r2] LBB Start sense 21
[r1] LBB Start sense 40
[r2] Start sense 21
[r1] Start sense 40
[r2] LB-cycle time (ns): 783519
[r1] LB-cycle time (ns): 1039064
[r1] LBB Start sense 41
[r1] Start sense 41
[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] LB-cycle time (ns): 3838135
[r1] LBB Start sense 42
[r1] Start sense 42
[r1] LB-cycle time (ns): 348797
[MarsEnv] r1 doing: drop(garb)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 209
[r2] LBB Start sense 22
[r2] percepts: [pos(r1,3,3), pos(r2,3,3), garbage(r1), garbage(r2)]
[r2] Added event +garbage(r2)[source(percept)], events = [+garbage(r2)[source(percept)]]
[r2] Added event +garbage(r1)[source(percept)], events = [+garbage(r2)[source(percept)], +garbage(r1)[source(percept)]]
[r2] Start sense 22
[r2] Selected event +garbage(r2)[source(percept)]
[r2] Selected intention intention 3: 
    +garbage(r2)[source(percept)] <- ... burn(garb) / {}

[r2] LB-cycle time (ns): 1362887
[r2] LBB Start sense 23
[MarsEnv] r2 doing: burn(garb)
[r2] Start sense 23
[r2] Selected event +garbage(r1)[source(percept)]
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 145
[r2] LB-cycle time (ns): 633703
[r1] LBB Start sense 43
[r1] percepts: [pos(r1,3,3), pos(r2,3,3)]
[r1] Start sense 43
[r1] LB-cycle time (ns): 802728
[r2] LBB Start sense 24
[r1] LBB Start sense 44
[r2] percepts: [pos(r1,3,3), pos(r2,3,3)]
[r1] Start sense 44
[r2] Start sense 24
[r2] LB-cycle time (ns): 1275320
[r1] Returning from IM p__4[source(self),url("file:r1.asl")], te=+!take(garb,r2)[source(self)] unif={S=garb, L=r2}
[r1] LB-cycle time (ns): 1567766
[r1] LBB Start sense 45
[r1] Start sense 45
[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] LB-cycle time (ns): 2606388
[r1] LBB Start sense 46
[r1] Start sense 46
[r1] LB-cycle time (ns): 278977
[MarsEnv] r1 doing: move_towards(3,0)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 61
[r2] LBB Start sense 25
[r1] LBB Start sense 47
[r2] percepts: [pos(r1,3,2), pos(r2,3,3)]
[r1] percepts: [pos(r1,3,2), pos(r2,3,3)]
[r2] Added event +pos(r1,3,2)[source(percept)], events = [+pos(r1,3,2)[source(percept)]]
[r2] Start sense 25
[r1] Added event +pos(r1,3,2)[source(percept)], events = [+pos(r1,3,1)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,3,2)[source(percept)]]
[r2] Selected event +pos(r1,3,2)[source(percept)]
[r1] Start sense 47
[r2] Returning from IM p__9[source(self),url("file:r2.asl")], te=+garbage(r2)[source(percept)] unif={}
[r1] LB-cycle time (ns): 1784143
[r2] LB-cycle time (ns): 1975228
[r2] LBB Start sense 26
[r1] LBB Start sense 48
[r2] Start sense 26
[r1] Start sense 48
[r2] LB-cycle time (ns): 746932
[r1] LB-cycle time (ns): 1019803
[r1] LBB Start sense 49
[r1] Start sense 49
[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] LB-cycle time (ns): 3900265
[r1] LBB Start sense 50
[r1] Start sense 50
[r1] LB-cycle time (ns): 415851
[MarsEnv] r1 doing: move_towards(3,0)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 208
[r1] LBB Start sense 51
[r1] percepts: [pos(r1,3,1), pos(r2,3,3)]
[r1] Added event +pos(r1,3,1)[source(percept)], events = [+pos(r1,3,1)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,3,1)[source(percept)]]
[r1] Start sense 51
[r1] LB-cycle time (ns): 1376189
[r2] LBB Start sense 27
[r2] percepts: [pos(r1,3,1), pos(r2,3,3)]
[r2] Added event +pos(r1,3,1)[source(percept)], events = [+pos(r1,3,1)[source(percept)]]
[r2] Start sense 27
[r2] Selected event +pos(r1,3,1)[source(percept)]
[r2] LB-cycle time (ns): 1362575
[r2] LBB Start sense 28
[r1] LBB Start sense 52
[r2] Start sense 28
[r1] Start sense 52
[r2] LB-cycle time (ns): 774862
[r1] LB-cycle time (ns): 1107659
[r1] LBB Start sense 53
[r1] Start sense 53
[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] LB-cycle time (ns): 4156554
[r1] LBB Start sense 54
[r1] Start sense 54
[r1] LB-cycle time (ns): 279645
[MarsEnv] r1 doing: move_towards(3,0)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 207
[r2] LBB Start sense 29
[r2] percepts: [pos(r1,3,0), pos(r2,3,3)]
[r2] Added event +pos(r1,3,0)[source(percept)], events = [+pos(r1,3,0)[source(percept)]]
[r2] Start sense 29
[r2] Selected event +pos(r1,3,0)[source(percept)]
[r2] LB-cycle time (ns): 3230989
[r1] LBB Start sense 55
[r1] percepts: [pos(r1,3,0), pos(r2,3,3)]
[r1] Added event +pos(r1,3,0)[source(percept)], events = [+pos(r1,3,1)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)]]
[r1] Start sense 55
[r1] LB-cycle time (ns): 1033098
[r1] LBB Start sense 56
[r2] LBB Start sense 30
[r1] Start sense 56
[r2] Start sense 30
[r2] LB-cycle time (ns): 676057
[r1] LB-cycle time (ns): 834090
[r1] LBB Start sense 57
[r1] Start sense 57
[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] LB-cycle time (ns): 2231568
[r1] LBB Start sense 58
[r1] Start sense 58
[r1] LB-cycle time (ns): 218550
[r1] LBB Start sense 59
[r1] Start sense 59
[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 candidate belief for garbage(r1) with {}
[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] LB-cycle time (ns): 1497034
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 206
[r1] LBB Start sense 60
[r1] percepts: [pos(r1,4,0), pos(r2,3,3)]
[r1] Added event +pos(r1,4,0)[source(percept)], events = [+pos(r1,3,1)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +pos(r1,4,0)[source(percept)]]
[r1] Start sense 60
[r1] LB-cycle time (ns): 1250865
[r2] LBB Start sense 31
[r2] percepts: [pos(r1,4,0), pos(r2,3,3)]
[r2] Added event +pos(r1,4,0)[source(percept)], events = [+pos(r1,4,0)[source(percept)]]
[r2] Start sense 31
[r2] Selected event +pos(r1,4,0)[source(percept)]
[r2] LB-cycle time (ns): 1204890
[r2] LBB Start sense 32
[r1] LBB Start sense 61
[r2] Start sense 32
[r1] Start sense 61
[r2] LB-cycle time (ns): 519904
[r1] LB-cycle time (ns): 721341
[r1] LBB Start sense 62
[r1] Start sense 62
[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 candidate belief for garbage(r1) with {}
[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] LB-cycle time (ns): 1351705
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r2] LBB Start sense 33
[r2] percepts: [pos(r1,5,0), pos(r2,3,3)]
[r2] Added event +pos(r1,5,0)[source(percept)], events = [+pos(r1,5,0)[source(percept)]]
[r2] Start sense 33
[r2] Selected event +pos(r1,5,0)[source(percept)]
[r2] LB-cycle time (ns): 1126518
[r1] LBB Start sense 63
[r1] percepts: [pos(r1,5,0), pos(r2,3,3)]
[r1] Added event +pos(r1,5,0)[source(percept)], events = [+pos(r1,3,1)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)]]
[r1] Start sense 63
[r1] LB-cycle time (ns): 846222
[r2] LBB Start sense 34
[r1] LBB Start sense 64
[r2] Start sense 34
[r1] Start sense 64
[r2] LB-cycle time (ns): 527568
[r1] LB-cycle time (ns): 724780
[r1] LBB Start sense 65
[r1] Start sense 65
[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 candidate belief for garbage(r1) with {}
[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] LB-cycle time (ns): 1236262
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 35
[r2] percepts: [pos(r1,6,0), pos(r2,3,3), garbage(r1)]
[r2] Added event +pos(r1,6,0)[source(percept)], events = [+pos(r1,6,0)[source(percept)]]
[r2] Added event +garbage(r1)[source(percept)], events = [+pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)]]
[r1] LBB Start sense 66
[r2] Start sense 35
[r1] percepts: [pos(r1,6,0), pos(r2,3,3), garbage(r1)]
[r2] Selected event +pos(r1,6,0)[source(percept)]
[r2] Selected event +garbage(r1)[source(percept)]
[r1] Added event +pos(r1,6,0)[source(percept)], events = [+pos(r1,3,1)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +pos(r1,6,0)[source(percept)]]
[r2] LB-cycle time (ns): 2099636
[r1] Added event +garbage(r1)[source(percept)], events = [+pos(r1,3,1)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)], +pos(r1,4,0)[source(percept)], +pos(r1,5,0)[source(percept)], +pos(r1,6,0)[source(percept)], +garbage(r1)[source(percept)]]
[r1] Start sense 66
[r1] LB-cycle time (ns): 1285258
[r1] LBB Start sense 67
[r2] LBB Start sense 36
[r1] Start sense 67
[r2] Start sense 36
[r2] LB-cycle time (ns): 520531
[r1] LB-cycle time (ns): 599931
[r1] LBB Start sense 68
[r1] Start sense 68
[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] LB-cycle time (ns): 3458263
[r1] LBB Start sense 69
[r1] Start sense 69
[r1] Selected event +pos(r1,3,1)[source(percept)]
[r1] Selected event +pos(r1,3,2)[source(percept)]
[r1] Selected event +pos(r1,3,3)[source(percept)]
[r1] Selected event +pos(r1,3,2)[source(percept)]
[r1] Selected event +pos(r1,3,1)[source(percept)]
[r1] Selected event +pos(r1,3,0)[source(percept)]
[r1] Selected event +pos(r1,4,0)[source(percept)]
[r1] Selected event +pos(r1,5,0)[source(percept)]
[r1] Selected event +pos(r1,6,0)[source(percept)]
[r1] Selected event +garbage(r1)[source(percept)]
[r1] LB-cycle time (ns): 1583965
[r1] LBB Start sense 70
[r1] Start sense 70
[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(r1,6,0)[source(percept)] is an option -- {X=6, Y=0, R=r2}
[r1] LB-cycle time (ns): 967672
[r1] LBB Start sense 71
[r1] Start sense 71
[r1]      | for pos(_41,_42,_43)[source(self)], belief annotation pos(r1,6,0)[source(percept)] is NOT an option -- {X=6, Y=0, R=r2, _42=6, _41=r1, _43=0}
[r1]      | for pos(_41,_42,_43)[source(self)], belief annotation pos(last,3,0)[source(self)] is an option -- {X=6, Y=0, R=r2, _42=3, _41=last, _43=0}
[r1] Doing (del) brf for pos(_41,_42,_43)[source(self)] in BB=true
[r1] Removed:pos(last,3,0)[source(self)]
[r1] Added event -pos(last,3,0)[source(self)], events = [-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 4: 
    +!carry_to(r2)[source(self)] <- ... -+pos(last,X,Y); !take(garb,R); !at(last); !check(slots) / {R=r2, X=6, Y=0, _42=3, _41=last, _43=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}
, events = [-pos(last,3,0)[source(self)]]
[r1] LB-cycle time (ns): 2628581
[r1] LBB Start sense 72
[r1] Start sense 72
[r1] LB-cycle time (ns): 304371
[r1] LBB Start sense 73
[r1] Start sense 73
[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, X=6, Y=0, _42=3, _41=last, _43=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 839433
[r1] LBB Start sense 74
[r1] Start sense 74
[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, X=6, Y=0, _42=3, _41=last, _43=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1230260
[MarsEnv] r1 doing: pick(garb)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 214
[r1] LBB Start sense 75
[r1] percepts: [pos(r1,6,0), pos(r2,3,3), garbage(r1)]
[r1] Start sense 75
[r1] LB-cycle time (ns): 510249
[r2] LBB Start sense 37
[r2] percepts: [pos(r1,6,0), pos(r2,3,3), garbage(r1)]
[r2] Start sense 37
[r2] LB-cycle time (ns): 583878
[r1] LBB Start sense 76
[r2] LBB Start sense 38
[r1] Start sense 76
[r2] Start sense 38
[r2] LB-cycle time (ns): 492174
[r1] LB-cycle time (ns): 702410
[r1] LBB Start sense 77
[r1] Start sense 77
[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: 
    +!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, X=6, Y=0, _42=3, _41=last, _43=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1555274
[MarsEnv] r1 doing: pick(garb)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] LBB Start sense 78
[r1] percepts: [pos(r1,6,0), pos(r2,3,3)]
[r1] Start sense 78
[r1] LB-cycle time (ns): 724740
[r2] LBB Start sense 39
[r2] percepts: [pos(r1,6,0), pos(r2,3,3)]
[r2] Start sense 39
[r2] LB-cycle time (ns): 711878
[r2] LBB Start sense 40
[r1] LBB Start sense 79
[r2] Start sense 40
[r1] Start sense 79
[r2] LB-cycle time (ns): 451162
[r1] LB-cycle time (ns): 641909
[r1] LBB Start sense 80
[r1] Start sense 80
[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 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, X=6, Y=0, _42=3, _41=last, _43=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] LB-cycle time (ns): 1508218
[r1] LBB Start sense 81
[r1] Start sense 81
[r1] LB-cycle time (ns): 230283
[r1] LBB Start sense 82
[r1] Start sense 82
[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, X=6, Y=0, _42=3, _41=last, _43=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] LB-cycle time (ns): 3862817
[r1] LBB Start sense 83
[r1] Start sense 83
[r1] LB-cycle time (ns): 291704
[MarsEnv] r1 doing: move_towards(3,3)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 208
[r2] LBB Start sense 41
[r2] percepts: [pos(r1,5,1), pos(r2,3,3)]
[r2] Added event +pos(r1,5,1)[source(percept)], events = [+pos(r1,5,1)[source(percept)]]
[r2] Start sense 41
[r2] Selected event +pos(r1,5,1)[source(percept)]
[r2] LB-cycle time (ns): 1071900
[r1] LBB Start sense 84
[r1] percepts: [pos(r1,5,1), pos(r2,3,3)]
[r1] Added event +pos(r1,5,1)[source(percept)], events = [-pos(last,3,0)[source(self)], +pos(r1,5,1)[source(percept)]]
[r1] Start sense 84
[r1] LB-cycle time (ns): 749197
[r2] LBB Start sense 42
[r1] LBB Start sense 85
[r2] Start sense 42
[r1] Start sense 85
[r2] LB-cycle time (ns): 464049
[r1] LB-cycle time (ns): 766056
[r1] LBB Start sense 86
[r1] Start sense 86
[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, X=6, Y=0, _42=3, _41=last, _43=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] LB-cycle time (ns): 2239994
[r1] LBB Start sense 87
[r1] Start sense 87
[r1] LB-cycle time (ns): 250246
[MarsEnv] r1 doing: move_towards(3,3)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r1] LBB Start sense 88
[r1] percepts: [pos(r1,4,2), pos(r2,3,3)]
[r1] Added event +pos(r1,4,2)[source(percept)], events = [-pos(last,3,0)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)]]
[r1] Start sense 88
[r1] LB-cycle time (ns): 1227800
[r2] LBB Start sense 43
[r2] percepts: [pos(r1,4,2), pos(r2,3,3)]
[r2] Added event +pos(r1,4,2)[source(percept)], events = [+pos(r1,4,2)[source(percept)]]
[r2] Start sense 43
[r2] Selected event +pos(r1,4,2)[source(percept)]
[r2] LB-cycle time (ns): 1039232
[r1] LBB Start sense 89
[r2] LBB Start sense 44
[r1] Start sense 89
[r2] Start sense 44
[r2] LB-cycle time (ns): 498678
[r1] LB-cycle time (ns): 581590
[r1] LBB Start sense 90
[r1] Start sense 90
[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, X=6, Y=0, _42=3, _41=last, _43=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] LB-cycle time (ns): 2402133
[r1] LBB Start sense 91
[r1] Start sense 91
[r1] LB-cycle time (ns): 232596
[MarsEnv] r1 doing: move_towards(3,3)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] LBB Start sense 92
[r1] percepts: [pos(r1,3,3), pos(r2,3,3)]
[r1] Added event +pos(r1,3,3)[source(percept)], events = [-pos(last,3,0)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,3,3)[source(percept)]]
[r1] Start sense 92
[r1] LB-cycle time (ns): 800712
[r2] LBB Start sense 45
[r2] percepts: [pos(r1,3,3), pos(r2,3,3)]
[r2] Added event +pos(r1,3,3)[source(percept)], events = [+pos(r1,3,3)[source(percept)]]
[r2] Start sense 45
[r2] Selected event +pos(r1,3,3)[source(percept)]
[r2] LB-cycle time (ns): 1171329
[r2] LBB Start sense 46
[r1] LBB Start sense 93
[r2] Start sense 46
[r1] Start sense 93
[r2] LB-cycle time (ns): 471249
[r1] LB-cycle time (ns): 675269
[r1] LBB Start sense 94
[r1] Start sense 94
[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, X=6, Y=0, _42=3, _41=last, _43=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] LB-cycle time (ns): 2322755
[r1] LBB Start sense 95
[r1] Start sense 95
[r1] LB-cycle time (ns): 203233
[MarsEnv] r1 doing: drop(garb)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r1] LBB Start sense 96
[r1] percepts: [pos(r1,3,3), pos(r2,3,3), garbage(r1)]
[r1] Added event +garbage(r1)[source(percept)], events = [-pos(last,3,0)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)]]
[r1] Start sense 96
[r1] LB-cycle time (ns): 770489
[r2] LBB Start sense 47
[r2] percepts: [pos(r1,3,3), pos(r2,3,3), garbage(r1)]
[r2] Added event +garbage(r1)[source(percept)], events = [+garbage(r1)[source(percept)]]
[r2] Start sense 47
[r2] Selected event +garbage(r1)[source(percept)]
[r2] LB-cycle time (ns): 1260828
[r2] LBB Start sense 48
[r1] LBB Start sense 97
[r2] Start sense 48
[r1] Start sense 97
[r2] LB-cycle time (ns): 443640
[r1] Returning from IM p__4[source(self),url("file:r1.asl")], te=+!take(garb,r2)[source(self)] unif={S=garb, L=r2}
[r1] LB-cycle time (ns): 839548
[r1] LBB Start sense 98
[r1] Start sense 98
[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 4: 
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {R=r2, X=6, Y=0, _42=3, _41=last, _43=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] LB-cycle time (ns): 1980795
[r1] LBB Start sense 99
[r1] Start sense 99
[r1] LB-cycle time (ns): 206179
[MarsEnv] r1 doing: move_towards(6,0)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r2] LBB Start sense 49
[r2] percepts: [pos(r1,4,2), pos(r2,3,3)]
[r2] Added event +pos(r1,4,2)[source(percept)], events = [+pos(r1,4,2)[source(percept)]]
[r2] Start sense 49
[r2] Selected event +pos(r1,4,2)[source(percept)]
[r2] LB-cycle time (ns): 1263881
[r1] LBB Start sense 100
[r1] percepts: [pos(r1,4,2), pos(r2,3,3)]
[r1] Added event +pos(r1,4,2)[source(percept)], events = [-pos(last,3,0)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,4,2)[source(percept)]]
[r1] Start sense 100
[r1] LB-cycle time (ns): 795140
[r2] LBB Start sense 50
[r1] LBB Start sense 101
[r2] Start sense 50
[r1] Start sense 101
[r2] LB-cycle time (ns): 529849
[r1] LB-cycle time (ns): 740149
[r1] LBB Start sense 102
[r1] Start sense 102
[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 4: 
    +!at(last)[source(self)] <- ... !at(L) / {X=6, Y=0, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {R=r2, X=6, Y=0, _42=3, _41=last, _43=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] LB-cycle time (ns): 2131779
[r1] LBB Start sense 103
[r1] Start sense 103
[r1] LB-cycle time (ns): 209309
[MarsEnv] r1 doing: move_towards(6,0)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r2] LBB Start sense 51
[r2] percepts: [pos(r1,5,1), pos(r2,3,3)]
[r2] Added event +pos(r1,5,1)[source(percept)], events = [+pos(r1,5,1)[source(percept)]]
[r2] Start sense 51
[r2] Selected event +pos(r1,5,1)[source(percept)]
[r2] LB-cycle time (ns): 1125754
[r1] LBB Start sense 104
[r1] percepts: [pos(r1,5,1), pos(r2,3,3)]
[r1] Added event +pos(r1,5,1)[source(percept)], events = [-pos(last,3,0)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)]]
[r1] Start sense 104
[r1] LB-cycle time (ns): 744846
[r2] LBB Start sense 52
[r1] LBB Start sense 105
[r2] Start sense 52
[r1] Start sense 105
[r2] LB-cycle time (ns): 495786
[r1] LB-cycle time (ns): 698821
[r1] LBB Start sense 106
[r1] Start sense 106
[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 4: 
    +!at(last)[source(self)] <- ... !at(L) / {X=6, Y=0, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {R=r2, X=6, Y=0, _42=3, _41=last, _43=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] LB-cycle time (ns): 1902957
[r1] LBB Start sense 107
[r1] Start sense 107
[r1] LB-cycle time (ns): 210177
[MarsEnv] r1 doing: move_towards(6,0)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r2] LBB Start sense 53
[r2] percepts: [pos(r1,6,0), pos(r2,3,3)]
[r2] Added event +pos(r1,6,0)[source(percept)], events = [+pos(r1,6,0)[source(percept)]]
[r2] Start sense 53
[r2] Selected event +pos(r1,6,0)[source(percept)]
[r2] LB-cycle time (ns): 1086540
[r1] LBB Start sense 108
[r1] percepts: [pos(r1,6,0), pos(r2,3,3)]
[r1] Added event +pos(r1,6,0)[source(percept)], events = [-pos(last,3,0)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)]]
[r1] Start sense 108
[r1] LB-cycle time (ns): 780137
[r1] LBB Start sense 109
[r2] LBB Start sense 54
[r1] Start sense 109
[r2] Start sense 54
[r2] LB-cycle time (ns): 502215
[r1] LB-cycle time (ns): 596214
[r1] LBB Start sense 110
[r1] Start sense 110
[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 4: 
    +!at(last)[source(self)] <- ... !at(L) / {X=6, Y=0, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {R=r2, X=6, Y=0, _42=3, _41=last, _43=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] LB-cycle time (ns): 3592103
[r1] LBB Start sense 111
[r1] Start sense 111
[r1] LB-cycle time (ns): 182496
[r1] LBB Start sense 112
[r1] Start sense 112
[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 candidate belief for garbage(r1) with {}
[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, X=6, Y=0, _42=3, _41=last, _43=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1139976
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 207
[r1] LBB Start sense 113
[r1] percepts: [pos(r1,0,1), pos(r2,3,3)]
[r1] Added event +pos(r1,0,1)[source(percept)], events = [-pos(last,3,0)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)]]
[r1] Start sense 113
[r1] LB-cycle time (ns): 1069013
[r2] LBB Start sense 55
[r2] percepts: [pos(r1,0,1), pos(r2,3,3)]
[r2] Added event +pos(r1,0,1)[source(percept)], events = [+pos(r1,0,1)[source(percept)]]
[r2] Start sense 55
[r2] Selected event +pos(r1,0,1)[source(percept)]
[r2] LB-cycle time (ns): 976543
[r2] LBB Start sense 56
[r1] LBB Start sense 114
[r2] Start sense 56
[r1] Start sense 114
[r2] LB-cycle time (ns): 522769
[r1] LB-cycle time (ns): 698548
[r1] LBB Start sense 115
[r1] Start sense 115
[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 candidate belief for garbage(r1) with {}
[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, X=6, Y=0, _42=3, _41=last, _43=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1110558
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r2] LBB Start sense 57
[r2] percepts: [pos(r1,1,1), pos(r2,3,3)]
[r2] Added event +pos(r1,1,1)[source(percept)], events = [+pos(r1,1,1)[source(percept)]]
[r2] Start sense 57
[r2] Selected event +pos(r1,1,1)[source(percept)]
[r2] LB-cycle time (ns): 985705
[r1] LBB Start sense 116
[r1] percepts: [pos(r1,1,1), pos(r2,3,3)]
[r1] Added event +pos(r1,1,1)[source(percept)], events = [-pos(last,3,0)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)]]
[r1] Start sense 116
[r1] LB-cycle time (ns): 693618
[r2] LBB Start sense 58
[r1] LBB Start sense 117
[r2] Start sense 58
[r1] Start sense 117
[r2] LB-cycle time (ns): 448073
[r1] LB-cycle time (ns): 603295
[r1] LBB Start sense 118
[r1] Start sense 118
[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 candidate belief for garbage(r1) with {}
[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, X=6, Y=0, _42=3, _41=last, _43=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1161410
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 59
[r2] percepts: [pos(r1,2,1), pos(r2,3,3)]
[r2] Added event +pos(r1,2,1)[source(percept)], events = [+pos(r1,2,1)[source(percept)]]
[r2] Start sense 59
[r2] Selected event +pos(r1,2,1)[source(percept)]
[r2] LB-cycle time (ns): 1196328
[r1] LBB Start sense 119
[r1] percepts: [pos(r1,2,1), pos(r2,3,3)]
[r1] Added event +pos(r1,2,1)[source(percept)], events = [-pos(last,3,0)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)]]
[r1] Start sense 119
[r1] LB-cycle time (ns): 820857
[r2] LBB Start sense 60
[r1] LBB Start sense 120
[r2] Start sense 60
[r1] Start sense 120
[r2] LB-cycle time (ns): 429893
[r1] LB-cycle time (ns): 582176
[r1] LBB Start sense 121
[r1] Start sense 121
[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 candidate belief for garbage(r1) with {}
[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, X=6, Y=0, _42=3, _41=last, _43=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1133587
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 61
[r2] percepts: [pos(r1,3,1), pos(r2,3,3)]
[r2] Added event +pos(r1,3,1)[source(percept)], events = [+pos(r1,3,1)[source(percept)]]
[r2] Start sense 61
[r2] Selected event +pos(r1,3,1)[source(percept)]
[r1] LBB Start sense 122
[r2] LB-cycle time (ns): 1000365
[r1] percepts: [pos(r1,3,1), pos(r2,3,3)]
[r1] Added event +pos(r1,3,1)[source(percept)], events = [-pos(last,3,0)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)]]
[r1] Start sense 122
[r1] LB-cycle time (ns): 885959
[r1] LBB Start sense 123
[r2] LBB Start sense 62
[r1] Start sense 123
[r2] Start sense 62
[r2] LB-cycle time (ns): 547549
[r1] LB-cycle time (ns): 689728
[r1] LBB Start sense 124
[r1] Start sense 124
[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 candidate belief for garbage(r1) with {}
[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, X=6, Y=0, _42=3, _41=last, _43=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 3004744
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r1] LBB Start sense 125
[r1] percepts: [pos(r1,4,1), pos(r2,3,3)]
[r1] Added event +pos(r1,4,1)[source(percept)], events = [-pos(last,3,0)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)]]
[r1] Start sense 125
[r1] LB-cycle time (ns): 839905
[r2] LBB Start sense 63
[r2] percepts: [pos(r1,4,1), pos(r2,3,3)]
[r2] Added event +pos(r1,4,1)[source(percept)], events = [+pos(r1,4,1)[source(percept)]]
[r2] Start sense 63
[r2] Selected event +pos(r1,4,1)[source(percept)]
[r2] LB-cycle time (ns): 888264
[r2] LBB Start sense 64
[r1] LBB Start sense 126
[r2] Start sense 64
[r1] Start sense 126
[r2] LB-cycle time (ns): 464609
[r1] LB-cycle time (ns): 671092
[r1] LBB Start sense 127
[r1] Start sense 127
[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 candidate belief for garbage(r1) with {}
[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, X=6, Y=0, _42=3, _41=last, _43=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1250566
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] LBB Start sense 128
[r1] percepts: [pos(r1,5,1), pos(r2,3,3)]
[r1] Added event +pos(r1,5,1)[source(percept)], events = [-pos(last,3,0)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)]]
[r1] Start sense 128
[r1] LB-cycle time (ns): 896978
[r2] LBB Start sense 65
[r2] percepts: [pos(r1,5,1), pos(r2,3,3)]
[r2] Added event +pos(r1,5,1)[source(percept)], events = [+pos(r1,5,1)[source(percept)]]
[r2] Start sense 65
[r2] Selected event +pos(r1,5,1)[source(percept)]
[r2] LB-cycle time (ns): 928113
[r2] LBB Start sense 66
[r1] LBB Start sense 129
[r2] Start sense 66
[r1] Start sense 129
[r2] LB-cycle time (ns): 443490
[r1] LB-cycle time (ns): 642885
[r1] LBB Start sense 130
[r1] Start sense 130
[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 candidate belief for garbage(r1) with {}
[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, X=6, Y=0, _42=3, _41=last, _43=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1120072
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 67
[r2] percepts: [pos(r1,6,1), pos(r2,3,3)]
[r2] Added event +pos(r1,6,1)[source(percept)], events = [+pos(r1,6,1)[source(percept)]]
[r2] Start sense 67
[r2] Selected event +pos(r1,6,1)[source(percept)]
[r2] LB-cycle time (ns): 994962
[r1] LBB Start sense 131
[r1] percepts: [pos(r1,6,1), pos(r2,3,3)]
[r1] Added event +pos(r1,6,1)[source(percept)], events = [-pos(last,3,0)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)]]
[r1] Start sense 131
[r1] LB-cycle time (ns): 822779
[r2] LBB Start sense 68
[r1] LBB Start sense 132
[r2] Start sense 68
[r1] Start sense 132
[r2] LB-cycle time (ns): 439032
[r1] LB-cycle time (ns): 614667
[r1] LBB Start sense 133
[r1] Start sense 133
[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 candidate belief for garbage(r1) with {}
[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, X=6, Y=0, _42=3, _41=last, _43=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1173211
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r2] LBB Start sense 69
[r2] percepts: [pos(r1,0,2), pos(r2,3,3)]
[r2] Added event +pos(r1,0,2)[source(percept)], events = [+pos(r1,0,2)[source(percept)]]
[r2] Start sense 69
[r2] Selected event +pos(r1,0,2)[source(percept)]
[r2] LB-cycle time (ns): 961189
[r1] LBB Start sense 134
[r1] percepts: [pos(r1,0,2), pos(r2,3,3)]
[r1] Added event +pos(r1,0,2)[source(percept)], events = [-pos(last,3,0)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)]]
[r1] Start sense 134
[r1] LB-cycle time (ns): 954389
[r2] LBB Start sense 70
[r1] LBB Start sense 135
[r2] Start sense 70
[r1] Start sense 135
[r2] LB-cycle time (ns): 416708
[r1] LB-cycle time (ns): 565068
[r1] LBB Start sense 136
[r1] Start sense 136
[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 candidate belief for garbage(r1) with {}
[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, X=6, Y=0, _42=3, _41=last, _43=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1228561
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r2] LBB Start sense 71
[r2] percepts: [pos(r1,1,2), pos(r2,3,3), garbage(r1)]
[r2] Added event +pos(r1,1,2)[source(percept)], events = [+pos(r1,1,2)[source(percept)]]
[r2] Added event +garbage(r1)[source(percept)], events = [+pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)]]
[r2] Start sense 71
[r1] LBB Start sense 137
[r2] Selected event +pos(r1,1,2)[source(percept)]
[r1] percepts: [pos(r1,1,2), pos(r2,3,3), garbage(r1)]
[r2] Selected event +garbage(r1)[source(percept)]
[r2] LB-cycle time (ns): 1637202
[r1] Added event +pos(r1,1,2)[source(percept)], events = [-pos(last,3,0)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)]]
[r1] Added event +garbage(r1)[source(percept)], events = [-pos(last,3,0)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)]]
[r1] Start sense 137
[r1] LB-cycle time (ns): 1893887
[r2] LBB Start sense 72
[r1] LBB Start sense 138
[r2] Start sense 72
[r1] Start sense 138
[r2] LB-cycle time (ns): 474964
[r1] LB-cycle time (ns): 663932
[r1] LBB Start sense 139
[r1] Start sense 139
[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, X=6, Y=0, _42=3, _41=last, _43=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={R=r2, X=6, Y=0, _42=3, _41=last, _43=0}
[r1] Returning from IM lg[atomic,source(self),url("file:r1.asl")], te=+garbage(r1)[source(percept)] unif={}
[r1] LB-cycle time (ns): 1868313
[r1] LBB Start sense 140
[r1] Start sense 140
[r1] Selected event -pos(last,3,0)[source(self)]
[r1] Selected event +pos(r1,5,1)[source(percept)]
[r1] Selected event +pos(r1,4,2)[source(percept)]
[r1] Selected event +pos(r1,3,3)[source(percept)]
[r1] Selected event +garbage(r1)[source(percept)]
[r1] LB-cycle time (ns): 1099059
[r1] LBB Start sense 141
[r1] Start sense 141
[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(r1,1,2)[source(percept)] is an option -- {X=1, Y=2, R=r2}
[r1] LB-cycle time (ns): 7270790
[r1] LBB Start sense 142
[r1] Start sense 142
[r1]      | for pos(_44,_45,_46)[source(self)], belief annotation pos(r1,1,2)[source(percept)] is NOT an option -- {X=1, _46=2, Y=2, _45=1, R=r2, _44=r1}
[r1]      | for pos(_44,_45,_46)[source(self)], belief annotation pos(last,6,0)[source(self)] is an option -- {X=1, _46=0, Y=2, _45=6, R=r2, _44=last}
[r1] Doing (del) brf for pos(_44,_45,_46)[source(self)] in BB=true
[r1] Removed:pos(last,6,0)[source(self)]
[r1] Added event -pos(last,6,0)[source(self)], events = [+pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], -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 5: 
    +!carry_to(r2)[source(self)] <- ... -+pos(last,X,Y); !take(garb,R); !at(last); !check(slots) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}
, events = [+pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,6,0)[source(self)]]
[r1] LB-cycle time (ns): 2466225
[r1] LBB Start sense 143
[r1] Start sense 143
[r1] LB-cycle time (ns): 226332
[r1] LBB Start sense 144
[r1] Start sense 144
[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) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 743363
[r1] LBB Start sense 145
[r1] Start sense 145
[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) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1143694
[MarsEnv] r1 doing: pick(garb)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 217
[r2] LBB Start sense 73
[r2] percepts: [pos(r1,1,2), pos(r2,3,3)]
[r2] Start sense 73
[r2] LB-cycle time (ns): 669178
[r1] LBB Start sense 146
[r1] percepts: [pos(r1,1,2), pos(r2,3,3)]
[r1] Start sense 146
[r1] LB-cycle time (ns): 517264
[r2] LBB Start sense 74
[r1] LBB Start sense 147
[r2] Start sense 74
[r1] Start sense 147
[r2] LB-cycle time (ns): 436446
[r1] LB-cycle time (ns): 651481
[r1] LBB Start sense 148
[r1] Start sense 148
[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) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=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] LB-cycle time (ns): 1279108
[r1] LBB Start sense 149
[r1] Start sense 149
[r1] LB-cycle time (ns): 194597
[r1] LBB Start sense 150
[r1] Start sense 150
[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 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) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=last}
    +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] LB-cycle time (ns): 3340931
[r1] LBB Start sense 151
[r1] Start sense 151
[r1] LB-cycle time (ns): 203615
[MarsEnv] r1 doing: move_towards(3,3)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 208
[r2] LBB Start sense 75
[r2] percepts: [pos(r1,2,3), pos(r2,3,3)]
[r2] Added event +pos(r1,2,3)[source(percept)], events = [+pos(r1,2,3)[source(percept)]]
[r2] Start sense 75
[r2] Selected event +pos(r1,2,3)[source(percept)]
[r2] LB-cycle time (ns): 1046134
[r1] LBB Start sense 152
[r1] percepts: [pos(r1,2,3), pos(r2,3,3)]
[r1] Added event +pos(r1,2,3)[source(percept)], events = [+pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)]]
[r1] Start sense 152
[r1] LB-cycle time (ns): 781813
[r2] LBB Start sense 76
[r1] LBB Start sense 153
[r2] Start sense 76
[r1] Start sense 153
[r2] LB-cycle time (ns): 472837
[r1] LB-cycle time (ns): 590022
[r1] LBB Start sense 154
[r1] Start sense 154
[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 5: 
    +!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) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=last}
    +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] LB-cycle time (ns): 1900845
[r1] LBB Start sense 155
[r1] Start sense 155
[r1] LB-cycle time (ns): 202711
[MarsEnv] r1 doing: move_towards(3,3)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r2] LBB Start sense 77
[r2] percepts: [pos(r1,3,3), pos(r2,3,3)]
[r2] Added event +pos(r1,3,3)[source(percept)], events = [+pos(r1,3,3)[source(percept)]]
[r2] Start sense 77
[r2] Selected event +pos(r1,3,3)[source(percept)]
[r2] LB-cycle time (ns): 1023689
[r1] LBB Start sense 156
[r1] percepts: [pos(r1,3,3), pos(r2,3,3)]
[r1] Added event +pos(r1,3,3)[source(percept)], events = [+pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)]]
[r1] Start sense 156
[r1] LB-cycle time (ns): 767811
[r2] LBB Start sense 78
[r1] LBB Start sense 157
[r2] Start sense 78
[r1] Start sense 157
[r2] LB-cycle time (ns): 470015
[r1] LB-cycle time (ns): 602378
[r1] LBB Start sense 158
[r1] Start sense 158
[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: 
    +!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) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=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] LB-cycle time (ns): 1865013
[r1] LBB Start sense 159
[r1] Start sense 159
[r1] LB-cycle time (ns): 206498
[MarsEnv] r1 doing: drop(garb)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r2] LBB Start sense 79
[r2] percepts: [pos(r1,3,3), pos(r2,3,3), garbage(r1)]
[r2] Added event +garbage(r1)[source(percept)], events = [+garbage(r1)[source(percept)]]
[r2] Start sense 79
[r2] Selected event +garbage(r1)[source(percept)]
[r2] LB-cycle time (ns): 1003680
[r1] LBB Start sense 160
[r1] percepts: [pos(r1,3,3), pos(r2,3,3), garbage(r1)]
[r1] Added event +garbage(r1)[source(percept)], events = [+pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)]]
[r1] Start sense 160
[r1] LB-cycle time (ns): 1199707
[r1] LBB Start sense 161
[r2] LBB Start sense 80
[r1] Start sense 161
[r2] Start sense 80
[r2] LB-cycle time (ns): 487015
[r1] Returning from IM p__4[source(self),url("file:r1.asl")], te=+!take(garb,r2)[source(self)] unif={S=garb, L=r2}
[r1] LB-cycle time (ns): 717039
[r1] LBB Start sense 162
[r1] Start sense 162
[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 5: 
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=last}
    +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] LB-cycle time (ns): 2015001
[r1] LBB Start sense 163
[r1] Start sense 163
[r1] LB-cycle time (ns): 314898
[MarsEnv] r1 doing: move_towards(1,2)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r2] LBB Start sense 81
[r2] percepts: [pos(r1,2,2), pos(r2,3,3)]
[r2] Added event +pos(r1,2,2)[source(percept)], events = [+pos(r1,2,2)[source(percept)]]
[r2] Start sense 81
[r1] LBB Start sense 164
[r2] Selected event +pos(r1,2,2)[source(percept)]
[r1] percepts: [pos(r1,2,2), pos(r2,3,3)]
[r2] LB-cycle time (ns): 2832079
[r1] Added event +pos(r1,2,2)[source(percept)], events = [+pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)]]
[r1] Start sense 164
[r1] LB-cycle time (ns): 1254193
[r2] LBB Start sense 82
[r1] LBB Start sense 165
[r2] Start sense 82
[r1] Start sense 165
[r2] LB-cycle time (ns): 424128
[r1] LB-cycle time (ns): 601900
[r1] LBB Start sense 166
[r1] Start sense 166
[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 5: 
    +!at(last)[source(self)] <- ... !at(L) / {X=1, Y=2, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=last}
    +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] LB-cycle time (ns): 2426731
[r1] LBB Start sense 167
[r1] Start sense 167
[r1] LB-cycle time (ns): 230840
[MarsEnv] r1 doing: move_towards(1,2)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r2] LBB Start sense 83
[r2] percepts: [pos(r1,1,2), pos(r2,3,3)]
[r2] Added event +pos(r1,1,2)[source(percept)], events = [+pos(r1,1,2)[source(percept)]]
[r2] Start sense 83
[r2] Selected event +pos(r1,1,2)[source(percept)]
[r2] LB-cycle time (ns): 1288738
[r1] LBB Start sense 168
[r1] percepts: [pos(r1,1,2), pos(r2,3,3)]
[r1] Added event +pos(r1,1,2)[source(percept)], events = [+pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)]]
[r1] Start sense 168
[r1] LB-cycle time (ns): 1328398
[r1] LBB Start sense 169
[r2] LBB Start sense 84
[r1] Start sense 169
[r2] Start sense 84
[r2] LB-cycle time (ns): 488256
[r1] LB-cycle time (ns): 561515
[r1] LBB Start sense 170
[r1] Start sense 170
[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 5: 
    +!at(last)[source(self)] <- ... !at(L) / {X=1, Y=2, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=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] LB-cycle time (ns): 1996986
[r1] LBB Start sense 171
[r1] Start sense 171
[r1] LB-cycle time (ns): 165081
[r1] LBB Start sense 172
[r1] Start sense 172
[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 candidate belief for garbage(r1) with {}
[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 5: 
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1599557
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 206
[r1] LBB Start sense 173
[r1] percepts: [pos(r1,2,2), pos(r2,3,3)]
[r1] Added event +pos(r1,2,2)[source(percept)], events = [+pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)]]
[r1] Start sense 173
[r1] LB-cycle time (ns): 1417385
[r2] LBB Start sense 85
[r2] percepts: [pos(r1,2,2), pos(r2,3,3)]
[r2] Added event +pos(r1,2,2)[source(percept)], events = [+pos(r1,2,2)[source(percept)]]
[r2] Start sense 85
[r2] Selected event +pos(r1,2,2)[source(percept)]
[r2] LB-cycle time (ns): 1005286
[r2] LBB Start sense 86
[r1] LBB Start sense 174
[r2] Start sense 86
[r1] Start sense 174
[r2] LB-cycle time (ns): 503866
[r1] LB-cycle time (ns): 689248
[r1] LBB Start sense 175
[r1] Start sense 175
[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 candidate belief for garbage(r1) with {}
[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 5: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1168494
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r2] LBB Start sense 87
[r2] percepts: [pos(r1,3,2), pos(r2,3,3)]
[r2] Added event +pos(r1,3,2)[source(percept)], events = [+pos(r1,3,2)[source(percept)]]
[r2] Start sense 87
[r2] Selected event +pos(r1,3,2)[source(percept)]
[r2] LB-cycle time (ns): 1260301
[r1] LBB Start sense 176
[r1] percepts: [pos(r1,3,2), pos(r2,3,3)]
[r1] Added event +pos(r1,3,2)[source(percept)], events = [+pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)]]
[r1] Start sense 176
[r1] LB-cycle time (ns): 736929
[r2] LBB Start sense 88
[r1] LBB Start sense 177
[r2] Start sense 88
[r1] Start sense 177
[r2] LB-cycle time (ns): 407806
[r1] LB-cycle time (ns): 1698109
[r1] LBB Start sense 178
[r1] Start sense 178
[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 candidate belief for garbage(r1) with {}
[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 5: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1211164
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r2] LBB Start sense 89
[r2] percepts: [pos(r1,4,2), pos(r2,3,3)]
[r2] Added event +pos(r1,4,2)[source(percept)], events = [+pos(r1,4,2)[source(percept)]]
[r2] Start sense 89
[r2] Selected event +pos(r1,4,2)[source(percept)]
[r2] LB-cycle time (ns): 1222930
[r1] LBB Start sense 179
[r1] percepts: [pos(r1,4,2), pos(r2,3,3)]
[r1] Added event +pos(r1,4,2)[source(percept)], events = [+pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)]]
[r1] Start sense 179
[r1] LB-cycle time (ns): 806054
[r2] LBB Start sense 90
[r1] LBB Start sense 180
[r2] Start sense 90
[r1] Start sense 180
[r2] LB-cycle time (ns): 509335
[r1] LB-cycle time (ns): 651135
[r1] LBB Start sense 181
[r1] Start sense 181
[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 candidate belief for garbage(r1) with {}
[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 5: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1007740
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 91
[r2] percepts: [pos(r1,5,2), pos(r2,3,3)]
[r2] Added event +pos(r1,5,2)[source(percept)], events = [+pos(r1,5,2)[source(percept)]]
[r2] Start sense 91
[r2] Selected event +pos(r1,5,2)[source(percept)]
[r1] LBB Start sense 182
[r2] LB-cycle time (ns): 878980
[r1] percepts: [pos(r1,5,2), pos(r2,3,3)]
[r1] Added event +pos(r1,5,2)[source(percept)], events = [+pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)]]
[r1] Start sense 182
[r1] LB-cycle time (ns): 801150
[r2] LBB Start sense 92
[r1] LBB Start sense 183
[r2] Start sense 92
[r1] Start sense 183
[r2] LB-cycle time (ns): 405697
[r1] LB-cycle time (ns): 521952
[r1] LBB Start sense 184
[r1] Start sense 184
[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 candidate belief for garbage(r1) with {}
[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 5: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1231941
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r2] LBB Start sense 93
[r2] percepts: [pos(r1,6,2), pos(r2,3,3)]
[r2] Added event +pos(r1,6,2)[source(percept)], events = [+pos(r1,6,2)[source(percept)]]
[r2] Start sense 93
[r2] Selected event +pos(r1,6,2)[source(percept)]
[r2] LB-cycle time (ns): 930055
[r1] LBB Start sense 185
[r1] percepts: [pos(r1,6,2), pos(r2,3,3)]
[r1] Added event +pos(r1,6,2)[source(percept)], events = [+pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)]]
[r1] Start sense 185
[r1] LB-cycle time (ns): 792946
[r2] LBB Start sense 94
[r1] LBB Start sense 186
[r2] Start sense 94
[r1] Start sense 186
[r2] LB-cycle time (ns): 476499
[r1] LB-cycle time (ns): 618239
[r1] LBB Start sense 187
[r1] Start sense 187
[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 candidate belief for garbage(r1) with {}
[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 5: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1191219
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 95
[r2] percepts: [pos(r1,0,3), pos(r2,3,3)]
[r2] Added event +pos(r1,0,3)[source(percept)], events = [+pos(r1,0,3)[source(percept)]]
[r2] Start sense 95
[r2] Selected event +pos(r1,0,3)[source(percept)]
[r2] LB-cycle time (ns): 1294586
[r1] LBB Start sense 188
[r1] percepts: [pos(r1,0,3), pos(r2,3,3)]
[r1] Added event +pos(r1,0,3)[source(percept)], events = [+pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)]]
[r1] Start sense 188
[r1] LB-cycle time (ns): 1085073
[r1] LBB Start sense 189
[r2] LBB Start sense 96
[r1] Start sense 189
[r2] Start sense 96
[r1] LB-cycle time (ns): 598185
[r2] LB-cycle time (ns): 569630
[r1] LBB Start sense 190
[r1] Start sense 190
[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 candidate belief for garbage(r1) with {}
[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 5: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 3627222
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 206
[r1] LBB Start sense 191
[r1] percepts: [pos(r1,1,3), pos(r2,3,3)]
[r1] Added event +pos(r1,1,3)[source(percept)], events = [+pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)]]
[r1] Start sense 191
[r1] LB-cycle time (ns): 895669
[r2] LBB Start sense 97
[r2] percepts: [pos(r1,1,3), pos(r2,3,3)]
[r2] Added event +pos(r1,1,3)[source(percept)], events = [+pos(r1,1,3)[source(percept)]]
[r2] Start sense 97
[r2] Selected event +pos(r1,1,3)[source(percept)]
[r2] LB-cycle time (ns): 1048320
[r2] LBB Start sense 98
[r1] LBB Start sense 192
[r2] Start sense 98
[r1] Start sense 192
[r2] LB-cycle time (ns): 477430
[r1] LB-cycle time (ns): 620312
[r1] LBB Start sense 193
[r1] Start sense 193
[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 candidate belief for garbage(r1) with {}
[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 5: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1086793
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 99
[r2] percepts: [pos(r1,2,3), pos(r2,3,3)]
[r2] Added event +pos(r1,2,3)[source(percept)], events = [+pos(r1,2,3)[source(percept)]]
[r2] Start sense 99
[r2] Selected event +pos(r1,2,3)[source(percept)]
[r2] LB-cycle time (ns): 774646
[r1] LBB Start sense 194
[r1] percepts: [pos(r1,2,3), pos(r2,3,3)]
[r1] Added event +pos(r1,2,3)[source(percept)], events = [+pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)]]
[r1] Start sense 194
[r1] LB-cycle time (ns): 715439
[r2] LBB Start sense 100
[r1] LBB Start sense 195
[r2] Start sense 100
[r1] Start sense 195
[r2] LB-cycle time (ns): 460849
[r1] LB-cycle time (ns): 623532
[r1] LBB Start sense 196
[r1] Start sense 196
[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 candidate belief for garbage(r1) with {}
[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 5: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1035393
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 101
[r2] percepts: [pos(r1,3,3), pos(r2,3,3)]
[r2] Added event +pos(r1,3,3)[source(percept)], events = [+pos(r1,3,3)[source(percept)]]
[r2] Start sense 101
[r2] Selected event +pos(r1,3,3)[source(percept)]
[r2] LB-cycle time (ns): 1007630
[r1] LBB Start sense 197
[r1] percepts: [pos(r1,3,3), pos(r2,3,3)]
[r1] Added event +pos(r1,3,3)[source(percept)], events = [+pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)]]
[r1] Start sense 197
[r1] LB-cycle time (ns): 753456
[r2] LBB Start sense 102
[r1] LBB Start sense 198
[r2] Start sense 102
[r1] Start sense 198
[r2] LB-cycle time (ns): 528652
[r1] LB-cycle time (ns): 667943
[r1] LBB Start sense 199
[r1] Start sense 199
[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 candidate belief for garbage(r1) with {}
[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 5: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1079523
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 103
[r2] percepts: [pos(r1,4,3), pos(r2,3,3)]
[r2] Added event +pos(r1,4,3)[source(percept)], events = [+pos(r1,4,3)[source(percept)]]
[r2] Start sense 103
[r2] Selected event +pos(r1,4,3)[source(percept)]
[r2] LB-cycle time (ns): 948627
[r1] LBB Start sense 200
[r1] percepts: [pos(r1,4,3), pos(r2,3,3)]
[r1] Added event +pos(r1,4,3)[source(percept)], events = [+pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)]]
[r1] Start sense 200
[r1] LB-cycle time (ns): 790736
[r2] LBB Start sense 104
[r1] LBB Start sense 201
[r2] Start sense 104
[r1] Start sense 201
[r2] LB-cycle time (ns): 393844
[r1] LB-cycle time (ns): 581229
[r1] LBB Start sense 202
[r1] Start sense 202
[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 candidate belief for garbage(r1) with {}
[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 5: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 2843967
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r1] LBB Start sense 203
[r1] percepts: [pos(r1,5,3), pos(r2,3,3)]
[r1] Added event +pos(r1,5,3)[source(percept)], events = [+pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)]]
[r1] Start sense 203
[r1] LB-cycle time (ns): 726114
[r2] LBB Start sense 105
[r2] percepts: [pos(r1,5,3), pos(r2,3,3)]
[r2] Added event +pos(r1,5,3)[source(percept)], events = [+pos(r1,5,3)[source(percept)]]
[r2] Start sense 105
[r2] Selected event +pos(r1,5,3)[source(percept)]
[r2] LB-cycle time (ns): 752840
[r1] LBB Start sense 204
[r2] LBB Start sense 106
[r1] Start sense 204
[r2] Start sense 106
[r1] LB-cycle time (ns): 601129
[r2] LB-cycle time (ns): 582324
[r1] LBB Start sense 205
[r1] Start sense 205
[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 candidate belief for garbage(r1) with {}
[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 5: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1037893
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] LBB Start sense 206
[r1] percepts: [pos(r1,6,3), pos(r2,3,3)]
[r1] Added event +pos(r1,6,3)[source(percept)], events = [+pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)]]
[r1] Start sense 206
[r1] LB-cycle time (ns): 745996
[r2] LBB Start sense 107
[r2] percepts: [pos(r1,6,3), pos(r2,3,3)]
[r2] Added event +pos(r1,6,3)[source(percept)], events = [+pos(r1,6,3)[source(percept)]]
[r2] Start sense 107
[r2] Selected event +pos(r1,6,3)[source(percept)]
[r2] LB-cycle time (ns): 735215
[r2] LBB Start sense 108
[r1] LBB Start sense 207
[r2] Start sense 108
[r1] Start sense 207
[r2] LB-cycle time (ns): 383408
[r1] LB-cycle time (ns): 542138
[r1] LBB Start sense 208
[r1] Start sense 208
[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 candidate belief for garbage(r1) with {}
[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 5: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 902273
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 109
[r2] percepts: [pos(r1,0,4), pos(r2,3,3)]
[r2] Added event +pos(r1,0,4)[source(percept)], events = [+pos(r1,0,4)[source(percept)]]
[r2] Start sense 109
[r2] Selected event +pos(r1,0,4)[source(percept)]
[r2] LB-cycle time (ns): 849384
[r1] LBB Start sense 209
[r1] percepts: [pos(r1,0,4), pos(r2,3,3)]
[r1] Added event +pos(r1,0,4)[source(percept)], events = [+pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)]]
[r1] Start sense 209
[r1] LB-cycle time (ns): 696408
[r2] LBB Start sense 110
[r1] LBB Start sense 210
[r2] Start sense 110
[r1] Start sense 210
[r2] LB-cycle time (ns): 542235
[r1] LB-cycle time (ns): 718765
[r1] LBB Start sense 211
[r1] Start sense 211
[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 candidate belief for garbage(r1) with {}
[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 5: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1030650
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 111
[r2] percepts: [pos(r1,1,4), pos(r2,3,3)]
[r2] Added event +pos(r1,1,4)[source(percept)], events = [+pos(r1,1,4)[source(percept)]]
[r2] Start sense 111
[r2] Selected event +pos(r1,1,4)[source(percept)]
[r2] LB-cycle time (ns): 876848
[r1] LBB Start sense 212
[r1] percepts: [pos(r1,1,4), pos(r2,3,3)]
[r1] Added event +pos(r1,1,4)[source(percept)], events = [+pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)]]
[r1] Start sense 212
[r1] LB-cycle time (ns): 662721
[r2] LBB Start sense 112
[r1] LBB Start sense 213
[r2] Start sense 112
[r1] Start sense 213
[r2] LB-cycle time (ns): 402915
[r1] LB-cycle time (ns): 635702
[r1] LBB Start sense 214
[r1] Start sense 214
[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 candidate belief for garbage(r1) with {}
[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 5: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 886891
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r2] LBB Start sense 113
[r2] percepts: [pos(r1,2,4), pos(r2,3,3)]
[r2] Added event +pos(r1,2,4)[source(percept)], events = [+pos(r1,2,4)[source(percept)]]
[r2] Start sense 113
[r2] Selected event +pos(r1,2,4)[source(percept)]
[r2] LB-cycle time (ns): 870564
[r1] LBB Start sense 215
[r1] percepts: [pos(r1,2,4), pos(r2,3,3)]
[r1] Added event +pos(r1,2,4)[source(percept)], events = [+pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)]]
[r1] Start sense 215
[r1] LB-cycle time (ns): 733099
[r1] LBB Start sense 216
[r2] LBB Start sense 114
[r1] Start sense 216
[r2] Start sense 114
[r2] LB-cycle time (ns): 485727
[r1] LB-cycle time (ns): 535212
[r1] LBB Start sense 217
[r1] Start sense 217
[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 candidate belief for garbage(r1) with {}
[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 5: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 999475
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] LBB Start sense 218
[r1] percepts: [pos(r1,3,4), pos(r2,3,3)]
[r1] Added event +pos(r1,3,4)[source(percept)], events = [+pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)]]
[r1] Start sense 218
[r1] LB-cycle time (ns): 830144
[r2] LBB Start sense 115
[r2] percepts: [pos(r1,3,4), pos(r2,3,3)]
[r2] Added event +pos(r1,3,4)[source(percept)], events = [+pos(r1,3,4)[source(percept)]]
[r2] Start sense 115
[r2] Selected event +pos(r1,3,4)[source(percept)]
[r2] LB-cycle time (ns): 874058
[r1] LBB Start sense 219
[r1] Start sense 219
[r2] LBB Start sense 116
[r1] LB-cycle time (ns): 288917
[r2] Start sense 116
[r1] LBB Start sense 220
[r2] LB-cycle time (ns): 339914
[r1] Start sense 220
[r1] LB-cycle time (ns): 384798
[r1] LBB Start sense 221
[r1] Start sense 221
[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 candidate belief for garbage(r1) with {}
[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 5: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 931417
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] LBB Start sense 222
[r1] percepts: [pos(r1,4,4), pos(r2,3,3)]
[r1] Added event +pos(r1,4,4)[source(percept)], events = [+pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)]]
[r1] Start sense 222
[r1] LB-cycle time (ns): 808996
[r2] LBB Start sense 117
[r2] percepts: [pos(r1,4,4), pos(r2,3,3)]
[r2] Added event +pos(r1,4,4)[source(percept)], events = [+pos(r1,4,4)[source(percept)]]
[r2] Start sense 117
[r2] Selected event +pos(r1,4,4)[source(percept)]
[r2] LB-cycle time (ns): 777491
[r2] LBB Start sense 118
[r1] LBB Start sense 223
[r2] Start sense 118
[r1] Start sense 223
[r2] LB-cycle time (ns): 443630
[r1] LB-cycle time (ns): 604038
[r1] LBB Start sense 224
[r1] Start sense 224
[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 candidate belief for garbage(r1) with {}
[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 5: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 971532
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 119
[r2] percepts: [pos(r1,5,4), pos(r2,3,3)]
[r2] Added event +pos(r1,5,4)[source(percept)], events = [+pos(r1,5,4)[source(percept)]]
[r2] Start sense 119
[r2] Selected event +pos(r1,5,4)[source(percept)]
[r2] LB-cycle time (ns): 831989
[r1] LBB Start sense 225
[r1] percepts: [pos(r1,5,4), pos(r2,3,3)]
[r1] Added event +pos(r1,5,4)[source(percept)], events = [+pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)]]
[r1] Start sense 225
[r1] LB-cycle time (ns): 720161
[r1] LBB Start sense 226
[r2] LBB Start sense 120
[r1] Start sense 226
[r2] Start sense 120
[r2] LB-cycle time (ns): 497062
[r1] LB-cycle time (ns): 508984
[r1] LBB Start sense 227
[r1] Start sense 227
[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 candidate belief for garbage(r1) with {}
[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 5: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 2514884
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r2] LBB Start sense 121
[r2] percepts: [pos(r1,6,4), pos(r2,3,3)]
[r2] Added event +pos(r1,6,4)[source(percept)], events = [+pos(r1,6,4)[source(percept)]]
[r2] Start sense 121
[r2] Selected event +pos(r1,6,4)[source(percept)]
[r2] LB-cycle time (ns): 925025
[r1] LBB Start sense 228
[r1] percepts: [pos(r1,6,4), pos(r2,3,3)]
[r1] Added event +pos(r1,6,4)[source(percept)], events = [+pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)]]
[r1] Start sense 228
[r1] LB-cycle time (ns): 762267
[r2] LBB Start sense 122
[r1] LBB Start sense 229
[r2] Start sense 122
[r1] Start sense 229
[r2] LB-cycle time (ns): 515503
[r1] LB-cycle time (ns): 736409
[r1] LBB Start sense 230
[r1] Start sense 230
[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 candidate belief for garbage(r1) with {}
[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 5: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1178005
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 123
[r2] percepts: [pos(r1,0,5), pos(r2,3,3), garbage(r1)]
[r2] Added event +pos(r1,0,5)[source(percept)], events = [+pos(r1,0,5)[source(percept)]]
[r2] Added event +garbage(r1)[source(percept)], events = [+pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)]]
[r2] Start sense 123
[r2] Selected event +pos(r1,0,5)[source(percept)]
[r2] Selected event +garbage(r1)[source(percept)]
[r2] LB-cycle time (ns): 1298015
[r1] LBB Start sense 231
[r1] percepts: [pos(r1,0,5), pos(r2,3,3), garbage(r1)]
[r1] Added event +pos(r1,0,5)[source(percept)], events = [+pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)]]
[r1] Added event +garbage(r1)[source(percept)], events = [+pos(r1,4,2)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,0)[source(percept)], +pos(r1,0,1)[source(percept)], +pos(r1,1,1)[source(percept)], +pos(r1,2,1)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,4,1)[source(percept)], +pos(r1,5,1)[source(percept)], +pos(r1,6,1)[source(percept)], +pos(r1,0,2)[source(percept)], +pos(r1,1,2)[source(percept)], +garbage(r1)[source(percept)], -pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)]]
[r1] Start sense 231
[r1] LB-cycle time (ns): 1182196
[r1] LBB Start sense 232
[r2] LBB Start sense 124
[r1] Start sense 232
[r2] Start sense 124
[r2] LB-cycle time (ns): 443872
[r1] LB-cycle time (ns): 508476
[r1] LBB Start sense 233
[r1] Start sense 233
[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: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_46=0, _45=6, R=r2, X=1, Y=2, _44=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={_46=0, _45=6, R=r2, X=1, Y=2, _44=last}
[r1] Returning from IM lg[atomic,source(self),url("file:r1.asl")], te=+garbage(r1)[source(percept)] unif={}
[r1] LB-cycle time (ns): 1374889
[r1] LBB Start sense 234
[r1] Start sense 234
[r1] Selected event +pos(r1,4,2)[source(percept)]
[r1] Selected event +pos(r1,5,1)[source(percept)]
[r1] Selected event +pos(r1,6,0)[source(percept)]
[r1] Selected event +pos(r1,0,1)[source(percept)]
[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 +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 +pos(r1,0,2)[source(percept)]
[r1] Selected event +pos(r1,1,2)[source(percept)]
[r1] Selected event +garbage(r1)[source(percept)]
[r1] LB-cycle time (ns): 1919900
[r1] LBB Start sense 235
[r1] Start sense 235
[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(r1,0,5)[source(percept)] is an option -- {X=0, Y=5, R=r2}
[r1] LB-cycle time (ns): 686923
[r1] LBB Start sense 236
[r1] Start sense 236
[r1]      | for pos(_47,_48,_49)[source(self)], belief annotation pos(r1,0,5)[source(percept)] is NOT an option -- {X=0, Y=5, R=r2, _48=0, _47=r1, _49=5}
[r1]      | for pos(_47,_48,_49)[source(self)], belief annotation pos(last,1,2)[source(self)] is an option -- {X=0, Y=5, R=r2, _48=1, _47=last, _49=2}
[r1] Doing (del) brf for pos(_47,_48,_49)[source(self)] in BB=true
[r1] Removed:pos(last,1,2)[source(self)]
[r1] Added event -pos(last,1,2)[source(self)], events = [-pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)]]
[r1] Doing (add) brf for pos(last,0,5)[source(self)]
[r1] brf added pos(last,0,5)[source(self)]
[r1] Added event +pos(last,0,5)[source(self)]
intention 6: 
    +!carry_to(r2)[source(self)] <- ... -+pos(last,X,Y); !take(garb,R); !at(last); !check(slots) / {R=r2, _48=1, _47=last, _49=2, X=0, Y=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}
, events = [-pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)]]
[r1] LB-cycle time (ns): 1638161
[r1] LBB Start sense 237
[r1] Start sense 237
[r1] LB-cycle time (ns): 187089
[r1] LBB Start sense 238
[r1] Start sense 238
[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) / {R=r2, _48=1, _47=last, _49=2, X=0, Y=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 542237
[r1] LBB Start sense 239
[r1] Start sense 239
[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) / {R=r2, _48=1, _47=last, _49=2, X=0, Y=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 2634982
[MarsEnv] r1 doing: pick(garb)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 211
[r2] LBB Start sense 125
[r2] percepts: [pos(r1,0,5), pos(r2,3,3)]
[r2] Start sense 125
[r2] LB-cycle time (ns): 667853
[r1] LBB Start sense 240
[r1] percepts: [pos(r1,0,5), pos(r2,3,3)]
[r1] Start sense 240
[r1] LB-cycle time (ns): 389972
[r2] LBB Start sense 126
[r1] LBB Start sense 241
[r2] Start sense 126
[r1] Start sense 241
[r2] LB-cycle time (ns): 458791
[r1] LB-cycle time (ns): 669371
[r1] LBB Start sense 242
[r1] Start sense 242
[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) / {R=r2, _48=1, _47=last, _49=2, X=0, Y=5}
    +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] LB-cycle time (ns): 1098339
[r1] LBB Start sense 243
[r1] Start sense 243
[r1] LB-cycle time (ns): 149841
[r1] LBB Start sense 244
[r1] Start sense 244
[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 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) / {R=r2, _48=1, _47=last, _49=2, X=0, Y=5}
    +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] LB-cycle time (ns): 1317238
[r1] LBB Start sense 245
[r1] Start sense 245
[r1] LB-cycle time (ns): 171548
[MarsEnv] r1 doing: move_towards(3,3)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r2] LBB Start sense 127
[r2] percepts: [pos(r1,1,4), pos(r2,3,3)]
[r2] Added event +pos(r1,1,4)[source(percept)], events = [+pos(r1,1,4)[source(percept)]]
[r2] Start sense 127
[r2] Selected event +pos(r1,1,4)[source(percept)]
[r2] LB-cycle time (ns): 916024
[r1] LBB Start sense 246
[r1] percepts: [pos(r1,1,4), pos(r2,3,3)]
[r1] Added event +pos(r1,1,4)[source(percept)], events = [-pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)]]
[r1] Start sense 246
[r1] LB-cycle time (ns): 676557
[r2] LBB Start sense 128
[r1] LBB Start sense 247
[r2] Start sense 128
[r1] Start sense 247
[r2] LB-cycle time (ns): 441199
[r1] LB-cycle time (ns): 568619
[r1] LBB Start sense 248
[r1] Start sense 248
[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 6: 
    +!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, _48=1, _47=last, _49=2, X=0, Y=5}
    +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] LB-cycle time (ns): 1562786
[r1] LBB Start sense 249
[r1] Start sense 249
[r1] LB-cycle time (ns): 182949
[MarsEnv] r1 doing: move_towards(3,3)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r2] LBB Start sense 129
[r2] percepts: [pos(r1,2,3), pos(r2,3,3)]
[r2] Added event +pos(r1,2,3)[source(percept)], events = [+pos(r1,2,3)[source(percept)]]
[r2] Start sense 129
[r2] Selected event +pos(r1,2,3)[source(percept)]
[r2] LB-cycle time (ns): 888174
[r1] LBB Start sense 250
[r1] percepts: [pos(r1,2,3), pos(r2,3,3)]
[r1] Added event +pos(r1,2,3)[source(percept)], events = [-pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)]]
[r1] Start sense 250
[r1] LB-cycle time (ns): 866615
[r2] LBB Start sense 130
[r1] LBB Start sense 251
[r2] Start sense 130
[r1] Start sense 251
[r2] LB-cycle time (ns): 374481
[r1] LB-cycle time (ns): 505333
[r1] LBB Start sense 252
[r1] Start sense 252
[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 6: 
    +!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, _48=1, _47=last, _49=2, X=0, Y=5}
    +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] LB-cycle time (ns): 3107073
[r1] LBB Start sense 253
[r1] Start sense 253
[r1] LB-cycle time (ns): 164195
[MarsEnv] r1 doing: move_towards(3,3)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r2] LBB Start sense 131
[r2] percepts: [pos(r1,3,3), pos(r2,3,3)]
[r2] Added event +pos(r1,3,3)[source(percept)], events = [+pos(r1,3,3)[source(percept)]]
[r2] Start sense 131
[r2] Selected event +pos(r1,3,3)[source(percept)]
[r2] LB-cycle time (ns): 914756
[r1] LBB Start sense 254
[r1] percepts: [pos(r1,3,3), pos(r2,3,3)]
[r1] Added event +pos(r1,3,3)[source(percept)], events = [-pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)]]
[r1] Start sense 254
[r1] LB-cycle time (ns): 714147
[r2] LBB Start sense 132
[r1] LBB Start sense 255
[r2] Start sense 132
[r1] Start sense 255
[r2] LB-cycle time (ns): 481843
[r1] LB-cycle time (ns): 635707
[r1] LBB Start sense 256
[r1] Start sense 256
[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: 
    +!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, _48=1, _47=last, _49=2, X=0, Y=5}
    +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] LB-cycle time (ns): 1425181
[r1] LBB Start sense 257
[r1] Start sense 257
[r1] LB-cycle time (ns): 213394
[MarsEnv] r1 doing: drop(garb)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 133
[r2] percepts: [pos(r1,3,3), pos(r2,3,3), garbage(r1), garbage(r2)]
[r2] Added event +garbage(r2)[source(percept)], events = [+garbage(r2)[source(percept)]]
[r2] Added event +garbage(r1)[source(percept)], events = [+garbage(r2)[source(percept)], +garbage(r1)[source(percept)]]
[r2] Start sense 133
[r2] Selected event +garbage(r2)[source(percept)]
[r2] Selected intention intention 7: 
    +garbage(r2)[source(percept)] <- ... burn(garb) / {}

[r2] LB-cycle time (ns): 1603183
[r2] LBB Start sense 134
[MarsEnv] r2 doing: burn(garb)
[r2] Start sense 134
[r1] LBB Start sense 258
[r2] Selected event +garbage(r1)[source(percept)]
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 151
[r2] LB-cycle time (ns): 525653
[r1] percepts: [pos(r1,3,3), pos(r2,3,3), garbage(r1), garbage(r2)]
[r1] Added event +garbage(r2)[source(percept)], events = [-pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r2)[source(percept)]]
[r1] Added event +garbage(r1)[source(percept)], events = [-pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)]]
[r1] Start sense 258
[r1] percepts: [pos(r1,3,3), pos(r2,3,3)]
[r1] LB-cycle time (ns): 1204700
[r2] LBB Start sense 135
[r1] LBB Start sense 259
[r2] percepts: [pos(r1,3,3), pos(r2,3,3)]
[r1] Start sense 259
[r2] Start sense 135
[r1] Returning from IM p__4[source(self),url("file:r1.asl")], te=+!take(garb,r2)[source(self)] unif={S=garb, L=r2}
[r2] LB-cycle time (ns): 605143
[r1] LB-cycle time (ns): 695568
[r1] LBB Start sense 260
[r1] Start sense 260
[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,0,5)[source(self)] is an option -- {P=last, X=0, Y=5}
[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 6: 
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {R=r2, _48=1, _47=last, _49=2, X=0, Y=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(last,0,5)[source(self)] is an option -- {L=last, X=0, Y=5}
[r1] LB-cycle time (ns): 1320012
[r1] LBB Start sense 261
[r1] Start sense 261
[r1] LB-cycle time (ns): 156575
[MarsEnv] r1 doing: move_towards(0,5)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 53
[r2] LBB Start sense 136
[r1] LBB Start sense 262
[r2] percepts: [pos(r1,2,4), pos(r2,3,3)]
[r1] percepts: [pos(r1,2,4), pos(r2,3,3)]
[r2] Added event +pos(r1,2,4)[source(percept)], events = [+pos(r1,2,4)[source(percept)]]
[r2] Start sense 136
[r1] Added event +pos(r1,2,4)[source(percept)], events = [-pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,4)[source(percept)]]
[r2] Selected event +pos(r1,2,4)[source(percept)]
[r1] Start sense 262
[r1] LB-cycle time (ns): 1251480
[r2] Returning from IM p__9[source(self),url("file:r2.asl")], te=+garbage(r2)[source(percept)] unif={}
[r2] LB-cycle time (ns): 1457660
[r2] LBB Start sense 137
[r1] LBB Start sense 263
[r2] Start sense 137
[r1] Start sense 263
[r2] LB-cycle time (ns): 403451
[r1] LB-cycle time (ns): 547973
[r1] LBB Start sense 264
[r1] Start sense 264
[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,0,5)[source(self)] is an option -- {P=last, X=0, Y=5}
[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 6: 
    +!at(last)[source(self)] <- ... !at(L) / {X=0, Y=5, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {R=r2, _48=1, _47=last, _49=2, X=0, Y=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(last,0,5)[source(self)] is an option -- {L=last, X=0, Y=5}
[r1] LB-cycle time (ns): 3304026
[r1] LBB Start sense 265
[r1] Start sense 265
[r1] LB-cycle time (ns): 170292
[MarsEnv] r1 doing: move_towards(0,5)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 206
[r2] LBB Start sense 138
[r2] percepts: [pos(r1,1,5), pos(r2,3,3)]
[r2] Added event +pos(r1,1,5)[source(percept)], events = [+pos(r1,1,5)[source(percept)]]
[r2] Start sense 138
[r2] Selected event +pos(r1,1,5)[source(percept)]
[r2] LB-cycle time (ns): 1084502
[r1] LBB Start sense 266
[r1] percepts: [pos(r1,1,5), pos(r2,3,3)]
[r1] Added event +pos(r1,1,5)[source(percept)], events = [-pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,1,5)[source(percept)]]
[r1] Start sense 266
[r1] LB-cycle time (ns): 770682
[r2] LBB Start sense 139
[r1] LBB Start sense 267
[r2] Start sense 139
[r1] Start sense 267
[r2] LB-cycle time (ns): 427111
[r1] LB-cycle time (ns): 578501
[r1] LBB Start sense 268
[r1] Start sense 268
[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,0,5)[source(self)] is an option -- {P=last, X=0, Y=5}
[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 6: 
    +!at(last)[source(self)] <- ... !at(L) / {X=0, Y=5, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {R=r2, _48=1, _47=last, _49=2, X=0, Y=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(last,0,5)[source(self)] is an option -- {L=last, X=0, Y=5}
[r1] LB-cycle time (ns): 1591160
[r1] LBB Start sense 269
[r1] Start sense 269
[r1] LB-cycle time (ns): 167097
[MarsEnv] r1 doing: move_towards(0,5)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 140
[r2] percepts: [pos(r1,0,5), pos(r2,3,3)]
[r2] Added event +pos(r1,0,5)[source(percept)], events = [+pos(r1,0,5)[source(percept)]]
[r2] Start sense 140
[r2] Selected event +pos(r1,0,5)[source(percept)]
[r2] LB-cycle time (ns): 833061
[r1] LBB Start sense 270
[r1] percepts: [pos(r1,0,5), pos(r2,3,3)]
[r1] Added event +pos(r1,0,5)[source(percept)], events = [-pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,0,5)[source(percept)]]
[r1] Start sense 270
[r1] LB-cycle time (ns): 691355
[r2] LBB Start sense 141
[r1] LBB Start sense 271
[r2] Start sense 141
[r1] Start sense 271
[r2] LB-cycle time (ns): 445044
[r1] LB-cycle time (ns): 595026
[r1] LBB Start sense 272
[r1] Start sense 272
[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,0,5)[source(self)] is an option -- {P=last, X=0, Y=5}
[r1]      | for pos(r1,X,Y), belief pos(r1,0,5)[source(percept)] is an option -- {P=last, X=0, Y=5}
[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: 
    +!at(last)[source(self)] <- ... !at(L) / {X=0, Y=5, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {R=r2, _48=1, _47=last, _49=2, X=0, Y=5}
    +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] LB-cycle time (ns): 1388894
[r1] LBB Start sense 273
[r1] Start sense 273
[r1] LB-cycle time (ns): 134088
[r1] LBB Start sense 274
[r1] Start sense 274
[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 candidate belief for garbage(r1) with {}
[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 6: 
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, _48=1, _47=last, _49=2, X=0, Y=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 769689
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r2] LBB Start sense 142
[r2] percepts: [pos(r1,1,5), pos(r2,3,3)]
[r2] Added event +pos(r1,1,5)[source(percept)], events = [+pos(r1,1,5)[source(percept)]]
[r2] Start sense 142
[r2] Selected event +pos(r1,1,5)[source(percept)]
[r2] LB-cycle time (ns): 812641
[r1] LBB Start sense 275
[r1] percepts: [pos(r1,1,5), pos(r2,3,3)]
[r1] Added event +pos(r1,1,5)[source(percept)], events = [-pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,0,5)[source(percept)], +pos(r1,1,5)[source(percept)]]
[r1] Start sense 275
[r1] LB-cycle time (ns): 664122
[r2] LBB Start sense 143
[r1] LBB Start sense 276
[r2] Start sense 143
[r1] Start sense 276
[r2] LB-cycle time (ns): 436577
[r1] LB-cycle time (ns): 559688
[r1] LBB Start sense 277
[r1] Start sense 277
[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 candidate belief for garbage(r1) with {}
[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 6: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, _48=1, _47=last, _49=2, X=0, Y=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 2615920
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r2] LBB Start sense 144
[r2] percepts: [pos(r1,2,5), pos(r2,3,3)]
[r2] Added event +pos(r1,2,5)[source(percept)], events = [+pos(r1,2,5)[source(percept)]]
[r2] Start sense 144
[r2] Selected event +pos(r1,2,5)[source(percept)]
[r2] LB-cycle time (ns): 772833
[r1] LBB Start sense 278
[r1] percepts: [pos(r1,2,5), pos(r2,3,3)]
[r1] Added event +pos(r1,2,5)[source(percept)], events = [-pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,0,5)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,2,5)[source(percept)]]
[r1] Start sense 278
[r1] LB-cycle time (ns): 684021
[r2] LBB Start sense 145
[r1] LBB Start sense 279
[r2] Start sense 145
[r1] Start sense 279
[r2] LB-cycle time (ns): 449542
[r1] LB-cycle time (ns): 595114
[r1] LBB Start sense 280
[r1] Start sense 280
[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 candidate belief for garbage(r1) with {}
[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 6: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, _48=1, _47=last, _49=2, X=0, Y=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 908554
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 146
[r2] percepts: [pos(r1,3,5), pos(r2,3,3)]
[r1] LBB Start sense 281
[r2] Added event +pos(r1,3,5)[source(percept)], events = [+pos(r1,3,5)[source(percept)]]
[r1] percepts: [pos(r1,3,5), pos(r2,3,3)]
[r2] Start sense 146
[r2] Selected event +pos(r1,3,5)[source(percept)]
[r2] LB-cycle time (ns): 1299808
[r1] Added event +pos(r1,3,5)[source(percept)], events = [-pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,0,5)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,2,5)[source(percept)], +pos(r1,3,5)[source(percept)]]
[r1] Start sense 281
[r1] LB-cycle time (ns): 851329
[r1] LBB Start sense 282
[r2] LBB Start sense 147
[r1] Start sense 282
[r2] Start sense 147
[r2] LB-cycle time (ns): 428375
[r1] LB-cycle time (ns): 439702
[r1] LBB Start sense 283
[r1] Start sense 283
[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 candidate belief for garbage(r1) with {}
[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 6: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, _48=1, _47=last, _49=2, X=0, Y=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 936336
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 148
[r2] percepts: [pos(r1,4,5), pos(r2,3,3)]
[r2] Added event +pos(r1,4,5)[source(percept)], events = [+pos(r1,4,5)[source(percept)]]
[r2] Start sense 148
[r2] Selected event +pos(r1,4,5)[source(percept)]
[r2] LB-cycle time (ns): 853137
[r1] LBB Start sense 284
[r1] percepts: [pos(r1,4,5), pos(r2,3,3)]
[r1] Added event +pos(r1,4,5)[source(percept)], events = [-pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,0,5)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,2,5)[source(percept)], +pos(r1,3,5)[source(percept)], +pos(r1,4,5)[source(percept)]]
[r1] Start sense 284
[r1] LB-cycle time (ns): 594229
[r1] LBB Start sense 285
[r2] LBB Start sense 149
[r1] Start sense 285
[r2] Start sense 149
[r2] LB-cycle time (ns): 454403
[r1] LB-cycle time (ns): 475392
[r1] LBB Start sense 286
[r1] Start sense 286
[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 candidate belief for garbage(r1) with {}
[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 6: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, _48=1, _47=last, _49=2, X=0, Y=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 948242
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 150
[r2] percepts: [pos(r1,5,5), pos(r2,3,3)]
[r2] Added event +pos(r1,5,5)[source(percept)], events = [+pos(r1,5,5)[source(percept)]]
[r2] Start sense 150
[r2] Selected event +pos(r1,5,5)[source(percept)]
[r2] LB-cycle time (ns): 802682
[r1] LBB Start sense 287
[r1] percepts: [pos(r1,5,5), pos(r2,3,3)]
[r1] Added event +pos(r1,5,5)[source(percept)], events = [-pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,0,5)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,2,5)[source(percept)], +pos(r1,3,5)[source(percept)], +pos(r1,4,5)[source(percept)], +pos(r1,5,5)[source(percept)]]
[r1] Start sense 287
[r1] LB-cycle time (ns): 606555
[r2] LBB Start sense 151
[r1] LBB Start sense 288
[r2] Start sense 151
[r1] Start sense 288
[r2] LB-cycle time (ns): 374859
[r1] LB-cycle time (ns): 565454
[r1] LBB Start sense 289
[r1] Start sense 289
[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 candidate belief for garbage(r1) with {}
[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 6: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, _48=1, _47=last, _49=2, X=0, Y=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 2584936
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] LBB Start sense 290
[r1] percepts: [pos(r1,6,5), pos(r2,3,3)]
[r1] Added event +pos(r1,6,5)[source(percept)], events = [-pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,0,5)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,2,5)[source(percept)], +pos(r1,3,5)[source(percept)], +pos(r1,4,5)[source(percept)], +pos(r1,5,5)[source(percept)], +pos(r1,6,5)[source(percept)]]
[r1] Start sense 290
[r1] LB-cycle time (ns): 755212
[r2] LBB Start sense 152
[r2] percepts: [pos(r1,6,5), pos(r2,3,3)]
[r2] Added event +pos(r1,6,5)[source(percept)], events = [+pos(r1,6,5)[source(percept)]]
[r2] Start sense 152
[r2] Selected event +pos(r1,6,5)[source(percept)]
[r2] LB-cycle time (ns): 849531
[r2] LBB Start sense 153
[r1] LBB Start sense 291
[r2] Start sense 153
[r1] Start sense 291
[r2] LB-cycle time (ns): 454957
[r1] LB-cycle time (ns): 625625
[r1] LBB Start sense 292
[r1] Start sense 292
[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 candidate belief for garbage(r1) with {}
[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 6: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, _48=1, _47=last, _49=2, X=0, Y=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1010292
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] LBB Start sense 293
[r1] percepts: [pos(r1,0,6), pos(r2,3,3)]
[r1] Added event +pos(r1,0,6)[source(percept)], events = [-pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,0,5)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,2,5)[source(percept)], +pos(r1,3,5)[source(percept)], +pos(r1,4,5)[source(percept)], +pos(r1,5,5)[source(percept)], +pos(r1,6,5)[source(percept)], +pos(r1,0,6)[source(percept)]]
[r1] Start sense 293
[r1] LB-cycle time (ns): 803558
[r2] LBB Start sense 154
[r2] percepts: [pos(r1,0,6), pos(r2,3,3)]
[r2] Added event +pos(r1,0,6)[source(percept)], events = [+pos(r1,0,6)[source(percept)]]
[r2] Start sense 154
[r2] Selected event +pos(r1,0,6)[source(percept)]
[r2] LB-cycle time (ns): 893852
[r1] LBB Start sense 294
[r1] Start sense 294
[r2] LBB Start sense 155
[r1] LB-cycle time (ns): 364962
[r2] Start sense 155
[r1] LBB Start sense 295
[r2] LB-cycle time (ns): 365282
[r1] Start sense 295
[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 candidate belief for garbage(r1) with {}
[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 6: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, _48=1, _47=last, _49=2, X=0, Y=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1041854
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 296
[r1] percepts: [pos(r1,1,6), pos(r2,3,3)]
[r1] Added event +pos(r1,1,6)[source(percept)], events = [-pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,0,5)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,2,5)[source(percept)], +pos(r1,3,5)[source(percept)], +pos(r1,4,5)[source(percept)], +pos(r1,5,5)[source(percept)], +pos(r1,6,5)[source(percept)], +pos(r1,0,6)[source(percept)], +pos(r1,1,6)[source(percept)]]
[r1] Start sense 296
[r1] LB-cycle time (ns): 933919
[r2] LBB Start sense 156
[r2] percepts: [pos(r1,1,6), pos(r2,3,3)]
[r2] Added event +pos(r1,1,6)[source(percept)], events = [+pos(r1,1,6)[source(percept)]]
[r2] Start sense 156
[r2] Selected event +pos(r1,1,6)[source(percept)]
[r2] LB-cycle time (ns): 831890
[r2] LBB Start sense 157
[r1] LBB Start sense 297
[r2] Start sense 157
[r1] Start sense 297
[r2] LB-cycle time (ns): 489562
[r1] LB-cycle time (ns): 647835
[r1] LBB Start sense 298
[r1] Start sense 298
[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 candidate belief for garbage(r1) with {}
[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 6: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, _48=1, _47=last, _49=2, X=0, Y=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1017489
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 158
[r2] percepts: [pos(r1,2,6), pos(r2,3,3)]
[r2] Added event +pos(r1,2,6)[source(percept)], events = [+pos(r1,2,6)[source(percept)]]
[r2] Start sense 158
[r2] Selected event +pos(r1,2,6)[source(percept)]
[r2] LB-cycle time (ns): 1020160
[r1] LBB Start sense 299
[r1] percepts: [pos(r1,2,6), pos(r2,3,3)]
[r1] Added event +pos(r1,2,6)[source(percept)], events = [-pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,0,5)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,2,5)[source(percept)], +pos(r1,3,5)[source(percept)], +pos(r1,4,5)[source(percept)], +pos(r1,5,5)[source(percept)], +pos(r1,6,5)[source(percept)], +pos(r1,0,6)[source(percept)], +pos(r1,1,6)[source(percept)], +pos(r1,2,6)[source(percept)]]
[r1] Start sense 299
[r1] LB-cycle time (ns): 768555
[r2] LBB Start sense 159
[r1] LBB Start sense 300
[r2] Start sense 159
[r1] Start sense 300
[r2] LB-cycle time (ns): 391799
[r1] LB-cycle time (ns): 536897
[r1] LBB Start sense 301
[r1] Start sense 301
[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 candidate belief for garbage(r1) with {}
[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 6: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, _48=1, _47=last, _49=2, X=0, Y=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 2595376
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r2] LBB Start sense 160
[r2] percepts: [pos(r1,3,6), pos(r2,3,3)]
[r2] Added event +pos(r1,3,6)[source(percept)], events = [+pos(r1,3,6)[source(percept)]]
[r2] Start sense 160
[r2] Selected event +pos(r1,3,6)[source(percept)]
[r2] LB-cycle time (ns): 833252
[r1] LBB Start sense 302
[r1] percepts: [pos(r1,3,6), pos(r2,3,3)]
[r1] Added event +pos(r1,3,6)[source(percept)], events = [-pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,0,5)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,2,5)[source(percept)], +pos(r1,3,5)[source(percept)], +pos(r1,4,5)[source(percept)], +pos(r1,5,5)[source(percept)], +pos(r1,6,5)[source(percept)], +pos(r1,0,6)[source(percept)], +pos(r1,1,6)[source(percept)], +pos(r1,2,6)[source(percept)], +pos(r1,3,6)[source(percept)]]
[r1] Start sense 302
[r1] LB-cycle time (ns): 727223
[r2] LBB Start sense 161
[r1] LBB Start sense 303
[r2] Start sense 161
[r1] Start sense 303
[r2] LB-cycle time (ns): 472101
[r1] LB-cycle time (ns): 625646
[r1] LBB Start sense 304
[r1] Start sense 304
[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 candidate belief for garbage(r1) with {}
[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 6: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, _48=1, _47=last, _49=2, X=0, Y=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 968653
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 162
[r2] percepts: [pos(r1,4,6), pos(r2,3,3)]
[r2] Added event +pos(r1,4,6)[source(percept)], events = [+pos(r1,4,6)[source(percept)]]
[r2] Start sense 162
[r2] Selected event +pos(r1,4,6)[source(percept)]
[r2] LB-cycle time (ns): 904242
[r1] LBB Start sense 305
[r1] percepts: [pos(r1,4,6), pos(r2,3,3)]
[r1] Added event +pos(r1,4,6)[source(percept)], events = [-pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,0,5)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,2,5)[source(percept)], +pos(r1,3,5)[source(percept)], +pos(r1,4,5)[source(percept)], +pos(r1,5,5)[source(percept)], +pos(r1,6,5)[source(percept)], +pos(r1,0,6)[source(percept)], +pos(r1,1,6)[source(percept)], +pos(r1,2,6)[source(percept)], +pos(r1,3,6)[source(percept)], +pos(r1,4,6)[source(percept)]]
[r1] Start sense 305
[r1] LB-cycle time (ns): 770752
[r2] LBB Start sense 163
[r1] LBB Start sense 306
[r2] Start sense 163
[r1] Start sense 306
[r2] LB-cycle time (ns): 372308
[r1] LB-cycle time (ns): 513289
[r1] LBB Start sense 307
[r1] Start sense 307
[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 candidate belief for garbage(r1) with {}
[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 6: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, _48=1, _47=last, _49=2, X=0, Y=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1061532
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 164
[r2] percepts: [pos(r1,5,6), pos(r2,3,3)]
[r2] Added event +pos(r1,5,6)[source(percept)], events = [+pos(r1,5,6)[source(percept)]]
[r2] Start sense 164
[r2] Selected event +pos(r1,5,6)[source(percept)]
[r2] LB-cycle time (ns): 774257
[r1] LBB Start sense 308
[r1] percepts: [pos(r1,5,6), pos(r2,3,3)]
[r1] Added event +pos(r1,5,6)[source(percept)], events = [-pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,0,5)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,2,5)[source(percept)], +pos(r1,3,5)[source(percept)], +pos(r1,4,5)[source(percept)], +pos(r1,5,5)[source(percept)], +pos(r1,6,5)[source(percept)], +pos(r1,0,6)[source(percept)], +pos(r1,1,6)[source(percept)], +pos(r1,2,6)[source(percept)], +pos(r1,3,6)[source(percept)], +pos(r1,4,6)[source(percept)], +pos(r1,5,6)[source(percept)]]
[r1] Start sense 308
[r1] LB-cycle time (ns): 743274
[r2] LBB Start sense 165
[r1] LBB Start sense 309
[r2] Start sense 165
[r1] Start sense 309
[r2] LB-cycle time (ns): 362137
[r1] LB-cycle time (ns): 589380
[r1] LBB Start sense 310
[r1] Start sense 310
[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 candidate belief for garbage(r1) with {}
[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 6: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, _48=1, _47=last, _49=2, X=0, Y=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1062726
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 166
[r2] percepts: [pos(r1,6,6), pos(r2,3,3), garbage(r1)]
[r2] Added event +pos(r1,6,6)[source(percept)], events = [+pos(r1,6,6)[source(percept)]]
[r2] Added event +garbage(r1)[source(percept)], events = [+pos(r1,6,6)[source(percept)], +garbage(r1)[source(percept)]]
[r2] Start sense 166
[r2] Selected event +pos(r1,6,6)[source(percept)]
[r2] Selected event +garbage(r1)[source(percept)]
[r2] LB-cycle time (ns): 959909
[r1] LBB Start sense 311
[r1] percepts: [pos(r1,6,6), pos(r2,3,3), garbage(r1)]
[r1] Added event +pos(r1,6,6)[source(percept)], events = [-pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,0,5)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,2,5)[source(percept)], +pos(r1,3,5)[source(percept)], +pos(r1,4,5)[source(percept)], +pos(r1,5,5)[source(percept)], +pos(r1,6,5)[source(percept)], +pos(r1,0,6)[source(percept)], +pos(r1,1,6)[source(percept)], +pos(r1,2,6)[source(percept)], +pos(r1,3,6)[source(percept)], +pos(r1,4,6)[source(percept)], +pos(r1,5,6)[source(percept)], +pos(r1,6,6)[source(percept)]]
[r1] Added event +garbage(r1)[source(percept)], events = [-pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,0,5)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,2,5)[source(percept)], +pos(r1,3,5)[source(percept)], +pos(r1,4,5)[source(percept)], +pos(r1,5,5)[source(percept)], +pos(r1,6,5)[source(percept)], +pos(r1,0,6)[source(percept)], +pos(r1,1,6)[source(percept)], +pos(r1,2,6)[source(percept)], +pos(r1,3,6)[source(percept)], +pos(r1,4,6)[source(percept)], +pos(r1,5,6)[source(percept)], +pos(r1,6,6)[source(percept)], +garbage(r1)[source(percept)]]
[r1] Start sense 311
[r1] LB-cycle time (ns): 1082447
[r2] LBB Start sense 167
[r1] LBB Start sense 312
[r2] Start sense 167
[r1] Start sense 312
[r2] LB-cycle time (ns): 339649
[r1] LB-cycle time (ns): 480230
[r1] LBB Start sense 313
[r1] Start sense 313
[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: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, _48=1, _47=last, _49=2, X=0, Y=5}
    +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, _48=1, _47=last, _49=2, X=0, Y=5}
[r1] Returning from IM lg[atomic,source(self),url("file:r1.asl")], te=+garbage(r1)[source(percept)] unif={}
[r1] LB-cycle time (ns): 1185605
[r1] LBB Start sense 314
[r1] Start sense 314
[r1] Selected event -pos(last,6,0)[source(self)]
[r1] Selected event +pos(r1,2,3)[source(percept)]
[r1] Selected event +pos(r1,3,3)[source(percept)]
[r1] Selected event +garbage(r1)[source(percept)]
[r1] LB-cycle time (ns): 736782
[r1] LBB Start sense 315
[r1] Start sense 315
[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(r1,6,6)[source(percept)] is an option -- {X=6, Y=6, R=r2}
[r1] LB-cycle time (ns): 617215
[r1] LBB Start sense 316
[r1] Start sense 316
[r1]      | for pos(_50,_51,_52)[source(self)], belief annotation pos(r1,6,6)[source(percept)] is NOT an option -- {X=6, Y=6, R=r2, _51=6, _50=r1, _52=6}
[r1]      | for pos(_50,_51,_52)[source(self)], belief annotation pos(last,0,5)[source(self)] is an option -- {X=6, Y=6, R=r2, _51=0, _50=last, _52=5}
[r1] Doing (del) brf for pos(_50,_51,_52)[source(self)] in BB=true
[r1] Removed:pos(last,0,5)[source(self)]
[r1] Added event -pos(last,0,5)[source(self)], events = [+pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,0,5)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,2,5)[source(percept)], +pos(r1,3,5)[source(percept)], +pos(r1,4,5)[source(percept)], +pos(r1,5,5)[source(percept)], +pos(r1,6,5)[source(percept)], +pos(r1,0,6)[source(percept)], +pos(r1,1,6)[source(percept)], +pos(r1,2,6)[source(percept)], +pos(r1,3,6)[source(percept)], +pos(r1,4,6)[source(percept)], +pos(r1,5,6)[source(percept)], +pos(r1,6,6)[source(percept)], +garbage(r1)[source(percept)], -pos(last,0,5)[source(self)]]
[r1] Doing (add) brf for pos(last,6,6)[source(self)]
[r1] brf added pos(last,6,6)[source(self)]
[r1] Added event +pos(last,6,6)[source(self)]
intention 8: 
    +!carry_to(r2)[source(self)] <- ... -+pos(last,X,Y); !take(garb,R); !at(last); !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}
, events = [+pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,0,5)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,2,5)[source(percept)], +pos(r1,3,5)[source(percept)], +pos(r1,4,5)[source(percept)], +pos(r1,5,5)[source(percept)], +pos(r1,6,5)[source(percept)], +pos(r1,0,6)[source(percept)], +pos(r1,1,6)[source(percept)], +pos(r1,2,6)[source(percept)], +pos(r1,3,6)[source(percept)], +pos(r1,4,6)[source(percept)], +pos(r1,5,6)[source(percept)], +pos(r1,6,6)[source(percept)], +garbage(r1)[source(percept)], -pos(last,0,5)[source(self)]]
[r1] LB-cycle time (ns): 2045446
[r1] LBB Start sense 317
[r1] Start sense 317
[r1] LB-cycle time (ns): 158965
[r1] LBB Start sense 318
[r1] Start sense 318
[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, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 508866
[r1] LBB Start sense 319
[r1] Start sense 319
[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, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 728190
[MarsEnv] r1 doing: pick(garb)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 210
[r2] LBB Start sense 168
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 168
[r2] LB-cycle time (ns): 488846
[r1] LBB Start sense 320
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 320
[r1] LB-cycle time (ns): 398596
[r2] LBB Start sense 169
[r1] LBB Start sense 321
[r2] Start sense 169
[r1] Start sense 321
[r2] LB-cycle time (ns): 408513
[r1] LB-cycle time (ns): 540132
[r1] LBB Start sense 322
[r1] Start sense 322
[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, X=6, Y=6, _51=0, _50=last, _52=5}
    +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] LB-cycle time (ns): 936708
[r1] LBB Start sense 323
[r1] Start sense 323
[r1] LB-cycle time (ns): 129169
[r1] LBB Start sense 324
[r1] Start sense 324
[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 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, X=6, Y=6, _51=0, _50=last, _52=5}
    +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] LB-cycle time (ns): 1166094
[r1] LBB Start sense 325
[r1] Start sense 325
[r1] LB-cycle time (ns): 178066
[MarsEnv] r1 doing: move_towards(3,3)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r2] LBB Start sense 170
[r2] percepts: [pos(r1,5,5), pos(r2,3,3)]
[r2] Added event +pos(r1,5,5)[source(percept)], events = [+pos(r1,5,5)[source(percept)]]
[r2] Start sense 170
[r2] Selected event +pos(r1,5,5)[source(percept)]
[r2] LB-cycle time (ns): 823087
[r1] LBB Start sense 326
[r1] percepts: [pos(r1,5,5), pos(r2,3,3)]
[r1] Added event +pos(r1,5,5)[source(percept)], events = [+pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,0,5)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,2,5)[source(percept)], +pos(r1,3,5)[source(percept)], +pos(r1,4,5)[source(percept)], +pos(r1,5,5)[source(percept)], +pos(r1,6,5)[source(percept)], +pos(r1,0,6)[source(percept)], +pos(r1,1,6)[source(percept)], +pos(r1,2,6)[source(percept)], +pos(r1,3,6)[source(percept)], +pos(r1,4,6)[source(percept)], +pos(r1,5,6)[source(percept)], +pos(r1,6,6)[source(percept)], +garbage(r1)[source(percept)], -pos(last,0,5)[source(self)], +pos(r1,5,5)[source(percept)]]
[r1] Start sense 326
[r1] LB-cycle time (ns): 2352658
[r2] LBB Start sense 171
[r1] LBB Start sense 327
[r2] Start sense 171
[r1] Start sense 327
[r2] LB-cycle time (ns): 361336
[r1] LB-cycle time (ns): 475593
[r1] LBB Start sense 328
[r1] Start sense 328
[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 8: 
    +!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, X=6, Y=6, _51=0, _50=last, _52=5}
    +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] LB-cycle time (ns): 1360341
[r1] LBB Start sense 329
[r1] Start sense 329
[r1] LB-cycle time (ns): 190310
[MarsEnv] r1 doing: move_towards(3,3)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r2] LBB Start sense 172
[r2] percepts: [pos(r1,4,4), pos(r2,3,3)]
[r2] Added event +pos(r1,4,4)[source(percept)], events = [+pos(r1,4,4)[source(percept)]]
[r2] Start sense 172
[r2] Selected event +pos(r1,4,4)[source(percept)]
[r2] LB-cycle time (ns): 792158
[r1] LBB Start sense 330
[r1] percepts: [pos(r1,4,4), pos(r2,3,3)]
[r1] Added event +pos(r1,4,4)[source(percept)], events = [+pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,0,5)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,2,5)[source(percept)], +pos(r1,3,5)[source(percept)], +pos(r1,4,5)[source(percept)], +pos(r1,5,5)[source(percept)], +pos(r1,6,5)[source(percept)], +pos(r1,0,6)[source(percept)], +pos(r1,1,6)[source(percept)], +pos(r1,2,6)[source(percept)], +pos(r1,3,6)[source(percept)], +pos(r1,4,6)[source(percept)], +pos(r1,5,6)[source(percept)], +pos(r1,6,6)[source(percept)], +garbage(r1)[source(percept)], -pos(last,0,5)[source(self)], +pos(r1,5,5)[source(percept)], +pos(r1,4,4)[source(percept)]]
[r1] Start sense 330
[r1] LB-cycle time (ns): 646930
[r2] LBB Start sense 173
[r1] LBB Start sense 331
[r2] Start sense 173
[r1] Start sense 331
[r2] LB-cycle time (ns): 435143
[r1] LB-cycle time (ns): 597088
[r1] LBB Start sense 332
[r1] Start sense 332
[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 8: 
    +!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, X=6, Y=6, _51=0, _50=last, _52=5}
    +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] LB-cycle time (ns): 1509717
[r1] LBB Start sense 333
[r1] Start sense 333
[r1] LB-cycle time (ns): 192768
[MarsEnv] r1 doing: move_towards(3,3)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] LBB Start sense 334
[r1] percepts: [pos(r1,3,3), pos(r2,3,3)]
[r1] Added event +pos(r1,3,3)[source(percept)], events = [+pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,0,5)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,2,5)[source(percept)], +pos(r1,3,5)[source(percept)], +pos(r1,4,5)[source(percept)], +pos(r1,5,5)[source(percept)], +pos(r1,6,5)[source(percept)], +pos(r1,0,6)[source(percept)], +pos(r1,1,6)[source(percept)], +pos(r1,2,6)[source(percept)], +pos(r1,3,6)[source(percept)], +pos(r1,4,6)[source(percept)], +pos(r1,5,6)[source(percept)], +pos(r1,6,6)[source(percept)], +garbage(r1)[source(percept)], -pos(last,0,5)[source(self)], +pos(r1,5,5)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,3,3)[source(percept)]]
[r1] Start sense 334
[r1] LB-cycle time (ns): 776601
[r2] LBB Start sense 174
[r2] percepts: [pos(r1,3,3), pos(r2,3,3)]
[r2] Added event +pos(r1,3,3)[source(percept)], events = [+pos(r1,3,3)[source(percept)]]
[r2] Start sense 174
[r2] Selected event +pos(r1,3,3)[source(percept)]
[r2] LB-cycle time (ns): 780933
[r1] LBB Start sense 335
[r2] LBB Start sense 175
[r1] Start sense 335
[r2] Start sense 175
[r2] LB-cycle time (ns): 373090
[r1] LB-cycle time (ns): 474840
[r1] LBB Start sense 336
[r1] Start sense 336
[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: 
    +!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, X=6, Y=6, _51=0, _50=last, _52=5}
    +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] LB-cycle time (ns): 1418265
[r1] LBB Start sense 337
[r1] Start sense 337
[r1] LB-cycle time (ns): 172051
[MarsEnv] r1 doing: drop(garb)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r2] LBB Start sense 176
[r2] percepts: [pos(r1,3,3), pos(r2,3,3), garbage(r1), garbage(r2)]
[r2] Added event +garbage(r2)[source(percept)], events = [+garbage(r2)[source(percept)]]
[r2] Added event +garbage(r1)[source(percept)], events = [+garbage(r2)[source(percept)], +garbage(r1)[source(percept)]]
[r2] Start sense 176
[r2] Selected event +garbage(r2)[source(percept)]
[r2] Selected intention intention 9: 
    +garbage(r2)[source(percept)] <- ... burn(garb) / {}

[r2] LB-cycle time (ns): 1132284
[r2] LBB Start sense 177
[r2] Start sense 177
[MarsEnv] r2 doing: burn(garb)
[r2] Selected event +garbage(r1)[source(percept)]
[r2] LB-cycle time (ns): 359059
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 150
[r1] LBB Start sense 338
[r1] percepts: []
[r1] Start sense 338
[r1] percepts: [pos(r1,3,3), pos(r2,3,3)]
[r1] Added event +pos(r1,3,3)[source(percept)], events = [+pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,0,5)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,2,5)[source(percept)], +pos(r1,3,5)[source(percept)], +pos(r1,4,5)[source(percept)], +pos(r1,5,5)[source(percept)], +pos(r1,6,5)[source(percept)], +pos(r1,0,6)[source(percept)], +pos(r1,1,6)[source(percept)], +pos(r1,2,6)[source(percept)], +pos(r1,3,6)[source(percept)], +pos(r1,4,6)[source(percept)], +pos(r1,5,6)[source(percept)], +pos(r1,6,6)[source(percept)], +garbage(r1)[source(percept)], -pos(last,0,5)[source(self)], +pos(r1,5,5)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,3,3)[source(percept)]]
[r1] Added event +pos(r2,3,3)[source(percept)], events = [+pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,0,5)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,2,5)[source(percept)], +pos(r1,3,5)[source(percept)], +pos(r1,4,5)[source(percept)], +pos(r1,5,5)[source(percept)], +pos(r1,6,5)[source(percept)], +pos(r1,0,6)[source(percept)], +pos(r1,1,6)[source(percept)], +pos(r1,2,6)[source(percept)], +pos(r1,3,6)[source(percept)], +pos(r1,4,6)[source(percept)], +pos(r1,5,6)[source(percept)], +pos(r1,6,6)[source(percept)], +garbage(r1)[source(percept)], -pos(last,0,5)[source(self)], +pos(r1,5,5)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r2,3,3)[source(percept)]]
[r1] LB-cycle time (ns): 2750441
[r2] LBB Start sense 178
[r1] LBB Start sense 339
[r2] percepts: [pos(r1,3,3), pos(r2,3,3)]
[r1] Start sense 339
[r2] Start sense 178
[r2] LB-cycle time (ns): 495220
[r1] Returning from IM p__4[source(self),url("file:r1.asl")], te=+!take(garb,r2)[source(self)] unif={S=garb, L=r2}
[r1] LB-cycle time (ns): 673988
[r1] LBB Start sense 340
[r1] Start sense 340
[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,6,6)[source(self)] is an option -- {P=last, X=6, Y=6}
[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 8: 
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(last,6,6)[source(self)] is an option -- {L=last, X=6, Y=6}
[r1] LB-cycle time (ns): 1523081
[r1] LBB Start sense 341
[r1] Start sense 341
[r1] LB-cycle time (ns): 152284
[MarsEnv] r1 doing: move_towards(6,6)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 53
[r2] LBB Start sense 179
[r1] LBB Start sense 342
[r2] percepts: [pos(r1,4,4), pos(r2,3,3)]
[r1] percepts: [pos(r1,4,4), pos(r2,3,3)]
[r2] Added event +pos(r1,4,4)[source(percept)], events = [+pos(r1,4,4)[source(percept)]]
[r2] Start sense 179
[r2] Selected event +pos(r1,4,4)[source(percept)]
[r1] Added event +pos(r1,4,4)[source(percept)], events = [+pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,0,5)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,2,5)[source(percept)], +pos(r1,3,5)[source(percept)], +pos(r1,4,5)[source(percept)], +pos(r1,5,5)[source(percept)], +pos(r1,6,5)[source(percept)], +pos(r1,0,6)[source(percept)], +pos(r1,1,6)[source(percept)], +pos(r1,2,6)[source(percept)], +pos(r1,3,6)[source(percept)], +pos(r1,4,6)[source(percept)], +pos(r1,5,6)[source(percept)], +pos(r1,6,6)[source(percept)], +garbage(r1)[source(percept)], -pos(last,0,5)[source(self)], +pos(r1,5,5)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r2,3,3)[source(percept)], +pos(r1,4,4)[source(percept)]]
[r2] Returning from IM p__9[source(self),url("file:r2.asl")], te=+garbage(r2)[source(percept)] unif={}
[r1] Start sense 342
[r2] LB-cycle time (ns): 1034153
[r1] LB-cycle time (ns): 1024468
[r2] LBB Start sense 180
[r2] Start sense 180
[r2] LB-cycle time (ns): 245954
[r1] LBB Start sense 343
[r2] LBB Start sense 181
[r1] Start sense 343
[r2] Start sense 181
[r2] LB-cycle time (ns): 331653
[r1] LB-cycle time (ns): 401596
[r1] LBB Start sense 344
[r1] Start sense 344
[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,6,6)[source(self)] is an option -- {P=last, X=6, Y=6}
[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 8: 
    +!at(last)[source(self)] <- ... !at(L) / {X=6, Y=6, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(last,6,6)[source(self)] is an option -- {L=last, X=6, Y=6}
[r1] LB-cycle time (ns): 1353129
[r1] LBB Start sense 345
[r1] Start sense 345
[r1] LB-cycle time (ns): 203744
[MarsEnv] r1 doing: move_towards(6,6)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] LBB Start sense 346
[r1] percepts: [pos(r1,5,5), pos(r2,3,3)]
[r1] Added event +pos(r1,5,5)[source(percept)], events = [+pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,0,5)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,2,5)[source(percept)], +pos(r1,3,5)[source(percept)], +pos(r1,4,5)[source(percept)], +pos(r1,5,5)[source(percept)], +pos(r1,6,5)[source(percept)], +pos(r1,0,6)[source(percept)], +pos(r1,1,6)[source(percept)], +pos(r1,2,6)[source(percept)], +pos(r1,3,6)[source(percept)], +pos(r1,4,6)[source(percept)], +pos(r1,5,6)[source(percept)], +pos(r1,6,6)[source(percept)], +garbage(r1)[source(percept)], -pos(last,0,5)[source(self)], +pos(r1,5,5)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r2,3,3)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,5)[source(percept)]]
[r1] Start sense 346
[r1] LB-cycle time (ns): 682027
[r2] LBB Start sense 182
[r2] percepts: [pos(r1,5,5), pos(r2,3,3)]
[r2] Added event +pos(r1,5,5)[source(percept)], events = [+pos(r1,5,5)[source(percept)]]
[r2] Start sense 182
[r2] Selected event +pos(r1,5,5)[source(percept)]
[r2] LB-cycle time (ns): 708051
[r1] LBB Start sense 347
[r2] LBB Start sense 183
[r1] Start sense 347
[r2] Start sense 183
[r2] LB-cycle time (ns): 411089
[r1] LB-cycle time (ns): 522082
[r1] LBB Start sense 348
[r1] Start sense 348
[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,6,6)[source(self)] is an option -- {P=last, X=6, Y=6}
[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 8: 
    +!at(last)[source(self)] <- ... !at(L) / {X=6, Y=6, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(last,6,6)[source(self)] is an option -- {L=last, X=6, Y=6}
[r1] LB-cycle time (ns): 1460021
[r1] LBB Start sense 349
[r1] Start sense 349
[r1] LB-cycle time (ns): 147095
[MarsEnv] r1 doing: move_towards(6,6)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] LBB Start sense 350
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Added event +pos(r1,6,6)[source(percept)], events = [+pos(r1,2,2)[source(percept)], +pos(r1,1,2)[source(percept)], +pos(r1,2,2)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,4,2)[source(percept)], +pos(r1,5,2)[source(percept)], +pos(r1,6,2)[source(percept)], +pos(r1,0,3)[source(percept)], +pos(r1,1,3)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,4,3)[source(percept)], +pos(r1,5,3)[source(percept)], +pos(r1,6,3)[source(percept)], +pos(r1,0,4)[source(percept)], +pos(r1,1,4)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,3,4)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,4)[source(percept)], +pos(r1,6,4)[source(percept)], +pos(r1,0,5)[source(percept)], +garbage(r1)[source(percept)], -pos(last,1,2)[source(self)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,0,5)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,2,5)[source(percept)], +pos(r1,3,5)[source(percept)], +pos(r1,4,5)[source(percept)], +pos(r1,5,5)[source(percept)], +pos(r1,6,5)[source(percept)], +pos(r1,0,6)[source(percept)], +pos(r1,1,6)[source(percept)], +pos(r1,2,6)[source(percept)], +pos(r1,3,6)[source(percept)], +pos(r1,4,6)[source(percept)], +pos(r1,5,6)[source(percept)], +pos(r1,6,6)[source(percept)], +garbage(r1)[source(percept)], -pos(last,0,5)[source(self)], +pos(r1,5,5)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r1,3,3)[source(percept)], +pos(r2,3,3)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,5)[source(percept)], +pos(r1,6,6)[source(percept)]]
[r1] Start sense 350
[r1] LB-cycle time (ns): 2299745
[r2] LBB Start sense 184
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Added event +pos(r1,6,6)[source(percept)], events = [+pos(r1,6,6)[source(percept)]]
[r2] Start sense 184
[r2] Selected event +pos(r1,6,6)[source(percept)]
[r2] LB-cycle time (ns): 782897
[r1] LBB Start sense 351
[r2] LBB Start sense 185
[r1] Start sense 351
[r2] Start sense 185
[r2] LB-cycle time (ns): 393422
[r1] LB-cycle time (ns): 438612
[r1] LBB Start sense 352
[r1] Start sense 352
[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,6,6)[source(self)] is an option -- {P=last, X=6, Y=6}
[r1]      | for pos(r1,X,Y), belief pos(r1,6,6)[source(percept)] is an option -- {P=last, X=6, Y=6}
[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 8: 
    +!at(last)[source(self)] <- ... !at(L) / {X=6, Y=6, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +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] LB-cycle time (ns): 1278481
[r1] LBB Start sense 353
[r1] Start sense 353
[r1] LB-cycle time (ns): 113838
[r1] LBB Start sense 354
[r1] Start sense 354
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 669554
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r2] LBB Start sense 186
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 186
[r2] LB-cycle time (ns): 586659
[r1] LBB Start sense 355
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 355
[r1] LB-cycle time (ns): 279349
[r2] LBB Start sense 187
[r1] LBB Start sense 356
[r2] Start sense 187
[r1] Start sense 356
[r2] LB-cycle time (ns): 392942
[r1] LB-cycle time (ns): 535208
[r1] LBB Start sense 357
[r1] Start sense 357
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 938672
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 188
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 188
[r2] LB-cycle time (ns): 513563
[r1] LBB Start sense 358
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 358
[r1] LB-cycle time (ns): 332811
[r2] LBB Start sense 189
[r1] LBB Start sense 359
[r2] Start sense 189
[r1] Start sense 359
[r2] LB-cycle time (ns): 369951
[r1] LB-cycle time (ns): 565905
[r1] LBB Start sense 360
[r1] Start sense 360
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 918827
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 210
[r2] LBB Start sense 190
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 190
[r2] LB-cycle time (ns): 680033
[r1] LBB Start sense 361
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 361
[r1] LB-cycle time (ns): 349524
[r2] LBB Start sense 191
[r1] LBB Start sense 362
[r2] Start sense 191
[r1] Start sense 362
[r2] LB-cycle time (ns): 370840
[r1] LB-cycle time (ns): 525488
[r1] LBB Start sense 363
[r1] Start sense 363
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 870553
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 192
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 192
[r2] LB-cycle time (ns): 400425
[r1] LBB Start sense 364
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 364
[r1] LB-cycle time (ns): 320810
[r2] LBB Start sense 193
[r1] LBB Start sense 365
[r2] Start sense 193
[r1] Start sense 365
[r2] LB-cycle time (ns): 2045004
[r1] LB-cycle time (ns): 2184821
[r1] LBB Start sense 366
[r1] Start sense 366
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 861305
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r2] LBB Start sense 194
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 194
[r2] LB-cycle time (ns): 455453
[r1] LBB Start sense 367
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 367
[r1] LB-cycle time (ns): 290015
[r2] LBB Start sense 195
[r1] LBB Start sense 368
[r2] Start sense 195
[r1] Start sense 368
[r2] LB-cycle time (ns): 383735
[r1] LB-cycle time (ns): 518062
[r1] LBB Start sense 369
[r1] Start sense 369
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 799292
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 196
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 196
[r2] LB-cycle time (ns): 392888
[r1] LBB Start sense 370
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 370
[r1] LB-cycle time (ns): 301492
[r2] LBB Start sense 197
[r1] LBB Start sense 371
[r2] Start sense 197
[r1] Start sense 371
[r2] LB-cycle time (ns): 401223
[r1] LB-cycle time (ns): 540302
[r1] LBB Start sense 372
[r1] Start sense 372
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 840551
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 198
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 198
[r2] LB-cycle time (ns): 413083
[r1] LBB Start sense 373
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 373
[r1] LB-cycle time (ns): 309812
[r1] LBB Start sense 374
[r2] LBB Start sense 199
[r1] Start sense 374
[r2] Start sense 199
[r2] LB-cycle time (ns): 348129
[r1] LB-cycle time (ns): 415983
[r1] LBB Start sense 375
[r1] Start sense 375
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 852735
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 376
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 376
[r1] LB-cycle time (ns): 311682
[r2] LBB Start sense 200
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 200
[r2] LB-cycle time (ns): 409203
[r1] LBB Start sense 377
[r1] Start sense 377
[r2] LBB Start sense 201
[r1] LB-cycle time (ns): 300461
[r2] Start sense 201
[r1] LBB Start sense 378
[r2] LB-cycle time (ns): 339844
[r1] Start sense 378
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 978263
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 379
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 379
[r1] LB-cycle time (ns): 450853
[r2] LBB Start sense 202
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 202
[r2] LB-cycle time (ns): 415744
[r2] LBB Start sense 203
[r1] LBB Start sense 380
[r2] Start sense 203
[r1] Start sense 380
[r2] LB-cycle time (ns): 1993920
[r1] LB-cycle time (ns): 2113656
[r1] LBB Start sense 381
[r1] Start sense 381
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 862109
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r2] LBB Start sense 204
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 204
[r2] LB-cycle time (ns): 353579
[r1] LBB Start sense 382
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 382
[r1] LB-cycle time (ns): 292499
[r2] LBB Start sense 205
[r1] LBB Start sense 383
[r2] Start sense 205
[r1] Start sense 383
[r2] LB-cycle time (ns): 364365
[r1] LB-cycle time (ns): 568196
[r1] LBB Start sense 384
[r1] Start sense 384
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1220924
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 206
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 206
[r2] LB-cycle time (ns): 385611
[r1] LBB Start sense 385
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 385
[r1] LB-cycle time (ns): 296246
[r2] LBB Start sense 207
[r1] LBB Start sense 386
[r2] Start sense 207
[r1] Start sense 386
[r2] LB-cycle time (ns): 373357
[r1] LB-cycle time (ns): 441392
[r1] LBB Start sense 387
[r1] Start sense 387
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 835085
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 208
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 208
[r2] LB-cycle time (ns): 373705
[r1] LBB Start sense 388
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 388
[r1] LB-cycle time (ns): 320692
[r2] LBB Start sense 209
[r1] LBB Start sense 389
[r2] Start sense 209
[r1] Start sense 389
[r2] LB-cycle time (ns): 321144
[r1] LB-cycle time (ns): 403780
[r1] LBB Start sense 390
[r1] Start sense 390
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 845156
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 210
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 210
[r2] LB-cycle time (ns): 454117
[r1] LBB Start sense 391
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 391
[r1] LB-cycle time (ns): 348694
[r1] LBB Start sense 392
[r2] LBB Start sense 211
[r1] Start sense 392
[r2] Start sense 211
[r2] LB-cycle time (ns): 3809863
[r1] LB-cycle time (ns): 3868107
[r1] LBB Start sense 393
[r1] Start sense 393
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 952622
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 206
[r1] LBB Start sense 394
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 394
[r1] LB-cycle time (ns): 334306
[r2] LBB Start sense 212
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 212
[r2] LB-cycle time (ns): 352289
[r1] LBB Start sense 395
[r2] LBB Start sense 213
[r1] Start sense 395
[r2] Start sense 213
[r2] LB-cycle time (ns): 1897642
[r1] LB-cycle time (ns): 2054928
[r1] LBB Start sense 396
[r1] Start sense 396
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 811919
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] LBB Start sense 397
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 397
[r1] LB-cycle time (ns): 298730
[r2] LBB Start sense 214
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 214
[r2] LB-cycle time (ns): 344828
[r1] LBB Start sense 398
[r2] LBB Start sense 215
[r1] Start sense 398
[r2] Start sense 215
[r2] LB-cycle time (ns): 302920
[r1] LB-cycle time (ns): 482245
[r1] LBB Start sense 399
[r1] Start sense 399
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 843977
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 400
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 400
[r1] LB-cycle time (ns): 435955
[r2] LBB Start sense 216
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 216
[r2] LB-cycle time (ns): 322545
[r2] LBB Start sense 217
[r1] LBB Start sense 401
[r2] Start sense 217
[r1] Start sense 401
[r2] LB-cycle time (ns): 356891
[r1] LB-cycle time (ns): 506254
[r1] LBB Start sense 402
[r1] Start sense 402
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1146834
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 218
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 218
[r2] LB-cycle time (ns): 361071
[r1] LBB Start sense 403
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 403
[r1] LB-cycle time (ns): 320765
[r2] LBB Start sense 219
[r2] Start sense 219
[r1] LBB Start sense 404
[r2] LB-cycle time (ns): 289247
[r1] Start sense 404
[r1] LB-cycle time (ns): 610970
[r1] LBB Start sense 405
[r1] Start sense 405
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 813980
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 220
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 220
[r2] LB-cycle time (ns): 383570
[r1] LBB Start sense 406
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 406
[r1] LB-cycle time (ns): 310425
[r2] LBB Start sense 221
[r1] LBB Start sense 407
[r2] Start sense 221
[r1] Start sense 407
[r2] LB-cycle time (ns): 318133
[r1] LB-cycle time (ns): 464555
[r1] LBB Start sense 408
[r1] Start sense 408
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 813786
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 222
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 222
[r2] LB-cycle time (ns): 413602
[r1] LBB Start sense 409
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 409
[r1] LB-cycle time (ns): 305591
[r2] LBB Start sense 223
[r1] LBB Start sense 410
[r2] Start sense 223
[r1] Start sense 410
[r2] LB-cycle time (ns): 1934182
[r1] LB-cycle time (ns): 2076184
[r1] LBB Start sense 411
[r1] Start sense 411
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 848055
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] LBB Start sense 412
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 412
[r1] LB-cycle time (ns): 296320
[r2] LBB Start sense 224
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 224
[r2] LB-cycle time (ns): 332348
[r1] LBB Start sense 413
[r2] LBB Start sense 225
[r1] Start sense 413
[r2] Start sense 225
[r2] LB-cycle time (ns): 397414
[r1] LB-cycle time (ns): 495709
[r1] LBB Start sense 414
[r1] Start sense 414
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1194734
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 415
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 415
[r1] LB-cycle time (ns): 308118
[r2] LBB Start sense 226
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 226
[r2] LB-cycle time (ns): 359090
[r1] LBB Start sense 416
[r1] Start sense 416
[r2] LBB Start sense 227
[r2] Start sense 227
[r1] LB-cycle time (ns): 366448
[r2] LB-cycle time (ns): 229175
[r1] LBB Start sense 417
[r1] Start sense 417
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 889753
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 418
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 418
[r1] LB-cycle time (ns): 343382
[r2] LBB Start sense 228
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 228
[r2] LB-cycle time (ns): 347621
[r2] LBB Start sense 229
[r1] LBB Start sense 419
[r2] Start sense 229
[r1] Start sense 419
[r2] LB-cycle time (ns): 328324
[r1] LB-cycle time (ns): 413018
[r1] LBB Start sense 420
[r1] Start sense 420
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 874466
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 230
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 230
[r2] LB-cycle time (ns): 520871
[r1] LBB Start sense 421
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 421
[r1] LB-cycle time (ns): 177306
[r2] LBB Start sense 231
[r1] LBB Start sense 422
[r2] Start sense 231
[r1] Start sense 422
[r2] LB-cycle time (ns): 360153
[r1] LB-cycle time (ns): 501479
[r1] LBB Start sense 423
[r1] Start sense 423
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 800252
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 232
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 232
[r2] LB-cycle time (ns): 364935
[r1] LBB Start sense 424
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 424
[r1] LB-cycle time (ns): 430908
[r1] LBB Start sense 425
[r2] LBB Start sense 233
[r1] Start sense 425
[r2] Start sense 233
[r2] LB-cycle time (ns): 4233393
[r1] LB-cycle time (ns): 4242569
[r1] LBB Start sense 426
[r1] Start sense 426
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 812624
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 206
[r2] LBB Start sense 234
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 234
[r2] LB-cycle time (ns): 432833
[r1] LBB Start sense 427
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 427
[r1] LB-cycle time (ns): 293157
[r2] LBB Start sense 235
[r1] LBB Start sense 428
[r2] Start sense 235
[r1] Start sense 428
[r2] LB-cycle time (ns): 370970
[r1] LB-cycle time (ns): 460886
[r1] LBB Start sense 429
[r1] Start sense 429
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 830022
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 236
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 236
[r2] LB-cycle time (ns): 400850
[r1] LBB Start sense 430
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 430
[r1] LB-cycle time (ns): 296163
[r2] LBB Start sense 237
[r1] LBB Start sense 431
[r2] Start sense 237
[r1] Start sense 431
[r2] LB-cycle time (ns): 350624
[r1] LB-cycle time (ns): 474895
[r1] LBB Start sense 432
[r1] Start sense 432
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 836703
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 238
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 238
[r2] LB-cycle time (ns): 391956
[r1] LBB Start sense 433
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 433
[r1] LB-cycle time (ns): 314955
[r1] LBB Start sense 434
[r2] LBB Start sense 239
[r1] Start sense 434
[r2] Start sense 239
[r2] LB-cycle time (ns): 398099
[r1] LB-cycle time (ns): 449054
[r1] LBB Start sense 435
[r1] Start sense 435
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1075057
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 240
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 240
[r2] LB-cycle time (ns): 414182
[r1] LBB Start sense 436
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 436
[r1] LB-cycle time (ns): 315292
[r2] LBB Start sense 241
[r2] Start sense 241
[r1] LBB Start sense 437
[r2] LB-cycle time (ns): 232518
[r1] Start sense 437
[r1] LB-cycle time (ns): 480554
[r1] LBB Start sense 438
[r1] Start sense 438
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 901610
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 242
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 242
[r2] LB-cycle time (ns): 373108
[r1] LBB Start sense 439
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 439
[r1] LB-cycle time (ns): 325964
[r2] LBB Start sense 243
[r1] LBB Start sense 440
[r2] Start sense 243
[r1] Start sense 440
[r2] LB-cycle time (ns): 1877485
[r1] LB-cycle time (ns): 2135654
[r1] LBB Start sense 441
[r1] Start sense 441
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 826303
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r2] LBB Start sense 244
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 244
[r2] LB-cycle time (ns): 396946
[r1] LBB Start sense 442
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 442
[r1] LB-cycle time (ns): 292588
[r1] LBB Start sense 443
[r2] LBB Start sense 245
[r1] Start sense 443
[r2] Start sense 245
[r2] LB-cycle time (ns): 382618
[r1] LB-cycle time (ns): 429970
[r1] LBB Start sense 444
[r1] Start sense 444
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 883495
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 445
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 445
[r1] LB-cycle time (ns): 303055
[r2] LBB Start sense 246
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 246
[r2] LB-cycle time (ns): 382886
[r2] LBB Start sense 247
[r1] LBB Start sense 446
[r2] Start sense 247
[r1] Start sense 446
[r2] LB-cycle time (ns): 353060
[r1] LB-cycle time (ns): 494793
[r1] LBB Start sense 447
[r1] Start sense 447
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 804818
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 448
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 448
[r1] LB-cycle time (ns): 315980
[r2] LBB Start sense 248
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 248
[r2] LB-cycle time (ns): 406931
[r1] LBB Start sense 449
[r1] Start sense 449
[r2] LBB Start sense 249
[r1] LB-cycle time (ns): 305716
[r2] Start sense 249
[r1] LBB Start sense 450
[r2] LB-cycle time (ns): 288941
[r1] Start sense 450
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1054139
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] LBB Start sense 451
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 451
[r1] LB-cycle time (ns): 331428
[r2] LBB Start sense 250
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 250
[r2] LB-cycle time (ns): 366617
[r2] LBB Start sense 251
[r1] LBB Start sense 452
[r2] Start sense 251
[r1] Start sense 452
[r2] LB-cycle time (ns): 357300
[r1] LB-cycle time (ns): 463260
[r1] LBB Start sense 453
[r1] Start sense 453
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 800060
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 252
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 252
[r2] LB-cycle time (ns): 356980
[r1] LBB Start sense 454
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 454
[r1] LB-cycle time (ns): 304158
[r2] LBB Start sense 253
[r1] LBB Start sense 455
[r2] Start sense 253
[r1] Start sense 455
[r2] LB-cycle time (ns): 1958490
[r1] LB-cycle time (ns): 2025034
[r1] LBB Start sense 456
[r1] Start sense 456
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 815570
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r2] LBB Start sense 254
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 254
[r2] LB-cycle time (ns): 461363
[r1] LBB Start sense 457
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 457
[r1] LB-cycle time (ns): 280904
[r2] LBB Start sense 255
[r1] LBB Start sense 458
[r2] Start sense 255
[r1] Start sense 458
[r2] LB-cycle time (ns): 346085
[r1] LB-cycle time (ns): 472561
[r1] LBB Start sense 459
[r1] Start sense 459
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 846637
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 256
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 256
[r2] LB-cycle time (ns): 404524
[r1] LBB Start sense 460
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 460
[r1] LB-cycle time (ns): 332429
[r2] LBB Start sense 257
[r1] LBB Start sense 461
[r2] Start sense 257
[r1] Start sense 461
[r2] LB-cycle time (ns): 338714
[r1] LB-cycle time (ns): 402692
[r1] LBB Start sense 462
[r1] Start sense 462
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 887412
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 258
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 258
[r2] LB-cycle time (ns): 519713
[r1] LBB Start sense 463
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 463
[r1] LB-cycle time (ns): 336015
[r2] LBB Start sense 259
[r1] LBB Start sense 464
[r2] Start sense 259
[r1] Start sense 464
[r2] LB-cycle time (ns): 326441
[r1] LB-cycle time (ns): 420334
[r1] LBB Start sense 465
[r1] Start sense 465
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 829646
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 260
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] LBB Start sense 466
[r2] Start sense 260
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] LB-cycle time (ns): 2007046
[r1] Start sense 466
[r1] LB-cycle time (ns): 1613234
[r2] LBB Start sense 261
[r1] LBB Start sense 467
[r2] Start sense 261
[r1] Start sense 467
[r2] LB-cycle time (ns): 336060
[r1] LB-cycle time (ns): 469333
[r1] LBB Start sense 468
[r1] Start sense 468
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 861643
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 262
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 262
[r2] LB-cycle time (ns): 337623
[r1] LBB Start sense 469
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 469
[r1] LB-cycle time (ns): 291684
[r2] LBB Start sense 263
[r1] LBB Start sense 470
[r2] Start sense 263
[r1] Start sense 470
[r2] LB-cycle time (ns): 1951665
[r1] LB-cycle time (ns): 2093436
[r1] LBB Start sense 471
[r1] Start sense 471
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1047707
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r2] LBB Start sense 264
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 264
[r2] LB-cycle time (ns): 374442
[r1] LBB Start sense 472
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 472
[r1] LB-cycle time (ns): 288102
[r1] LBB Start sense 473
[r2] LBB Start sense 265
[r1] Start sense 473
[r2] Start sense 265
[r2] LB-cycle time (ns): 377751
[r1] LB-cycle time (ns): 423688
[r1] LBB Start sense 474
[r1] Start sense 474
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 819280
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 266
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 266
[r2] LB-cycle time (ns): 337032
[r1] LBB Start sense 475
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 475
[r1] LB-cycle time (ns): 266430
[r2] LBB Start sense 267
[r1] LBB Start sense 476
[r2] Start sense 267
[r1] Start sense 476
[r2] LB-cycle time (ns): 597278
[r1] LB-cycle time (ns): 731635
[r1] LBB Start sense 477
[r1] Start sense 477
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1030155
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 268
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 268
[r2] LB-cycle time (ns): 403219
[r1] LBB Start sense 478
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 478
[r1] LB-cycle time (ns): 350117
[r2] LBB Start sense 269
[r1] LBB Start sense 479
[r2] Start sense 269
[r1] Start sense 479
[r2] LB-cycle time (ns): 381549
[r1] LB-cycle time (ns): 481893
[r1] LBB Start sense 480
[r1] Start sense 480
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 931041
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 270
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 270
[r2] LB-cycle time (ns): 392864
[r1] LBB Start sense 481
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 481
[r1] LB-cycle time (ns): 173503
[r2] LBB Start sense 271
[r2] Start sense 271
[r1] LBB Start sense 482
[r2] LB-cycle time (ns): 265061
[r1] Start sense 482
[r1] LB-cycle time (ns): 611795
[r1] LBB Start sense 483
[r1] Start sense 483
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 841019
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 272
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 272
[r2] LB-cycle time (ns): 396511
[r1] LBB Start sense 484
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 484
[r1] LB-cycle time (ns): 375251
[r2] LBB Start sense 273
[r1] LBB Start sense 485
[r2] Start sense 273
[r1] Start sense 485
[r2] LB-cycle time (ns): 2152171
[r1] LB-cycle time (ns): 2267087
[r1] LBB Start sense 486
[r1] Start sense 486
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 799367
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r2] LBB Start sense 274
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 274
[r2] LB-cycle time (ns): 344879
[r1] LBB Start sense 487
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 487
[r1] LB-cycle time (ns): 300769
[r1] LBB Start sense 488
[r2] LBB Start sense 275
[r1] Start sense 488
[r2] Start sense 275
[r1] LB-cycle time (ns): 450298
[r2] LB-cycle time (ns): 393250
[r1] LBB Start sense 489
[r1] Start sense 489
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 867959
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 490
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 490
[r1] LB-cycle time (ns): 363749
[r2] LBB Start sense 276
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 276
[r2] LB-cycle time (ns): 349910
[r2] LBB Start sense 277
[r1] LBB Start sense 491
[r2] Start sense 277
[r1] Start sense 491
[r2] LB-cycle time (ns): 413443
[r1] LB-cycle time (ns): 501850
[r1] LBB Start sense 492
[r1] Start sense 492
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 810536
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 278
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 278
[r2] LB-cycle time (ns): 391449
[r1] LBB Start sense 493
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 493
[r1] LB-cycle time (ns): 304849
[r1] LBB Start sense 494
[r2] LBB Start sense 279
[r1] Start sense 494
[r2] Start sense 279
[r2] LB-cycle time (ns): 403955
[r1] LB-cycle time (ns): 417069
[r1] LBB Start sense 495
[r1] Start sense 495
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 858291
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] LBB Start sense 496
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 496
[r1] LB-cycle time (ns): 293556
[r2] LBB Start sense 280
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 280
[r2] LB-cycle time (ns): 360995
[r1] LBB Start sense 497
[r1] Start sense 497
[r1] LB-cycle time (ns): 272759
[r1] LBB Start sense 498
[r2] LBB Start sense 281
[r1] Start sense 498
[r2] Start sense 281
[r2] LB-cycle time (ns): 352516
[r1] LB-cycle time (ns): 349631
[r1] LBB Start sense 499
[r1] Start sense 499
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1025808
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 282
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 282
[r2] LB-cycle time (ns): 395057
[r1] LBB Start sense 500
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 500
[r1] LB-cycle time (ns): 2002288
[r2] LBB Start sense 283
[r1] LBB Start sense 501
[r2] Start sense 283
[r1] Start sense 501
[r2] LB-cycle time (ns): 375677
[r1] LB-cycle time (ns): 522240
[r1] LBB Start sense 502
[r1] Start sense 502
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 792527
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 503
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 503
[r1] LB-cycle time (ns): 293273
[r2] LBB Start sense 284
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 284
[r2] LB-cycle time (ns): 497833
[r1] LBB Start sense 504
[r1] Start sense 504
[r1] LB-cycle time (ns): 239684
[r1] LBB Start sense 505
[r2] LBB Start sense 285
[r1] Start sense 505
[r2] Start sense 285
[r2] LB-cycle time (ns): 325725
[r1] LB-cycle time (ns): 350565
[r1] LBB Start sense 506
[r1] Start sense 506
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 836481
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 507
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 507
[r1] LB-cycle time (ns): 285941
[r2] LBB Start sense 286
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 286
[r2] LB-cycle time (ns): 381233
[r1] LBB Start sense 508
[r2] LBB Start sense 287
[r1] Start sense 508
[r2] Start sense 287
[r1] LB-cycle time (ns): 429492
[r2] LB-cycle time (ns): 441633
[r1] LBB Start sense 509
[r1] Start sense 509
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 860788
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 510
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 510
[r1] LB-cycle time (ns): 277863
[r2] LBB Start sense 288
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 288
[r2] LB-cycle time (ns): 337964
[r1] LBB Start sense 511
[r1] Start sense 511
[r2] LBB Start sense 289
[r1] LB-cycle time (ns): 306881
[r2] Start sense 289
[r1] LBB Start sense 512
[r2] LB-cycle time (ns): 309588
[r1] Start sense 512
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 963299
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 513
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 513
[r1] LB-cycle time (ns): 303983
[r2] LBB Start sense 290
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 290
[r2] LB-cycle time (ns): 417570
[r1] LBB Start sense 514
[r2] LBB Start sense 291
[r1] Start sense 514
[r2] Start sense 291
[r2] LB-cycle time (ns): 323517
[r1] LB-cycle time (ns): 452935
[r1] LBB Start sense 515
[r1] Start sense 515
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 839204
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] LBB Start sense 516
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 516
[r1] LB-cycle time (ns): 1881700
[r2] LBB Start sense 292
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 292
[r2] LB-cycle time (ns): 357246
[r1] LBB Start sense 517
[r2] LBB Start sense 293
[r1] Start sense 517
[r2] Start sense 293
[r2] LB-cycle time (ns): 404276
[r1] LB-cycle time (ns): 454274
[r1] LBB Start sense 518
[r1] Start sense 518
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 794250
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 519
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 519
[r1] LB-cycle time (ns): 288961
[r2] LBB Start sense 294
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 294
[r2] LB-cycle time (ns): 388860
[r1] LBB Start sense 520
[r2] LBB Start sense 295
[r1] Start sense 520
[r2] Start sense 295
[r2] LB-cycle time (ns): 506212
[r1] LB-cycle time (ns): 561443
[r1] LBB Start sense 521
[r1] Start sense 521
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 803927
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 522
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 522
[r1] LB-cycle time (ns): 287974
[r2] LBB Start sense 296
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 296
[r2] LB-cycle time (ns): 357385
[r2] LBB Start sense 297
[r1] LBB Start sense 523
[r2] Start sense 297
[r1] Start sense 523
[r2] LB-cycle time (ns): 380108
[r1] LB-cycle time (ns): 636095
[r1] LBB Start sense 524
[r1] Start sense 524
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 810716
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 298
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 298
[r2] LB-cycle time (ns): 343740
[r1] LBB Start sense 525
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 525
[r1] LB-cycle time (ns): 305748
[r1] LBB Start sense 526
[r2] LBB Start sense 299
[r1] Start sense 526
[r2] Start sense 299
[r2] LB-cycle time (ns): 386578
[r1] LB-cycle time (ns): 430230
[r1] LBB Start sense 527
[r1] Start sense 527
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 787669
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 528
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 528
[r1] LB-cycle time (ns): 271584
[r2] LBB Start sense 300
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 300
[r2] LB-cycle time (ns): 378572
[r2] LBB Start sense 301
[r1] LBB Start sense 529
[r2] Start sense 301
[r1] Start sense 529
[r2] LB-cycle time (ns): 1968061
[r1] LB-cycle time (ns): 2052648
[r1] LBB Start sense 530
[r1] Start sense 530
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 890686
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r2] LBB Start sense 302
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 302
[r1] LBB Start sense 531
[r2] LB-cycle time (ns): 2030446
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 531
[r1] LB-cycle time (ns): 1408359
[r2] LBB Start sense 303
[r1] LBB Start sense 532
[r2] Start sense 303
[r1] Start sense 532
[r2] LB-cycle time (ns): 407554
[r1] LB-cycle time (ns): 565148
[r1] LBB Start sense 533
[r1] Start sense 533
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 874957
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 304
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 304
[r2] LB-cycle time (ns): 360663
[r1] LBB Start sense 534
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 534
[r1] LB-cycle time (ns): 301299
[r2] LBB Start sense 305
[r1] LBB Start sense 535
[r2] Start sense 305
[r1] Start sense 535
[r2] LB-cycle time (ns): 410201
[r1] LB-cycle time (ns): 536099
[r1] LBB Start sense 536
[r1] Start sense 536
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 855814
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 306
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 306
[r2] LB-cycle time (ns): 366944
[r1] LBB Start sense 537
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 537
[r1] LB-cycle time (ns): 295087
[r2] LBB Start sense 307
[r1] LBB Start sense 538
[r2] Start sense 307
[r1] Start sense 538
[r2] LB-cycle time (ns): 357235
[r1] LB-cycle time (ns): 473724
[r1] LBB Start sense 539
[r1] Start sense 539
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 857435
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 308
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 308
[r2] LB-cycle time (ns): 352006
[r1] LBB Start sense 540
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 540
[r1] LB-cycle time (ns): 300126
[r2] LBB Start sense 309
[r1] LBB Start sense 541
[r2] Start sense 309
[r1] Start sense 541
[r2] LB-cycle time (ns): 356954
[r1] LB-cycle time (ns): 494436
[r1] LBB Start sense 542
[r1] Start sense 542
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1027556
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 310
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 310
[r2] LB-cycle time (ns): 363495
[r1] LBB Start sense 543
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 543
[r1] LB-cycle time (ns): 314083
[r2] LBB Start sense 311
[r1] LBB Start sense 544
[r2] Start sense 311
[r1] Start sense 544
[r2] LB-cycle time (ns): 335594
[r1] LB-cycle time (ns): 455706
[r1] LBB Start sense 545
[r1] Start sense 545
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 822078
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 312
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 312
[r1] LBB Start sense 546
[r2] LB-cycle time (ns): 1997605
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 546
[r1] LB-cycle time (ns): 1074408
[r2] LBB Start sense 313
[r1] LBB Start sense 547
[r2] Start sense 313
[r1] Start sense 547
[r2] LB-cycle time (ns): 349106
[r1] LB-cycle time (ns): 477864
[r1] LBB Start sense 548
[r1] Start sense 548
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 879159
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 314
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 314
[r2] LB-cycle time (ns): 376135
[r1] LBB Start sense 549
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 549
[r1] LB-cycle time (ns): 303345
[r2] LBB Start sense 315
[r1] LBB Start sense 550
[r2] Start sense 315
[r1] Start sense 550
[r2] LB-cycle time (ns): 376418
[r1] LB-cycle time (ns): 498874
[r1] LBB Start sense 551
[r1] Start sense 551
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 891200
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 316
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 316
[r2] LB-cycle time (ns): 438116
[r1] LBB Start sense 552
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 552
[r1] LB-cycle time (ns): 290947
[r2] LBB Start sense 317
[r1] LBB Start sense 553
[r2] Start sense 317
[r1] Start sense 553
[r2] LB-cycle time (ns): 351754
[r1] LB-cycle time (ns): 510055
[r1] LBB Start sense 554
[r1] Start sense 554
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 824603
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 318
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 318
[r2] LB-cycle time (ns): 356067
[r1] LBB Start sense 555
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 555
[r1] LB-cycle time (ns): 289516
[r2] LBB Start sense 319
[r1] LBB Start sense 556
[r2] Start sense 319
[r1] Start sense 556
[r2] LB-cycle time (ns): 362993
[r1] LB-cycle time (ns): 451766
[r1] LBB Start sense 557
[r1] Start sense 557
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 809715
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 320
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 320
[r2] LB-cycle time (ns): 347707
[r1] LBB Start sense 558
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 558
[r1] LB-cycle time (ns): 183055
[r2] LBB Start sense 321
[r1] LBB Start sense 559
[r2] Start sense 321
[r1] Start sense 559
[r2] LB-cycle time (ns): 428389
[r1] LB-cycle time (ns): 576818
[r1] LBB Start sense 560
[r1] Start sense 560
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 845142
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 322
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 322
[r1] LBB Start sense 561
[r2] LB-cycle time (ns): 1985610
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 561
[r1] LB-cycle time (ns): 953489
[r1] LBB Start sense 562
[r2] LBB Start sense 323
[r1] Start sense 562
[r2] Start sense 323
[r2] LB-cycle time (ns): 389041
[r1] LB-cycle time (ns): 457721
[r1] LBB Start sense 563
[r1] Start sense 563
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 807758
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 564
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 564
[r1] LB-cycle time (ns): 2439788
[r2] LBB Start sense 324
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 324
[r2] LB-cycle time (ns): 313937
[r2] LBB Start sense 325
[r1] LBB Start sense 565
[r2] Start sense 325
[r1] Start sense 565
[r2] LB-cycle time (ns): 514277
[r1] LB-cycle time (ns): 663068
[r1] LBB Start sense 566
[r1] Start sense 566
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1212894
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] LBB Start sense 567
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 567
[r1] LB-cycle time (ns): 388011
[r2] LBB Start sense 326
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 326
[r2] LB-cycle time (ns): 400250
[r2] LBB Start sense 327
[r1] LBB Start sense 568
[r2] Start sense 327
[r1] Start sense 568
[r2] LB-cycle time (ns): 431025
[r1] LB-cycle time (ns): 568407
[r1] LBB Start sense 569
[r1] Start sense 569
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 843135
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 570
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 570
[r1] LB-cycle time (ns): 302523
[r2] LBB Start sense 328
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 328
[r2] LB-cycle time (ns): 522266
[r1] LBB Start sense 571
[r2] LBB Start sense 329
[r1] Start sense 571
[r2] Start sense 329
[r2] LB-cycle time (ns): 387122
[r1] LB-cycle time (ns): 453354
[r1] LBB Start sense 572
[r1] Start sense 572
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 901879
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] LBB Start sense 573
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 573
[r1] LB-cycle time (ns): 296283
[r2] LBB Start sense 330
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 330
[r2] LB-cycle time (ns): 337703
[r2] LBB Start sense 331
[r1] LBB Start sense 574
[r2] Start sense 331
[r1] Start sense 574
[r2] LB-cycle time (ns): 359050
[r1] LB-cycle time (ns): 494581
[r1] LBB Start sense 575
[r1] Start sense 575
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 877854
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 576
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 576
[r1] LB-cycle time (ns): 1899549
[r2] LBB Start sense 332
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 332
[r2] LB-cycle time (ns): 328137
[r1] LBB Start sense 577
[r2] LBB Start sense 333
[r1] Start sense 577
[r2] Start sense 333
[r1] LB-cycle time (ns): 471823
[r2] LB-cycle time (ns): 527337
[r1] LBB Start sense 578
[r1] Start sense 578
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 889145
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 334
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 334
[r2] LB-cycle time (ns): 392774
[r1] LBB Start sense 579
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 579
[r1] LB-cycle time (ns): 316193
[r2] LBB Start sense 335
[r1] LBB Start sense 580
[r2] Start sense 335
[r1] Start sense 580
[r2] LB-cycle time (ns): 415830
[r1] LB-cycle time (ns): 493312
[r1] LBB Start sense 581
[r1] Start sense 581
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 834281
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 336
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 336
[r2] LB-cycle time (ns): 391390
[r1] LBB Start sense 582
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 582
[r1] LB-cycle time (ns): 293465
[r2] LBB Start sense 337
[r1] LBB Start sense 583
[r2] Start sense 337
[r1] Start sense 583
[r2] LB-cycle time (ns): 359050
[r1] LB-cycle time (ns): 466819
[r1] LBB Start sense 584
[r1] Start sense 584
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 795838
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 338
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 338
[r2] LB-cycle time (ns): 378091
[r1] LBB Start sense 585
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 585
[r1] LB-cycle time (ns): 292645
[r2] LBB Start sense 339
[r1] LBB Start sense 586
[r2] Start sense 339
[r1] Start sense 586
[r2] LB-cycle time (ns): 398676
[r1] LB-cycle time (ns): 526883
[r1] LBB Start sense 587
[r1] Start sense 587
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 960452
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 588
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 588
[r1] LB-cycle time (ns): 361858
[r2] LBB Start sense 340
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 340
[r2] LB-cycle time (ns): 418312
[r1] LBB Start sense 589
[r2] LBB Start sense 341
[r1] Start sense 589
[r2] Start sense 341
[r1] LB-cycle time (ns): 446727
[r2] LB-cycle time (ns): 422668
[r1] LBB Start sense 590
[r1] Start sense 590
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 964497
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 342
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 342
[r1] LBB Start sense 591
[r2] LB-cycle time (ns): 2026564
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 591
[r1] LB-cycle time (ns): 1822394
[r1] LBB Start sense 592
[r2] LBB Start sense 343
[r1] Start sense 592
[r2] Start sense 343
[r1] LB-cycle time (ns): 430740
[r2] LB-cycle time (ns): 456004
[r1] LBB Start sense 593
[r1] Start sense 593
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 955035
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 594
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 594
[r1] LB-cycle time (ns): 271994
[r2] LBB Start sense 344
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 344
[r2] LB-cycle time (ns): 383067
[r2] LBB Start sense 345
[r1] LBB Start sense 595
[r2] Start sense 345
[r1] Start sense 595
[r2] LB-cycle time (ns): 479032
[r1] LB-cycle time (ns): 565765
[r1] LBB Start sense 596
[r1] Start sense 596
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 832826
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 346
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 346
[r2] LB-cycle time (ns): 400494
[r1] LBB Start sense 597
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 597
[r1] LB-cycle time (ns): 284420
[r1] LBB Start sense 598
[r2] LBB Start sense 347
[r1] Start sense 598
[r2] Start sense 347
[r2] LB-cycle time (ns): 361216
[r1] LB-cycle time (ns): 407879
[r1] LBB Start sense 599
[r1] Start sense 599
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 855375
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 600
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 600
[r1] LB-cycle time (ns): 275763
[r2] LBB Start sense 348
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 348
[r2] LB-cycle time (ns): 331736
[r2] LBB Start sense 349
[r1] LBB Start sense 601
[r2] Start sense 349
[r1] Start sense 601
[r2] LB-cycle time (ns): 376989
[r1] LB-cycle time (ns): 496101
[r1] LBB Start sense 602
[r1] Start sense 602
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 851255
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 350
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 350
[r2] LB-cycle time (ns): 342651
[r1] LBB Start sense 603
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 603
[r1] LB-cycle time (ns): 299052
[r1] LBB Start sense 604
[r2] LBB Start sense 351
[r1] Start sense 604
[r2] Start sense 351
[r1] LB-cycle time (ns): 424702
[r2] LB-cycle time (ns): 390699
[r1] LBB Start sense 605
[r1] Start sense 605
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 883371
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 606
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 606
[r1] LB-cycle time (ns): 1887970
[r2] LBB Start sense 352
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 352
[r2] LB-cycle time (ns): 370441
[r2] LBB Start sense 353
[r1] LBB Start sense 607
[r2] Start sense 353
[r1] Start sense 607
[r2] LB-cycle time (ns): 365059
[r1] LB-cycle time (ns): 496041
[r1] LBB Start sense 608
[r1] Start sense 608
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 980748
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 354
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 354
[r2] LB-cycle time (ns): 470639
[r1] LBB Start sense 609
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 609
[r1] LB-cycle time (ns): 332316
[r1] LBB Start sense 610
[r2] LBB Start sense 355
[r1] Start sense 610
[r2] Start sense 355
[r2] LB-cycle time (ns): 436785
[r1] LB-cycle time (ns): 555511
[r1] LBB Start sense 611
[r1] Start sense 611
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1166169
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 612
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 612
[r1] LB-cycle time (ns): 316340
[r2] LBB Start sense 356
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 356
[r2] LB-cycle time (ns): 307047
[r2] LBB Start sense 357
[r1] LBB Start sense 613
[r2] Start sense 357
[r1] Start sense 613
[r2] LB-cycle time (ns): 382713
[r1] LB-cycle time (ns): 440200
[r1] LBB Start sense 614
[r1] Start sense 614
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 831860
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 358
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 358
[r2] LB-cycle time (ns): 438185
[r1] LBB Start sense 615
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 615
[r1] LB-cycle time (ns): 311821
[r1] LBB Start sense 616
[r2] LBB Start sense 359
[r1] Start sense 616
[r2] Start sense 359
[r1] LB-cycle time (ns): 475323
[r2] LB-cycle time (ns): 479331
[r1] LBB Start sense 617
[r1] Start sense 617
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 946972
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 360
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 360
[r2] LB-cycle time (ns): 409150
[r1] LBB Start sense 618
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 618
[r1] LB-cycle time (ns): 321781
[r1] LBB Start sense 619
[r2] LBB Start sense 361
[r1] Start sense 619
[r2] Start sense 361
[r2] LB-cycle time (ns): 733710
[r1] LB-cycle time (ns): 780581
[r1] LBB Start sense 620
[r1] Start sense 620
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 890147
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] LBB Start sense 621
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 621
[r1] LB-cycle time (ns): 1882852
[r2] LBB Start sense 362
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 362
[r2] LB-cycle time (ns): 321594
[r2] LBB Start sense 363
[r1] LBB Start sense 622
[r2] Start sense 363
[r1] Start sense 622
[r2] LB-cycle time (ns): 324002
[r1] LB-cycle time (ns): 434865
[r1] LBB Start sense 623
[r1] Start sense 623
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 898589
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 364
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 364
[r2] LB-cycle time (ns): 402179
[r1] LBB Start sense 624
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 624
[r1] LB-cycle time (ns): 298842
[r2] LBB Start sense 365
[r1] LBB Start sense 625
[r2] Start sense 365
[r1] Start sense 625
[r2] LB-cycle time (ns): 407246
[r1] LB-cycle time (ns): 490357
[r1] LBB Start sense 626
[r1] Start sense 626
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 766439
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 201
[r2] LBB Start sense 366
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 366
[r2] LB-cycle time (ns): 337846
[r1] LBB Start sense 627
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 627
[r1] LB-cycle time (ns): 281250
[r2] LBB Start sense 367
[r1] LBB Start sense 628
[r2] Start sense 367
[r1] Start sense 628
[r2] LB-cycle time (ns): 340664
[r1] LB-cycle time (ns): 459213
[r1] LBB Start sense 629
[r1] Start sense 629
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 794281
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 368
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 368
[r2] LB-cycle time (ns): 335924
[r1] LBB Start sense 630
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 630
[r1] LB-cycle time (ns): 260439
[r2] LBB Start sense 369
[r1] LBB Start sense 631
[r2] Start sense 369
[r1] Start sense 631
[r2] LB-cycle time (ns): 388515
[r1] LB-cycle time (ns): 496426
[r1] LBB Start sense 632
[r1] Start sense 632
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 863560
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 370
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 370
[r2] LB-cycle time (ns): 389951
[r1] LBB Start sense 633
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 633
[r1] LB-cycle time (ns): 297631
[r1] LBB Start sense 634
[r2] LBB Start sense 371
[r1] Start sense 634
[r2] Start sense 371
[r2] LB-cycle time (ns): 400956
[r1] LB-cycle time (ns): 412930
[r1] LBB Start sense 635
[r1] Start sense 635
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 869763
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 372
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 372
[r1] LBB Start sense 636
[r2] LB-cycle time (ns): 1984068
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 636
[r1] LB-cycle time (ns): 1359054
[r1] LBB Start sense 637
[r2] LBB Start sense 373
[r1] Start sense 637
[r2] Start sense 373
[r2] LB-cycle time (ns): 358909
[r1] LB-cycle time (ns): 402243
[r1] LBB Start sense 638
[r1] Start sense 638
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 810012
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 374
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 374
[r2] LB-cycle time (ns): 402667
[r1] LBB Start sense 639
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 639
[r1] LB-cycle time (ns): 287108
[r2] LBB Start sense 375
[r1] LBB Start sense 640
[r2] Start sense 375
[r1] Start sense 640
[r2] LB-cycle time (ns): 341352
[r1] LB-cycle time (ns): 462866
[r1] LBB Start sense 641
[r1] Start sense 641
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 796345
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 642
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 642
[r1] LB-cycle time (ns): 268605
[r2] LBB Start sense 376
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 376
[r2] LB-cycle time (ns): 326768
[r2] LBB Start sense 377
[r1] LBB Start sense 643
[r2] Start sense 377
[r1] Start sense 643
[r2] LB-cycle time (ns): 347533
[r1] LB-cycle time (ns): 453663
[r1] LBB Start sense 644
[r1] Start sense 644
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 788701
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 378
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 378
[r2] LB-cycle time (ns): 329622
[r1] LBB Start sense 645
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 645
[r1] LB-cycle time (ns): 264532
[r2] LBB Start sense 379
[r1] LBB Start sense 646
[r2] Start sense 379
[r1] Start sense 646
[r2] LB-cycle time (ns): 326761
[r1] LB-cycle time (ns): 399192
[r1] LBB Start sense 647
[r1] Start sense 647
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 771144
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 380
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 380
[r2] LB-cycle time (ns): 316196
[r1] LBB Start sense 648
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 648
[r1] LB-cycle time (ns): 170176
[r2] LBB Start sense 381
[r1] LBB Start sense 649
[r2] Start sense 381
[r1] Start sense 649
[r2] LB-cycle time (ns): 320612
[r1] LB-cycle time (ns): 447582
[r1] LBB Start sense 650
[r1] Start sense 650
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 772177
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r2] LBB Start sense 382
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 382
[r1] LBB Start sense 651
[r2] LB-cycle time (ns): 1961756
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 651
[r1] LB-cycle time (ns): 1730088
[r1] LBB Start sense 652
[r2] LBB Start sense 383
[r1] Start sense 652
[r2] Start sense 383
[r2] LB-cycle time (ns): 446011
[r1] LB-cycle time (ns): 494790
[r1] LBB Start sense 653
[r1] Start sense 653
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 789754
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 654
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 654
[r1] LB-cycle time (ns): 339561
[r2] LBB Start sense 384
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 384
[r2] LB-cycle time (ns): 327061
[r1] LBB Start sense 655
[r2] LBB Start sense 385
[r1] Start sense 655
[r2] Start sense 385
[r2] LB-cycle time (ns): 251534
[r1] LB-cycle time (ns): 412218
[r1] LBB Start sense 656
[r1] Start sense 656
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 866660
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 657
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 657
[r1] LB-cycle time (ns): 421314
[r2] LBB Start sense 386
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 386
[r2] LB-cycle time (ns): 323528
[r1] LBB Start sense 658
[r1] Start sense 658
[r1] LB-cycle time (ns): 214119
[r1] LBB Start sense 659
[r1] Start sense 659
[r2] LBB Start sense 387
[r1] LB-cycle time (ns): 166109
[r2] Start sense 387
[r1] LBB Start sense 660
[r2] LB-cycle time (ns): 342387
[r1] Start sense 660
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 894557
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] LBB Start sense 661
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 661
[r1] LB-cycle time (ns): 326297
[r2] LBB Start sense 388
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 388
[r2] LB-cycle time (ns): 298468
[r2] LBB Start sense 389
[r1] LBB Start sense 662
[r2] Start sense 389
[r1] Start sense 662
[r2] LB-cycle time (ns): 318005
[r1] LB-cycle time (ns): 430730
[r1] LBB Start sense 663
[r1] Start sense 663
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 777565
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 664
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 664
[r1] LB-cycle time (ns): 283514
[r2] LBB Start sense 390
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 390
[r2] LB-cycle time (ns): 323407
[r1] LBB Start sense 665
[r1] Start sense 665
[r1] LB-cycle time (ns): 203204
[r1] LBB Start sense 666
[r1] Start sense 666
[r2] LBB Start sense 391
[r1] LB-cycle time (ns): 147044
[r2] Start sense 391
[r1] LBB Start sense 667
[r1] Start sense 667
[r2] LB-cycle time (ns): 342093
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 2440920
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] LBB Start sense 668
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 668
[r1] LB-cycle time (ns): 272531
[r2] LBB Start sense 392
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 392
[r2] LB-cycle time (ns): 365795
[r1] LBB Start sense 669
[r1] Start sense 669
[r1] LB-cycle time (ns): 239167
[r1] LBB Start sense 670
[r2] LBB Start sense 393
[r1] Start sense 670
[r2] Start sense 393
[r1] LB-cycle time (ns): 296517
[r2] LB-cycle time (ns): 299252
[r1] LBB Start sense 671
[r1] Start sense 671
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 900375
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] LBB Start sense 672
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 672
[r1] LB-cycle time (ns): 297736
[r2] LBB Start sense 394
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 394
[r2] LB-cycle time (ns): 289984
[r1] LBB Start sense 673
[r2] LBB Start sense 395
[r1] Start sense 673
[r2] Start sense 395
[r1] LB-cycle time (ns): 423245
[r2] LB-cycle time (ns): 343579
[r1] LBB Start sense 674
[r1] Start sense 674
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 835712
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 675
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 675
[r1] LB-cycle time (ns): 277608
[r2] LBB Start sense 396
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 396
[r2] LB-cycle time (ns): 317589
[r1] LBB Start sense 676
[r2] LBB Start sense 397
[r1] Start sense 676
[r2] Start sense 397
[r1] LB-cycle time (ns): 395218
[r2] LB-cycle time (ns): 366777
[r1] LBB Start sense 677
[r1] Start sense 677
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 841426
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 398
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 398
[r2] LB-cycle time (ns): 326046
[r1] LBB Start sense 678
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 678
[r1] LB-cycle time (ns): 259130
[r2] LBB Start sense 399
[r1] LBB Start sense 679
[r2] Start sense 399
[r1] Start sense 679
[r2] LB-cycle time (ns): 309921
[r1] LB-cycle time (ns): 412545
[r1] LBB Start sense 680
[r1] Start sense 680
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 769028
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 400
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 400
[r2] LB-cycle time (ns): 351150
[r1] LBB Start sense 681
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 681
[r1] LB-cycle time (ns): 271310
[r2] LBB Start sense 401
[r1] LBB Start sense 682
[r2] Start sense 401
[r1] Start sense 682
[r2] LB-cycle time (ns): 309205
[r1] LB-cycle time (ns): 432864
[r1] LBB Start sense 683
[r1] Start sense 683
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 2453251
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] LBB Start sense 684
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 684
[r1] LB-cycle time (ns): 252229
[r2] LBB Start sense 402
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 402
[r2] LB-cycle time (ns): 343997
[r1] LBB Start sense 685
[r2] LBB Start sense 403
[r1] Start sense 685
[r2] Start sense 403
[r2] LB-cycle time (ns): 317410
[r1] LB-cycle time (ns): 418793
[r1] LBB Start sense 686
[r1] Start sense 686
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 785959
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 687
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 687
[r1] LB-cycle time (ns): 266090
[r2] LBB Start sense 404
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 404
[r2] LB-cycle time (ns): 386902
[r1] LBB Start sense 688
[r1] Start sense 688
[r2] LBB Start sense 405
[r1] LB-cycle time (ns): 266368
[r2] Start sense 405
[r1] LBB Start sense 689
[r2] LB-cycle time (ns): 419972
[r1] Start sense 689
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 956279
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 406
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 406
[r2] LB-cycle time (ns): 366547
[r1] LBB Start sense 690
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 690
[r1] LB-cycle time (ns): 306866
[r2] LBB Start sense 407
[r1] LBB Start sense 691
[r2] Start sense 407
[r1] Start sense 691
[r2] LB-cycle time (ns): 344622
[r1] LB-cycle time (ns): 453722
[r1] LBB Start sense 692
[r1] Start sense 692
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 806485
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 408
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 408
[r2] LB-cycle time (ns): 392895
[r1] LBB Start sense 693
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 693
[r1] LB-cycle time (ns): 272685
[r2] LBB Start sense 409
[r1] LBB Start sense 694
[r2] Start sense 409
[r1] Start sense 694
[r2] LB-cycle time (ns): 336447
[r1] LB-cycle time (ns): 485189
[r1] LBB Start sense 695
[r1] Start sense 695
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 787064
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 410
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 410
[r2] LB-cycle time (ns): 422798
[r1] LBB Start sense 696
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 696
[r1] LB-cycle time (ns): 286709
[r2] LBB Start sense 411
[r1] LBB Start sense 697
[r2] Start sense 411
[r1] Start sense 697
[r2] LB-cycle time (ns): 398692
[r1] LB-cycle time (ns): 511143
[r1] LBB Start sense 698
[r1] Start sense 698
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 2493904
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r2] LBB Start sense 412
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 412
[r2] LB-cycle time (ns): 512275
[r1] LBB Start sense 699
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 699
[r1] LB-cycle time (ns): 252044
[r2] LBB Start sense 413
[r1] LBB Start sense 700
[r2] Start sense 413
[r1] Start sense 700
[r2] LB-cycle time (ns): 354884
[r1] LB-cycle time (ns): 464129
[r1] LBB Start sense 701
[r1] Start sense 701
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 776821
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 414
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 414
[r2] LB-cycle time (ns): 359803
[r1] LBB Start sense 702
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 702
[r1] LB-cycle time (ns): 260173
[r2] LBB Start sense 415
[r1] LBB Start sense 703
[r2] Start sense 415
[r1] Start sense 703
[r2] LB-cycle time (ns): 371047
[r1] LB-cycle time (ns): 485972
[r1] LBB Start sense 704
[r1] Start sense 704
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 840403
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 705
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 705
[r1] LB-cycle time (ns): 290688
[r2] LBB Start sense 416
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 416
[r2] LB-cycle time (ns): 334548
[r1] LBB Start sense 706
[r2] LBB Start sense 417
[r1] Start sense 706
[r2] Start sense 417
[r2] LB-cycle time (ns): 331205
[r1] LB-cycle time (ns): 376482
[r1] LBB Start sense 707
[r1] Start sense 707
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 757334
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 418
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 418
[r2] LB-cycle time (ns): 321857
[r1] LBB Start sense 708
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 708
[r1] LB-cycle time (ns): 262956
[r1] LBB Start sense 709
[r2] LBB Start sense 419
[r1] Start sense 709
[r2] Start sense 419
[r2] LB-cycle time (ns): 348348
[r1] LB-cycle time (ns): 353267
[r1] LBB Start sense 710
[r1] Start sense 710
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 774417
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 420
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 420
[r2] LB-cycle time (ns): 362899
[r1] LBB Start sense 711
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 711
[r1] LB-cycle time (ns): 267035
[r2] LBB Start sense 421
[r1] LBB Start sense 712
[r2] Start sense 421
[r1] Start sense 712
[r2] LB-cycle time (ns): 316075
[r1] LB-cycle time (ns): 419573
[r1] LBB Start sense 713
[r1] Start sense 713
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 2476218
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r2] LBB Start sense 422
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 422
[r2] LB-cycle time (ns): 298125
[r1] LBB Start sense 714
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 714
[r1] LB-cycle time (ns): 243757
[r2] LBB Start sense 423
[r1] LBB Start sense 715
[r2] Start sense 423
[r1] Start sense 715
[r2] LB-cycle time (ns): 348195
[r1] LB-cycle time (ns): 441561
[r1] LBB Start sense 716
[r1] Start sense 716
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 832532
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 424
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 424
[r2] LB-cycle time (ns): 312434
[r1] LBB Start sense 717
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 717
[r1] LB-cycle time (ns): 257497
[r2] LBB Start sense 425
[r1] LBB Start sense 718
[r2] Start sense 425
[r1] Start sense 718
[r2] LB-cycle time (ns): 318458
[r1] LB-cycle time (ns): 386667
[r1] LBB Start sense 719
[r1] Start sense 719
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 794017
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 426
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 426
[r2] LB-cycle time (ns): 307623
[r1] LBB Start sense 720
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 720
[r1] LB-cycle time (ns): 255169
[r2] LBB Start sense 427
[r1] LBB Start sense 721
[r2] Start sense 427
[r1] Start sense 721
[r2] LB-cycle time (ns): 2780739
[r1] LB-cycle time (ns): 2879683
[r1] LBB Start sense 722
[r1] Start sense 722
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 934469
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r2] LBB Start sense 428
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 428
[r2] LB-cycle time (ns): 383938
[r1] LBB Start sense 723
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 723
[r1] LB-cycle time (ns): 234930
[r2] LBB Start sense 429
[r1] LBB Start sense 724
[r2] Start sense 429
[r1] Start sense 724
[r2] LB-cycle time (ns): 315500
[r1] LB-cycle time (ns): 410214
[r1] LBB Start sense 725
[r1] Start sense 725
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1029059
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 430
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 430
[r2] LB-cycle time (ns): 302535
[r1] LBB Start sense 726
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 726
[r1] LB-cycle time (ns): 246807
[r2] LBB Start sense 431
[r1] LBB Start sense 727
[r2] Start sense 431
[r1] Start sense 727
[r2] LB-cycle time (ns): 329860
[r1] LB-cycle time (ns): 428671
[r1] LBB Start sense 728
[r1] Start sense 728
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 2451765
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r2] LBB Start sense 432
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 432
[r2] LB-cycle time (ns): 316098
[r1] LBB Start sense 729
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 729
[r1] LB-cycle time (ns): 258009
[r2] LBB Start sense 433
[r1] LBB Start sense 730
[r2] Start sense 433
[r1] Start sense 730
[r2] LB-cycle time (ns): 333457
[r1] LB-cycle time (ns): 436293
[r1] LBB Start sense 731
[r1] Start sense 731
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 774390
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 434
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 434
[r2] LB-cycle time (ns): 341030
[r1] LBB Start sense 732
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 732
[r1] LB-cycle time (ns): 270876
[r2] LBB Start sense 435
[r1] LBB Start sense 733
[r1] Start sense 733
[r2] Start sense 435
[r1] LB-cycle time (ns): 379518
[r2] LB-cycle time (ns): 462119
[r1] LBB Start sense 734
[r1] Start sense 734
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 856488
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 436
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 436
[r2] LB-cycle time (ns): 359032
[r1] LBB Start sense 735
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 735
[r1] LB-cycle time (ns): 276625
[r2] LBB Start sense 437
[r1] LBB Start sense 736
[r2] Start sense 437
[r1] Start sense 736
[r2] LB-cycle time (ns): 308612
[r1] LB-cycle time (ns): 419406
[r1] LBB Start sense 737
[r1] Start sense 737
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 773995
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 438
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 438
[r2] LB-cycle time (ns): 343126
[r1] LBB Start sense 738
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 738
[r1] LB-cycle time (ns): 241778
[r1] LBB Start sense 739
[r2] LBB Start sense 439
[r1] Start sense 739
[r2] Start sense 439
[r2] LB-cycle time (ns): 1722928
[r1] LB-cycle time (ns): 1734983
[r1] LBB Start sense 740
[r1] Start sense 740
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 780434
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r2] LBB Start sense 440
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 440
[r2] LB-cycle time (ns): 341114
[r1] LBB Start sense 741
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 741
[r1] LB-cycle time (ns): 265138
[r2] LBB Start sense 441
[r1] LBB Start sense 742
[r2] Start sense 441
[r1] Start sense 742
[r2] LB-cycle time (ns): 379401
[r1] LB-cycle time (ns): 480145
[r1] LBB Start sense 743
[r1] Start sense 743
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 2570653
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r2] LBB Start sense 442
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 442
[r2] LB-cycle time (ns): 360705
[r1] LBB Start sense 744
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 744
[r1] LB-cycle time (ns): 265152
[r2] LBB Start sense 443
[r1] LBB Start sense 745
[r2] Start sense 443
[r1] Start sense 745
[r2] LB-cycle time (ns): 347434
[r1] LB-cycle time (ns): 441370
[r1] LBB Start sense 746
[r1] Start sense 746
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 773063
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 444
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 444
[r2] LB-cycle time (ns): 339605
[r1] LBB Start sense 747
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 747
[r1] LB-cycle time (ns): 244473
[r2] LBB Start sense 445
[r1] LBB Start sense 748
[r2] Start sense 445
[r1] Start sense 748
[r2] LB-cycle time (ns): 333667
[r1] LB-cycle time (ns): 436699
[r1] LBB Start sense 749
[r1] Start sense 749
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 761470
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 446
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 446
[r2] LB-cycle time (ns): 321506
[r1] LBB Start sense 750
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 750
[r1] LB-cycle time (ns): 268985
[r2] LBB Start sense 447
[r1] LBB Start sense 751
[r2] Start sense 447
[r1] Start sense 751
[r2] LB-cycle time (ns): 308688
[r1] LB-cycle time (ns): 406659
[r1] LBB Start sense 752
[r1] Start sense 752
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 730150
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 448
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 448
[r2] LB-cycle time (ns): 358070
[r1] LBB Start sense 753
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 753
[r1] LB-cycle time (ns): 260980
[r1] LBB Start sense 754
[r2] LBB Start sense 449
[r1] Start sense 754
[r2] Start sense 449
[r1] LB-cycle time (ns): 362627
[r2] LB-cycle time (ns): 331073
[r1] LBB Start sense 755
[r1] Start sense 755
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 799788
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 450
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 450
[r2] LB-cycle time (ns): 311252
[r1] LBB Start sense 756
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 756
[r1] LB-cycle time (ns): 252346
[r2] LBB Start sense 451
[r1] LBB Start sense 757
[r2] Start sense 451
[r1] Start sense 757
[r2] LB-cycle time (ns): 348628
[r1] LB-cycle time (ns): 436836
[r1] LBB Start sense 758
[r1] Start sense 758
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 2460616
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r2] LBB Start sense 452
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 452
[r2] LB-cycle time (ns): 389427
[r1] LBB Start sense 759
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 759
[r1] LB-cycle time (ns): 271794
[r1] LBB Start sense 760
[r2] LBB Start sense 453
[r1] Start sense 760
[r2] Start sense 453
[r2] LB-cycle time (ns): 346531
[r1] LB-cycle time (ns): 385205
[r1] LBB Start sense 761
[r1] Start sense 761
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 751428
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 201
[r1] LBB Start sense 762
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 762
[r1] LB-cycle time (ns): 254525
[r2] LBB Start sense 454
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 454
[r2] LB-cycle time (ns): 309180
[r1] LBB Start sense 763
[r2] LBB Start sense 455
[r1] Start sense 763
[r2] Start sense 455
[r2] LB-cycle time (ns): 256307
[r1] LB-cycle time (ns): 376821
[r1] LBB Start sense 764
[r1] Start sense 764
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 746702
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 765
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 765
[r1] LB-cycle time (ns): 246274
[r2] LBB Start sense 456
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 456
[r2] LB-cycle time (ns): 296850
[r2] LBB Start sense 457
[r1] LBB Start sense 766
[r2] Start sense 457
[r1] Start sense 766
[r2] LB-cycle time (ns): 313865
[r1] LB-cycle time (ns): 413827
[r1] LBB Start sense 767
[r1] Start sense 767
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 711649
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 458
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 458
[r2] LB-cycle time (ns): 367859
[r1] LBB Start sense 768
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 768
[r1] LB-cycle time (ns): 247901
[r2] LBB Start sense 459
[r1] LBB Start sense 769
[r2] Start sense 459
[r1] Start sense 769
[r2] LB-cycle time (ns): 316924
[r1] LB-cycle time (ns): 396696
[r1] LBB Start sense 770
[r1] Start sense 770
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 717493
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 460
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 460
[r2] LB-cycle time (ns): 329607
[r1] LBB Start sense 771
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 771
[r1] LB-cycle time (ns): 260927
[r2] LBB Start sense 461
[r1] LBB Start sense 772
[r2] Start sense 461
[r1] Start sense 772
[r2] LB-cycle time (ns): 319344
[r1] LB-cycle time (ns): 426285
[r1] LBB Start sense 773
[r1] Start sense 773
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 2383392
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r2] LBB Start sense 462
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 462
[r2] LB-cycle time (ns): 397399
[r1] LBB Start sense 774
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 774
[r1] LB-cycle time (ns): 252857
[r2] LBB Start sense 463
[r1] LBB Start sense 775
[r2] Start sense 463
[r1] Start sense 775
[r2] LB-cycle time (ns): 337943
[r1] LB-cycle time (ns): 421025
[r1] LBB Start sense 776
[r1] Start sense 776
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 736445
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 464
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 464
[r1] LBB Start sense 777
[r2] LB-cycle time (ns): 1925435
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 777
[r1] LB-cycle time (ns): 1362664
[r2] LBB Start sense 465
[r1] LBB Start sense 778
[r2] Start sense 465
[r1] Start sense 778
[r2] LB-cycle time (ns): 309768
[r1] LB-cycle time (ns): 410193
[r1] LBB Start sense 779
[r1] Start sense 779
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 813285
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 466
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 466
[r2] LB-cycle time (ns): 346149
[r1] LBB Start sense 780
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 780
[r1] LB-cycle time (ns): 252302
[r2] LBB Start sense 467
[r1] LBB Start sense 781
[r2] Start sense 467
[r1] Start sense 781
[r2] LB-cycle time (ns): 320900
[r1] LB-cycle time (ns): 400637
[r1] LBB Start sense 782
[r1] Start sense 782
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 764730
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 468
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 468
[r2] LB-cycle time (ns): 339557
[r1] LBB Start sense 783
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 783
[r1] LB-cycle time (ns): 231220
[r2] LBB Start sense 469
[r1] LBB Start sense 784
[r2] Start sense 469
[r1] Start sense 784
[r2] LB-cycle time (ns): 307731
[r1] LB-cycle time (ns): 411263
[r1] LBB Start sense 785
[r1] Start sense 785
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 761655
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 470
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 470
[r2] LB-cycle time (ns): 305870
[r1] LBB Start sense 786
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 786
[r1] LB-cycle time (ns): 252101
[r2] LBB Start sense 471
[r1] LBB Start sense 787
[r2] Start sense 471
[r1] Start sense 787
[r2] LB-cycle time (ns): 308703
[r1] LB-cycle time (ns): 436515
[r1] LBB Start sense 788
[r1] Start sense 788
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 2448991
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r2] LBB Start sense 472
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 472
[r2] LB-cycle time (ns): 381674
[r1] LBB Start sense 789
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 789
[r1] LB-cycle time (ns): 251685
[r2] LBB Start sense 473
[r1] LBB Start sense 790
[r2] Start sense 473
[r1] Start sense 790
[r2] LB-cycle time (ns): 335706
[r1] LB-cycle time (ns): 527680
[r1] LBB Start sense 791
[r1] Start sense 791
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 765847
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 792
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 792
[r1] LB-cycle time (ns): 407085
[r2] LBB Start sense 474
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 474
[r2] LB-cycle time (ns): 348903
[r2] LBB Start sense 475
[r1] LBB Start sense 793
[r2] Start sense 475
[r1] Start sense 793
[r2] LB-cycle time (ns): 345646
[r1] LB-cycle time (ns): 436571
[r1] LBB Start sense 794
[r1] Start sense 794
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 977381
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 476
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 476
[r2] LB-cycle time (ns): 405537
[r1] LBB Start sense 795
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 795
[r1] LB-cycle time (ns): 269574
[r2] LBB Start sense 477
[r1] LBB Start sense 796
[r2] Start sense 477
[r1] Start sense 796
[r2] LB-cycle time (ns): 308565
[r1] LB-cycle time (ns): 418314
[r1] LBB Start sense 797
[r1] Start sense 797
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1305188
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 478
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 478
[r2] LB-cycle time (ns): 418358
[r1] LBB Start sense 798
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 798
[r1] LB-cycle time (ns): 326867
[r1] LBB Start sense 799
[r2] LBB Start sense 479
[r1] Start sense 799
[r2] Start sense 479
[r2] LB-cycle time (ns): 324098
[r1] LB-cycle time (ns): 366076
[r1] LBB Start sense 800
[r1] Start sense 800
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 855191
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 801
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 801
[r1] LB-cycle time (ns): 303874
[r2] LBB Start sense 480
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 480
[r2] LB-cycle time (ns): 291959
[r1] LBB Start sense 802
[r2] LBB Start sense 481
[r1] Start sense 802
[r2] Start sense 481
[r1] LB-cycle time (ns): 362682
[r2] LB-cycle time (ns): 322939
[r1] LBB Start sense 803
[r1] Start sense 803
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 2393057
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] LBB Start sense 804
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 804
[r1] LB-cycle time (ns): 247525
[r2] LBB Start sense 482
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 482
[r2] LB-cycle time (ns): 312177
[r2] LBB Start sense 483
[r1] LBB Start sense 805
[r2] Start sense 483
[r1] Start sense 805
[r2] LB-cycle time (ns): 317705
[r1] LB-cycle time (ns): 425898
[r1] LBB Start sense 806
[r1] Start sense 806
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 723612
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 807
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 807
[r1] LB-cycle time (ns): 307462
[r2] LBB Start sense 484
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 484
[r2] LB-cycle time (ns): 315659
[r2] LBB Start sense 485
[r1] LBB Start sense 808
[r2] Start sense 485
[r1] Start sense 808
[r2] LB-cycle time (ns): 512658
[r1] LB-cycle time (ns): 573096
[r1] LBB Start sense 809
[r1] Start sense 809
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 705635
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 486
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 486
[r2] LB-cycle time (ns): 375492
[r1] LBB Start sense 810
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 810
[r1] LB-cycle time (ns): 266361
[r2] LBB Start sense 487
[r1] LBB Start sense 811
[r2] Start sense 487
[r1] Start sense 811
[r2] LB-cycle time (ns): 367300
[r1] LB-cycle time (ns): 439720
[r1] LBB Start sense 812
[r1] Start sense 812
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 762629
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 488
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 488
[r2] LB-cycle time (ns): 332364
[r1] LBB Start sense 813
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 813
[r1] LB-cycle time (ns): 247697
[r2] LBB Start sense 489
[r1] LBB Start sense 814
[r2] Start sense 489
[r1] Start sense 814
[r2] LB-cycle time (ns): 314594
[r1] LB-cycle time (ns): 403155
[r1] LBB Start sense 815
[r1] Start sense 815
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 723454
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 490
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 490
[r2] LB-cycle time (ns): 296921
[r1] LBB Start sense 816
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 816
[r1] LB-cycle time (ns): 241651
[r1] LBB Start sense 817
[r2] LBB Start sense 491
[r1] Start sense 817
[r2] Start sense 491
[r1] LB-cycle time (ns): 388968
[r2] LB-cycle time (ns): 421849
[r1] LBB Start sense 818
[r1] Start sense 818
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 2496205
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r2] LBB Start sense 492
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 492
[r2] LB-cycle time (ns): 307618
[r1] LBB Start sense 819
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 819
[r1] LB-cycle time (ns): 281614
[r2] LBB Start sense 493
[r1] LBB Start sense 820
[r2] Start sense 493
[r1] Start sense 820
[r2] LB-cycle time (ns): 352549
[r1] LB-cycle time (ns): 425953
[r1] LBB Start sense 821
[r1] Start sense 821
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 808343
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 494
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 494
[r2] LB-cycle time (ns): 328626
[r1] LBB Start sense 822
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 822
[r1] LB-cycle time (ns): 275338
[r2] LBB Start sense 495
[r1] LBB Start sense 823
[r2] Start sense 495
[r1] Start sense 823
[r2] LB-cycle time (ns): 338078
[r1] LB-cycle time (ns): 508030
[r1] LBB Start sense 824
[r1] Start sense 824
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 791662
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 496
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 496
[r2] LB-cycle time (ns): 316966
[r1] LBB Start sense 825
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 825
[r1] LB-cycle time (ns): 289201
[r1] LBB Start sense 826
[r2] LBB Start sense 497
[r1] Start sense 826
[r2] Start sense 497
[r1] LB-cycle time (ns): 413783
[r2] LB-cycle time (ns): 473410
[r1] LBB Start sense 827
[r1] Start sense 827
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 870561
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 498
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 498
[r2] LB-cycle time (ns): 385991
[r1] LBB Start sense 828
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 828
[r1] LB-cycle time (ns): 268621
[r1] LBB Start sense 829
[r2] LBB Start sense 499
[r1] Start sense 829
[r2] Start sense 499
[r2] LB-cycle time (ns): 330814
[r1] LB-cycle time (ns): 476185
[r1] LBB Start sense 830
[r1] Start sense 830
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 738398
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 831
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 831
[r1] LB-cycle time (ns): 271076
[r2] LBB Start sense 500
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 500
[r2] LB-cycle time (ns): 283178
[r2] LBB Start sense 501
[r1] LBB Start sense 832
[r2] Start sense 501
[r1] Start sense 832
[r2] LB-cycle time (ns): 329361
[r1] LB-cycle time (ns): 373495
[r1] LBB Start sense 833
[r1] Start sense 833
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 2351034
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r2] LBB Start sense 502
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 502
[r2] LB-cycle time (ns): 303526
[r1] LBB Start sense 834
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 834
[r1] LB-cycle time (ns): 251321
[r2] LBB Start sense 503
[r1] LBB Start sense 835
[r2] Start sense 503
[r1] Start sense 835
[r2] LB-cycle time (ns): 345829
[r1] LB-cycle time (ns): 435057
[r1] LBB Start sense 836
[r1] Start sense 836
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 683529
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 504
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 504
[r2] LB-cycle time (ns): 311038
[r1] LBB Start sense 837
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 837
[r1] LB-cycle time (ns): 253397
[r1] LBB Start sense 838
[r2] LBB Start sense 505
[r1] Start sense 838
[r2] Start sense 505
[r1] LB-cycle time (ns): 381784
[r2] LB-cycle time (ns): 327359
[r1] LBB Start sense 839
[r1] Start sense 839
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 752804
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] LBB Start sense 840
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 840
[r1] LB-cycle time (ns): 264057
[r2] LBB Start sense 506
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 506
[r2] LB-cycle time (ns): 304593
[r2] LBB Start sense 507
[r1] LBB Start sense 841
[r2] Start sense 507
[r1] Start sense 841
[r2] LB-cycle time (ns): 317203
[r1] LB-cycle time (ns): 421147
[r1] LBB Start sense 842
[r1] Start sense 842
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 814983
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 508
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 508
[r2] LB-cycle time (ns): 313072
[r1] LBB Start sense 843
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 843
[r1] LB-cycle time (ns): 261895
[r2] LBB Start sense 509
[r1] LBB Start sense 844
[r2] Start sense 509
[r1] Start sense 844
[r2] LB-cycle time (ns): 327563
[r1] LB-cycle time (ns): 396259
[r1] LBB Start sense 845
[r1] Start sense 845
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 757694
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 510
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 510
[r2] LB-cycle time (ns): 360583
[r1] LBB Start sense 846
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 846
[r1] LB-cycle time (ns): 282513
[r1] LBB Start sense 847
[r1] Start sense 847
[r2] LBB Start sense 511
[r1] LB-cycle time (ns): 238743
[r2] Start sense 511
[r1] LBB Start sense 848
[r2] LB-cycle time (ns): 249527
[r1] Start sense 848
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 2704106
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] LBB Start sense 849
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 849
[r1] LB-cycle time (ns): 379007
[r2] LBB Start sense 512
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 512
[r2] LB-cycle time (ns): 303174
[r1] LBB Start sense 850
[r2] LBB Start sense 513
[r1] Start sense 850
[r2] Start sense 513
[r2] LB-cycle time (ns): 440981
[r1] LB-cycle time (ns): 480198
[r1] LBB Start sense 851
[r1] Start sense 851
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 1130987
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] LBB Start sense 852
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 852
[r1] LB-cycle time (ns): 290439
[r2] LBB Start sense 514
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 514
[r2] LB-cycle time (ns): 1861550
[r2] LBB Start sense 515
[r1] LBB Start sense 853
[r2] Start sense 515
[r1] Start sense 853
[r2] LB-cycle time (ns): 333995
[r1] LB-cycle time (ns): 407876
[r1] LBB Start sense 854
[r1] Start sense 854
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 720484
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 516
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 516
[r2] LB-cycle time (ns): 304379
[r1] LBB Start sense 855
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 855
[r1] LB-cycle time (ns): 296989
[r2] LBB Start sense 517
[r1] LBB Start sense 856
[r2] Start sense 517
[r1] Start sense 856
[r2] LB-cycle time (ns): 352775
[r1] LB-cycle time (ns): 423100
[r1] LBB Start sense 857
[r1] Start sense 857
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 732886
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 518
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 518
[r2] LB-cycle time (ns): 355666
[r1] LBB Start sense 858
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 858
[r1] LB-cycle time (ns): 253737
[r2] LBB Start sense 519
[r1] LBB Start sense 859
[r2] Start sense 519
[r1] Start sense 859
[r2] LB-cycle time (ns): 309421
[r1] LB-cycle time (ns): 369412
[r1] LBB Start sense 860
[r1] Start sense 860
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 810285
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 520
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 520
[r2] LB-cycle time (ns): 337187
[r1] LBB Start sense 861
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 861
[r1] LB-cycle time (ns): 254220
[r2] LBB Start sense 521
[r1] LBB Start sense 862
[r2] Start sense 521
[r1] Start sense 862
[r2] LB-cycle time (ns): 316036
[r1] LB-cycle time (ns): 395925
[r1] LBB Start sense 863
[r1] Start sense 863
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 2730048
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r2] LBB Start sense 522
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 522
[r2] LB-cycle time (ns): 385054
[r1] LBB Start sense 864
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 864
[r1] LB-cycle time (ns): 241743
[r2] LBB Start sense 523
[r1] LBB Start sense 865
[r2] Start sense 523
[r1] Start sense 865
[r2] LB-cycle time (ns): 355555
[r1] LB-cycle time (ns): 459073
[r1] LBB Start sense 866
[r1] Start sense 866
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 971464
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 524
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 524
[r2] LB-cycle time (ns): 331645
[r1] LBB Start sense 867
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 867
[r1] LB-cycle time (ns): 247095
[r2] LBB Start sense 525
[r1] LBB Start sense 868
[r2] Start sense 525
[r1] Start sense 868
[r2] LB-cycle time (ns): 334663
[r1] LB-cycle time (ns): 395683
[r1] LBB Start sense 869
[r1] Start sense 869
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 722500
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 526
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 526
[r2] LB-cycle time (ns): 342321
[r1] LBB Start sense 870
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 870
[r1] LB-cycle time (ns): 273039
[r2] LBB Start sense 527
[r1] LBB Start sense 871
[r2] Start sense 527
[r1] Start sense 871
[r2] LB-cycle time (ns): 314118
[r1] LB-cycle time (ns): 398832
[r1] LBB Start sense 872
[r1] Start sense 872
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 680237
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 528
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 528
[r2] LB-cycle time (ns): 340523
[r1] LBB Start sense 873
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 873
[r1] LB-cycle time (ns): 260432
[r2] LBB Start sense 529
[r1] LBB Start sense 874
[r2] Start sense 529
[r1] Start sense 874
[r2] LB-cycle time (ns): 301540
[r1] LB-cycle time (ns): 350227
[r1] LBB Start sense 875
[r1] Start sense 875
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 848145
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r2] LBB Start sense 530
[r2] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r2] Start sense 530
[r2] LB-cycle time (ns): 336798
[r1] LBB Start sense 876
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] Start sense 876
[r1] LB-cycle time (ns): 251715
[r2] LBB Start sense 531
[r1] LBB Start sense 877
[r2] Start sense 531
[r1] Start sense 877
[r2] LB-cycle time (ns): 302525
[r1] LB-cycle time (ns): 389774
[r1] LBB Start sense 878
[r1] Start sense 878
[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 candidate belief for garbage(r1) with {}
[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 8: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, X=6, Y=6, _51=0, _50=last, _52=5}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LB-cycle time (ns): 2254140
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
