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): 333
[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)]]
[r1] Start sense 1
[r1] percepts: [pos(r1,0,0), pos(r2,3,3)]
[r1] Added event +pos(r1,0,0)[source(percept)], events = [+!check(slots)[source(self)], +kqml::clear_source_self([],[])[hide_in_mind_inspector,source(self)], +pos(r1,0,0)[source(percept)]]
[r1] Added event +pos(r2,3,3)[source(percept)], events = [+!check(slots)[source(self)], +kqml::clear_source_self([],[])[hide_in_mind_inspector,source(self)], +pos(r1,0,0)[source(percept)], +pos(r2,3,3)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 3081802
[r1] Selected event +!check(slots)[source(self)]
[r1]      | no candidate belief for garbage(r1) with {}
[r1] Selected intention intention 1: 
    +!check(slots)[source(self)] <- ... next(slot); !check(slots) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 11103997
[r1] Start sense 2
[MarsEnv] r1 doing: next(slot)
[r1] LBB TransitionS, perceive+buf time (ns): 7850
[r1] Selected event +kqml::clear_source_self([],[])[hide_in_mind_inspector,source(self)]
[r1] Selected event +pos(r1,0,0)[source(percept)]
[r1] Selected event +pos(r2,3,3)[source(percept)]
[r1] LBB LocalAgArch, resCycle time (ns): 3880183
[r1] Start sense 3
[r1] LBB TransitionS, perceive+buf time (ns): 15117
[r1] LBB LocalAgArch, resCycle time (ns): 1262990
[r1] Start sense 4
[r1] LBB TransitionS, perceive+buf time (ns): 14740
[r1] LBB LocalAgArch, resCycle time (ns): 1128696
[r1] Start sense 5
[r1] LBB TransitionS, perceive+buf time (ns): 12189
[r1] LBB LocalAgArch, resCycle time (ns): 953763
[r1] Start sense 6
[r1] LBB TransitionS, perceive+buf time (ns): 14394
[r1] LBB LocalAgArch, resCycle time (ns): 1084416
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 983
[r1] Start sense 7
[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] LBB TransitionS, perceive+buf time (ns): 1454314
[r1] Selected event +pos(r1,1,0)[source(percept)]
[r1] Selected intention intention 1: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 3454790
[r1] Start sense 8
[r1] LBB TransitionS, perceive+buf time (ns): 5863
[r1] Selected event +!check(slots)[source(self)]
intention 1: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}

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

[r1] LBB LocalAgArch, resCycle time (ns): 2779183
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 210
[r1] 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] LBB TransitionS, perceive+buf time (ns): 1364967
[r1] Selected event +pos(r1,2,0)[source(percept)]
[r1] LBB LocalAgArch, resCycle time (ns): 2704129
[r1] Start sense 10
[r1] LBB TransitionS, perceive+buf time (ns): 12235
[r1] Selected intention intention 1: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1799028
[r1] Start sense 11
[r1] LBB TransitionS, perceive+buf time (ns): 5720
[r1] Selected event +!check(slots)[source(self)]
intention 1: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}

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

[r1] LBB LocalAgArch, resCycle time (ns): 2317717
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 206
[r1] 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] LBB TransitionS, perceive+buf time (ns): 2888341
[r1] Selected event +pos(r1,3,0)[source(percept)]
[r1] Selected event +garbage(r1)[source(percept)]
[r1] LBB LocalAgArch, resCycle time (ns): 9630732
[r1] Start sense 13
[r1] LBB TransitionS, perceive+buf time (ns): 14870
[r1] option for +!carry_to(r2)[source(self)] is plan p__3[source(self),url("file:r1.asl")] +!carry_to(R) : null -- with unification {R=r2}
[r1]      p__3[source(self),url("file:r1.asl")] is applicable with unification {R=r2}
[r1] Selected option (@p__3[source(self),url("file:r1.asl")] +!carry_to(R) <- ?pos(r1,X,Y); -+pos(last,X,Y); !take(garb,R); !at(last); !check(slots).,{R=r2}) for event +!carry_to(r2)[source(self)]
intention 2: 
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(r1,X,Y), belief pos(r1,3,0)[source(percept)] is an option -- {X=3, Y=0, R=r2}
[r1] LBB LocalAgArch, resCycle time (ns): 11441832
[r1] Start sense 14
[r1] LBB TransitionS, perceive+buf time (ns): 12052
[r1]      | for pos(_20,_21,_22)[source(self)], belief annotation pos(r1,3,0)[source(percept)] is NOT an option -- {X=3, Y=0, R=r2, _20=r1, _22=0, _21=3}
[r1]      | for pos(_20,_21,_22)[source(self)], belief annotation pos(r2,3,3)[source(percept)] is NOT an option -- {X=3, Y=0, R=r2, _20=r2, _22=3, _21=3}
[r1]      | NO more options for pos(_20,_21,_22)[source(self)]
[r1] Doing (del) brf for pos(_20,_21,_22)[source(self)] in BB=false
[r1] Doing (add) brf for pos(last,3,0)[source(self)]
[r1] brf added pos(last,3,0)[source(self)]
[r1] Added event +pos(last,3,0)[source(self)]
intention 2: 
    +!carry_to(r2)[source(self)] <- ... -+pos(last,X,Y); !take(garb,R); !at(last); !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}
, events = []
[r1] LBB LocalAgArch, resCycle time (ns): 8545127
[r1] Start sense 15
[r1] LBB TransitionS, perceive+buf time (ns): 12625
[r1] LBB LocalAgArch, resCycle time (ns): 974878
[r1] Start sense 16
[r1] LBB TransitionS, perceive+buf time (ns): 9261
[r1] option for +!take(garb,r2)[source(self)] is plan p__4[source(self),url("file:r1.asl")] +!take(S,L) : null -- with unification {S=garb, L=r2}
[r1]      p__4[source(self),url("file:r1.asl")] is applicable with unification {S=garb, L=r2}
[r1] Selected option (@p__4[source(self),url("file:r1.asl")] +!take(S,L) <- !ensure_pick(S); !at(L); drop(S).,{S=garb, L=r2}) for event +!take(garb,r2)[source(self)]
intention 2: 
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 2926783
[r1] Start sense 17
[r1] LBB TransitionS, perceive+buf time (ns): 6251
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) -- with unification {S=garb}
[r1]      | for garbage(r1), belief garbage(r1)[source(percept)] is an option -- {S=garb}
[r1]      p__5[source(self),url("file:r1.asl")] is applicable with unification {S=garb}
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1) : null -- with unification {_1=garb}
[r1]      p__6[source(self),url("file:r1.asl")] is applicable with unification {_1=garb}
[r1] Selected option (@p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) <- pick(garb); !ensure_pick(S).,{S=garb}) for event +!ensure_pick(garb)[source(self)]
intention 2: 
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 4199206
[MarsEnv] r1 doing: pick(garb)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 189
[r1] Start sense 18
[r1] percepts: [pos(r1,3,0), pos(r2,3,3)]
[r1] LBB TransitionS, perceive+buf time (ns): 650245
[r1] LBB LocalAgArch, resCycle time (ns): 3549418
[r1] Start sense 19
[r1] LBB TransitionS, perceive+buf time (ns): 15953
[r1] LBB LocalAgArch, resCycle time (ns): 1396960
[r1] Start sense 20
[r1] LBB TransitionS, perceive+buf time (ns): 13412
[r1] LBB LocalAgArch, resCycle time (ns): 1936033
[r1] Start sense 21
[r1] LBB TransitionS, perceive+buf time (ns): 6660
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) -- with unification {S=garb}
[r1]      | no candidate belief for garbage(r1) with {S=garb}
[r1]      p__5[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1) : null -- with unification {_1=garb}
[r1]      p__6[source(self),url("file:r1.asl")] is applicable with unification {_1=garb}
[r1] Selected option (@p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1).,{_1=garb}) for event +!ensure_pick(garb)[source(self)]
intention 2: 
    +!ensure_pick(garb)[source(self)] <- ... !ensure_pick(S) / {S=garb}
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__6[source(self),url("file:r1.asl")], te=+!ensure_pick(garb)[source(self)] unif={_1=garb}
[r1] LBB LocalAgArch, resCycle time (ns): 6927382
[r1] Start sense 22
[r1] LBB TransitionS, perceive+buf time (ns): 12508
[r1] LBB LocalAgArch, resCycle time (ns): 763836
[r1] Start sense 23
[r1] LBB TransitionS, perceive+buf time (ns): 10092
[r1] option for +!at(r2)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=r2}
[r1]      | for at(r2), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=r2}
[r1]      | for pos(P,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(r2)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=r2}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=r2}) for event +!at(r2)[source(self)]
intention 2: 
    +!take(garb,r2)[source(self)] <- ... !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {L=r2, X=3, Y=3}
[r1] LBB LocalAgArch, resCycle time (ns): 14101233
[r1] Start sense 24
[r1] LBB TransitionS, perceive+buf time (ns): 12615
[r1] LBB LocalAgArch, resCycle time (ns): 869350
[MarsEnv] r1 doing: move_towards(3,3)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 229
[r1] Start sense 25
[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] LBB TransitionS, perceive+buf time (ns): 1060030
[r1] LBB LocalAgArch, resCycle time (ns): 1735904
[r1] Start sense 26
[r1] LBB TransitionS, perceive+buf time (ns): 10599
[r1] LBB LocalAgArch, resCycle time (ns): 786139
[r1] Start sense 27
[r1] LBB TransitionS, perceive+buf time (ns): 5933
[r1] option for +!at(r2)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=r2}
[r1]      | for at(r2), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=r2}
[r1]      | for pos(P,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(r2)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=r2}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=r2}) for event +!at(r2)[source(self)]
intention 2: 
    +!at(r2)[source(self)] <- ... !at(L) / {X=3, Y=3, L=r2}
    +!take(garb,r2)[source(self)] <- ... !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {L=r2, X=3, Y=3}
[r1] LBB LocalAgArch, resCycle time (ns): 3203813
[r1] Start sense 28
[r1] LBB TransitionS, perceive+buf time (ns): 6629
[r1] LBB LocalAgArch, resCycle time (ns): 284467
[MarsEnv] r1 doing: move_towards(3,3)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 206
[r1] Start sense 29
[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] LBB TransitionS, perceive+buf time (ns): 1171209
[r1] LBB LocalAgArch, resCycle time (ns): 1795463
[r1] Start sense 30
[r1] LBB TransitionS, perceive+buf time (ns): 13927
[r1] LBB LocalAgArch, resCycle time (ns): 1145285
[r1] Start sense 31
[r1] LBB TransitionS, perceive+buf time (ns): 6294
[r1] option for +!at(r2)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=r2}
[r1]      | for at(r2), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=r2}
[r1]      | for pos(P,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(r2)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=r2}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=r2}) for event +!at(r2)[source(self)]
intention 2: 
    +!at(r2)[source(self)] <- ... !at(L) / {X=3, Y=3, L=r2}
    +!take(garb,r2)[source(self)] <- ... !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {L=r2, X=3, Y=3}
[r1] LBB LocalAgArch, resCycle time (ns): 3383512
[r1] Start sense 32
[r1] LBB TransitionS, perceive+buf time (ns): 9314
[r1] LBB LocalAgArch, resCycle time (ns): 429348
[MarsEnv] r1 doing: move_towards(3,3)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 207
[r1] Start sense 33
[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] LBB TransitionS, perceive+buf time (ns): 795201
[r1] LBB LocalAgArch, resCycle time (ns): 1390804
[r1] Start sense 34
[r1] LBB TransitionS, perceive+buf time (ns): 11452
[r1] LBB LocalAgArch, resCycle time (ns): 967909
[r1] Start sense 35
[r1] LBB TransitionS, perceive+buf time (ns): 5433
[r1] option for +!at(r2)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=r2}
[r1]      | for at(r2), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=r2}
[r1]      | for pos(P,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | for pos(r1,X,Y), belief pos(r1,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | for at(L), rule at(r2)[source(self)] is an option -- {L=r2}
[r1]      p__7[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] option for +!at(r2)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=r2}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] Selected option (@p__7[source(self),url("file:r1.asl")] +!at(L) : at(L).,{L=r2}) for event +!at(r2)[source(self)]
intention 2: 
    +!at(r2)[source(self)] <- ... !at(L) / {X=3, Y=3, L=r2}
    +!take(garb,r2)[source(self)] <- ... !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__7[source(self),url("file:r1.asl")], te=+!at(r2)[source(self)] unif={L=r2}
[r1] LBB LocalAgArch, resCycle time (ns): 4236944
[r1] Start sense 36
[r1] LBB TransitionS, perceive+buf time (ns): 7572
[r1] LBB LocalAgArch, resCycle time (ns): 541488
[MarsEnv] r1 doing: drop(garb)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 208
[r1] Start sense 37
[r1] percepts: [pos(r1,3,3), pos(r2,3,3), garbage(r1)]
[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)], +garbage(r1)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 2612134
[r1] LBB LocalAgArch, resCycle time (ns): 3298790
[r1] Start sense 38
[r1] LBB TransitionS, perceive+buf time (ns): 8541
[r1] Returning from IM p__4[source(self),url("file:r1.asl")], te=+!take(garb,r2)[source(self)] unif={S=garb, L=r2}
[r1] LBB LocalAgArch, resCycle time (ns): 903216
[r1] Start sense 39
[r1] LBB TransitionS, perceive+buf time (ns): 7316
[r1] option for +!at(last)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=last}
[r1]      | for at(last), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=last}
[r1]      | for pos(P,X,Y), belief pos(last,3,0)[source(self)] is an option -- {P=last, X=3, Y=0}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(last)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=last}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=last}) for event +!at(last)[source(self)]
intention 2: 
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(last,3,0)[source(self)] is an option -- {L=last, X=3, Y=0}
[r1] LBB LocalAgArch, resCycle time (ns): 4690558
[r1] Start sense 40
[r1] LBB TransitionS, perceive+buf time (ns): 6516
[r1] LBB LocalAgArch, resCycle time (ns): 337832
[MarsEnv] r1 doing: move_towards(3,0)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 251
[r1] Start sense 41
[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)], +pos(r1,3,3)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,3,2)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 1062473
[r1] LBB LocalAgArch, resCycle time (ns): 1589022
[r1] Start sense 42
[r1] LBB TransitionS, perceive+buf time (ns): 12004
[r1] LBB LocalAgArch, resCycle time (ns): 697769
[r1] Start sense 43
[r1] LBB TransitionS, perceive+buf time (ns): 5063
[r1] option for +!at(last)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=last}
[r1]      | for at(last), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=last}
[r1]      | for pos(P,X,Y), belief pos(last,3,0)[source(self)] is an option -- {P=last, X=3, Y=0}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(last)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=last}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=last}) for event +!at(last)[source(self)]
intention 2: 
    +!at(last)[source(self)] <- ... !at(L) / {X=3, Y=0, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(last,3,0)[source(self)] is an option -- {L=last, X=3, Y=0}
[r1] LBB LocalAgArch, resCycle time (ns): 2915946
[r1] Start sense 44
[r1] LBB TransitionS, perceive+buf time (ns): 6256
[r1] LBB LocalAgArch, resCycle time (ns): 305291
[MarsEnv] r1 doing: move_towards(3,0)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 206
[r1] Start sense 45
[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)], +garbage(r1)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,3,1)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 813698
[r1] LBB LocalAgArch, resCycle time (ns): 1262606
[r1] Start sense 46
[r1] LBB TransitionS, perceive+buf time (ns): 12745
[r1] LBB LocalAgArch, resCycle time (ns): 712517
[r1] Start sense 47
[r1] LBB TransitionS, perceive+buf time (ns): 19544
[r1] option for +!at(last)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=last}
[r1]      | for at(last), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=last}
[r1]      | for pos(P,X,Y), belief pos(last,3,0)[source(self)] is an option -- {P=last, X=3, Y=0}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(last)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=last}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=last}) for event +!at(last)[source(self)]
intention 2: 
    +!at(last)[source(self)] <- ... !at(L) / {X=3, Y=0, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(last,3,0)[source(self)] is an option -- {L=last, X=3, Y=0}
[r1] LBB LocalAgArch, resCycle time (ns): 3462725
[r1] Start sense 48
[r1] LBB TransitionS, perceive+buf time (ns): 6514
[r1] LBB LocalAgArch, resCycle time (ns): 296192
[MarsEnv] r1 doing: move_towards(3,0)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 207
[r1] Start sense 49
[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)], +garbage(r1)[source(percept)], +pos(r1,3,2)[source(percept)], +pos(r1,3,1)[source(percept)], +pos(r1,3,0)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 762226
[r1] LBB LocalAgArch, resCycle time (ns): 1170648
[r1] Start sense 50
[r1] LBB TransitionS, perceive+buf time (ns): 11875
[r1] LBB LocalAgArch, resCycle time (ns): 713697
[r1] Start sense 51
[r1] LBB TransitionS, perceive+buf time (ns): 5145
[r1] option for +!at(last)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=last}
[r1]      | for at(last), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=last}
[r1]      | for pos(P,X,Y), belief pos(last,3,0)[source(self)] is an option -- {P=last, X=3, Y=0}
[r1]      | for pos(r1,X,Y), belief pos(r1,3,0)[source(percept)] is an option -- {P=last, X=3, Y=0}
[r1]      | for at(L), rule at(last)[source(self)] is an option -- {L=last}
[r1]      p__7[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] option for +!at(last)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=last}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] Selected option (@p__7[source(self),url("file:r1.asl")] +!at(L) : at(L).,{L=last}) for event +!at(last)[source(self)]
intention 2: 
    +!at(last)[source(self)] <- ... !at(L) / {X=3, Y=0, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__7[source(self),url("file:r1.asl")], te=+!at(last)[source(self)] unif={L=last}
[r1] LBB LocalAgArch, resCycle time (ns): 2689966
[r1] Start sense 52
[r1] LBB TransitionS, perceive+buf time (ns): 6590
[r1] LBB LocalAgArch, resCycle time (ns): 281226
[r1] Start sense 53
[r1] LBB TransitionS, perceive+buf time (ns): 4594
[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] LBB LocalAgArch, resCycle time (ns): 1989672
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 207
[r1] Start sense 54
[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)], +garbage(r1)[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] LBB TransitionS, perceive+buf time (ns): 1003116
[r1] LBB LocalAgArch, resCycle time (ns): 2399064
[r1] Start sense 55
[r1] LBB TransitionS, perceive+buf time (ns): 15448
[r1] LBB LocalAgArch, resCycle time (ns): 671817
[r1] Start sense 56
[r1] LBB TransitionS, perceive+buf time (ns): 7195
[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] LBB LocalAgArch, resCycle time (ns): 1743675
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] Start sense 57
[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)], +garbage(r1)[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] LBB TransitionS, perceive+buf time (ns): 890589
[r1] LBB LocalAgArch, resCycle time (ns): 1394241
[r1] Start sense 58
[r1] LBB TransitionS, perceive+buf time (ns): 13130
[r1] LBB LocalAgArch, resCycle time (ns): 1123716
[r1] Start sense 59
[r1] LBB TransitionS, perceive+buf time (ns): 8172
[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] LBB LocalAgArch, resCycle time (ns): 1772983
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 208
[r1] Start sense 60
[r1] percepts: [pos(r1,6,0), pos(r2,3,3), garbage(r1)]
[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)], +garbage(r1)[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)]]
[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)], +garbage(r1)[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] LBB TransitionS, perceive+buf time (ns): 1386459
[r1] LBB LocalAgArch, resCycle time (ns): 1922653
[r1] Start sense 61
[r1] LBB TransitionS, perceive+buf time (ns): 14551
[r1] LBB LocalAgArch, resCycle time (ns): 613831
[r1] Start sense 62
[r1] LBB TransitionS, perceive+buf time (ns): 5469
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | for garbage(r1), belief garbage(r1)[source(percept)] is an option -- {}
[r1]      p__1[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__2[source(self),url("file:r1.asl")] +!check(slots).,{}) for event +!check(slots)[source(self)]
intention 2: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {X=3, Y=0, R=r2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__2[source(self),url("file:r1.asl")], te=+!check(slots)[source(self)] unif={}
[r1] Returning from IM p__3[source(self),url("file:r1.asl")], te=+!carry_to(r2)[source(self)] unif={X=3, Y=0, R=r2}
[r1] Returning from IM lg[atomic,source(self),url("file:r1.asl")], te=+garbage(r1)[source(percept)] unif={}
[r1] LBB LocalAgArch, resCycle time (ns): 1871120
[r1] Start sense 63
[r1] LBB TransitionS, perceive+buf time (ns): 6304
[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 +garbage(r1)[source(percept)]
[r1] LBB LocalAgArch, resCycle time (ns): 1147236
[r1] Start sense 64
[r1] LBB TransitionS, perceive+buf time (ns): 6375
[r1] option for +!carry_to(r2)[source(self)] is plan p__3[source(self),url("file:r1.asl")] +!carry_to(R) : null -- with unification {R=r2}
[r1]      p__3[source(self),url("file:r1.asl")] is applicable with unification {R=r2}
[r1] Selected option (@p__3[source(self),url("file:r1.asl")] +!carry_to(R) <- ?pos(r1,X,Y); -+pos(last,X,Y); !take(garb,R); !at(last); !check(slots).,{R=r2}) for event +!carry_to(r2)[source(self)]
intention 3: 
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(r1,X,Y), belief pos(r1,6,0)[source(percept)] is an option -- {X=6, Y=0, R=r2}
[r1] LBB LocalAgArch, resCycle time (ns): 1065315
[r1] Start sense 65
[r1] LBB TransitionS, perceive+buf time (ns): 5742
[r1]      | for pos(_23,_24,_25)[source(self)], belief annotation pos(r1,6,0)[source(percept)] is NOT an option -- {X=6, _24=6, Y=0, _23=r1, R=r2, _25=0}
[r1]      | for pos(_23,_24,_25)[source(self)], belief annotation pos(last,3,0)[source(self)] is an option -- {X=6, _24=3, Y=0, _23=last, R=r2, _25=0}
[r1] Doing (del) brf for pos(_23,_24,_25)[source(self)] in BB=true
[r1] Removed:pos(last,3,0)[source(self)]
[r1] Added event -pos(last,3,0)[source(self)], events = [+pos(r1,3,2)[source(percept)], +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)], -pos(last,3,0)[source(self)]]
[r1] Doing (add) brf for pos(last,6,0)[source(self)]
[r1] brf added pos(last,6,0)[source(self)]
[r1] Added event +pos(last,6,0)[source(self)]
intention 3: 
    +!carry_to(r2)[source(self)] <- ... -+pos(last,X,Y); !take(garb,R); !at(last); !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}
, events = [+pos(r1,3,2)[source(percept)], +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)], -pos(last,3,0)[source(self)]]
[r1] LBB LocalAgArch, resCycle time (ns): 3105714
[r1] Start sense 66
[r1] LBB TransitionS, perceive+buf time (ns): 5892
[r1] LBB LocalAgArch, resCycle time (ns): 257678
[r1] Start sense 67
[r1] LBB TransitionS, perceive+buf time (ns): 4843
[r1] option for +!take(garb,r2)[source(self)] is plan p__4[source(self),url("file:r1.asl")] +!take(S,L) : null -- with unification {S=garb, L=r2}
[r1]      p__4[source(self),url("file:r1.asl")] is applicable with unification {S=garb, L=r2}
[r1] Selected option (@p__4[source(self),url("file:r1.asl")] +!take(S,L) <- !ensure_pick(S); !at(L); drop(S).,{S=garb, L=r2}) for event +!take(garb,r2)[source(self)]
intention 3: 
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1182357
[r1] Start sense 68
[r1] LBB TransitionS, perceive+buf time (ns): 6508
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) -- with unification {S=garb}
[r1]      | for garbage(r1), belief garbage(r1)[source(percept)] is an option -- {S=garb}
[r1]      p__5[source(self),url("file:r1.asl")] is applicable with unification {S=garb}
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1) : null -- with unification {_1=garb}
[r1]      p__6[source(self),url("file:r1.asl")] is applicable with unification {_1=garb}
[r1] Selected option (@p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) <- pick(garb); !ensure_pick(S).,{S=garb}) for event +!ensure_pick(garb)[source(self)]
intention 3: 
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1434524
[MarsEnv] r1 doing: pick(garb)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 213
[r1] Start sense 69
[r1] percepts: [pos(r1,6,0), pos(r2,3,3)]
[r1] LBB TransitionS, perceive+buf time (ns): 387469
[r1] LBB LocalAgArch, resCycle time (ns): 800118
[r1] Start sense 70
[r1] LBB TransitionS, perceive+buf time (ns): 12692
[r1] LBB LocalAgArch, resCycle time (ns): 644522
[r1] Start sense 71
[r1] LBB TransitionS, perceive+buf time (ns): 7468
[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 3: 
    +!ensure_pick(garb)[source(self)] <- ... !ensure_pick(S) / {S=garb}
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__6[source(self),url("file:r1.asl")], te=+!ensure_pick(garb)[source(self)] unif={_1=garb}
[r1] LBB LocalAgArch, resCycle time (ns): 3198616
[r1] Start sense 72
[r1] LBB TransitionS, perceive+buf time (ns): 6963
[r1] LBB LocalAgArch, resCycle time (ns): 219481
[r1] Start sense 73
[r1] LBB TransitionS, perceive+buf time (ns): 4542
[r1] option for +!at(r2)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=r2}
[r1]      | for at(r2), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=r2}
[r1]      | for pos(P,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(r2)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=r2}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=r2}) for event +!at(r2)[source(self)]
intention 3: 
    +!take(garb,r2)[source(self)] <- ... !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {L=r2, X=3, Y=3}
[r1] LBB LocalAgArch, resCycle time (ns): 2301970
[r1] Start sense 74
[r1] LBB TransitionS, perceive+buf time (ns): 6699
[r1] LBB LocalAgArch, resCycle time (ns): 289869
[MarsEnv] r1 doing: move_towards(3,3)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 209
[r1] Start sense 75
[r1] percepts: [pos(r1,5,1), pos(r2,3,3)]
[r1] Added event +pos(r1,5,1)[source(percept)], events = [+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)], -pos(last,3,0)[source(self)], +pos(r1,5,1)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 1077564
[r1] LBB LocalAgArch, resCycle time (ns): 1516533
[r1] Start sense 76
[r1] LBB TransitionS, perceive+buf time (ns): 18597
[r1] LBB LocalAgArch, resCycle time (ns): 892432
[r1] Start sense 77
[r1] LBB TransitionS, perceive+buf time (ns): 7576
[r1] option for +!at(r2)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=r2}
[r1]      | for at(r2), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=r2}
[r1]      | for pos(P,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(r2)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=r2}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=r2}) for event +!at(r2)[source(self)]
intention 3: 
    +!at(r2)[source(self)] <- ... !at(L) / {X=3, Y=3, L=r2}
    +!take(garb,r2)[source(self)] <- ... !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {L=r2, X=3, Y=3}
[r1] LBB LocalAgArch, resCycle time (ns): 2504466
[r1] Start sense 78
[r1] LBB TransitionS, perceive+buf time (ns): 6912
[r1] LBB LocalAgArch, resCycle time (ns): 223249
[MarsEnv] r1 doing: move_towards(3,3)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r1] Start sense 79
[r1] percepts: [pos(r1,4,2), pos(r2,3,3)]
[r1] Added event +pos(r1,4,2)[source(percept)], events = [+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)], -pos(last,3,0)[source(self)], +pos(r1,5,1)[source(percept)], +pos(r1,4,2)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 677614
[r1] LBB LocalAgArch, resCycle time (ns): 1007146
[r1] Start sense 80
[r1] LBB TransitionS, perceive+buf time (ns): 14684
[r1] LBB LocalAgArch, resCycle time (ns): 554181
[r1] Start sense 81
[r1] LBB TransitionS, perceive+buf time (ns): 6116
[r1] option for +!at(r2)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=r2}
[r1]      | for at(r2), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=r2}
[r1]      | for pos(P,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(r2)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=r2}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=r2}) for event +!at(r2)[source(self)]
intention 3: 
    +!at(r2)[source(self)] <- ... !at(L) / {X=3, Y=3, L=r2}
    +!take(garb,r2)[source(self)] <- ... !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {L=r2, X=3, Y=3}
[r1] LBB LocalAgArch, resCycle time (ns): 2183370
[r1] Start sense 82
[r1] LBB TransitionS, perceive+buf time (ns): 6783
[r1] LBB LocalAgArch, resCycle time (ns): 267525
[MarsEnv] r1 doing: move_towards(3,3)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r1] Start sense 83
[r1] percepts: [pos(r1,3,3), pos(r2,3,3)]
[r1] Added event +pos(r1,3,3)[source(percept)], events = [+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)], -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] LBB TransitionS, perceive+buf time (ns): 708901
[r1] LBB LocalAgArch, resCycle time (ns): 1036373
[r1] Start sense 84
[r1] LBB TransitionS, perceive+buf time (ns): 12006
[r1] LBB LocalAgArch, resCycle time (ns): 518325
[r1] Start sense 85
[r1] LBB TransitionS, perceive+buf time (ns): 5850
[r1] option for +!at(r2)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=r2}
[r1]      | for at(r2), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=r2}
[r1]      | for pos(P,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | for pos(r1,X,Y), belief pos(r1,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | for at(L), rule at(r2)[source(self)] is an option -- {L=r2}
[r1]      p__7[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] option for +!at(r2)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=r2}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] Selected option (@p__7[source(self),url("file:r1.asl")] +!at(L) : at(L).,{L=r2}) for event +!at(r2)[source(self)]
intention 3: 
    +!at(r2)[source(self)] <- ... !at(L) / {X=3, Y=3, L=r2}
    +!take(garb,r2)[source(self)] <- ... !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__7[source(self),url("file:r1.asl")], te=+!at(r2)[source(self)] unif={L=r2}
[r1] LBB LocalAgArch, resCycle time (ns): 1995855
[r1] Start sense 86
[r1] LBB TransitionS, perceive+buf time (ns): 7477
[r1] LBB LocalAgArch, resCycle time (ns): 230750
[MarsEnv] r1 doing: drop(garb)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] Start sense 87
[r1] percepts: [pos(r1,3,3), pos(r2,3,3), garbage(r1)]
[r1] Added event +garbage(r1)[source(percept)], events = [+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)], -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] LBB TransitionS, perceive+buf time (ns): 815980
[r1] LBB LocalAgArch, resCycle time (ns): 1273065
[r1] Start sense 88
[r1] LBB TransitionS, perceive+buf time (ns): 14153
[r1] Returning from IM p__4[source(self),url("file:r1.asl")], te=+!take(garb,r2)[source(self)] unif={S=garb, L=r2}
[r1] LBB LocalAgArch, resCycle time (ns): 815379
[r1] Start sense 89
[r1] LBB TransitionS, perceive+buf time (ns): 6096
[r1] option for +!at(last)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=last}
[r1]      | for at(last), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=last}
[r1]      | for pos(P,X,Y), belief pos(last,6,0)[source(self)] is an option -- {P=last, X=6, Y=0}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(last)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=last}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=last}) for event +!at(last)[source(self)]
intention 3: 
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(last,6,0)[source(self)] is an option -- {L=last, X=6, Y=0}
[r1] LBB LocalAgArch, resCycle time (ns): 3939962
[r1] Start sense 90
[r1] LBB TransitionS, perceive+buf time (ns): 6510
[r1] LBB LocalAgArch, resCycle time (ns): 224445
[MarsEnv] r1 doing: move_towards(6,0)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 207
[r1] Start sense 91
[r1] percepts: [pos(r1,4,2), pos(r2,3,3)]
[r1] Added event +pos(r1,4,2)[source(percept)], events = [+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)], -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] LBB TransitionS, perceive+buf time (ns): 890130
[r1] LBB LocalAgArch, resCycle time (ns): 1238036
[r1] Start sense 92
[r1] LBB TransitionS, perceive+buf time (ns): 14160
[r1] LBB LocalAgArch, resCycle time (ns): 608127
[r1] Start sense 93
[r1] LBB TransitionS, perceive+buf time (ns): 5779
[r1] option for +!at(last)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=last}
[r1]      | for at(last), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=last}
[r1]      | for pos(P,X,Y), belief pos(last,6,0)[source(self)] is an option -- {P=last, X=6, Y=0}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(last)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=last}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=last}) for event +!at(last)[source(self)]
intention 3: 
    +!at(last)[source(self)] <- ... !at(L) / {X=6, Y=0, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(last,6,0)[source(self)] is an option -- {L=last, X=6, Y=0}
[r1] LBB LocalAgArch, resCycle time (ns): 2341448
[r1] Start sense 94
[r1] LBB TransitionS, perceive+buf time (ns): 6505
[r1] LBB LocalAgArch, resCycle time (ns): 231435
[MarsEnv] r1 doing: move_towards(6,0)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r1] Start sense 95
[r1] percepts: [pos(r1,5,1), pos(r2,3,3)]
[r1] Added event +pos(r1,5,1)[source(percept)], events = [+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)], -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] LBB TransitionS, perceive+buf time (ns): 780500
[r1] LBB LocalAgArch, resCycle time (ns): 1147322
[r1] Start sense 96
[r1] LBB TransitionS, perceive+buf time (ns): 14085
[r1] LBB LocalAgArch, resCycle time (ns): 545348
[r1] Start sense 97
[r1] LBB TransitionS, perceive+buf time (ns): 7467
[r1] option for +!at(last)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=last}
[r1]      | for at(last), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=last}
[r1]      | for pos(P,X,Y), belief pos(last,6,0)[source(self)] is an option -- {P=last, X=6, Y=0}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(last)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=last}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=last}) for event +!at(last)[source(self)]
intention 3: 
    +!at(last)[source(self)] <- ... !at(L) / {X=6, Y=0, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(last,6,0)[source(self)] is an option -- {L=last, X=6, Y=0}
[r1] LBB LocalAgArch, resCycle time (ns): 2604019
[r1] Start sense 98
[r1] LBB TransitionS, perceive+buf time (ns): 7122
[r1] LBB LocalAgArch, resCycle time (ns): 221363
[MarsEnv] r1 doing: move_towards(6,0)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r1] Start sense 99
[r1] percepts: [pos(r1,6,0), pos(r2,3,3)]
[r1] Added event +pos(r1,6,0)[source(percept)], events = [+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)], -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] LBB TransitionS, perceive+buf time (ns): 861263
[r1] LBB LocalAgArch, resCycle time (ns): 1222753
[r1] Start sense 100
[r1] LBB TransitionS, perceive+buf time (ns): 54497
[r1] LBB LocalAgArch, resCycle time (ns): 541616
[r1] Start sense 101
[r1] LBB TransitionS, perceive+buf time (ns): 5494
[r1] option for +!at(last)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=last}
[r1]      | for at(last), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=last}
[r1]      | for pos(P,X,Y), belief pos(last,6,0)[source(self)] is an option -- {P=last, X=6, Y=0}
[r1]      | for pos(r1,X,Y), belief pos(r1,6,0)[source(percept)] is an option -- {P=last, X=6, Y=0}
[r1]      | for at(L), rule at(last)[source(self)] is an option -- {L=last}
[r1]      p__7[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] option for +!at(last)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=last}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] Selected option (@p__7[source(self),url("file:r1.asl")] +!at(L) : at(L).,{L=last}) for event +!at(last)[source(self)]
intention 3: 
    +!at(last)[source(self)] <- ... !at(L) / {X=6, Y=0, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__7[source(self),url("file:r1.asl")], te=+!at(last)[source(self)] unif={L=last}
[r1] LBB LocalAgArch, resCycle time (ns): 1832045
[r1] Start sense 102
[r1] LBB TransitionS, perceive+buf time (ns): 6715
[r1] LBB LocalAgArch, resCycle time (ns): 179057
[r1] Start sense 103
[r1] LBB TransitionS, perceive+buf time (ns): 4535
[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 3: 
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1337107
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r1] Start sense 104
[r1] percepts: [pos(r1,0,1), pos(r2,3,3)]
[r1] Added event +pos(r1,0,1)[source(percept)], events = [+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)], -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] LBB TransitionS, perceive+buf time (ns): 792097
[r1] LBB LocalAgArch, resCycle time (ns): 1119656
[r1] Start sense 105
[r1] LBB TransitionS, perceive+buf time (ns): 13909
[r1] LBB LocalAgArch, resCycle time (ns): 458478
[r1] Start sense 106
[r1] LBB TransitionS, perceive+buf time (ns): 4838
[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 3: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 3004081
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 206
[r1] Start sense 107
[r1] percepts: [pos(r1,1,1), pos(r2,3,3)]
[r1] Added event +pos(r1,1,1)[source(percept)], events = [+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)], -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] LBB TransitionS, perceive+buf time (ns): 834467
[r1] LBB LocalAgArch, resCycle time (ns): 1173087
[r1] Start sense 108
[r1] LBB TransitionS, perceive+buf time (ns): 13228
[r1] LBB LocalAgArch, resCycle time (ns): 523319
[r1] Start sense 109
[r1] LBB TransitionS, perceive+buf time (ns): 5050
[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 3: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1200075
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] Start sense 110
[r1] percepts: [pos(r1,2,1), pos(r2,3,3)]
[r1] Added event +pos(r1,2,1)[source(percept)], events = [+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)], -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] LBB TransitionS, perceive+buf time (ns): 717826
[r1] LBB LocalAgArch, resCycle time (ns): 1179170
[r1] Start sense 111
[r1] LBB TransitionS, perceive+buf time (ns): 14154
[r1] LBB LocalAgArch, resCycle time (ns): 465269
[r1] Start sense 112
[r1] LBB TransitionS, perceive+buf time (ns): 4923
[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 3: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1298920
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] Start sense 113
[r1] percepts: [pos(r1,3,1), pos(r2,3,3)]
[r1] Added event +pos(r1,3,1)[source(percept)], events = [+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)], -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] LBB TransitionS, perceive+buf time (ns): 772335
[r1] LBB LocalAgArch, resCycle time (ns): 1100378
[r1] Start sense 114
[r1] LBB TransitionS, perceive+buf time (ns): 12545
[r1] LBB LocalAgArch, resCycle time (ns): 439132
[r1] Start sense 115
[r1] LBB TransitionS, perceive+buf time (ns): 5079
[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 3: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1178153
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] Start sense 116
[r1] percepts: [pos(r1,4,1), pos(r2,3,3)]
[r1] Added event +pos(r1,4,1)[source(percept)], events = [+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)], -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] LBB TransitionS, perceive+buf time (ns): 784644
[r1] LBB LocalAgArch, resCycle time (ns): 1111557
[r1] Start sense 117
[r1] LBB TransitionS, perceive+buf time (ns): 13992
[r1] LBB LocalAgArch, resCycle time (ns): 460210
[r1] Start sense 118
[r1] LBB TransitionS, perceive+buf time (ns): 5101
[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 3: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1736422
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] Start sense 119
[r1] percepts: [pos(r1,5,1), pos(r2,3,3)]
[r1] Added event +pos(r1,5,1)[source(percept)], events = [+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)], -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] LBB TransitionS, perceive+buf time (ns): 736165
[r1] LBB LocalAgArch, resCycle time (ns): 1044070
[r1] Start sense 120
[r1] LBB TransitionS, perceive+buf time (ns): 11061
[r1] LBB LocalAgArch, resCycle time (ns): 411573
[r1] Start sense 121
[r1] LBB TransitionS, perceive+buf time (ns): 5073
[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 3: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1205821
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] Start sense 122
[r1] percepts: [pos(r1,6,1), pos(r2,3,3)]
[r1] Added event +pos(r1,6,1)[source(percept)], events = [+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)], -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] LBB TransitionS, perceive+buf time (ns): 1073713
[r1] LBB LocalAgArch, resCycle time (ns): 1425794
[r1] Start sense 123
[r1] LBB TransitionS, perceive+buf time (ns): 13338
[r1] LBB LocalAgArch, resCycle time (ns): 417794
[r1] Start sense 124
[r1] LBB TransitionS, perceive+buf time (ns): 4599
[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 3: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 2849490
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] Start sense 125
[r1] percepts: [pos(r1,0,2), pos(r2,3,3)]
[r1] Added event +pos(r1,0,2)[source(percept)], events = [+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)], -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] LBB TransitionS, perceive+buf time (ns): 923790
[r1] LBB LocalAgArch, resCycle time (ns): 1213860
[r1] Start sense 126
[r1] LBB TransitionS, perceive+buf time (ns): 13523
[r1] LBB LocalAgArch, resCycle time (ns): 541430
[r1] Start sense 127
[r1] LBB TransitionS, perceive+buf time (ns): 5098
[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 3: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1183545
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] Start sense 128
[r1] percepts: [pos(r1,1,2), pos(r2,3,3), garbage(r1)]
[r1] Added event +pos(r1,1,2)[source(percept)], events = [+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)], -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(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)], -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] LBB TransitionS, perceive+buf time (ns): 1690649
[r1] LBB LocalAgArch, resCycle time (ns): 2164896
[r1] Start sense 129
[r1] LBB TransitionS, perceive+buf time (ns): 13545
[r1] LBB LocalAgArch, resCycle time (ns): 487660
[r1] Start sense 130
[r1] LBB TransitionS, perceive+buf time (ns): 5187
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | for garbage(r1), belief garbage(r1)[source(percept)] is an option -- {}
[r1]      p__1[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__2[source(self),url("file:r1.asl")] +!check(slots).,{}) for event +!check(slots)[source(self)]
intention 3: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__2[source(self),url("file:r1.asl")], te=+!check(slots)[source(self)] unif={}
[r1] Returning from IM p__3[source(self),url("file:r1.asl")], te=+!carry_to(r2)[source(self)] unif={_24=3, _23=last, R=r2, _25=0, X=6, Y=0}
[r1] Returning from IM lg[atomic,source(self),url("file:r1.asl")], te=+garbage(r1)[source(percept)] unif={}
[r1] LBB LocalAgArch, resCycle time (ns): 2049492
[r1] Start sense 131
[r1] LBB TransitionS, perceive+buf time (ns): 3369
[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] LBB LocalAgArch, resCycle time (ns): 719416
[r1] Start sense 132
[r1] LBB TransitionS, perceive+buf time (ns): 2387
[r1] option for +!carry_to(r2)[source(self)] is plan p__3[source(self),url("file:r1.asl")] +!carry_to(R) : null -- with unification {R=r2}
[r1]      p__3[source(self),url("file:r1.asl")] is applicable with unification {R=r2}
[r1] Selected option (@p__3[source(self),url("file:r1.asl")] +!carry_to(R) <- ?pos(r1,X,Y); -+pos(last,X,Y); !take(garb,R); !at(last); !check(slots).,{R=r2}) for event +!carry_to(r2)[source(self)]
intention 4: 
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(r1,X,Y), belief pos(r1,1,2)[source(percept)] is an option -- {X=1, Y=2, R=r2}
[r1] LBB LocalAgArch, resCycle time (ns): 400889
[r1] Start sense 133
[r1] LBB TransitionS, perceive+buf time (ns): 2465
[r1]      | for pos(_26,_27,_28)[source(self)], belief annotation pos(r1,1,2)[source(percept)] is NOT an option -- {X=1, Y=2, R=r2, _26=r1, _28=2, _27=1}
[r1]      | for pos(_26,_27,_28)[source(self)], belief annotation pos(last,6,0)[source(self)] is an option -- {X=1, Y=2, R=r2, _26=last, _28=0, _27=6}
[r1] Doing (del) brf for pos(_26,_27,_28)[source(self)] in BB=true
[r1] Removed:pos(last,6,0)[source(self)]
[r1] Added event -pos(last,6,0)[source(self)], events = [-pos(last,3,0)[source(self)], +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)], -pos(last,6,0)[source(self)]]
[r1] Doing (add) brf for pos(last,1,2)[source(self)]
[r1] brf added pos(last,1,2)[source(self)]
[r1] Added event +pos(last,1,2)[source(self)]
intention 4: 
    +!carry_to(r2)[source(self)] <- ... -+pos(last,X,Y); !take(garb,R); !at(last); !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}
, events = [-pos(last,3,0)[source(self)], +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)], -pos(last,6,0)[source(self)]]
[r1] LBB LocalAgArch, resCycle time (ns): 911634
[r1] Start sense 134
[r1] LBB TransitionS, perceive+buf time (ns): 2692
[r1] LBB LocalAgArch, resCycle time (ns): 103112
[r1] Start sense 135
[r1] LBB TransitionS, perceive+buf time (ns): 1854
[r1] option for +!take(garb,r2)[source(self)] is plan p__4[source(self),url("file:r1.asl")] +!take(S,L) : null -- with unification {S=garb, L=r2}
[r1]      p__4[source(self),url("file:r1.asl")] is applicable with unification {S=garb, L=r2}
[r1] Selected option (@p__4[source(self),url("file:r1.asl")] +!take(S,L) <- !ensure_pick(S); !at(L); drop(S).,{S=garb, L=r2}) for event +!take(garb,r2)[source(self)]
intention 4: 
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 313688
[r1] Start sense 136
[r1] LBB TransitionS, perceive+buf time (ns): 3088
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) -- with unification {S=garb}
[r1]      | for garbage(r1), belief garbage(r1)[source(percept)] is an option -- {S=garb}
[r1]      p__5[source(self),url("file:r1.asl")] is applicable with unification {S=garb}
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1) : null -- with unification {_1=garb}
[r1]      p__6[source(self),url("file:r1.asl")] is applicable with unification {_1=garb}
[r1] Selected option (@p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) <- pick(garb); !ensure_pick(S).,{S=garb}) for event +!ensure_pick(garb)[source(self)]
intention 4: 
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 442587
[MarsEnv] r1 doing: pick(garb)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 207
[r1] Start sense 137
[r1] percepts: [pos(r1,1,2), pos(r2,3,3), garbage(r1)]
[r1] LBB TransitionS, perceive+buf time (ns): 286391
[r1] LBB LocalAgArch, resCycle time (ns): 653243
[r1] Start sense 138
[r1] LBB TransitionS, perceive+buf time (ns): 13904
[r1] LBB LocalAgArch, resCycle time (ns): 525463
[r1] Start sense 139
[r1] LBB TransitionS, perceive+buf time (ns): 5912
[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, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 3212102
[MarsEnv] r1 doing: pick(garb)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r1] Start sense 140
[r1] percepts: [pos(r1,1,2), pos(r2,3,3)]
[r1] LBB TransitionS, perceive+buf time (ns): 432319
[r1] LBB LocalAgArch, resCycle time (ns): 812466
[r1] Start sense 141
[r1] LBB TransitionS, perceive+buf time (ns): 13948
[r1] LBB LocalAgArch, resCycle time (ns): 513059
[r1] Start sense 142
[r1] LBB TransitionS, perceive+buf time (ns): 5382
[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, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__6[source(self),url("file:r1.asl")], te=+!ensure_pick(garb)[source(self)] unif={_1=garb}
[r1] LBB LocalAgArch, resCycle time (ns): 1273436
[r1] Start sense 143
[r1] LBB TransitionS, perceive+buf time (ns): 5871
[r1] LBB LocalAgArch, resCycle time (ns): 179580
[r1] Start sense 144
[r1] LBB TransitionS, perceive+buf time (ns): 19630
[r1] option for +!at(r2)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=r2}
[r1]      | for at(r2), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=r2}
[r1]      | for pos(P,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(r2)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=r2}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=r2}) for event +!at(r2)[source(self)]
intention 4: 
    +!take(garb,r2)[source(self)] <- ... !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {L=r2, X=3, Y=3}
[r1] LBB LocalAgArch, resCycle time (ns): 1685595
[r1] Start sense 145
[r1] LBB TransitionS, perceive+buf time (ns): 6292
[r1] LBB LocalAgArch, resCycle time (ns): 211086
[MarsEnv] r1 doing: move_towards(3,3)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 206
[r1] Start sense 146
[r1] percepts: [pos(r1,2,3), pos(r2,3,3)]
[r1] Added event +pos(r1,2,3)[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)], +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)], -pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 1074346
[r1] LBB LocalAgArch, resCycle time (ns): 1519990
[r1] Start sense 147
[r1] LBB TransitionS, perceive+buf time (ns): 12225
[r1] LBB LocalAgArch, resCycle time (ns): 468477
[r1] Start sense 148
[r1] LBB TransitionS, perceive+buf time (ns): 5589
[r1] option for +!at(r2)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=r2}
[r1]      | for at(r2), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=r2}
[r1]      | for pos(P,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(r2)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=r2}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=r2}) for event +!at(r2)[source(self)]
intention 4: 
    +!at(r2)[source(self)] <- ... !at(L) / {X=3, Y=3, L=r2}
    +!take(garb,r2)[source(self)] <- ... !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {L=r2, X=3, Y=3}
[r1] LBB LocalAgArch, resCycle time (ns): 2057079
[r1] Start sense 149
[r1] LBB TransitionS, perceive+buf time (ns): 6930
[r1] LBB LocalAgArch, resCycle time (ns): 210593
[MarsEnv] r1 doing: move_towards(3,3)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r1] Start sense 150
[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)], +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)], -pos(last,6,0)[source(self)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 751141
[r1] LBB LocalAgArch, resCycle time (ns): 1076499
[r1] Start sense 151
[r1] LBB TransitionS, perceive+buf time (ns): 15206
[r1] LBB LocalAgArch, resCycle time (ns): 497227
[r1] Start sense 152
[r1] LBB TransitionS, perceive+buf time (ns): 5771
[r1] option for +!at(r2)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=r2}
[r1]      | for at(r2), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=r2}
[r1]      | for pos(P,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | for pos(r1,X,Y), belief pos(r1,3,3)[source(percept)] is an option -- {P=r2, X=3, Y=3}
[r1]      | for at(L), rule at(r2)[source(self)] is an option -- {L=r2}
[r1]      p__7[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] option for +!at(r2)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=r2}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=r2}
[r1] Selected option (@p__7[source(self),url("file:r1.asl")] +!at(L) : at(L).,{L=r2}) for event +!at(r2)[source(self)]
intention 4: 
    +!at(r2)[source(self)] <- ... !at(L) / {X=3, Y=3, L=r2}
    +!take(garb,r2)[source(self)] <- ... !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__7[source(self),url("file:r1.asl")], te=+!at(r2)[source(self)] unif={L=r2}
[r1] LBB LocalAgArch, resCycle time (ns): 1872032
[r1] Start sense 153
[r1] LBB TransitionS, perceive+buf time (ns): 6791
[r1] LBB LocalAgArch, resCycle time (ns): 200250
[MarsEnv] r1 doing: drop(garb)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] Start sense 154
[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)], +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] LBB TransitionS, perceive+buf time (ns): 744922
[r1] LBB LocalAgArch, resCycle time (ns): 1117406
[r1] Start sense 155
[r1] LBB TransitionS, perceive+buf time (ns): 15836
[r1] Returning from IM p__4[source(self),url("file:r1.asl")], te=+!take(garb,r2)[source(self)] unif={S=garb, L=r2}
[r1] LBB LocalAgArch, resCycle time (ns): 713197
[r1] Start sense 156
[r1] LBB TransitionS, perceive+buf time (ns): 5895
[r1] option for +!at(last)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=last}
[r1]      | for at(last), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=last}
[r1]      | for pos(P,X,Y), belief pos(last,1,2)[source(self)] is an option -- {P=last, X=1, Y=2}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(last)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=last}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=last}) for event +!at(last)[source(self)]
intention 4: 
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(last,1,2)[source(self)] is an option -- {L=last, X=1, Y=2}
[r1] LBB LocalAgArch, resCycle time (ns): 4019185
[r1] Start sense 157
[r1] LBB TransitionS, perceive+buf time (ns): 7113
[r1] LBB LocalAgArch, resCycle time (ns): 226814
[MarsEnv] r1 doing: move_towards(1,2)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 207
[r1] Start sense 158
[r1] percepts: [pos(r1,2,2), pos(r2,3,3)]
[r1] Added event +pos(r1,2,2)[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)], +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] LBB TransitionS, perceive+buf time (ns): 821545
[r1] LBB LocalAgArch, resCycle time (ns): 1112240
[r1] Start sense 159
[r1] LBB TransitionS, perceive+buf time (ns): 14808
[r1] LBB LocalAgArch, resCycle time (ns): 555827
[r1] Start sense 160
[r1] LBB TransitionS, perceive+buf time (ns): 5830
[r1] option for +!at(last)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=last}
[r1]      | for at(last), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=last}
[r1]      | for pos(P,X,Y), belief pos(last,1,2)[source(self)] is an option -- {P=last, X=1, Y=2}
[r1]      | NO more options for pos(r1,X,Y)
[r1]      | NO more options for pos(P,X,Y)
[r1]      | NO more options for at(L)
[r1]      p__7[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!at(last)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=last}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] Selected option (@p__8[source(self),url("file:r1.asl")] +!at(L) <- ?pos(L,X,Y); move_towards(X,Y); !at(L).,{L=last}) for event +!at(last)[source(self)]
intention 4: 
    +!at(last)[source(self)] <- ... !at(L) / {X=1, Y=2, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(last,1,2)[source(self)] is an option -- {L=last, X=1, Y=2}
[r1] LBB LocalAgArch, resCycle time (ns): 1964101
[r1] Start sense 161
[r1] LBB TransitionS, perceive+buf time (ns): 6484
[r1] LBB LocalAgArch, resCycle time (ns): 208695
[MarsEnv] r1 doing: move_towards(1,2)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] Start sense 162
[r1] percepts: [pos(r1,1,2), pos(r2,3,3)]
[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)], +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] LBB TransitionS, perceive+buf time (ns): 782490
[r1] LBB LocalAgArch, resCycle time (ns): 1097231
[r1] Start sense 163
[r1] LBB TransitionS, perceive+buf time (ns): 12080
[r1] LBB LocalAgArch, resCycle time (ns): 467463
[r1] Start sense 164
[r1] LBB TransitionS, perceive+buf time (ns): 5475
[r1] option for +!at(last)[source(self)] is plan p__7[source(self),url("file:r1.asl")] +!at(L) : at(L) -- with unification {L=last}
[r1]      | for at(last), rule at(P)[source(self)] :- (pos(P,X,Y) & pos(r1,X,Y)) is an option -- {P=last}
[r1]      | for pos(P,X,Y), belief pos(last,1,2)[source(self)] is an option -- {P=last, X=1, Y=2}
[r1]      | for pos(r1,X,Y), belief pos(r1,1,2)[source(percept)] is an option -- {P=last, X=1, Y=2}
[r1]      | for at(L), rule at(last)[source(self)] is an option -- {L=last}
[r1]      p__7[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] option for +!at(last)[source(self)] is plan p__8[source(self),url("file:r1.asl")] +!at(L) : null -- with unification {L=last}
[r1]      p__8[source(self),url("file:r1.asl")] is applicable with unification {L=last}
[r1] Selected option (@p__7[source(self),url("file:r1.asl")] +!at(L) : at(L).,{L=last}) for event +!at(last)[source(self)]
intention 4: 
    +!at(last)[source(self)] <- ... !at(L) / {X=1, Y=2, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__7[source(self),url("file:r1.asl")], te=+!at(last)[source(self)] unif={L=last}
[r1] LBB LocalAgArch, resCycle time (ns): 1733056
[r1] Start sense 165
[r1] LBB TransitionS, perceive+buf time (ns): 7989
[r1] LBB LocalAgArch, resCycle time (ns): 188423
[r1] Start sense 166
[r1] LBB TransitionS, perceive+buf time (ns): 4539
[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, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1005035
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r1] Start sense 167
[r1] percepts: [pos(r1,2,2), pos(r2,3,3)]
[r1] Added event +pos(r1,2,2)[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)], +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] LBB TransitionS, perceive+buf time (ns): 811382
[r1] LBB LocalAgArch, resCycle time (ns): 1147686
[r1] Start sense 168
[r1] LBB TransitionS, perceive+buf time (ns): 14098
[r1] LBB LocalAgArch, resCycle time (ns): 449598
[r1] Start sense 169
[r1] LBB TransitionS, perceive+buf time (ns): 36661
[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, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1308167
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] Start sense 170
[r1] percepts: [pos(r1,3,2), pos(r2,3,3)]
[r1] Added event +pos(r1,3,2)[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)], +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] LBB TransitionS, perceive+buf time (ns): 1318762
[r1] LBB LocalAgArch, resCycle time (ns): 1784431
[r1] Start sense 171
[r1] LBB TransitionS, perceive+buf time (ns): 12838
[r1] LBB LocalAgArch, resCycle time (ns): 568462
[r1] Start sense 172
[r1] LBB TransitionS, perceive+buf time (ns): 5026
[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, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1296267
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] Start sense 173
[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)], +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] LBB TransitionS, perceive+buf time (ns): 878160
[r1] LBB LocalAgArch, resCycle time (ns): 1258816
[r1] Start sense 174
[r1] LBB TransitionS, perceive+buf time (ns): 11750
[r1] LBB LocalAgArch, resCycle time (ns): 537625
[r1] Start sense 175
[r1] LBB TransitionS, perceive+buf time (ns): 4452
[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, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1346678
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] Start sense 176
[r1] percepts: [pos(r1,5,2), pos(r2,3,3)]
[r1] Added event +pos(r1,5,2)[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)], +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] LBB TransitionS, perceive+buf time (ns): 827196
[r1] LBB LocalAgArch, resCycle time (ns): 1179423
[r1] Start sense 177
[r1] LBB TransitionS, perceive+buf time (ns): 15575
[r1] LBB LocalAgArch, resCycle time (ns): 562873
[r1] Start sense 178
[r1] LBB TransitionS, perceive+buf time (ns): 4799
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | no 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, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 987926
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] Start sense 179
[r1] percepts: [pos(r1,6,2), pos(r2,3,3)]
[r1] Added event +pos(r1,6,2)[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)], +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] LBB TransitionS, perceive+buf time (ns): 651480
[r1] LBB LocalAgArch, resCycle time (ns): 976095
[r1] Start sense 180
[r1] LBB TransitionS, perceive+buf time (ns): 10765
[r1] LBB LocalAgArch, resCycle time (ns): 425286
[r1] Start sense 181
[r1] LBB TransitionS, perceive+buf time (ns): 4182
[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, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 932970
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] Start sense 182
[r1] percepts: [pos(r1,0,3), pos(r2,3,3)]
[r1] Added event +pos(r1,0,3)[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)], +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)], -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] LBB TransitionS, perceive+buf time (ns): 639899
[r1] LBB LocalAgArch, resCycle time (ns): 979961
[r1] Start sense 183
[r1] LBB TransitionS, perceive+buf time (ns): 10073
[r1] LBB LocalAgArch, resCycle time (ns): 530803
[r1] Start sense 184
[r1] LBB TransitionS, perceive+buf time (ns): 4646
[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, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 968438
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] Start sense 185
[r1] percepts: [pos(r1,1,3), pos(r2,3,3)]
[r1] Added event +pos(r1,1,3)[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)], +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)], -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] LBB TransitionS, perceive+buf time (ns): 592271
[r1] LBB LocalAgArch, resCycle time (ns): 885380
[r1] Start sense 186
[r1] LBB TransitionS, perceive+buf time (ns): 15625
[r1] LBB LocalAgArch, resCycle time (ns): 531110
[r1] Start sense 187
[r1] LBB TransitionS, perceive+buf time (ns): 4508
[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, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 942194
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] Start sense 188
[r1] percepts: [pos(r1,2,3), pos(r2,3,3)]
[r1] Added event +pos(r1,2,3)[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)], +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)], -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] LBB TransitionS, perceive+buf time (ns): 881564
[r1] LBB LocalAgArch, resCycle time (ns): 1302003
[r1] Start sense 189
[r1] LBB TransitionS, perceive+buf time (ns): 10839
[r1] LBB LocalAgArch, resCycle time (ns): 497299
[r1] Start sense 190
[r1] LBB TransitionS, perceive+buf time (ns): 8429
[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, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1124478
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 206
[r1] Start sense 191
[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)], +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)], -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] LBB TransitionS, perceive+buf time (ns): 741812
[r1] LBB LocalAgArch, resCycle time (ns): 1088011
[r1] Start sense 192
[r1] LBB TransitionS, perceive+buf time (ns): 13582
[r1] LBB LocalAgArch, resCycle time (ns): 579977
[r1] Start sense 193
[r1] LBB TransitionS, perceive+buf time (ns): 4799
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | no 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, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1102434
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] Start sense 194
[r1] percepts: [pos(r1,4,3), pos(r2,3,3)]
[r1] Added event +pos(r1,4,3)[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)], +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)], -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] LBB TransitionS, perceive+buf time (ns): 598631
[r1] LBB LocalAgArch, resCycle time (ns): 894100
[r1] Start sense 195
[r1] LBB TransitionS, perceive+buf time (ns): 12205
[r1] LBB LocalAgArch, resCycle time (ns): 533741
[r1] Start sense 196
[r1] LBB TransitionS, perceive+buf time (ns): 5117
[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, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1023903
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] Start sense 197
[r1] percepts: [pos(r1,5,3), pos(r2,3,3)]
[r1] Added event +pos(r1,5,3)[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)], +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)], -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] LBB TransitionS, perceive+buf time (ns): 758808
[r1] LBB LocalAgArch, resCycle time (ns): 1100809
[r1] Start sense 198
[r1] LBB TransitionS, perceive+buf time (ns): 13419
[r1] LBB LocalAgArch, resCycle time (ns): 578172
[r1] Start sense 199
[r1] LBB TransitionS, perceive+buf time (ns): 6822
[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, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1484929
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] Start sense 200
[r1] percepts: [pos(r1,6,3), pos(r2,3,3)]
[r1] Added event +pos(r1,6,3)[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)], +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)], -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] LBB TransitionS, perceive+buf time (ns): 707441
[r1] LBB LocalAgArch, resCycle time (ns): 1047232
[r1] Start sense 201
[r1] LBB TransitionS, perceive+buf time (ns): 10090
[r1] LBB LocalAgArch, resCycle time (ns): 506070
[r1] Start sense 202
[r1] LBB TransitionS, perceive+buf time (ns): 4929
[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, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1041001
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] Start sense 203
[r1] percepts: [pos(r1,0,4), pos(r2,3,3)]
[r1] Added event +pos(r1,0,4)[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)], -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] LBB TransitionS, perceive+buf time (ns): 750338
[r1] LBB LocalAgArch, resCycle time (ns): 1091019
[r1] Start sense 204
[r1] LBB TransitionS, perceive+buf time (ns): 10353
[r1] LBB LocalAgArch, resCycle time (ns): 411357
[r1] Start sense 205
[r1] LBB TransitionS, perceive+buf time (ns): 4661
[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, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 995928
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] Start sense 206
[r1] percepts: [pos(r1,1,4), pos(r2,3,3)]
[r1] Added event +pos(r1,1,4)[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)], -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] LBB TransitionS, perceive+buf time (ns): 669005
[r1] LBB LocalAgArch, resCycle time (ns): 1005218
[r1] Start sense 207
[r1] LBB TransitionS, perceive+buf time (ns): 11769
[r1] LBB LocalAgArch, resCycle time (ns): 485921
[r1] Start sense 208
[r1] LBB TransitionS, perceive+buf time (ns): 8015
[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, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 2716925
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] Start sense 209
[r1] percepts: [pos(r1,2,4), pos(r2,3,3)]
[r1] Added event +pos(r1,2,4)[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)], -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] LBB TransitionS, perceive+buf time (ns): 641827
[r1] LBB LocalAgArch, resCycle time (ns): 945981
[r1] Start sense 210
[r1] LBB TransitionS, perceive+buf time (ns): 10642
[r1] LBB LocalAgArch, resCycle time (ns): 486015
[r1] Start sense 211
[r1] LBB TransitionS, perceive+buf time (ns): 4245
[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, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1030731
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] Start sense 212
[r1] percepts: [pos(r1,3,4), pos(r2,3,3)]
[r1] Added event +pos(r1,3,4)[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)], -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] LBB TransitionS, perceive+buf time (ns): 697181
[r1] LBB LocalAgArch, resCycle time (ns): 1144978
[r1] Start sense 213
[r1] LBB TransitionS, perceive+buf time (ns): 10283
[r1] LBB LocalAgArch, resCycle time (ns): 493974
[r1] Start sense 214
[r1] LBB TransitionS, perceive+buf time (ns): 8187
[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, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1723610
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] Start sense 215
[r1] percepts: [pos(r1,4,4), pos(r2,3,3)]
[r1] Added event +pos(r1,4,4)[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)], -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] LBB TransitionS, perceive+buf time (ns): 769303
[r1] LBB LocalAgArch, resCycle time (ns): 1152055
[r1] Start sense 216
[r1] LBB TransitionS, perceive+buf time (ns): 14207
[r1] LBB LocalAgArch, resCycle time (ns): 596352
[r1] Start sense 217
[r1] LBB TransitionS, perceive+buf time (ns): 5927
[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, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1157189
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] Start sense 218
[r1] percepts: [pos(r1,5,4), pos(r2,3,3)]
[r1] Added event +pos(r1,5,4)[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)], -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] LBB TransitionS, perceive+buf time (ns): 785373
[r1] LBB LocalAgArch, resCycle time (ns): 1168943
[r1] Start sense 219
[r1] LBB TransitionS, perceive+buf time (ns): 13518
[r1] LBB LocalAgArch, resCycle time (ns): 483045
[r1] Start sense 220
[r1] LBB TransitionS, perceive+buf time (ns): 6286
[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, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1183572
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] Start sense 221
[r1] percepts: [pos(r1,6,4), pos(r2,3,3)]
[r1] Added event +pos(r1,6,4)[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)], -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] LBB TransitionS, perceive+buf time (ns): 772462
[r1] LBB LocalAgArch, resCycle time (ns): 1149694
[r1] Start sense 222
[r1] LBB TransitionS, perceive+buf time (ns): 8885
[r1] LBB LocalAgArch, resCycle time (ns): 329152
[r1] Start sense 223
[r1] LBB TransitionS, perceive+buf time (ns): 3487
[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, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1028044
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] Start sense 224
[r1] percepts: [pos(r1,0,5), pos(r2,3,3), garbage(r1)]
[r1] Added event +pos(r1,0,5)[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)], -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(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)], -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] LBB TransitionS, perceive+buf time (ns): 1148882
[r1] LBB LocalAgArch, resCycle time (ns): 1493151
[r1] Start sense 225
[r1] LBB TransitionS, perceive+buf time (ns): 15956
[r1] LBB LocalAgArch, resCycle time (ns): 502241
[r1] Start sense 226
[r1] LBB TransitionS, perceive+buf time (ns): 6300
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | for garbage(r1), belief garbage(r1)[source(percept)] is an option -- {}
[r1]      p__1[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__2[source(self),url("file:r1.asl")] +!check(slots).,{}) for event +!check(slots)[source(self)]
intention 4: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__2[source(self),url("file:r1.asl")], te=+!check(slots)[source(self)] unif={}
[r1] Returning from IM p__3[source(self),url("file:r1.asl")], te=+!carry_to(r2)[source(self)] unif={R=r2, _26=last, _28=0, _27=6, X=1, Y=2}
[r1] Returning from IM lg[atomic,source(self),url("file:r1.asl")], te=+garbage(r1)[source(percept)] unif={}
[r1] LBB LocalAgArch, resCycle time (ns): 1587873
[r1] Start sense 227
[r1] LBB TransitionS, perceive+buf time (ns): 8317
[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] LBB LocalAgArch, resCycle time (ns): 1220640
[r1] Start sense 228
[r1] LBB TransitionS, perceive+buf time (ns): 6933
[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(r1,0,5)[source(percept)] is an option -- {X=0, Y=5, R=r2}
[r1] LBB LocalAgArch, resCycle time (ns): 951248
[r1] Start sense 229
[r1] LBB TransitionS, perceive+buf time (ns): 7169
[r1]      | for pos(_29,_30,_31)[source(self)], belief annotation pos(r1,0,5)[source(percept)] is NOT an option -- {X=0, Y=5, R=r2, _31=5, _30=0, _29=r1}
[r1]      | for pos(_29,_30,_31)[source(self)], belief annotation pos(last,1,2)[source(self)] is an option -- {X=0, Y=5, R=r2, _31=2, _30=1, _29=last}
[r1] Doing (del) brf for pos(_29,_30,_31)[source(self)] in BB=true
[r1] Removed:pos(last,1,2)[source(self)]
[r1] Added event -pos(last,1,2)[source(self)], events = [+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)], -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 5: 
    +!carry_to(r2)[source(self)] <- ... -+pos(last,X,Y); !take(garb,R); !at(last); !check(slots) / {R=r2, _29=last, X=0, Y=5, _31=2, _30=1}
    +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)], +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] LBB LocalAgArch, resCycle time (ns): 2217092
[r1] Start sense 230
[r1] LBB TransitionS, perceive+buf time (ns): 7361
[r1] LBB LocalAgArch, resCycle time (ns): 253366
[r1] Start sense 231
[r1] LBB TransitionS, perceive+buf time (ns): 5395
[r1] option for +!take(garb,r2)[source(self)] is plan p__4[source(self),url("file:r1.asl")] +!take(S,L) : null -- with unification {S=garb, L=r2}
[r1]      p__4[source(self),url("file:r1.asl")] is applicable with unification {S=garb, L=r2}
[r1] Selected option (@p__4[source(self),url("file:r1.asl")] +!take(S,L) <- !ensure_pick(S); !at(L); drop(S).,{S=garb, L=r2}) for event +!take(garb,r2)[source(self)]
intention 5: 
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {R=r2, _29=last, X=0, Y=5, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 722488
[r1] Start sense 232
[r1] LBB TransitionS, perceive+buf time (ns): 6916
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) -- with unification {S=garb}
[r1]      | for garbage(r1), belief garbage(r1)[source(percept)] is an option -- {S=garb}
[r1]      p__5[source(self),url("file:r1.asl")] is applicable with unification {S=garb}
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1) : null -- with unification {_1=garb}
[r1]      p__6[source(self),url("file:r1.asl")] is applicable with unification {_1=garb}
[r1] Selected option (@p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) <- pick(garb); !ensure_pick(S).,{S=garb}) for event +!ensure_pick(garb)[source(self)]
intention 5: 
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {R=r2, _29=last, X=0, Y=5, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1126754
[MarsEnv] r1 doing: pick(garb)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 210
[r1] Start sense 233
[r1] percepts: [pos(r1,0,5), pos(r2,3,3), garbage(r1)]
[r1] LBB TransitionS, perceive+buf time (ns): 300022
[r1] LBB LocalAgArch, resCycle time (ns): 751502
[r1] Start sense 234
[r1] LBB TransitionS, perceive+buf time (ns): 13450
[r1] LBB LocalAgArch, resCycle time (ns): 486061
[r1] Start sense 235
[r1] LBB TransitionS, perceive+buf time (ns): 6321
[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: 
    +!ensure_pick(garb)[source(self)] <- ... !ensure_pick(S) / {S=garb}
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {R=r2, _29=last, X=0, Y=5, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1353970
[MarsEnv] r1 doing: pick(garb)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] Start sense 236
[r1] percepts: [pos(r1,0,5), pos(r2,3,3)]
[r1] LBB TransitionS, perceive+buf time (ns): 335180
[r1] LBB LocalAgArch, resCycle time (ns): 669534
[r1] Start sense 237
[r1] LBB TransitionS, perceive+buf time (ns): 12814
[r1] LBB LocalAgArch, resCycle time (ns): 495474
[r1] Start sense 238
[r1] LBB TransitionS, perceive+buf time (ns): 5108
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) -- with unification {S=garb}
[r1]      | no candidate belief for garbage(r1) with {S=garb}
[r1]      p__5[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1) : null -- with unification {_1=garb}
[r1]      p__6[source(self),url("file:r1.asl")] is applicable with unification {_1=garb}
[r1] Selected option (@p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1).,{_1=garb}) for event +!ensure_pick(garb)[source(self)]
intention 5: 
    +!ensure_pick(garb)[source(self)] <- ... !ensure_pick(S) / {S=garb}
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {R=r2, _29=last, X=0, Y=5, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__6[source(self),url("file:r1.asl")], te=+!ensure_pick(garb)[source(self)] unif={_1=garb}
[r1] LBB LocalAgArch, resCycle time (ns): 1490752
[r1] Start sense 239
[r1] LBB TransitionS, perceive+buf time (ns): 8897
[r1] LBB LocalAgArch, resCycle time (ns): 1932479
[r1] Start sense 240
[r1] LBB TransitionS, perceive+buf time (ns): 5012
[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) / {R=r2, _29=last, X=0, Y=5, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {L=r2, X=3, Y=3}
[r1] LBB LocalAgArch, resCycle time (ns): 1652774
[r1] Start sense 241
[r1] LBB TransitionS, perceive+buf time (ns): 5197
[r1] LBB LocalAgArch, resCycle time (ns): 193091
[MarsEnv] r1 doing: move_towards(3,3)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 207
[r1] Start sense 242
[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)], +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] LBB TransitionS, perceive+buf time (ns): 772133
[r1] LBB LocalAgArch, resCycle time (ns): 1179490
[r1] Start sense 243
[r1] LBB TransitionS, perceive+buf time (ns): 11922
[r1] LBB LocalAgArch, resCycle time (ns): 513365
[r1] Start sense 244
[r1] LBB TransitionS, perceive+buf time (ns): 8275
[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) / {R=r2, _29=last, X=0, Y=5, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {L=r2, X=3, Y=3}
[r1] LBB LocalAgArch, resCycle time (ns): 2095261
[r1] Start sense 245
[r1] LBB TransitionS, perceive+buf time (ns): 6613
[r1] LBB LocalAgArch, resCycle time (ns): 205476
[MarsEnv] r1 doing: move_towards(3,3)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r1] Start sense 246
[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)], +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] LBB TransitionS, perceive+buf time (ns): 680865
[r1] LBB LocalAgArch, resCycle time (ns): 1052394
[r1] Start sense 247
[r1] LBB TransitionS, perceive+buf time (ns): 12333
[r1] LBB LocalAgArch, resCycle time (ns): 497444
[r1] Start sense 248
[r1] LBB TransitionS, perceive+buf time (ns): 5243
[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) / {R=r2, _29=last, X=0, Y=5, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1]      | for pos(L,X,Y), belief pos(r2,3,3)[source(percept)] is an option -- {L=r2, X=3, Y=3}
[r1] LBB LocalAgArch, resCycle time (ns): 1642909
[r1] Start sense 249
[r1] LBB TransitionS, perceive+buf time (ns): 5307
[r1] LBB LocalAgArch, resCycle time (ns): 192369
[MarsEnv] r1 doing: move_towards(3,3)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] Start sense 250
[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)], +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] LBB TransitionS, perceive+buf time (ns): 723010
[r1] LBB LocalAgArch, resCycle time (ns): 1099298
[r1] Start sense 251
[r1] LBB TransitionS, perceive+buf time (ns): 10628
[r1] LBB LocalAgArch, resCycle time (ns): 443769
[r1] Start sense 252
[r1] LBB TransitionS, perceive+buf time (ns): 4565
[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) / {R=r2, _29=last, X=0, Y=5, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__7[source(self),url("file:r1.asl")], te=+!at(r2)[source(self)] unif={L=r2}
[r1] LBB LocalAgArch, resCycle time (ns): 1504467
[r1] Start sense 253
[r1] LBB TransitionS, perceive+buf time (ns): 5886
[r1] LBB LocalAgArch, resCycle time (ns): 235067
[MarsEnv] r1 doing: drop(garb)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] Start sense 254
[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)], +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(r1)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 725084
[r1] LBB LocalAgArch, resCycle time (ns): 1049911
[r1] Start sense 255
[r1] LBB TransitionS, perceive+buf time (ns): 11713
[r1] Returning from IM p__4[source(self),url("file:r1.asl")], te=+!take(garb,r2)[source(self)] unif={S=garb, L=r2}
[r1] LBB LocalAgArch, resCycle time (ns): 2264082
[r1] Start sense 256
[r1] LBB TransitionS, perceive+buf time (ns): 16625
[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 5: 
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {R=r2, _29=last, X=0, Y=5, _31=2, _30=1}
    +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] LBB LocalAgArch, resCycle time (ns): 1579596
[r1] Start sense 257
[r1] LBB TransitionS, perceive+buf time (ns): 5537
[r1] LBB LocalAgArch, resCycle time (ns): 218464
[MarsEnv] r1 doing: move_towards(0,5)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 206
[r1] Start sense 258
[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)], +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(r1)[source(percept)], +pos(r1,2,4)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 780362
[r1] LBB LocalAgArch, resCycle time (ns): 1282045
[r1] Start sense 259
[r1] LBB TransitionS, perceive+buf time (ns): 11366
[r1] LBB LocalAgArch, resCycle time (ns): 560246
[r1] Start sense 260
[r1] LBB TransitionS, perceive+buf time (ns): 3811
[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 5: 
    +!at(last)[source(self)] <- ... !at(L) / {X=0, Y=5, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {R=r2, _29=last, X=0, Y=5, _31=2, _30=1}
    +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] LBB LocalAgArch, resCycle time (ns): 1919561
[r1] Start sense 261
[r1] LBB TransitionS, perceive+buf time (ns): 4312
[r1] LBB LocalAgArch, resCycle time (ns): 227792
[MarsEnv] r1 doing: move_towards(0,5)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] Start sense 262
[r1] percepts: [pos(r1,1,5), pos(r2,3,3)]
[r1] Added event +pos(r1,1,5)[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)], +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(r1)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,1,5)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 710581
[r1] LBB LocalAgArch, resCycle time (ns): 1066255
[r1] Start sense 263
[r1] LBB TransitionS, perceive+buf time (ns): 11282
[r1] LBB LocalAgArch, resCycle time (ns): 550286
[r1] Start sense 264
[r1] LBB TransitionS, perceive+buf time (ns): 4142
[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 5: 
    +!at(last)[source(self)] <- ... !at(L) / {X=0, Y=5, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {R=r2, _29=last, X=0, Y=5, _31=2, _30=1}
    +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] LBB LocalAgArch, resCycle time (ns): 2067254
[r1] Start sense 265
[r1] LBB TransitionS, perceive+buf time (ns): 4767
[r1] LBB LocalAgArch, resCycle time (ns): 260514
[MarsEnv] r1 doing: move_towards(0,5)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] Start sense 266
[r1] percepts: [pos(r1,0,5), pos(r2,3,3)]
[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)], +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(r1)[source(percept)], +pos(r1,2,4)[source(percept)], +pos(r1,1,5)[source(percept)], +pos(r1,0,5)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 801184
[r1] LBB LocalAgArch, resCycle time (ns): 1126947
[r1] Start sense 267
[r1] LBB TransitionS, perceive+buf time (ns): 10634
[r1] LBB LocalAgArch, resCycle time (ns): 539149
[r1] Start sense 268
[r1] LBB TransitionS, perceive+buf time (ns): 3133
[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 5: 
    +!at(last)[source(self)] <- ... !at(L) / {X=0, Y=5, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {R=r2, _29=last, X=0, Y=5, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__7[source(self),url("file:r1.asl")], te=+!at(last)[source(self)] unif={L=last}
[r1] LBB LocalAgArch, resCycle time (ns): 1603117
[r1] Start sense 269
[r1] LBB TransitionS, perceive+buf time (ns): 3174
[r1] LBB LocalAgArch, resCycle time (ns): 175226
[r1] Start sense 270
[r1] LBB TransitionS, perceive+buf time (ns): 2174
[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) / {R=r2, _29=last, X=0, Y=5, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 814601
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] Start sense 271
[r1] percepts: [pos(r1,1,5), pos(r2,3,3)]
[r1] Added event +pos(r1,1,5)[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)], +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(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] LBB TransitionS, perceive+buf time (ns): 766781
[r1] LBB LocalAgArch, resCycle time (ns): 2761877
[r1] Start sense 272
[r1] LBB TransitionS, perceive+buf time (ns): 11290
[r1] LBB LocalAgArch, resCycle time (ns): 481099
[r1] Start sense 273
[r1] LBB TransitionS, perceive+buf time (ns): 3614
[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) / {R=r2, _29=last, X=0, Y=5, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1159755
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] Start sense 274
[r1] percepts: [pos(r1,2,5), pos(r2,3,3)]
[r1] Added event +pos(r1,2,5)[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)], +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(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] LBB TransitionS, perceive+buf time (ns): 798851
[r1] LBB LocalAgArch, resCycle time (ns): 1140651
[r1] Start sense 275
[r1] LBB TransitionS, perceive+buf time (ns): 7457
[r1] LBB LocalAgArch, resCycle time (ns): 401935
[r1] Start sense 276
[r1] LBB TransitionS, perceive+buf time (ns): 2005
[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) / {R=r2, _29=last, X=0, Y=5, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 965550
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] Start sense 277
[r1] percepts: [pos(r1,3,5), pos(r2,3,3)]
[r1] Added event +pos(r1,3,5)[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)], +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(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] LBB TransitionS, perceive+buf time (ns): 776122
[r1] LBB LocalAgArch, resCycle time (ns): 1109700
[r1] Start sense 278
[r1] LBB TransitionS, perceive+buf time (ns): 8526
[r1] LBB LocalAgArch, resCycle time (ns): 389017
[r1] Start sense 279
[r1] LBB TransitionS, perceive+buf time (ns): 2495
[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) / {R=r2, _29=last, X=0, Y=5, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1140497
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] Start sense 280
[r1] percepts: [pos(r1,4,5), pos(r2,3,3)]
[r1] Added event +pos(r1,4,5)[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)], +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(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] LBB TransitionS, perceive+buf time (ns): 787777
[r1] LBB LocalAgArch, resCycle time (ns): 1093529
[r1] Start sense 281
[r1] LBB TransitionS, perceive+buf time (ns): 7473
[r1] LBB LocalAgArch, resCycle time (ns): 386289
[r1] Start sense 282
[r1] LBB TransitionS, perceive+buf time (ns): 2217
[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) / {R=r2, _29=last, X=0, Y=5, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1042430
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] Start sense 283
[r1] percepts: [pos(r1,5,5), pos(r2,3,3)]
[r1] Added event +pos(r1,5,5)[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)], +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(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] LBB TransitionS, perceive+buf time (ns): 737857
[r1] LBB LocalAgArch, resCycle time (ns): 1041139
[r1] Start sense 284
[r1] LBB TransitionS, perceive+buf time (ns): 8695
[r1] LBB LocalAgArch, resCycle time (ns): 396543
[r1] Start sense 285
[r1] LBB TransitionS, perceive+buf time (ns): 3067
[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) / {R=r2, _29=last, X=0, Y=5, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 937838
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] Start sense 286
[r1] percepts: [pos(r1,6,5), pos(r2,3,3)]
[r1] Added event +pos(r1,6,5)[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)], +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(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] LBB TransitionS, perceive+buf time (ns): 2400059
[r1] LBB LocalAgArch, resCycle time (ns): 2757855
[r1] Start sense 287
[r1] LBB TransitionS, perceive+buf time (ns): 9089
[r1] LBB LocalAgArch, resCycle time (ns): 467333
[r1] Start sense 288
[r1] LBB TransitionS, perceive+buf time (ns): 2395
[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) / {R=r2, _29=last, X=0, Y=5, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1000031
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] Start sense 289
[r1] percepts: [pos(r1,0,6), pos(r2,3,3)]
[r1] Added event +pos(r1,0,6)[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)], -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(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] LBB TransitionS, perceive+buf time (ns): 1189876
[r1] LBB LocalAgArch, resCycle time (ns): 1608406
[r1] Start sense 290
[r1] LBB TransitionS, perceive+buf time (ns): 8320
[r1] LBB LocalAgArch, resCycle time (ns): 423951
[r1] Start sense 291
[r1] LBB TransitionS, perceive+buf time (ns): 2448
[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) / {R=r2, _29=last, X=0, Y=5, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 980801
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] Start sense 292
[r1] percepts: [pos(r1,1,6), pos(r2,3,3)]
[r1] Added event +pos(r1,1,6)[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)], -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(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] LBB TransitionS, perceive+buf time (ns): 775571
[r1] LBB LocalAgArch, resCycle time (ns): 1141277
[r1] Start sense 293
[r1] LBB TransitionS, perceive+buf time (ns): 9358
[r1] LBB LocalAgArch, resCycle time (ns): 434909
[r1] Start sense 294
[r1] LBB TransitionS, perceive+buf time (ns): 2814
[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) / {R=r2, _29=last, X=0, Y=5, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1242882
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] Start sense 295
[r1] percepts: [pos(r1,2,6), pos(r2,3,3)]
[r1] Added event +pos(r1,2,6)[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)], -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(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] LBB TransitionS, perceive+buf time (ns): 811255
[r1] LBB LocalAgArch, resCycle time (ns): 1115838
[r1] Start sense 296
[r1] LBB TransitionS, perceive+buf time (ns): 9319
[r1] LBB LocalAgArch, resCycle time (ns): 447719
[r1] Start sense 297
[r1] LBB TransitionS, perceive+buf time (ns): 2253
[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) / {R=r2, _29=last, X=0, Y=5, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 986803
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] Start sense 298
[r1] percepts: [pos(r1,3,6), pos(r2,3,3)]
[r1] Added event +pos(r1,3,6)[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)], -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(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] LBB TransitionS, perceive+buf time (ns): 804826
[r1] LBB LocalAgArch, resCycle time (ns): 1063298
[r1] Start sense 299
[r1] LBB TransitionS, perceive+buf time (ns): 8996
[r1] LBB LocalAgArch, resCycle time (ns): 415868
[r1] Start sense 300
[r1] LBB TransitionS, perceive+buf time (ns): 3128
[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) / {R=r2, _29=last, X=0, Y=5, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1136134
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] Start sense 301
[r1] percepts: [pos(r1,4,6), pos(r2,3,3)]
[r1] Added event +pos(r1,4,6)[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)], -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(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] LBB TransitionS, perceive+buf time (ns): 696115
[r1] LBB LocalAgArch, resCycle time (ns): 926703
[r1] Start sense 302
[r1] LBB TransitionS, perceive+buf time (ns): 8458
[r1] LBB LocalAgArch, resCycle time (ns): 2011626
[r1] Start sense 303
[r1] LBB TransitionS, perceive+buf time (ns): 3831
[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) / {R=r2, _29=last, X=0, Y=5, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 979859
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r1] Start sense 304
[r1] percepts: [pos(r1,5,6), pos(r2,3,3)]
[r1] Added event +pos(r1,5,6)[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)], -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(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] LBB TransitionS, perceive+buf time (ns): 765440
[r1] LBB LocalAgArch, resCycle time (ns): 1067117
[r1] Start sense 305
[r1] LBB TransitionS, perceive+buf time (ns): 8711
[r1] LBB LocalAgArch, resCycle time (ns): 476250
[r1] Start sense 306
[r1] LBB TransitionS, perceive+buf time (ns): 3280
[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) / {R=r2, _29=last, X=0, Y=5, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1033254
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] Start sense 307
[r1] percepts: [pos(r1,6,6), pos(r2,3,3), garbage(r1)]
[r1] Added event +pos(r1,6,6)[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)], -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(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(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)], -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(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] LBB TransitionS, perceive+buf time (ns): 1236771
[r1] LBB LocalAgArch, resCycle time (ns): 1538685
[r1] Start sense 308
[r1] LBB TransitionS, perceive+buf time (ns): 8399
[r1] LBB LocalAgArch, resCycle time (ns): 455378
[r1] Start sense 309
[r1] LBB TransitionS, perceive+buf time (ns): 2663
[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) / {R=r2, _29=last, X=0, Y=5, _31=2, _30=1}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__2[source(self),url("file:r1.asl")], te=+!check(slots)[source(self)] unif={}
[r1] Returning from IM p__3[source(self),url("file:r1.asl")], te=+!carry_to(r2)[source(self)] unif={R=r2, _29=last, X=0, Y=5, _31=2, _30=1}
[r1] Returning from IM lg[atomic,source(self),url("file:r1.asl")], te=+garbage(r1)[source(percept)] unif={}
[r1] LBB LocalAgArch, resCycle time (ns): 1205202
[r1] Start sense 310
[r1] LBB TransitionS, perceive+buf time (ns): 3684
[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] LBB LocalAgArch, resCycle time (ns): 1677422
[r1] Start sense 311
[r1] LBB TransitionS, perceive+buf time (ns): 3323
[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(r1,6,6)[source(percept)] is an option -- {X=6, Y=6, R=r2}
[r1] LBB LocalAgArch, resCycle time (ns): 703701
[r1] Start sense 312
[r1] LBB TransitionS, perceive+buf time (ns): 2663
[r1]      | for pos(_32,_33,_34)[source(self)], belief annotation pos(r1,6,6)[source(percept)] is NOT an option -- {X=6, Y=6, _34=6, R=r2, _33=6, _32=r1}
[r1]      | for pos(_32,_33,_34)[source(self)], belief annotation pos(last,0,5)[source(self)] is an option -- {X=6, Y=6, _34=5, R=r2, _33=0, _32=last}
[r1] Doing (del) brf for pos(_32,_33,_34)[source(self)] in BB=true
[r1] Removed:pos(last,0,5)[source(self)]
[r1] Added event -pos(last,0,5)[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)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[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 6: 
    +!carry_to(r2)[source(self)] <- ... -+pos(last,X,Y); !take(garb,R); !at(last); !check(slots) / {_34=5, R=r2, X=6, Y=6, _33=0, _32=last}
    +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)], +pos(r1,1,4)[source(percept)], +pos(r1,2,3)[source(percept)], +pos(r1,3,3)[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] LBB LocalAgArch, resCycle time (ns): 1877530
[r1] Start sense 313
[r1] LBB TransitionS, perceive+buf time (ns): 3298
[r1] LBB LocalAgArch, resCycle time (ns): 174118
[r1] Start sense 314
[r1] LBB TransitionS, perceive+buf time (ns): 1928
[r1] option for +!take(garb,r2)[source(self)] is plan p__4[source(self),url("file:r1.asl")] +!take(S,L) : null -- with unification {S=garb, L=r2}
[r1]      p__4[source(self),url("file:r1.asl")] is applicable with unification {S=garb, L=r2}
[r1] Selected option (@p__4[source(self),url("file:r1.asl")] +!take(S,L) <- !ensure_pick(S); !at(L); drop(S).,{S=garb, L=r2}) for event +!take(garb,r2)[source(self)]
intention 6: 
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {_34=5, R=r2, X=6, Y=6, _33=0, _32=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 507091
[r1] Start sense 315
[r1] LBB TransitionS, perceive+buf time (ns): 2733
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) -- with unification {S=garb}
[r1]      | for garbage(r1), belief garbage(r1)[source(percept)] is an option -- {S=garb}
[r1]      p__5[source(self),url("file:r1.asl")] is applicable with unification {S=garb}
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1) : null -- with unification {_1=garb}
[r1]      p__6[source(self),url("file:r1.asl")] is applicable with unification {_1=garb}
[r1] Selected option (@p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) <- pick(garb); !ensure_pick(S).,{S=garb}) for event +!ensure_pick(garb)[source(self)]
intention 6: 
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {_34=5, R=r2, X=6, Y=6, _33=0, _32=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 2441502
[MarsEnv] r1 doing: pick(garb)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 210
[r1] Start sense 316
[r1] percepts: [pos(r1,6,6), pos(r2,3,3)]
[r1] LBB TransitionS, perceive+buf time (ns): 421162
[r1] LBB LocalAgArch, resCycle time (ns): 783358
[r1] Start sense 317
[r1] LBB TransitionS, perceive+buf time (ns): 10193
[r1] LBB LocalAgArch, resCycle time (ns): 470849
[r1] Start sense 318
[r1] LBB TransitionS, perceive+buf time (ns): 2602
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__5[source(self),url("file:r1.asl")] +!ensure_pick(S) : garbage(r1) -- with unification {S=garb}
[r1]      | no candidate belief for garbage(r1) with {S=garb}
[r1]      p__5[source(self),url("file:r1.asl")] is not applicable
[r1] option for +!ensure_pick(garb)[source(self)] is plan p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1) : null -- with unification {_1=garb}
[r1]      p__6[source(self),url("file:r1.asl")] is applicable with unification {_1=garb}
[r1] Selected option (@p__6[source(self),url("file:r1.asl")] +!ensure_pick(_1).,{_1=garb}) for event +!ensure_pick(garb)[source(self)]
intention 6: 
    +!ensure_pick(garb)[source(self)] <- ... !ensure_pick(S) / {S=garb}
    +!take(garb,r2)[source(self)] <- ... !ensure_pick(S); !at(L); drop(S) / {S=garb, L=r2}
    +!carry_to(r2)[source(self)] <- ... !take(garb,R); !at(last); !check(slots) / {_34=5, R=r2, X=6, Y=6, _33=0, _32=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__6[source(self),url("file:r1.asl")], te=+!ensure_pick(garb)[source(self)] unif={_1=garb}
[r1] LBB LocalAgArch, resCycle time (ns): 1063904
[r1] Start sense 319
[r1] LBB TransitionS, perceive+buf time (ns): 3347
[r1] LBB LocalAgArch, resCycle time (ns): 157716
[r1] Start sense 320
[r1] LBB TransitionS, perceive+buf time (ns): 2073
[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) / {_34=5, R=r2, X=6, Y=6, _33=0, _32=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] LBB LocalAgArch, resCycle time (ns): 1358067
[r1] Start sense 321
[r1] LBB TransitionS, perceive+buf time (ns): 3188
[r1] LBB LocalAgArch, resCycle time (ns): 180006
[MarsEnv] r1 doing: move_towards(3,3)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r1] Start sense 322
[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(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] LBB TransitionS, perceive+buf time (ns): 817571
[r1] LBB LocalAgArch, resCycle time (ns): 1259890
[r1] Start sense 323
[r1] LBB TransitionS, perceive+buf time (ns): 8977
[r1] LBB LocalAgArch, resCycle time (ns): 423778
[r1] Start sense 324
[r1] LBB TransitionS, perceive+buf time (ns): 2571
[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) / {_34=5, R=r2, X=6, Y=6, _33=0, _32=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] LBB LocalAgArch, resCycle time (ns): 1461115
[r1] Start sense 325
[r1] LBB TransitionS, perceive+buf time (ns): 3171
[r1] LBB LocalAgArch, resCycle time (ns): 169915
[MarsEnv] r1 doing: move_towards(3,3)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] Start sense 326
[r1] percepts: [pos(r1,4,4), pos(r2,3,3)]
[r1] Added event +pos(r1,4,4)[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(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] LBB TransitionS, perceive+buf time (ns): 743579
[r1] LBB LocalAgArch, resCycle time (ns): 969780
[r1] Start sense 327
[r1] LBB TransitionS, perceive+buf time (ns): 10918
[r1] LBB LocalAgArch, resCycle time (ns): 498094
[r1] Start sense 328
[r1] LBB TransitionS, perceive+buf time (ns): 2795
[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) / {_34=5, R=r2, X=6, Y=6, _33=0, _32=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] LBB LocalAgArch, resCycle time (ns): 1707153
[r1] Start sense 329
[r1] LBB TransitionS, perceive+buf time (ns): 3505
[r1] LBB LocalAgArch, resCycle time (ns): 181019
[MarsEnv] r1 doing: move_towards(3,3)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] Start sense 330
[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)], +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] LBB TransitionS, perceive+buf time (ns): 756360
[r1] LBB LocalAgArch, resCycle time (ns): 1046562
[r1] Start sense 331
[r1] LBB TransitionS, perceive+buf time (ns): 9796
[r1] LBB LocalAgArch, resCycle time (ns): 2067385
[r1] Start sense 332
[r1] LBB TransitionS, perceive+buf time (ns): 4773
[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) / {_34=5, R=r2, X=6, Y=6, _33=0, _32=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__7[source(self),url("file:r1.asl")], te=+!at(r2)[source(self)] unif={L=r2}
[r1] LBB LocalAgArch, resCycle time (ns): 1463699
[r1] Start sense 333
[r1] LBB TransitionS, perceive+buf time (ns): 3748
[r1] LBB LocalAgArch, resCycle time (ns): 174167
[MarsEnv] r1 doing: drop(garb)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r1] Start sense 334
[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(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)], +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(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)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 1635758
[r1] LBB LocalAgArch, resCycle time (ns): 2021094
[r1] Start sense 335
[r1] LBB TransitionS, perceive+buf time (ns): 10624
[r1] Returning from IM p__4[source(self),url("file:r1.asl")], te=+!take(garb,r2)[source(self)] unif={S=garb, L=r2}
[r1] LBB LocalAgArch, resCycle time (ns): 619274
[r1] Start sense 336
[r1] LBB TransitionS, perceive+buf time (ns): 4188
[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 6: 
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {_34=5, R=r2, X=6, Y=6, _33=0, _32=last}
    +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] LBB LocalAgArch, resCycle time (ns): 1446592
[r1] Start sense 337
[r1] LBB TransitionS, perceive+buf time (ns): 4356
[r1] LBB LocalAgArch, resCycle time (ns): 202652
[MarsEnv] r1 doing: move_towards(6,6)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] Start sense 338
[r1] percepts: [pos(r1,4,4), pos(r2,3,3), garbage(r2)]
[r1] Added event +pos(r1,4,4)[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(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)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,4,4)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 783213
[r1] LBB LocalAgArch, resCycle time (ns): 1082537
[r1] Start sense 339
[r1] LBB TransitionS, perceive+buf time (ns): 8779
[r1] LBB LocalAgArch, resCycle time (ns): 449758
[r1] Start sense 340
[r1] LBB TransitionS, perceive+buf time (ns): 3005
[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 6: 
    +!at(last)[source(self)] <- ... !at(L) / {X=6, Y=6, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {_34=5, R=r2, X=6, Y=6, _33=0, _32=last}
    +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] LBB LocalAgArch, resCycle time (ns): 1523987
[r1] Start sense 341
[r1] LBB TransitionS, perceive+buf time (ns): 3236
[r1] LBB LocalAgArch, resCycle time (ns): 185187
[MarsEnv] r1 doing: move_towards(6,6)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] Start sense 342
[r1] percepts: [pos(r1,5,5), pos(r2,3,3), garbage(r2)]
[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(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)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,5)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 1017387
[r1] LBB LocalAgArch, resCycle time (ns): 1376323
[r1] Start sense 343
[r1] LBB TransitionS, perceive+buf time (ns): 10397
[r1] LBB LocalAgArch, resCycle time (ns): 594955
[r1] Start sense 344
[r1] LBB TransitionS, perceive+buf time (ns): 5113
[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 6: 
    +!at(last)[source(self)] <- ... !at(L) / {X=6, Y=6, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {_34=5, R=r2, X=6, Y=6, _33=0, _32=last}
    +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] LBB LocalAgArch, resCycle time (ns): 2158326
[r1] Start sense 345
[r1] LBB TransitionS, perceive+buf time (ns): 3456
[r1] LBB LocalAgArch, resCycle time (ns): 188417
[MarsEnv] r1 doing: move_towards(6,6)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
[r1] Start sense 346
[r1] percepts: [pos(r1,6,6), pos(r2,3,3), garbage(r2)]
[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(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)], +garbage(r2)[source(percept)], +garbage(r1)[source(percept)], +pos(r1,4,4)[source(percept)], +pos(r1,5,5)[source(percept)], +pos(r1,6,6)[source(percept)]]
[r1] LBB TransitionS, perceive+buf time (ns): 2302505
[r1] LBB LocalAgArch, resCycle time (ns): 2701700
[r1] Start sense 347
[r1] LBB TransitionS, perceive+buf time (ns): 10300
[r1] LBB LocalAgArch, resCycle time (ns): 553244
[r1] Start sense 348
[r1] LBB TransitionS, perceive+buf time (ns): 2638
[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 6: 
    +!at(last)[source(self)] <- ... !at(L) / {X=6, Y=6, L=last}
    +!carry_to(r2)[source(self)] <- ... !at(last); !check(slots) / {_34=5, R=r2, X=6, Y=6, _33=0, _32=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] Returning from IM p__7[source(self),url("file:r1.asl")], te=+!at(last)[source(self)] unif={L=last}
[r1] LBB LocalAgArch, resCycle time (ns): 1475441
[r1] Start sense 349
[r1] LBB TransitionS, perceive+buf time (ns): 4547
[r1] LBB LocalAgArch, resCycle time (ns): 175566
[r1] Start sense 350
[r1] LBB TransitionS, perceive+buf time (ns): 2103
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | NO more options for garbage(r1)
[r1]      p__1[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) <- next(slot); !check(slots).,{}) for event +!check(slots)[source(self)]
intention 6: 
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_34=5, R=r2, X=6, Y=6, _33=0, _32=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 823667
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 205
[r1] Start sense 351
[r1] percepts: [pos(r1,6,6), pos(r2,3,3), garbage(r2)]
[r1] LBB TransitionS, perceive+buf time (ns): 201791
[r1] LBB LocalAgArch, resCycle time (ns): 519555
[r1] Start sense 352
[r1] LBB TransitionS, perceive+buf time (ns): 7968
[r1] LBB LocalAgArch, resCycle time (ns): 486266
[r1] Start sense 353
[r1] LBB TransitionS, perceive+buf time (ns): 3177
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | NO more options for garbage(r1)
[r1]      p__1[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) <- next(slot); !check(slots).,{}) for event +!check(slots)[source(self)]
intention 6: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_34=5, R=r2, X=6, Y=6, _33=0, _32=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1013556
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] Start sense 354
[r1] percepts: [pos(r1,6,6), pos(r2,3,3), garbage(r2)]
[r1] LBB TransitionS, perceive+buf time (ns): 172292
[r1] LBB LocalAgArch, resCycle time (ns): 449014
[r1] Start sense 355
[r1] LBB TransitionS, perceive+buf time (ns): 8167
[r1] LBB LocalAgArch, resCycle time (ns): 404271
[r1] Start sense 356
[r1] LBB TransitionS, perceive+buf time (ns): 2210
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | NO more options for garbage(r1)
[r1]      p__1[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) <- next(slot); !check(slots).,{}) for event +!check(slots)[source(self)]
intention 6: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_34=5, R=r2, X=6, Y=6, _33=0, _32=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 1029195
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] Start sense 357
[r1] percepts: [pos(r1,6,6), pos(r2,3,3), garbage(r2)]
[r1] LBB TransitionS, perceive+buf time (ns): 199632
[r1] LBB LocalAgArch, resCycle time (ns): 502035
[r1] Start sense 358
[r1] LBB TransitionS, perceive+buf time (ns): 8691
[r1] LBB LocalAgArch, resCycle time (ns): 428136
[r1] Start sense 359
[r1] LBB TransitionS, perceive+buf time (ns): 2440
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | NO more options for garbage(r1)
[r1]      p__1[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) <- next(slot); !check(slots).,{}) for event +!check(slots)[source(self)]
intention 6: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_34=5, R=r2, X=6, Y=6, _33=0, _32=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 958168
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 202
[r1] Start sense 360
[r1] percepts: [pos(r1,6,6), pos(r2,3,3), garbage(r2)]
[r1] LBB TransitionS, perceive+buf time (ns): 238200
[r1] LBB LocalAgArch, resCycle time (ns): 535124
[r1] Start sense 361
[r1] LBB TransitionS, perceive+buf time (ns): 8250
[r1] LBB LocalAgArch, resCycle time (ns): 378750
[r1] Start sense 362
[r1] LBB TransitionS, perceive+buf time (ns): 2782
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | NO more options for garbage(r1)
[r1]      p__1[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) <- next(slot); !check(slots).,{}) for event +!check(slots)[source(self)]
intention 6: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_34=5, R=r2, X=6, Y=6, _33=0, _32=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 948041
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 203
[r1] Start sense 363
[r1] percepts: [pos(r1,6,6), pos(r2,3,3), garbage(r2)]
[r1] LBB TransitionS, perceive+buf time (ns): 200357
[r1] LBB LocalAgArch, resCycle time (ns): 497885
[r1] Start sense 364
[r1] LBB TransitionS, perceive+buf time (ns): 8417
[r1] LBB LocalAgArch, resCycle time (ns): 392667
[r1] Start sense 365
[r1] LBB TransitionS, perceive+buf time (ns): 2371
[r1] option for +!check(slots)[source(self)] is plan p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) -- with unification {}
[r1]      | NO more options for garbage(r1)
[r1]      p__1[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] option for +!check(slots)[source(self)] is plan p__2[source(self),url("file:r1.asl")] +!check(slots) : null -- with unification {}
[r1]      p__2[source(self),url("file:r1.asl")] is applicable with unification {}
[r1] Selected option (@p__1[source(self),url("file:r1.asl")] +!check(slots) : not (garbage(r1)) <- next(slot); !check(slots).,{}) for event +!check(slots)[source(self)]
intention 6: 
    +!check(slots)[source(self)] <- ... !check(slots) / {}
    +!carry_to(r2)[source(self)] <- ... !check(slots) / {_34=5, R=r2, X=6, Y=6, _33=0, _32=last}
    +garbage(r1)[source(percept)] <- ... !carry_to(r2) / {}

[r1] LBB LocalAgArch, resCycle time (ns): 2593131
[MarsEnv] r1 doing: next(slot)
[MarsEnv] LBBegin Env - updatePercepts(); elapsed time (ms): 204
