From f907b991e2f3c081e9383148b93ab9e817dd463e Mon Sep 17 00:00:00 2001
From: connoralittle <connoralittle@gmail.com>
Date: Tue, 3 Sep 2024 13:01:33 -0400
Subject: [PATCH 01/26] fixing bugs. case 5 runs. hits infinite loop

---
 src/deadend.cc                             | 22 +++++-----
 src/fd_integration/partial_state.cc        |  2 +-
 src/fd_integration/partial_state.h         |  6 ++-
 src/fd_integration/pr2_search_algorithm.cc |  2 +-
 src/pr2.cc                                 | 47 ++--------------------
 src/simulator.cc                           | 13 +++---
 6 files changed, 28 insertions(+), 64 deletions(-)

diff --git a/src/deadend.cc b/src/deadend.cc
index 36b0bf9..209a4c7 100644
--- a/src/deadend.cc
+++ b/src/deadend.cc
@@ -117,21 +117,21 @@ void update_deadends(vector< DeadendTuple* > &failed_states) {
 
         ////////////////////////////////////////////
 
-        // Check to see if we have any consistent "all-fire" operators
-        reg_items.clear();
-        PR2.general.regressable_cond_ops->generate_consistent_items(*failed_state,
-                                                                    reg_items,
-                                                                    PR2.deadend.regress_trigger_only);
+        // // Check to see if we have any consistent "all-fire" operators
+        // reg_items.clear();
+        // PR2.general.regressable_cond_ops->generate_consistent_items(*failed_state,
+        //                                                             reg_items,
+        //                                                             PR2.deadend.regress_trigger_only);
 
-        // For each operator, create a new deadend avoidance pair
-        for (auto item : reg_items) {
+        // // For each operator, create a new deadend avoidance pair
+        // for (auto item : reg_items) {
 
-            RegressableOperator *ro = (RegressableOperator*)item;
+        //     RegressableOperator *ro = (RegressableOperator*)item;
 
-            fsaps.push_back(new FSAP(failed_state->regress(ro->op, ro->op.all_fire_context),
-                                     ro->op));
+        //     fsaps.push_back(new FSAP(failed_state->regress(ro->op, ro->op.all_fire_context),
+        //                              ro->op));
 
-        }
+        // }
 
         ////////////////////////////////////////////
 
diff --git a/src/fd_integration/partial_state.cc b/src/fd_integration/partial_state.cc
index d09afd8..c020170 100644
--- a/src/fd_integration/partial_state.cc
+++ b/src/fd_integration/partial_state.cc
@@ -26,7 +26,7 @@ PR2State::PR2State(std::vector<int> init_vals) {
 }
 
 PR2State::PR2State(const State &state) {
-    // _allocate();
+    _allocate(PR2.general.num_vars);
     for (auto var : state)
         vars[var.get_variable().get_id()] = var.get_value();
 }
diff --git a/src/fd_integration/partial_state.h b/src/fd_integration/partial_state.h
index c6275fd..a89a4d3 100644
--- a/src/fd_integration/partial_state.h
+++ b/src/fd_integration/partial_state.h
@@ -15,8 +15,10 @@ class StateInterface;
 class PR2State : public StateInterface {
     std::vector<int> vars; // values for vars
     std::vector< std::pair<int,int> > * _varvals = NULL; // varval pairs for partial states
-    // void _allocate();
-    // void _deallocate();
+    void _allocate(int size) {
+        vars.reserve(size);
+    }
+    void _deallocate() {}
     // void _copy_buffer_from_state(const PR2State &state);
 
 public:
diff --git a/src/fd_integration/pr2_search_algorithm.cc b/src/fd_integration/pr2_search_algorithm.cc
index f5c6b01..5fc3bed 100644
--- a/src/fd_integration/pr2_search_algorithm.cc
+++ b/src/fd_integration/pr2_search_algorithm.cc
@@ -67,7 +67,7 @@ unique_ptr<SearchAlgorithm> PR2Search::get_search_engine() {
         numeric_limits<double>::infinity(),
         "PR2 Search",
         utils::Verbosity::SILENT,
-        weak_task,
+        tasks::g_root_task,
         new DeadendAwareSuccessorGenerator());
 
     return unique_ptr<SearchAlgorithm>(engine);
diff --git a/src/pr2.cc b/src/pr2.cc
index 6d0e0f8..41cf9f8 100644
--- a/src/pr2.cc
+++ b/src/pr2.cc
@@ -273,6 +273,9 @@ void PR2Wrapper::generate_nondet_operator_mappings() {
     
     for (auto op : PR2.proxy->get_operators()) {
         //If not in the mapping yet
+        PR2.general.conditional_mask.push_back(new vector<int>());
+        PR2.deadend.nondetop2fsaps.push_back(new vector< FSAP* >());
+
         if (nondet_name_to_index.find(op.get_nondet_name()) == nondet_name_to_index.end()) {
             nondet_name_to_index[op.get_nondet_name()] = current_nondet_index;
             PR2.general.nondet_mapping.push_back(vector<int>());
@@ -306,50 +309,6 @@ void PR2Wrapper::generate_nondet_operator_mappings() {
     }
 
     PR2.proxy->set_nondet_index_map(*nondet_index_map);
-
-    //TODO
-    //Reinstantiate conditional mask and possibly nondetop2fspas
-    //They were previously global and not instantiated anywhere
-
-
-    // /* Build the data structures required for mapping between the
-    //  * deterministic actions and their non-deterministic equivalents. */
-    // int cur_nondet = 0;
-    // for (auto op : PR2.proxy->get_operators()) {
-
-    //     int nondet_index = -1;
-
-    //     PR2.general.conditional_mask.push_back(new vector<int>());
-    //     PR2.deadend.nondetop2fsaps.push_back(new vector< FSAP* >());
-
-    //     if (PRP.general.nondet_index_mapping.find(op.get_nondet_name()) == PRP.general.nondet_index_mapping.end()) {
-
-    //         nondet_index = cur_nondet;
-    //         PRP.general.nondet_index_mapping[op.get_nondet_name()] = cur_nondet;
-
-    //         PRP.general.nondet_mapping.push_back(new vector<GlobalOperator *>());
-    //         PRP.general.conditional_mask.push_back(new vector<int>());
-
-    //         PRP.deadend.nondetop2fsaps.push_back(new vector< FSAP* >());
-
-    //         cur_nondet++;
-
-    //     } else {
-    //         nondet_index = PRP.general.nondet_index_mapping[op.get_nondet_name()];
-    //     }
-
-    //     op.nondet_index = nondet_index;
-    //     PRP.general.nondet_mapping[nondet_index]->push_back(&op);
-    //     op.nondet_outcome = PRP.general.nondet_mapping[nondet_index]->size() - 1;
-
-    //     for (auto eff : op.get_all_effects()) {
-    //         for (auto cond : eff.conditions) {
-    //             vector<int> *var_list = PRP.general.conditional_mask[nondet_index];
-    //             if (find(var_list->begin(), var_list->end(), cond.var) == var_list->end())
-    //                 PRP.general.conditional_mask[nondet_index]->push_back(cond.var);
-    //         }
-    //     }
-    // }
 }
 
 void PR2OperatorProxy::update_nondet_info() {
diff --git a/src/simulator.cc b/src/simulator.cc
index b82e7d5..43c4b70 100644
--- a/src/simulator.cc
+++ b/src/simulator.cc
@@ -193,19 +193,22 @@ bool Simulator::check_1safe() {
     if (PR2.deadend.force_1safe_weak_plans)
         safe_checks = engine->get_plan().size();
 
+    PR2OperatorsProxy ops = PR2.proxy->get_operators();
     for (unsigned i = 0; i < safe_checks; i++) {
-        const PR2OperatorProxy op = PR2.proxy->get_operators()[engine->get_plan()[i]];
+        const PR2OperatorProxy op = ops[engine->get_plan()[i]];
+        PR2OperatorProxy *op_stable = new PR2OperatorProxy(op);
         vector<NondetSuccessor *> successors;
-        new_s = generate_nondet_successors(old_s, &op, successors);
+        new_s = generate_nondet_successors(old_s, op_stable, successors);
 
         for (auto succ : successors) {
             if (is_deadend(*(succ->state))) {
                 PR2State * new_dead_state = new PR2State(*(succ->state));
-                int op_ind = PR2.general.nondet_mapping[op.nondet_index][succ->id];
-                const PR2OperatorProxy bad_op = PR2.proxy->get_operators()[op_ind];
+                int op_ind = PR2.general.nondet_mapping[op_stable->nondet_index][succ->id - 1];
+                const PR2OperatorProxy bad_op = ops[op_ind];
+                PR2OperatorProxy *bad_op_stable = new PR2OperatorProxy(bad_op);
                 if (PR2.deadend.generalize)
                     generalize_deadend(*new_dead_state);
-                new_deadends.push_back(new DeadendTuple(new_dead_state, new PR2State(*old_s), &bad_op));
+                new_deadends.push_back(new DeadendTuple(new_dead_state, new PR2State(*old_s), bad_op_stable));
             }
         }
 

From fc5b6f553a3c3791e5c4a247d89e68cad1213cff Mon Sep 17 00:00:00 2001
From: connoralittle <connoralittle@gmail.com>
Date: Wed, 4 Sep 2024 12:35:35 -0400
Subject: [PATCH 02/26] resize is needed not reserve

---
 src/fd_integration/partial_state.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/fd_integration/partial_state.h b/src/fd_integration/partial_state.h
index a89a4d3..454523c 100644
--- a/src/fd_integration/partial_state.h
+++ b/src/fd_integration/partial_state.h
@@ -16,7 +16,7 @@ class PR2State : public StateInterface {
     std::vector<int> vars; // values for vars
     std::vector< std::pair<int,int> > * _varvals = NULL; // varval pairs for partial states
     void _allocate(int size) {
-        vars.reserve(size);
+        vars.resize(size);
     }
     void _deallocate() {}
     // void _copy_buffer_from_state(const PR2State &state);

From ffd6f0b8da183d7b0ce97adb0654971b18b7d180 Mon Sep 17 00:00:00 2001
From: connoralittle <connoralittle@gmail.com>
Date: Mon, 9 Sep 2024 12:37:12 -0400
Subject: [PATCH 03/26] templated policies, tentatively working. next step is
 matched_step

---
 src/deadend.cc                                | 17 +++---
 src/deadend.h                                 | 16 -----
 .../fsap_penalized_ff_heuristic.cc            |  4 +-
 .../fsap_penalized_ff_heuristic.h             |  2 +-
 src/fd_integration/pr2_proxies.h              |  2 +-
 src/fd_integration/pr2_search_algorithm.cc    |  8 +--
 src/fond_search.cc                            |  2 +-
 src/partial_state_graph.cc                    |  2 +-
 src/partial_state_graph.h                     |  2 +-
 src/policy.cc                                 | 61 ++++++++++++++-----
 src/policy.h                                  | 31 +++++++---
 src/pr2.cc                                    |  6 +-
 src/pr2.h                                     | 14 +++--
 src/regression.cc                             |  4 +-
 src/solution.cc                               |  6 +-
 src/solution.h                                |  4 +-
 16 files changed, 110 insertions(+), 71 deletions(-)

diff --git a/src/deadend.cc b/src/deadend.cc
index 209a4c7..696260a 100644
--- a/src/deadend.cc
+++ b/src/deadend.cc
@@ -3,7 +3,7 @@
 #include "regression.h"
 
 
-FSAP::FSAP(PR2State *s, PR2OperatorProxy o) : PolicyItem(s), op(&o) {}
+FSAP::FSAP(PR2State *s, PR2OperatorProxy *o) : PolicyItem(s), op(o) {}
 
 
 void FSAP::dump() const {
@@ -78,7 +78,7 @@ bool generalize_deadend(PR2State &state) {
 
 void update_deadends(vector< DeadendTuple* > &failed_states) {
 
-    list<PolicyItem *> fsaps;
+    list<FSAP *> fsaps;
     list<PolicyItem *> deadends;
 
     PR2State *dummy_state = new PR2State();
@@ -109,9 +109,9 @@ void update_deadends(vector< DeadendTuple* > &failed_states) {
         for (auto item : reg_items) {
 
             RegressableOperator *ro = (RegressableOperator*)item;
-
+            PR2OperatorProxy *ro_op_ptr = new PR2OperatorProxy(ro->op);
             fsaps.push_back(new FSAP(failed_state->regress(ro->op, dummy_state),
-                                     ro->op));
+                                     ro_op_ptr));
 
         }
 
@@ -138,9 +138,10 @@ void update_deadends(vector< DeadendTuple* > &failed_states) {
         // If we have a specified previous state and action, use that to
         //  build a forbidden state-action pair
         if (NULL != failed_state_prev) {
+            PR2OperatorProxy *prev_op_ptr = new PR2OperatorProxy(*prev_op);
             fsaps.push_back(new FSAP(
-                    failed_state->regress(*prev_op, failed_state_prev),
-                    *prev_op));
+                failed_state->regress(*prev_op, failed_state_prev),
+                prev_op_ptr));
         }
     }
 
@@ -154,9 +155,11 @@ void update_deadends(vector< DeadendTuple* > &failed_states) {
 
     // Add a pointer from the operator to the newly created fsaps
     for (auto fsap : fsaps)
-        PR2.deadend.nondetop2fsaps[((FSAP*)fsap)->get_index()]->push_back((FSAP*)fsap);
+        PR2.deadend.nondetop2fsaps[fsap->get_index()]->push_back(fsap);
 
     PR2.deadend.policy->update_policy(fsaps);
+    for (auto fsap : PR2.deadend.policy->all_items)
+        std::cout << fsap->get_index() << endl;
     PR2.deadend.states->update_policy(deadends);
 }
 
diff --git a/src/deadend.h b/src/deadend.h
index a13fcad..da01a14 100644
--- a/src/deadend.h
+++ b/src/deadend.h
@@ -28,22 +28,6 @@ struct DeadendTuple {
     ~DeadendTuple() {};
 };
 
-struct FSAP : PolicyItem {
-
-    PR2OperatorProxy *op; // The nondet action id we are forbidding
-
-    FSAP(PR2State *s, PR2OperatorProxy o);
-    FSAP(PR2State *s) : PolicyItem(s), op(NULL) {}
-
-    ~FSAP() {}
-
-    bool operator< (const FSAP& other) const;
-
-    string get_name();
-    int get_index();
-    void dump() const;
-};
-
 struct Deadend : FSAP {
     Deadend(PR2State *s) : FSAP(s) {};
     void dump() const;
diff --git a/src/fd_integration/fsap_penalized_ff_heuristic.cc b/src/fd_integration/fsap_penalized_ff_heuristic.cc
index 1102613..7e15749 100644
--- a/src/fd_integration/fsap_penalized_ff_heuristic.cc
+++ b/src/fd_integration/fsap_penalized_ff_heuristic.cc
@@ -327,12 +327,12 @@ int FSAPPenalizedFFHeuristic::compute_heuristic(const State &state) {
 
         // Make sure we don't mark an operator as preferred if it's forbidden
         forbidden_ops.clear();
-        vector<PolicyItem *> reg_items;
+        vector<FSAP *> reg_items;
         PR2State * ps = new PR2State(state);
         PR2.deadend.policy->generate_entailed_items(*ps, reg_items);
         delete ps;
         for (auto item : reg_items)
-            forbidden_ops.insert(((FSAP*)item)->get_index());
+            forbidden_ops.insert(item->get_index());
 
         // Collecting the relaxed plan also sets the preferred operators.
         for (size_t i = 0; i < goal_propositions.size(); ++i)
diff --git a/src/fd_integration/fsap_penalized_ff_heuristic.h b/src/fd_integration/fsap_penalized_ff_heuristic.h
index 6b985d1..acbfcb6 100644
--- a/src/fd_integration/fsap_penalized_ff_heuristic.h
+++ b/src/fd_integration/fsap_penalized_ff_heuristic.h
@@ -12,7 +12,7 @@
 
 class State;
 class PR2State;
-class FSAP;
+struct FSAP;
 
 using namespace std;
 
diff --git a/src/fd_integration/pr2_proxies.h b/src/fd_integration/pr2_proxies.h
index b118fba..9590253 100644
--- a/src/fd_integration/pr2_proxies.h
+++ b/src/fd_integration/pr2_proxies.h
@@ -98,7 +98,7 @@ class PR2OperatorProxy : public OperatorProxy {
         return -1;
     }
     // might be necessary as PR2GoalProxy needs to override
-    virtual EffectsProxy get_all_effects() const {
+    EffectsProxy get_all_effects() const {
         return get_effects();
     }
     // // might be necessary as PR2GoalProxy needs to override
diff --git a/src/fd_integration/pr2_search_algorithm.cc b/src/fd_integration/pr2_search_algorithm.cc
index 5fc3bed..b9a620b 100644
--- a/src/fd_integration/pr2_search_algorithm.cc
+++ b/src/fd_integration/pr2_search_algorithm.cc
@@ -125,9 +125,9 @@ void DeadendAwareSuccessorGenerator::generate_applicable_ops(const PR2State &_cu
 
         PR2State curr = PR2State(_curr);
 
-        vector<PolicyItem *> reg_items;
+        vector<FSAP *> reg_items;
         vector<OperatorID> orig_ops;
-        map<int, PolicyItem *> fsap_map;
+        map<int, FSAP *> fsap_map;
 
         PR2.generate_orig_applicable_ops(_curr, orig_ops);
         PR2.deadend.policy->generate_entailed_items(curr, reg_items);
@@ -135,7 +135,7 @@ void DeadendAwareSuccessorGenerator::generate_applicable_ops(const PR2State &_cu
         set<int> forbidden;
         for (auto item : reg_items) {
 
-            int index = ((FSAP*)item)->get_index();
+            int index = item->get_index();
 
             forbidden.insert(index);
 
@@ -159,7 +159,7 @@ void DeadendAwareSuccessorGenerator::generate_applicable_ops(const PR2State &_cu
             // Combind all of the FSAPs
             PR2State *newDE = new PR2State();
             for (unsigned i = 0; i < ruled_out.size(); i++) {
-                newDE->combine_with(*(((FSAP*)(fsap_map[ruled_out[i]]))->state));
+                newDE->combine_with(*((fsap_map[ruled_out[i]])->state));
             }
 
             // Also rule out all of the unapplicable actions
diff --git a/src/fond_search.cc b/src/fond_search.cc
index 6a18cd5..da9c6f2 100644
--- a/src/fond_search.cc
+++ b/src/fond_search.cc
@@ -474,7 +474,7 @@ void strengthen_and_mark(PR2SearchStatus * status,
                          int successor_id_for_dst) {
 
     // Strengthen the solsteps all the way back
-    list<PolicyItem *> new_steps;
+    list<SolutionStep *> new_steps;
 
     PR2.solution.incumbent->network->fixed_point_regression(
         previous_step, // src
diff --git a/src/partial_state_graph.cc b/src/partial_state_graph.cc
index c954578..dc94447 100644
--- a/src/partial_state_graph.cc
+++ b/src/partial_state_graph.cc
@@ -12,7 +12,7 @@ void PSGraph::fixed_point_regression(SolutionStep * src,
                                      PR2SearchNode * dst_node,
                                      int successor_id_for_dst,
                                      map< SolutionStep*, set< PR2SearchNode * > * > &solstep2searchnode,
-                                     list<PolicyItem *> &new_steps,
+                                     list<SolutionStep *> &new_steps,
                                      bool make_connection) {
 
     #ifndef NDEBUG
diff --git a/src/partial_state_graph.h b/src/partial_state_graph.h
index da1e331..5c43741 100644
--- a/src/partial_state_graph.h
+++ b/src/partial_state_graph.h
@@ -26,7 +26,7 @@ struct PSGraph {
                                 PR2SearchNode * dst_node,
                                 int successor_id_for_dst,
                                 map< SolutionStep* , set< PR2SearchNode * > * > &solstep2searchnode,
-                                list<PolicyItem *> &new_steps,
+                                list<SolutionStep *> &new_steps,
                                 bool make_connection = false);
 
     void fixed_point_marking(SolutionStep * node);
diff --git a/src/policy.cc b/src/policy.cc
index 91cf60a..56dc882 100644
--- a/src/policy.cc
+++ b/src/policy.cc
@@ -30,23 +30,29 @@ vector< pair<int,int> > * PolicyItem::varvals() {
     return state->varvals();
 }
 
-
-Policy::~Policy() {
+template <typename T>
+Policy<T>::~Policy() {
     if (root)
         delete root;
 
     for (auto item : all_items)
          delete item;
 }
+template Policy<PolicyItem>::~Policy();
+template Policy<FSAP>::~Policy();
+template Policy<SolutionStep>::~Policy();
 
 // TODO: Revisit this comparison -- just doing a pointer comparison for now
-bool fsap_compare(PolicyItem* first, PolicyItem* second) {
+bool fsap_compare(PolicyItem *first, PolicyItem *second)
+{
     return ((const FSAP*)first) < ((const FSAP*)second);
 }
 bool solstep_compare(PolicyItem* first, PolicyItem* second) {
     return *((const SolutionStep*)first) < *((const SolutionStep*)second);
 }
-void Policy::write_policy(string fname, bool fsap) {
+
+template <typename T>
+void Policy<T>::write_policy(string fname, bool fsap) {
 
     if (!fsap)
         all_items.sort(fsap ? fsap_compare : solstep_compare);
@@ -76,24 +82,39 @@ void Policy::write_policy(string fname, bool fsap) {
 
     outfile.close();
 }
+template void Policy<PolicyItem>::write_policy(string fname, bool fsap);
+template void Policy<FSAP>::write_policy(string fname, bool fsap);
+template void Policy<SolutionStep>::write_policy(string fname, bool fsap);
 
-void Policy::dump(bool fsap) const {
+template <typename T>
+void Policy<T>::dump(bool fsap) const {
     cout << (fsap ? "FSAP " : "") << "Policy:" << endl;
     for (auto item : all_items)
          item->dump();
 }
+template void Policy<PolicyItem>::dump(bool fsap) const;
+template void Policy<SolutionStep>::dump(bool fsap) const;
 
-void Policy::generate_cpp_input(ofstream &outfile) const {
+template <typename T>
+void Policy<T>::generate_cpp_input(ofstream &outfile) const {
     root->generate_cpp_input(outfile);
 }
+template void Policy<PolicyItem>::generate_cpp_input(ofstream &outfile) const;
+template void Policy<FSAP>::generate_cpp_input(ofstream &outfile) const;
+template void Policy<SolutionStep>::generate_cpp_input(ofstream &outfile) const;
 
-void Policy::add_item(PolicyItem *item) {
-    list<PolicyItem *> reg_items;
+template <typename T>
+void Policy<T>::add_item(T *item) {
+    list<T *> reg_items;
     reg_items.push_back(item);
     update_policy(reg_items);
 }
+template void Policy<PolicyItem>::add_item(PolicyItem *item);
+template void Policy<FSAP>::add_item(FSAP *item);
+template void Policy<SolutionStep>::add_item(SolutionStep *item);
 
-void Policy::update_policy(list<PolicyItem *> &reg_items) {
+template <typename T>
+void Policy<T>::update_policy(list<T *> &reg_items) {
 
     list<MatchtreeItem *> mtis;
     for (auto item : reg_items)
@@ -105,28 +126,36 @@ void Policy::update_policy(list<PolicyItem *> &reg_items) {
     else
         root = new MatchtreeSwitch(mtis, vars_seen);
     all_items.insert(all_items.end(), reg_items.begin(), reg_items.end());
-
 }
+template void Policy<PolicyItem>::update_policy(list<PolicyItem *> &reg_items);
+template void Policy<FSAP>::update_policy(list<FSAP *> &reg_items);
+template void Policy<SolutionStep>::update_policy(list<SolutionStep *> &reg_items);
 
-bool Policy::check_consistent_match(const PR2State &curr) {
+template <typename T>
+bool Policy<T>::check_consistent_match(const PR2State &curr) {
     if (root)
         return root->check_consistent_match(curr);
     else
         return false;
 }
 
-bool Policy::check_entailed_match(const PR2State &curr) {
+template <typename T>
+bool Policy<T>::check_entailed_match(const PR2State &curr) {
     if (root)
         return root->check_entailed_match(curr);
     else
         return false;
 }
+template bool Policy<PolicyItem>::check_entailed_match(const PR2State &curr);
+template bool Policy<FSAP>::check_entailed_match(const PR2State &curr);
+template bool Policy<SolutionStep>::check_entailed_match(const PR2State &curr);
 
-void Policy::rebuild() {
+template <typename T>
+void Policy<T>::rebuild() {
 
     // We are only going to keep the items that are active
     list<MatchtreeItem *> mtis;
-    list<PolicyItem *> new_items;
+    list<T *> new_items;
     for (auto item : all_items) {
         if (item->is_active) {
             mtis.push_back((MatchtreeItem *)item);
@@ -143,3 +172,7 @@ void Policy::rebuild() {
     all_items.swap(new_items);
 
 }
+template void Policy<PolicyItem>::rebuild();
+template void Policy<FSAP>::rebuild();
+template void Policy<SolutionStep>::rebuild();
+
diff --git a/src/policy.h b/src/policy.h
index 7128d7e..45827b2 100644
--- a/src/policy.h
+++ b/src/policy.h
@@ -39,8 +39,23 @@ struct PolicyItem : MatchtreeItem {
 
 };
 
-class Policy {
+struct FSAP : PolicyItem {
 
+    PR2OperatorProxy *op; // The nondet action id we are forbidding
+
+    FSAP(PR2State *s, PR2OperatorProxy *o);
+    FSAP(PR2State *s) : PolicyItem(s), op(NULL) {}
+
+    ~FSAP() {}
+
+    bool operator< (const FSAP& other) const;
+
+    string get_name();
+    int get_index();
+    void dump() const;
+};
+
+template<typename T> class Policy {
     MatchtreeBase *root;
 
     // private copy constructor to forbid copying;
@@ -52,14 +67,14 @@ class Policy {
     Policy() : root(nullptr) {};
     ~Policy();
 
-    list<PolicyItem *> all_items;
+    list<T *> all_items;
 
     void dump(bool fsap = false) const;
     void write_policy(string fname, bool fsap = false);
     void generate_cpp_input(ofstream &outfile) const;
 
-    void add_item(PolicyItem *item);
-    void update_policy(list<PolicyItem *> &reg_items);
+    void add_item(T *item);
+    void update_policy(list<T *> &reg_items);
 
     bool check_consistent_match(const PR2State &curr);
     bool check_entailed_match(const PR2State &curr);
@@ -71,8 +86,8 @@ class Policy {
     int size() { return all_items.size(); }
 
     // We need to define these inline since they are templated
-    template <class T>
-    void generate_consistent_items(const PR2State &curr, vector<T *> &reg_items, bool only_if_relevant) {
+    template <class T1>
+    void generate_consistent_items(const PR2State &curr, vector<T1 *> &reg_items, bool only_if_relevant) {
         vector<MatchtreeItem *> mtis;
         if (root)
             root->generate_consistent_items(curr, mtis, only_if_relevant);
@@ -80,8 +95,8 @@ class Policy {
             reg_items.push_back((T *)item);
     }
 
-    template <class T>
-    void generate_entailed_items(const PR2State &curr, vector<T *> &reg_items) {
+    template <class T1>
+    void generate_entailed_items(const PR2State &curr, vector<T1 *> &reg_items) {
         vector<MatchtreeItem *> mtis;
         if (root)
             root->generate_entailed_items(curr, mtis);
diff --git a/src/pr2.cc b/src/pr2.cc
index 41cf9f8..2f2b2cd 100644
--- a/src/pr2.cc
+++ b/src/pr2.cc
@@ -49,9 +49,9 @@ bool PR2Wrapper::run_pr2() {
 
     // We create the policies even if we aren't using deadends, as
     //  they may be consulted by certain parts of the code.
-    PR2.deadend.policy = new Policy();
-    PR2.deadend.states = new Policy();
-    PR2.deadend.online_policy = new Policy();
+    PR2.deadend.policy = new Policy<FSAP>();
+    PR2.deadend.states = new Policy<PolicyItem>();
+    PR2.deadend.online_policy = new Policy<PolicyItem>();
 
     // We also create a deadend heuristic computer
     PR2.deadend.reachability_heuristic = PR2.proxy->new_deadend_heuristic();
diff --git a/src/pr2.h b/src/pr2.h
index 070fda8..f177a22 100644
--- a/src/pr2.h
+++ b/src/pr2.h
@@ -15,12 +15,16 @@
 using namespace std;
 
 struct DeadendTuple;
+struct PolicyItem;
 struct FSAP;
 struct PR2SearchNode;
 struct PR2SearchStatus;
 
 class PR2State;
+
+template <class T>
 class Policy;
+
 class Solution;
 class SolutionStep;
 
@@ -119,9 +123,9 @@ struct PR2Wrapper {
 
         // Data structures
         fsap_penalized_ff_heuristic::FSAPPenalizedFFHeuristic *reachability_heuristic; // A custom heuristic for detecting deadends
-        Policy *policy; // Holds all of the FSAPs
-        Policy *states; // Holds all of the generalized deadends
-        Policy *online_policy; // Temporary store for deadends found online
+        Policy<FSAP> *policy; // Holds all of the FSAPs
+        Policy<PolicyItem> *states; // Holds all of the generalized deadends
+        Policy<PolicyItem> *online_policy; // Temporary store for deadends found online
         vector< DeadendTuple* > found_online; // Stores the deadends that we detect online (along with the necessary context)
         vector< vector< FSAP* > * > nondetop2fsaps; // Maps a nondet operator id to the set of FSAPs that forbid it from occurring
         int combination_count = 0; // Keeps track of how many times we combined FSAPs to produce a new deadend
@@ -305,8 +309,8 @@ struct PR2Wrapper {
         map<int, int> nondet_outcome_mapping; // Maps an action id to the outcome of the non-deterministic action
 
         vector<vector<int> *> conditional_mask; // Maps a non-deterministic action id to the variables that must be defined when doing context-sensitive regression
-        Policy *regressable_ops; // The policy to check what operators are regressable
-        Policy *regressable_cond_ops; // The policy to check what operators with conditional effects are regressable
+        Policy<PolicyItem> *regressable_ops; // The policy to check what operators are regressable
+        Policy<PolicyItem> *regressable_cond_ops; // The policy to check what operators with conditional effects are regressable
         SolutionStep * matched_step; // Contains the condition that matched when our policy recognized the state
 
         PR2OperatorProxy * goal_op; // The operator that we use to achieve the goal
diff --git a/src/regression.cc b/src/regression.cc
index ee083fb..515df5f 100644
--- a/src/regression.cc
+++ b/src/regression.cc
@@ -111,9 +111,9 @@ void generate_regressable_ops() {
         }
     }
 
-    PR2.general.regressable_ops = new Policy();
+    PR2.general.regressable_ops = new Policy<PolicyItem>();
     PR2.general.regressable_ops->update_policy(reg_steps);
-    PR2.general.regressable_cond_ops = new Policy();
+    PR2.general.regressable_cond_ops = new Policy<PolicyItem>();
     PR2.general.regressable_cond_ops->update_policy(cond_reg_steps);
 
 }
diff --git a/src/solution.cc b/src/solution.cc
index e68f482..959d8f8 100644
--- a/src/solution.cc
+++ b/src/solution.cc
@@ -228,7 +228,7 @@ Solution::Solution(Simulator *sim) {
     simulator = sim;
     score = 0.0;
     network = new PSGraph();
-    policy = new Policy();
+    policy = new Policy<SolutionStep>();
 
     // Create an initial default goal solution step
     PR2State * gs = new PR2State();
@@ -337,7 +337,7 @@ SolutionStep* Solution::incorporate_plan(const DeterministicPlan &plan,
 
     // Get every complete state going forward for context / strengthening
     vector<PR2State *> states;
-    list<PolicyItem *> new_steps;
+    list<SolutionStep *> new_steps;
     states.push_back(new PR2State(*start_state));
 
     for (auto op : plan)
@@ -394,7 +394,7 @@ void Solution::insert_step(SolutionStep * step) {
     policy->add_item(step);
 }
 
-void Solution::insert_steps(list<PolicyItem *> &steps) {
+void Solution::insert_steps(list<SolutionStep *> &steps) {
     if (steps.empty())
         return;
 
diff --git a/src/solution.h b/src/solution.h
index 43ff340..bfdf6e2 100644
--- a/src/solution.h
+++ b/src/solution.h
@@ -125,7 +125,7 @@ class Solution {
 public:
 
     PSGraph *network;
-    Policy *policy;
+    Policy<SolutionStep> *policy;
 
     Solution(Simulator *sim);
     ~Solution();
@@ -144,7 +144,7 @@ class Solution {
                                    PR2State *start_state,
                                    SolutionStep *goal_step);
     void insert_step(SolutionStep * step);
-    void insert_steps(list<PolicyItem *> &steps);
+    void insert_steps(list<SolutionStep *> &steps);
 
     void clear_dead_solsteps(map< SolutionStep* , set< PR2SearchNode * > * > * solstep2searchnode);
 

From 094bdfaace03bb316bd49b650ccdfcfebe0adbe3 Mon Sep 17 00:00:00 2001
From: connoralittle <connoralittle@gmail.com>
Date: Wed, 25 Sep 2024 14:17:08 -0400
Subject: [PATCH 04/26] continued bug squashing

---
 src/fond_search.cc |  2 ++
 src/pr2.cc         | 39 +++++++++++++++++++++++++++++++++++++++
 src/pr2.h          |  1 +
 3 files changed, 42 insertions(+)

diff --git a/src/fond_search.cc b/src/fond_search.cc
index da9c6f2..3db1944 100644
--- a/src/fond_search.cc
+++ b/src/fond_search.cc
@@ -315,6 +315,8 @@ bool case3_predefined_path(PR2SearchStatus * SS) {
         //  of the inconsistent full-states that share the same
         //  abstract path. Thus, this check becomes an invariant.
 
+        solstep->state;
+
         assert(SS->current_state->entails(*(solstep->state)));
         assert(SS->previous_step);
 
diff --git a/src/pr2.cc b/src/pr2.cc
index 2f2b2cd..40ee9d3 100644
--- a/src/pr2.cc
+++ b/src/pr2.cc
@@ -316,3 +316,42 @@ void PR2OperatorProxy::update_nondet_info() {
     nondet_outcome = PR2.general.nondet_outcome_mapping[_index];
 }
 
+bool PR2Wrapper::pr2_goal_check(TaskProxy task, State state) {
+    if (PR2.solution.incumbent){
+        SolutionStep * best_step = PR2.solution.incumbent->get_step(state);
+
+        if ((best_step && PR2.weaksearch.stop_on_policy) || (best_step && best_step->is_goal)) {
+        #ifndef NDEBUG
+                if (!best_step->is_goal) {
+                    PR2State *cur = new PR2State(state);
+                    assert(!is_forbidden(*cur, best_step->op));
+                    delete cur;
+                }
+        #endif
+            PR2.general.matched_step = best_step;
+            return true;
+        } else {
+            return false;
+        }
+    }
+
+    for (auto varval : PR2.general.goal_op->get_preconditions()) {
+
+        if (state[varval.get_variable().get_id()].get_value() != varval.get_value()) {
+            return false;
+        }
+    }
+
+    PR2State *gs = new PR2State();
+    for (auto varval : PR2.general.goal_op->get_preconditions())
+        (*gs)[varval.get_variable().get_id()] = varval.get_value();
+
+    SolutionStep *grs = new SolutionStep(gs, PR2.solution.incumbent->network, 0,
+                                         // Null?
+                                         PR2OperatorProxy(*PR2.general.goal_op),
+                                         -1, true, true, true);
+
+    PR2.general.matched_step = grs;
+
+    return true;
+}
diff --git a/src/pr2.h b/src/pr2.h
index f177a22..d73c4f8 100644
--- a/src/pr2.h
+++ b/src/pr2.h
@@ -63,6 +63,7 @@ struct PR2Wrapper {
 
     void generate_nondet_operator_mappings();
 
+    bool pr2_goal_check(TaskProxy task, State state);
 
     /*********************************************
      *

From 56aabce4de3535421edf9a6e977261778614fab0 Mon Sep 17 00:00:00 2001
From: connoralittle <connoralittle@gmail.com>
Date: Wed, 25 Sep 2024 15:29:35 -0400
Subject: [PATCH 05/26] I think this is the root source of many bugs. This
 variable is used both as an ordinal and as an index, and by setting it to
 represent both it seems to fix several bugs down the line. C++ never threw an
 index out of bounds exception, so it wa hard to deduce

---
 src/pr2.cc | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/src/pr2.cc b/src/pr2.cc
index 40ee9d3..2d00292 100644
--- a/src/pr2.cc
+++ b/src/pr2.cc
@@ -288,12 +288,13 @@ void PR2Wrapper::generate_nondet_operator_mappings() {
         }
         PR2.general.nondet_mapping[nondet_name_to_index[op.get_nondet_name()]].push_back(op.get_id());
         // outcome id comes from action name after _DETDUP_. The "8" is length of "_DETDUP_"
-        //Some elements don't have detdup, they have an assignment of 1
+        //Some elements don't have detdup, they have an assignment of 0
+        // Changed so it corresponds with the index
         if (op.get_name().find("_detdup_") == std::string::npos){
-            PR2.general.nondet_outcome_mapping[op.get_id()] = 1;
+            PR2.general.nondet_outcome_mapping[op.get_id()] = 0;
         } else {
             PR2.general.nondet_outcome_mapping[op.get_id()] = 
-                stoi(op.get_name().substr(op.get_name().find("_detdup_") + 8).substr(0, 1));
+                stoi(op.get_name().substr(op.get_name().find("_detdup_") + 8).substr(0, 1)) - 1;
         }
         op.nondet_index = nondet_name_to_index[op.get_nondet_name()];
         op.nondet_outcome = PR2.general.nondet_outcome_mapping[op.get_id()];

From 590631bb343f08b34c776655036be4b47bea478b Mon Sep 17 00:00:00 2001
From: connoralittle <connoralittle@gmail.com>
Date: Wed, 25 Sep 2024 15:57:51 -0400
Subject: [PATCH 06/26] decoupled outcome to name. Now on order recieved.

---
 src/pr2.cc | 11 ++---------
 1 file changed, 2 insertions(+), 9 deletions(-)

diff --git a/src/pr2.cc b/src/pr2.cc
index 2d00292..09a8cf1 100644
--- a/src/pr2.cc
+++ b/src/pr2.cc
@@ -287,15 +287,8 @@ void PR2Wrapper::generate_nondet_operator_mappings() {
             PR2.deadend.nondetop2fsaps.push_back(new vector< FSAP* >());
         }
         PR2.general.nondet_mapping[nondet_name_to_index[op.get_nondet_name()]].push_back(op.get_id());
-        // outcome id comes from action name after _DETDUP_. The "8" is length of "_DETDUP_"
-        //Some elements don't have detdup, they have an assignment of 0
-        // Changed so it corresponds with the index
-        if (op.get_name().find("_detdup_") == std::string::npos){
-            PR2.general.nondet_outcome_mapping[op.get_id()] = 0;
-        } else {
-            PR2.general.nondet_outcome_mapping[op.get_id()] = 
-                stoi(op.get_name().substr(op.get_name().find("_detdup_") + 8).substr(0, 1)) - 1;
-        }
+        PR2.general.nondet_outcome_mapping[op.get_id()] =
+            PR2.general.nondet_mapping[nondet_name_to_index[op.get_nondet_name()]].size() - 1;
         op.nondet_index = nondet_name_to_index[op.get_nondet_name()];
         op.nondet_outcome = PR2.general.nondet_outcome_mapping[op.get_id()];
         (*nondet_index_map)[op.get_id()] = op.nondet_index;

From e68d7951d3ecd306e69d37f0ca0b52e0728709d6 Mon Sep 17 00:00:00 2001
From: connoralittle <connoralittle@gmail.com>
Date: Mon, 11 Nov 2024 22:32:28 -0500
Subject: [PATCH 07/26] visualize runs with an off by 1 error

---
 pr2-scripts/snapshot-viz/js/viz-d3v4.js  |  8 ++--
 pr2-scripts/snapshot-viz/js/viz-dagre.js | 20 ++++----
 pr2-scripts/snapshot-viz/js/viz.js       | 59 ++++++++++++++++--------
 src/deadend.cc                           |  2 -
 src/partial_state_graph.cc               |  3 ++
 5 files changed, 56 insertions(+), 36 deletions(-)

diff --git a/pr2-scripts/snapshot-viz/js/viz-d3v4.js b/pr2-scripts/snapshot-viz/js/viz-d3v4.js
index 53cc46e..27e8adf 100644
--- a/pr2-scripts/snapshot-viz/js/viz-d3v4.js
+++ b/pr2-scripts/snapshot-viz/js/viz-d3v4.js
@@ -58,15 +58,15 @@ function drawFullGraph(s) {
     node2id = {};
 
     var i = 0;
-    for (var nid in snapshots[s].solution.prpsearchnodes) {
-        n = snapshots[s].solution.prpsearchnodes[nid]; // not doing anything with this for now
+    for (var nid in snapshots[s].solution.pr2searchnodes) {
+        n = snapshots[s].solution.pr2searchnodes[nid]; // not doing anything with this for now
         nodes.push({name: n.name, id: i, weight: 1});
         node2id[nid] = i;
         i++;
     }
 
-    for (i = 0; i < snapshots[s].solution.prpsearchnodelinks.length; ++i) {
-        e = snapshots[s].solution.prpsearchnodelinks[i];
+    for (i = 0; i < snapshots[s].solution.pr2searchnodelinks.length; ++i) {
+        e = snapshots[s].solution.pr2searchnodelinks[i];
         links.push({source:node2id[e[0]], target:node2id[e[1]], id: i});
     }
 
diff --git a/pr2-scripts/snapshot-viz/js/viz-dagre.js b/pr2-scripts/snapshot-viz/js/viz-dagre.js
index ca9b938..cac58be 100644
--- a/pr2-scripts/snapshot-viz/js/viz-dagre.js
+++ b/pr2-scripts/snapshot-viz/js/viz-dagre.js
@@ -62,14 +62,14 @@ function drawFullGraph(s) {
 
     var node2id = {};
     var i = 1;
-    for (var nid in snapshots[s].solution.prpsearchnodes) {
+    for (var nid in snapshots[s].solution.pr2searchnodes) {
         node2id[nid] = i;
-        g.setNode(i, {label:"<div>"+snapshots[s].solution.prpsearchnodes[nid].name+"</div>", labelType: "html"});
-        //console.log(snapshots[s].solution.prpsearchnodes[nid].name);
+        g.setNode(i, {label:"<div>"+snapshots[s].solution.pr2searchnodes[nid].name+"</div>", labelType: "html"});
+        //console.log(snapshots[s].solution.pr2searchnodes[nid].name);
     }
-    for (i = 0; i < snapshots[s].solution.prpsearchnodelinks.length; ++i)
-        g.setEdge(node2id[snapshots[s].solution.prpsearchnodelinks[i][0]],
-                  node2id[snapshots[s].solution.prpsearchnodelinks[i][1]],
+    for (i = 0; i < snapshots[s].solution.pr2searchnodelinks.length; ++i)
+        g.setEdge(node2id[snapshots[s].solution.pr2searchnodelinks[i][0]],
+                  node2id[snapshots[s].solution.pr2searchnodelinks[i][1]],
                   {label:''+i});
 
     render(svgGroup, g);
@@ -97,15 +97,15 @@ function drawFullGraph(s) {
     node2id = {};
 
     var i = 0;
-    for (var nid in snapshots[s].solution.prpsearchnodes) {
-        n = snapshots[s].solution.prpsearchnodes[nid]; // not doing anything with this for now
+    for (var nid in snapshots[s].solution.pr2searchnodes) {
+        n = snapshots[s].solution.pr2searchnodes[nid]; // not doing anything with this for now
         nodes.push({name: n.name, id: i, weight: 1});
         node2id[nid] = i;
         i++;
     }
 
-    for (i = 0; i < snapshots[s].solution.prpsearchnodelinks.length; ++i) {
-        e = snapshots[s].solution.prpsearchnodelinks[i];
+    for (i = 0; i < snapshots[s].solution.pr2searchnodelinks.length; ++i) {
+        e = snapshots[s].solution.pr2searchnodelinks[i];
         links.push({source:node2id[e[0]], target:node2id[e[1]], id: i});
     }
 
diff --git a/pr2-scripts/snapshot-viz/js/viz.js b/pr2-scripts/snapshot-viz/js/viz.js
index 37a7509..96cc823 100644
--- a/pr2-scripts/snapshot-viz/js/viz.js
+++ b/pr2-scripts/snapshot-viz/js/viz.js
@@ -107,6 +107,7 @@ function drawSnapshot(s, round) {
     $('#snapshotList'+round + ' a').removeClass('active');
     $('#snapshotButton'+round+'-'+s).addClass('active');
 
+    console.log(snapshots[s]);
     drawFullGraph(s);
     drawPSGraph(s);
 };
@@ -249,8 +250,6 @@ function initializeGraphs() {
     });
 };
 
-
-
 function drawFullGraph(s) {
 
     fsnodes = []; // The actual nodes of the graph
@@ -263,18 +262,21 @@ function drawFullGraph(s) {
     newfspaths = {}; // The links that were newly added in this snapshot
     var fs2ps = {}; // Mapping from the full state graph to the partial state graph
 
+    //Checks if nodes are new nodes
     if ((s-1 in snapshots) && (snapshots[s].solution.round == snapshots[s-1].solution.round))
-        for (n in snapshots[s].solution.prpsearchnodes)
-            if (!(n in snapshots[s-1].solution.prpsearchnodes))
+        for (n in snapshots[s].solution.pr2searchnodes)
+            if (!(n in snapshots[s-1].solution.pr2searchnodes))
                 newfsnodes[n] = true;
 
+    //Maps partial states and full states
     for (var psid in snapshots[s].solution.ps2fs)
         for (var fsid in snapshots[s].solution.ps2fs[psid])
             fs2ps[fsid] = psid;
 
+    //initialize nodes
     var i = 0;
-    for (var nid in snapshots[s].solution.prpsearchnodes) {
-        n = snapshots[s].solution.prpsearchnodes[nid]; // not doing anything with this for now
+    for (var nid in snapshots[s].solution.pr2searchnodes) {
+        n = snapshots[s].solution.pr2searchnodes[nid]; // not doing anything with this for now
         fsnodes.push({origname: n.name, name: n.name, id: i, weight: 1, nid: nid, psid: fs2ps[nid],
                       open:n.open, subsumed:n.subsumed, poisoned:n.poisoned});
         fsnode2id[nid] = i;
@@ -282,10 +284,11 @@ function drawFullGraph(s) {
         fspred[i] = [];
         i++;
     }
+    
+    //find successors and previous nodes
+    for (i = 0; i < snapshots[s].solution.pr2searchnodelinks.length; ++i) {
 
-    for (i = 0; i < snapshots[s].solution.prpsearchnodelinks.length; ++i) {
-
-        e = snapshots[s].solution.prpsearchnodelinks[i];
+        e = snapshots[s].solution.pr2searchnodelinks[i];
         var u = fsnode2id[e[0]];
         var v = fsnode2id[e[1]];
 
@@ -297,12 +300,12 @@ function drawFullGraph(s) {
 
     if ((s-1 in snapshots) && (snapshots[s].solution.round == snapshots[s-1].solution.round)) {
         var oldpaths = {};
-        for (i = 0; i < snapshots[s-1].solution.prpsearchnodelinks.length; ++i) {
-            e = snapshots[s-1].solution.prpsearchnodelinks[i];
+        for (i = 0; i < snapshots[s-1].solution.pr2searchnodelinks.length; ++i) {
+            e = snapshots[s-1].solution.pr2searchnodelinks[i];
             oldpaths[fsnode2id[e[0]] + "-" + fsnode2id[e[1]]] = true;
         }
-        for (i = 0; i < snapshots[s].solution.prpsearchnodelinks.length; ++i) {
-            e = snapshots[s].solution.prpsearchnodelinks[i];
+        for (i = 0; i < snapshots[s].solution.pr2searchnodelinks.length; ++i) {
+            e = snapshots[s].solution.pr2searchnodelinks[i];
             if (!(fsnode2id[e[0]] + "-" + fsnode2id[e[1]] in oldpaths))
                 newfspaths[fsnode2id[e[0]] + "-" + fsnode2id[e[1]]] = true;
         }
@@ -477,6 +480,7 @@ function drawPSGraph(s) {
     var ncount = 0;
     for (var nid in snapshots[s].solution.psgraph.nodes) {
         n = snapshots[s].solution.psgraph.nodes[nid];
+        nid = String(parseInt(nid) - 1);
         nname = n.action + ' ('+n.distance+')';
         init = false;
         if (n.distance == 0)
@@ -484,7 +488,7 @@ function drawPSGraph(s) {
         if (nid == snapshots[s].solution.psgraph.init)
             init = true;
         psnodes.push({id: ncount, origname: nname, name: nname, data: n, init: init, weight: n.distance, nid: nid, sink:false});
-        psnode2id[''+nid] = ncount;
+        psnode2id['' + nid] = ncount;
         pssucc[ncount] = [];
         pspred[ncount] = [];
         ncount++;
@@ -492,12 +496,14 @@ function drawPSGraph(s) {
 
     for (var i = 0; i < snapshots[s].solution.psgraph.edges.length; ++i) {
         e = snapshots[s].solution.psgraph.edges[i];
+        console.log(e);
 
         if (">" === e[1]) {
 
             var u, v;
 
             if (-1 == e[2]) {
+                console.log("path 1");
                 var nid = "undefined"+ncount;
                 psnodes.push({id:ncount, origname: "undefined", name: "undefined", weight: 0, nid: nid, sink:true});
                 psnode2id[nid] = ncount;
@@ -507,15 +513,28 @@ function drawPSGraph(s) {
                 v = ncount;
                 ncount++;
             } else {
+                console.log("path 2");
                 u = psnode2id[e[0]];
                 v = psnode2id[e[2]];
             }
 
-            pslinks.push({source:u, target:v, id: u+'-'+v});
-
-            pssucc[u].push(v);
-            pspred[v].push(u);
-
+            console.log(u);
+            console.log(v);
+
+            console.log(psnodes);
+            console.log(pslinks);
+            console.log(pssucc);
+            console.log(pspred);
+            console.log(psstates);
+            console.log(newpsnodes);
+            console.log(newpspaths);
+            console.log(psnode2id);
+
+            if (!(u === undefined || v === undefined)) {
+                pslinks.push({ source: u, target: v, id: u + '-' + v });
+                pssucc[u].push(v);
+                pspred[v].push(u);
+            }
         }
     }
 
@@ -539,7 +558,7 @@ function drawPSGraph(s) {
         function gen_path(id) {
             // Base case is when this node isn't a 1-in / 1-out
             if ((1 != pssucc[id].length) || ((1 != pspred[id].length))) {
-                return [id, ''];
+                // return [id, ''];
                 // Only use this label if it is the initial search node
                 if (0 == pspred[id].length)
                     return [id, '\n'+psnodes[id].origname];
diff --git a/src/deadend.cc b/src/deadend.cc
index 696260a..abb4ca6 100644
--- a/src/deadend.cc
+++ b/src/deadend.cc
@@ -158,8 +158,6 @@ void update_deadends(vector< DeadendTuple* > &failed_states) {
         PR2.deadend.nondetop2fsaps[fsap->get_index()]->push_back(fsap);
 
     PR2.deadend.policy->update_policy(fsaps);
-    for (auto fsap : PR2.deadend.policy->all_items)
-        std::cout << fsap->get_index() << endl;
     PR2.deadend.states->update_policy(deadends);
 }
 
diff --git a/src/partial_state_graph.cc b/src/partial_state_graph.cc
index dc94447..649d96c 100644
--- a/src/partial_state_graph.cc
+++ b/src/partial_state_graph.cc
@@ -293,10 +293,13 @@ void PSGraph::record_snapshot(ofstream &outfile, string indent, bool keyname) {
     // Print out the nodes
     outfile << "," << endl << indent << "  \"nodes\" : {" << endl;
     bool first = true;
+    bool second = true;
     for (auto n : steps) {
         if (n) {
             if (first)
                 first = false;
+            else if (second)
+                second = false;
             else
                 outfile << "," << endl;
             n->record_snapshot(outfile, indent+"    ");

From 651cf5276eba58abab63ed9266be346fe8be5549 Mon Sep 17 00:00:00 2001
From: connoralittle <connoralittle@gmail.com>
Date: Wed, 13 Nov 2024 20:50:29 -0500
Subject: [PATCH 08/26] visualize works again properly

---
 pr2-scripts/snapshot-viz/js/snapshots.js | 5457 ++++------------------
 pr2-scripts/snapshot-viz/js/viz.js       |    1 -
 src/fd_integration/pr2_proxies.h         |   20 +-
 src/partial_state_graph.cc               |    3 -
 src/pr2.cc                               |    3 +-
 src/solution.cc                          |    4 +-
 6 files changed, 990 insertions(+), 4498 deletions(-)

diff --git a/pr2-scripts/snapshot-viz/js/snapshots.js b/pr2-scripts/snapshot-viz/js/snapshots.js
index d16429c..4e634b5 100644
--- a/pr2-scripts/snapshot-viz/js/snapshots.js
+++ b/pr2-scripts/snapshot-viz/js/snapshots.js
@@ -13,7 +13,7 @@ var snapshots = {
   "policy": "Coming soon...",
   "ps2fs": {
   },
-  "prpsearchnodes": {
+  "pr2searchnodes": {
   0: {
       name: "(0)",
       open: 1,
@@ -22,4314 +22,381 @@ var snapshots = {
       subsumed: 0,
   },
   },
-  "prpsearchnodelinks": [
+  "pr2searchnodelinks": [
   ],
 },
 },
 1: {
 "solution": {
   "type": "(case-5) New Path [node 0]",
-  "score": 0.243,
-  "size": 5,
+  "score": 0.002,
+  "size": 13,
   "round": 1,
 "psgraph": {
 
-    "init": "4",
+    "init": "12",
     "goal": "0",
     "nodes" : {
+      "0": {
+        "expected_successor": false,
+        "action": "goal_action",
+        "state": "0x555555a450b0",
+        "distance": 0,
+        "is_relevant": 1,
+        "is_goal": 1,
+        "is_sc": 1,
+        "successors": [
+
+         ]
+      },
       "1": {
         "expected_successor": "0",
-        "action": "move-forward-last-door-open l3 l4 d4",
-        "state": "0x1ccf170",
+        "action": "move-car l-2-6 l-1-7",
+        "state": "0x555555a7c8a0",
         "distance": 1,
         "is_relevant": 0,
         "is_goal": 0,
         "is_sc": 0,
         "successors": [
           {
-              "outcome_label": "move-forward-last-door-open_DETDUP_1 l3 l4 d4",
+              "outcome_label": "move-car_detdup_1 l-2-6 l-1-7",
               "successor_id": "0"
           },
           {
-              "outcome_label": "move-forward-last-door-open_DETDUP_2 l3 l4 d4",
+              "outcome_label": "move-car_detdup_2 l-2-6 l-1-7",
               "successor_id": "-1"
           }
          ]
       },
       "2": {
         "expected_successor": "1",
-        "action": "move-forward-door-open l2 l3 d3 d4",
-        "state": "0x1cceaa0",
+        "action": "move-car l-3-5 l-2-6",
+        "state": "0x555555a7a9e0",
         "distance": 2,
         "is_relevant": 0,
         "is_goal": 0,
         "is_sc": 0,
         "successors": [
           {
-              "outcome_label": "move-forward-door-open_DETDUP_1 l2 l3 d3 d4",
+              "outcome_label": "move-car_detdup_1 l-3-5 l-2-6",
               "successor_id": "1"
           },
           {
-              "outcome_label": "move-forward-door-open_DETDUP_2 l2 l3 d3 d4",
-              "successor_id": "-1"
-          },
-          {
-              "outcome_label": "move-forward-door-open_DETDUP_3 l2 l3 d3 d4",
-              "successor_id": "-1"
-          },
-          {
-              "outcome_label": "move-forward-door-open_DETDUP_4 l2 l3 d3 d4",
+              "outcome_label": "move-car_detdup_2 l-3-5 l-2-6",
               "successor_id": "-1"
           }
          ]
       },
-      "0": {
-        "expected_successor": false,
-        "action": "---",
-        "state": "0x1cb01a0",
-        "distance": 0,
-        "is_relevant": 1,
-        "is_goal": 1,
-        "is_sc": 1,
-        "successors": [
-
-         ]
-      },
-      "4": {
-        "expected_successor": "3",
-        "action": "pick-key l1",
-        "state": "0x1cce140",
-        "distance": 4,
-        "is_relevant": 0,
-        "is_goal": 0,
-        "is_sc": 0,
-        "successors": [
-          {
-              "outcome_label": "pick-key l1",
-              "successor_id": "3"
-          }
-         ]
-      },
       "3": {
         "expected_successor": "2",
-        "action": "move-forward-door-open l1 l2 d2 d3",
-        "state": "0x1cce490",
+        "action": "move-car l-4-4 l-3-5",
+        "state": "0x555555a7c5f0",
         "distance": 3,
         "is_relevant": 0,
         "is_goal": 0,
         "is_sc": 0,
         "successors": [
           {
-              "outcome_label": "move-forward-door-open_DETDUP_1 l1 l2 d2 d3",
+              "outcome_label": "move-car_detdup_1 l-4-4 l-3-5",
               "successor_id": "2"
           },
           {
-              "outcome_label": "move-forward-door-open_DETDUP_2 l1 l2 d2 d3",
-              "successor_id": "-1"
-          },
-          {
-              "outcome_label": "move-forward-door-open_DETDUP_3 l1 l2 d2 d3",
-              "successor_id": "-1"
-          },
-          {
-              "outcome_label": "move-forward-door-open_DETDUP_4 l1 l2 d2 d3",
+              "outcome_label": "move-car_detdup_2 l-4-4 l-3-5",
               "successor_id": "-1"
           }
          ]
-      }
-    },
-    "edges" : [
-        ["1", ">", "0"],
-        ["1", ">", "-1"],
-        ["2", ">", "1"],
-        ["2", ">", "-1"],
-        ["2", ">", "-1"],
-        ["2", ">", "-1"],
-        ["4", ">", "3"],
-        ["3", ">", "2"],
-        ["3", ">", "-1"],
-        ["3", ">", "-1"],
-        ["3", ">", "-1"]
-    ],
-    "states" : {
-      "0x1ccf170": [
-        "Atom open(d4)",
-        "Atom player-at(l3)"
-      ],
-      "0x1cceaa0": [
-        "Atom hold-key()",
-        "Atom open(d3)",
-        "Atom player-at(l2)"
-      ],
-      "0x1cb01a0": [
-        "Atom player-at(l4)"
-      ],
-      "0x1cce140": [
-        "Atom open(d2)",
-        "Atom player-at(l1)"
-      ],
-      "0x1cce490": [
-        "Atom hold-key()",
-        "Atom open(d2)",
-        "Atom player-at(l1)"
-      ]
-     }
-  },
-  "policy": "Coming soon...",
-  "ps2fs": {
-    1: {6: 6, },
-    2: {2: 2, },
-    4: {0: 0, },
-    3: {1: 1, },
-  },
-  "prpsearchnodes": {
-  0: {
-      name: "(0) pick-key l1",
-      open: 0,
-      init: 1,
-      poisoned: 0,
-      subsumed: 0,
-  },
-  1: {
-      name: "(1) move-forward-door-open l1 l2 d2 d3",
-      open: 1,
-      init: 0,
-      poisoned: 0,
-      subsumed: 0,
-  },
-  2: {
-      name: "(2) move-forward-door-open l2 l3 d3 d4",
-      open: 1,
-      init: 0,
-      poisoned: 0,
-      subsumed: 0,
-  },
-  3: {
-      name: "(3)",
-      open: 1,
-      init: 0,
-      poisoned: 0,
-      subsumed: 0,
-  },
-  4: {
-      name: "(4)",
-      open: 1,
-      init: 0,
-      poisoned: 0,
-      subsumed: 0,
-  },
-  5: {
-      name: "(5)",
-      open: 1,
-      init: 0,
-      poisoned: 0,
-      subsumed: 0,
-  },
-  6: {
-      name: "(6) move-forward-last-door-open l3 l4 d4",
-      open: 1,
-      init: 0,
-      poisoned: 0,
-      subsumed: 0,
-  },
-  7: {
-      name: "(7)",
-      open: 1,
-      init: 0,
-      poisoned: 0,
-      subsumed: 0,
-  },
-  8: {
-      name: "(8)",
-      open: 1,
-      init: 0,
-      poisoned: 0,
-      subsumed: 0,
-  },
-  9: {
-      name: "(9)",
-      open: 1,
-      init: 0,
-      poisoned: 0,
-      subsumed: 0,
-  },
-  10: {
-      name: "(10)",
-      open: 1,
-      init: 0,
-      poisoned: 0,
-      subsumed: 0,
-  },
-  11: {
-      name: "(11)",
-      open: 1,
-      init: 0,
-      poisoned: 0,
-      subsumed: 0,
-  },
-  },
-  "prpsearchnodelinks": [
-    [0,1],
-    [1,2],
-    [1,3],
-    [1,4],
-    [1,5],
-    [2,6],
-    [2,7],
-    [2,8],
-    [2,9],
-    [6,10],
-    [6,11],
-  ],
-},
-},
-2: {
-"solution": {
-  "type": "(case-4) Hooking Up [node 11]",
-  "score": 0.243,
-  "size": 5,
-  "round": 1,
-"psgraph": {
-
-    "init": "4",
-    "goal": "0",
-    "nodes" : {
-      "1": {
-        "expected_successor": "0",
-        "action": "move-forward-last-door-open l3 l4 d4",
-        "state": "0x1ccf170",
-        "distance": 1,
+      },
+      "4": {
+        "expected_successor": "3",
+        "action": "move-car l-5-3 l-4-4",
+        "state": "0x555555a794b0",
+        "distance": 4,
         "is_relevant": 0,
         "is_goal": 0,
-        "is_sc": 1,
+        "is_sc": 0,
         "successors": [
           {
-              "outcome_label": "move-forward-last-door-open_DETDUP_1 l3 l4 d4",
-              "successor_id": "0"
+              "outcome_label": "move-car_detdup_1 l-5-3 l-4-4",
+              "successor_id": "3"
           },
           {
-              "outcome_label": "move-forward-last-door-open_DETDUP_2 l3 l4 d4",
-              "successor_id": "0"
+              "outcome_label": "move-car_detdup_2 l-5-3 l-4-4",
+              "successor_id": "-1"
           }
          ]
       },
-      "2": {
-        "expected_successor": "1",
-        "action": "move-forward-door-open l2 l3 d3 d4",
-        "state": "0x1cceaa0",
-        "distance": 2,
+      "5": {
+        "expected_successor": "4",
+        "action": "move-car l-6-2 l-5-3",
+        "state": "0x555555a7b010",
+        "distance": 5,
         "is_relevant": 0,
         "is_goal": 0,
         "is_sc": 0,
         "successors": [
           {
-              "outcome_label": "move-forward-door-open_DETDUP_1 l2 l3 d3 d4",
-              "successor_id": "1"
-          },
-          {
-              "outcome_label": "move-forward-door-open_DETDUP_2 l2 l3 d3 d4",
-              "successor_id": "-1"
-          },
-          {
-              "outcome_label": "move-forward-door-open_DETDUP_3 l2 l3 d3 d4",
-              "successor_id": "-1"
+              "outcome_label": "move-car_detdup_1 l-6-2 l-5-3",
+              "successor_id": "4"
           },
           {
-              "outcome_label": "move-forward-door-open_DETDUP_4 l2 l3 d3 d4",
+              "outcome_label": "move-car_detdup_2 l-6-2 l-5-3",
               "successor_id": "-1"
           }
          ]
       },
-      "0": {
-        "expected_successor": false,
-        "action": "---",
-        "state": "0x1cb01a0",
-        "distance": 0,
-        "is_relevant": 1,
-        "is_goal": 1,
-        "is_sc": 1,
-        "successors": [
-
-         ]
-      },
-      "4": {
-        "expected_successor": "3",
-        "action": "pick-key l1",
-        "state": "0x1cce140",
-        "distance": 4,
+      "6": {
+        "expected_successor": "5",
+        "action": "move-car l-7-1 l-6-2",
+        "state": "0x555555a7b1f0",
+        "distance": 6,
         "is_relevant": 0,
         "is_goal": 0,
         "is_sc": 0,
         "successors": [
           {
-              "outcome_label": "pick-key l1",
-              "successor_id": "3"
+              "outcome_label": "move-car_detdup_1 l-7-1 l-6-2",
+              "successor_id": "5"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-7-1 l-6-2",
+              "successor_id": "-1"
           }
          ]
       },
-      "3": {
-        "expected_successor": "2",
-        "action": "move-forward-door-open l1 l2 d2 d3",
-        "state": "0x1cce490",
-        "distance": 3,
+      "7": {
+        "expected_successor": "6",
+        "action": "move-car l-6-1 l-7-1",
+        "state": "0x555555a7b3d0",
+        "distance": 7,
         "is_relevant": 0,
         "is_goal": 0,
         "is_sc": 0,
         "successors": [
           {
-              "outcome_label": "move-forward-door-open_DETDUP_1 l1 l2 d2 d3",
-              "successor_id": "2"
-          },
-          {
-              "outcome_label": "move-forward-door-open_DETDUP_2 l1 l2 d2 d3",
-              "successor_id": "-1"
-          },
-          {
-              "outcome_label": "move-forward-door-open_DETDUP_3 l1 l2 d2 d3",
-              "successor_id": "-1"
+              "outcome_label": "move-car_detdup_1 l-6-1 l-7-1",
+              "successor_id": "6"
           },
           {
-              "outcome_label": "move-forward-door-open_DETDUP_4 l1 l2 d2 d3",
+              "outcome_label": "move-car_detdup_2 l-6-1 l-7-1",
               "successor_id": "-1"
-          }
-         ]
-      }
-    },
-    "edges" : [
-        ["1", ">", "0"],
-        ["1", ">", "0"],
-        ["2", ">", "1"],
-        ["2", ">", "-1"],
-        ["2", ">", "-1"],
-        ["2", ">", "-1"],
-        ["4", ">", "3"],
-        ["3", ">", "2"],
-        ["3", ">", "-1"],
-        ["3", ">", "-1"],
-        ["3", ">", "-1"]
-    ],
-    "states" : {
-      "0x1ccf170": [
-        "Atom open(d4)",
-        "Atom player-at(l3)"
-      ],
-      "0x1cceaa0": [
-        "Atom hold-key()",
-        "Atom open(d3)",
-        "Atom player-at(l2)"
-      ],
-      "0x1cb01a0": [
-        "Atom player-at(l4)"
-      ],
-      "0x1cce140": [
-        "Atom open(d2)",
-        "Atom player-at(l1)"
-      ],
-      "0x1cce490": [
-        "Atom hold-key()",
-        "Atom open(d2)",
-        "Atom player-at(l1)"
-      ]
-     }
-  },
-  "policy": "Coming soon...",
-  "ps2fs": {
-    1: {6: 6, },
-    2: {2: 2, },
-    0: {11: 11, },
-    4: {0: 0, },
-    3: {1: 1, },
-  },
-  "prpsearchnodes": {
-  0: {
-      name: "(0) pick-key l1",
-      open: 0,
-      init: 1,
-      poisoned: 0,
-      subsumed: 0,
-  },
-  1: {
-      name: "(1) move-forward-door-open l1 l2 d2 d3",
-      open: 1,
-      init: 0,
-      poisoned: 0,
-      subsumed: 0,
-  },
-  2: {
-      name: "(2) move-forward-door-open l2 l3 d3 d4",
-      open: 1,
-      init: 0,
-      poisoned: 0,
-      subsumed: 0,
-  },
-  3: {
-      name: "(3)",
-      open: 1,
-      init: 0,
-      poisoned: 0,
-      subsumed: 0,
-  },
-  4: {
-      name: "(4)",
-      open: 1,
-      init: 0,
-      poisoned: 0,
-      subsumed: 0,
-  },
-  5: {
-      name: "(5)",
-      open: 1,
-      init: 0,
-      poisoned: 0,
-      subsumed: 0,
-  },
-  6: {
-      name: "(6) move-forward-last-door-open l3 l4 d4",
-      open: 1,
-      init: 0,
-      poisoned: 0,
-      subsumed: 0,
-  },
-  7: {
-      name: "(7)",
-      open: 1,
-      init: 0,
-      poisoned: 0,
-      subsumed: 0,
-  },
-  8: {
-      name: "(8)",
-      open: 1,
-      init: 0,
-      poisoned: 0,
-      subsumed: 0,
-  },
-  9: {
-      name: "(9)",
-      open: 1,
-      init: 0,
-      poisoned: 0,
-      subsumed: 0,
-  },
-  10: {
-      name: "(10)",
-      open: 1,
-      init: 0,
-      poisoned: 0,
-      subsumed: 0,
-  },
-  11: {
-      name: "(11)",
-      open: 0,
-      init: 0,
-      poisoned: 0,
-      subsumed: 0,
-  },
-  },
-  "prpsearchnodelinks": [
-    [0,1],
-    [1,2],
-    [1,3],
-    [1,4],
-    [1,5],
-    [2,6],
-    [2,7],
-    [2,8],
-    [2,9],
-    [6,10],
-    [6,11],
-  ],
-},
-},
-3: {
-"solution": {
-  "type": "(case-3) Predefined Path [node 10]",
-  "score": 0.243,
-  "size": 5,
-  "round": 1,
-"psgraph": {
-
-    "init": "4",
-    "goal": "0",
-    "nodes" : {
-      "1": {
-        "expected_successor": "0",
-        "action": "move-forward-last-door-open l3 l4 d4",
-        "state": "0x1ccf170",
-        "distance": 1,
-        "is_relevant": 0,
-        "is_goal": 0,
-        "is_sc": 1,
-        "successors": [
-          {
-              "outcome_label": "move-forward-last-door-open_DETDUP_1 l3 l4 d4",
-              "successor_id": "0"
-          },
-          {
-              "outcome_label": "move-forward-last-door-open_DETDUP_2 l3 l4 d4",
-              "successor_id": "0"
-          }
-         ]
-      },
-      "2": {
-        "expected_successor": "1",
-        "action": "move-forward-door-open l2 l3 d3 d4",
-        "state": "0x1cceaa0",
-        "distance": 2,
-        "is_relevant": 0,
-        "is_goal": 0,
-        "is_sc": 0,
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-    2: {2: 2, },
-    0: {13: 13, 12: 12, 10: 10, 11: 11, },
-    4: {0: 0, },
-    3: {1: 1, },
-    5: {15: 15, 7: 7, 9: 9, 17: 17, },
-    6: {5: 5, },
-  },
-  "prpsearchnodes": {
+    1: {21: 21, },
+    2: {19: 19, },
+    3: {17: 17, },
+    4: {15: 15, },
+    5: {13: 13, },
+    6: {11: 11, },
+    7: {9: 9, },
+    8: {7: 7, },
+    9: {5: 5, },
+    10: {3: 3, },
+    11: {1: 1, },
+    12: {0: 0, },
+  },
+  "pr2searchnodes": {
   0: {
-      name: "(0) pick-key l1",
+      name: "(0) move-car l-1-1 l-2-1",
       open: 0,
       init: 1,
       poisoned: 0,
       subsumed: 0,
   },
   1: {
-      name: "(1) move-forward-door-open l1 l2 d2 d3",
+      name: "(1) move-car l-2-1 l-3-1",
       open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   2: {
-      name: "(2) move-forward-door-open l2 l3 d3 d4",
+      name: "(2)",
       open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   3: {
-      name: "(3)",
+      name: "(3) move-car l-3-1 l-4-1",
       open: 1,
       init: 0,
       poisoned: 0,
@@ -4343,272 +410,422 @@ var snapshots = {
       subsumed: 0,
   },
   5: {
-      name: "(5) move-forward-door-closed l2 l3 d3 d4",
-      open: 0,
+      name: "(5) move-car l-4-1 l-5-1",
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   6: {
-      name: "(6) move-forward-last-door-open l3 l4 d4",
-      open: 0,
+      name: "(6)",
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   7: {
-      name: "(7)",
-      open: 0,
+      name: "(7) move-car l-5-1 l-6-1",
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   8: {
       name: "(8)",
-      open: 0,
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   9: {
-      name: "(9) move-forward-last-door-closed l3 l4 d4",
-      open: 0,
+      name: "(9) move-car l-6-1 l-7-1",
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   10: {
       name: "(10)",
-      open: 0,
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   11: {
-      name: "(11)",
-      open: 0,
+      name: "(11) move-car l-7-1 l-6-2",
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   12: {
       name: "(12)",
-      open: 0,
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   13: {
-      name: "(13)",
-      open: 0,
+      name: "(13) move-car l-6-2 l-5-3",
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   14: {
       name: "(14)",
-      open: 0,
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   15: {
-      name: "(15)",
-      open: 0,
+      name: "(15) move-car l-5-3 l-4-4",
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   16: {
       name: "(16)",
-      open: 0,
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   17: {
-      name: "(17)",
-      open: 0,
+      name: "(17) move-car l-4-4 l-3-5",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  18: {
+      name: "(18)",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  19: {
+      name: "(19) move-car l-3-5 l-2-6",
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
+  20: {
+      name: "(20)",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  21: {
+      name: "(21) move-car l-2-6 l-1-7",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  22: {
+      name: "(22)",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  23: {
+      name: "(23)",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  24: {
+      name: "(24)",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
   },
-  "prpsearchnodelinks": [
+  },
+  "pr2searchnodelinks": [
     [0,1],
-    [1,2],
+    [0,2],
     [1,3],
     [1,4],
-    [1,5],
-    [2,6],
-    [2,7],
-    [2,8],
-    [2,9],
-    [6,10],
-    [6,11],
+    [3,5],
+    [3,6],
+    [5,7],
+    [5,8],
+    [7,9],
+    [7,10],
+    [9,11],
     [9,12],
-    [9,13],
-    [5,14],
-    [5,15],
-    [5,16],
-    [5,17],
+    [11,13],
+    [11,14],
+    [13,15],
+    [13,16],
+    [15,17],
+    [15,18],
+    [17,19],
+    [17,20],
+    [19,21],
+    [19,22],
+    [21,23],
+    [21,24],
   ],
 },
 },
-15: {
+2: {
 "solution": {
-  "type": "(case-4) Hooking Up [node 4]",
-  "score": 1,
-  "size": 7,
+  "type": "(case-4) Hooking Up [node 24]",
+  "score": 0.002,
+  "size": 13,
   "round": 1,
 "psgraph": {
 
-    "init": "4",
+    "init": "12",
     "goal": "0",
     "nodes" : {
+      "0": {
+        "expected_successor": false,
+        "action": "goal_action",
+        "state": "0x555555a450b0",
+        "distance": 0,
+        "is_relevant": 1,
+        "is_goal": 1,
+        "is_sc": 1,
+        "successors": [
+
+         ]
+      },
       "1": {
         "expected_successor": "0",
-        "action": "move-forward-last-door-open l3 l4 d4",
-        "state": "0x1ccf170",
+        "action": "move-car l-2-6 l-1-7",
+        "state": "0x555555a7c8a0",
         "distance": 1,
         "is_relevant": 0,
         "is_goal": 0,
         "is_sc": 1,
         "successors": [
           {
-              "outcome_label": "move-forward-last-door-open_DETDUP_1 l3 l4 d4",
+              "outcome_label": "move-car_detdup_1 l-2-6 l-1-7",
               "successor_id": "0"
           },
           {
-              "outcome_label": "move-forward-last-door-open_DETDUP_2 l3 l4 d4",
+              "outcome_label": "move-car_detdup_2 l-2-6 l-1-7",
               "successor_id": "0"
           }
          ]
       },
       "2": {
         "expected_successor": "1",
-        "action": "move-forward-door-open l2 l3 d3 d4",
-        "state": "0x1cceaa0",
+        "action": "move-car l-3-5 l-2-6",
+        "state": "0x555555a7a9e0",
         "distance": 2,
         "is_relevant": 0,
         "is_goal": 0,
-        "is_sc": 1,
+        "is_sc": 0,
         "successors": [
           {
-              "outcome_label": "move-forward-door-open_DETDUP_1 l2 l3 d3 d4",
-              "successor_id": "1"
-          },
-          {
-              "outcome_label": "move-forward-door-open_DETDUP_2 l2 l3 d3 d4",
-              "successor_id": "5"
-          },
-          {
-              "outcome_label": "move-forward-door-open_DETDUP_3 l2 l3 d3 d4",
+              "outcome_label": "move-car_detdup_1 l-3-5 l-2-6",
               "successor_id": "1"
           },
           {
-              "outcome_label": "move-forward-door-open_DETDUP_4 l2 l3 d3 d4",
-              "successor_id": "5"
+              "outcome_label": "move-car_detdup_2 l-3-5 l-2-6",
+              "successor_id": "-1"
           }
          ]
       },
-      "0": {
-        "expected_successor": false,
-        "action": "---",
-        "state": "0x1cb01a0",
-        "distance": 0,
-        "is_relevant": 1,
-        "is_goal": 1,
-        "is_sc": 1,
+      "3": {
+        "expected_successor": "2",
+        "action": "move-car l-4-4 l-3-5",
+        "state": "0x555555a7c5f0",
+        "distance": 3,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 0,
         "successors": [
-
+          {
+              "outcome_label": "move-car_detdup_1 l-4-4 l-3-5",
+              "successor_id": "2"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-4-4 l-3-5",
+              "successor_id": "-1"
+          }
          ]
       },
       "4": {
         "expected_successor": "3",
-        "action": "pick-key l1",
-        "state": "0x1cce140",
+        "action": "move-car l-5-3 l-4-4",
+        "state": "0x555555a794b0",
         "distance": 4,
         "is_relevant": 0,
         "is_goal": 0,
         "is_sc": 0,
         "successors": [
           {
-              "outcome_label": "pick-key l1",
+              "outcome_label": "move-car_detdup_1 l-5-3 l-4-4",
               "successor_id": "3"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-5-3 l-4-4",
+              "successor_id": "-1"
           }
          ]
       },
-      "3": {
-        "expected_successor": "2",
-        "action": "move-forward-door-open l1 l2 d2 d3",
-        "state": "0x1cce490",
-        "distance": 3,
+      "5": {
+        "expected_successor": "4",
+        "action": "move-car l-6-2 l-5-3",
+        "state": "0x555555a7b010",
+        "distance": 5,
         "is_relevant": 0,
         "is_goal": 0,
         "is_sc": 0,
         "successors": [
           {
-              "outcome_label": "move-forward-door-open_DETDUP_1 l1 l2 d2 d3",
-              "successor_id": "2"
+              "outcome_label": "move-car_detdup_1 l-6-2 l-5-3",
+              "successor_id": "4"
           },
           {
-              "outcome_label": "move-forward-door-open_DETDUP_2 l1 l2 d2 d3",
+              "outcome_label": "move-car_detdup_2 l-6-2 l-5-3",
               "successor_id": "-1"
-          },
+          }
+         ]
+      },
+      "6": {
+        "expected_successor": "5",
+        "action": "move-car l-7-1 l-6-2",
+        "state": "0x555555a7b1f0",
+        "distance": 6,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 0,
+        "successors": [
           {
-              "outcome_label": "move-forward-door-open_DETDUP_3 l1 l2 d2 d3",
-              "successor_id": "2"
+              "outcome_label": "move-car_detdup_1 l-7-1 l-6-2",
+              "successor_id": "5"
           },
           {
-              "outcome_label": "move-forward-door-open_DETDUP_4 l1 l2 d2 d3",
+              "outcome_label": "move-car_detdup_2 l-7-1 l-6-2",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "7": {
+        "expected_successor": "6",
+        "action": "move-car l-6-1 l-7-1",
+        "state": "0x555555a7b3d0",
+        "distance": 7,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 0,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-6-1 l-7-1",
               "successor_id": "6"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-6-1 l-7-1",
+              "successor_id": "-1"
           }
          ]
       },
-      "5": {
-        "expected_successor": "0",
-        "action": "move-forward-last-door-closed l3 l4 d4",
-        "state": "0x1cd04a0",
-        "distance": 1,
+      "8": {
+        "expected_successor": "7",
+        "action": "move-car l-5-1 l-6-1",
+        "state": "0x555555a7b610",
+        "distance": 8,
         "is_relevant": 0,
         "is_goal": 0,
-        "is_sc": 1,
+        "is_sc": 0,
         "successors": [
           {
-              "outcome_label": "move-forward-last-door-closed_DETDUP_1 l3 l4 d4",
-              "successor_id": "0"
+              "outcome_label": "move-car_detdup_1 l-5-1 l-6-1",
+              "successor_id": "7"
           },
           {
-              "outcome_label": "move-forward-last-door-closed_DETDUP_2 l3 l4 d4",
-              "successor_id": "0"
+              "outcome_label": "move-car_detdup_2 l-5-1 l-6-1",
+              "successor_id": "-1"
           }
          ]
       },
-      "6": {
-        "expected_successor": "1",
-        "action": "move-forward-door-closed l2 l3 d3 d4",
-        "state": "0x1ce3c80",
-        "distance": 2,
+      "9": {
+        "expected_successor": "8",
+        "action": "move-car l-4-1 l-5-1",
+        "state": "0x555555a7b800",
+        "distance": 9,
         "is_relevant": 0,
         "is_goal": 0,
-        "is_sc": 1,
+        "is_sc": 0,
         "successors": [
           {
-              "outcome_label": "move-forward-door-closed_DETDUP_1 l2 l3 d3 d4",
-              "successor_id": "1"
+              "outcome_label": "move-car_detdup_1 l-4-1 l-5-1",
+              "successor_id": "8"
           },
           {
-              "outcome_label": "move-forward-door-closed_DETDUP_2 l2 l3 d3 d4",
-              "successor_id": "5"
+              "outcome_label": "move-car_detdup_2 l-4-1 l-5-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "10": {
+        "expected_successor": "9",
+        "action": "move-car l-3-1 l-4-1",
+        "state": "0x555555a7b9d0",
+        "distance": 10,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 0,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-3-1 l-4-1",
+              "successor_id": "9"
           },
           {
-              "outcome_label": "move-forward-door-closed_DETDUP_3 l2 l3 d3 d4",
-              "successor_id": "1"
+              "outcome_label": "move-car_detdup_2 l-3-1 l-4-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "11": {
+        "expected_successor": "10",
+        "action": "move-car l-2-1 l-3-1",
+        "state": "0x555555a7bbc0",
+        "distance": 11,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 0,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-2-1 l-3-1",
+              "successor_id": "10"
           },
           {
-              "outcome_label": "move-forward-door-closed_DETDUP_4 l2 l3 d3 d4",
-              "successor_id": "5"
+              "outcome_label": "move-car_detdup_2 l-2-1 l-3-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "12": {
+        "expected_successor": "11",
+        "action": "move-car l-1-1 l-2-1",
+        "state": "0x555555a7bd90",
+        "distance": 12,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 0,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-1-1 l-2-1",
+              "successor_id": "11"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-1-1 l-2-1",
+              "successor_id": "-1"
           }
          ]
       }
@@ -4617,89 +834,122 @@ var snapshots = {
         ["1", ">", "0"],
         ["1", ">", "0"],
         ["2", ">", "1"],
-        ["2", ">", "5"],
-        ["2", ">", "1"],
-        ["2", ">", "5"],
-        ["4", ">", "3"],
+        ["2", ">", "-1"],
         ["3", ">", "2"],
         ["3", ">", "-1"],
-        ["3", ">", "2"],
-        ["3", ">", "6"],
-        ["5", ">", "0"],
-        ["5", ">", "0"],
-        ["6", ">", "1"],
+        ["4", ">", "3"],
+        ["4", ">", "-1"],
+        ["5", ">", "4"],
+        ["5", ">", "-1"],
         ["6", ">", "5"],
-        ["6", ">", "1"],
-        ["6", ">", "5"]
+        ["6", ">", "-1"],
+        ["7", ">", "6"],
+        ["7", ">", "-1"],
+        ["8", ">", "7"],
+        ["8", ">", "-1"],
+        ["9", ">", "8"],
+        ["9", ">", "-1"],
+        ["10", ">", "9"],
+        ["10", ">", "-1"],
+        ["11", ">", "10"],
+        ["11", ">", "-1"],
+        ["12", ">", "11"],
+        ["12", ">", "-1"]
     ],
     "states" : {
-      "0x1ccf170": [
-        "Atom open(d4)",
-        "Atom player-at(l3)"
+      "0x555555a450b0": [
+        "Atom vehicle-at(l-1-7)"
+      ],
+      "0x555555a7c8a0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-6)"
+      ],
+      "0x555555a7a9e0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-5)"
+      ],
+      "0x555555a7c5f0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-4)"
       ],
-      "0x1cceaa0": [
-        "Atom hold-key()",
-        "Atom open(d3)",
-        "Atom player-at(l2)"
+      "0x555555a794b0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-3)"
       ],
-      "0x1cb01a0": [
-        "Atom player-at(l4)"
+      "0x555555a7b010": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-2)"
       ],
-      "0x1cce140": [
-        "Atom open(d2)",
-        "Atom player-at(l1)"
+      "0x555555a7b1f0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-7-1)"
       ],
-      "0x1cce490": [
-        "Atom hold-key()",
-        "Atom open(d2)",
-        "Atom player-at(l1)"
+      "0x555555a7b3d0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-1)"
       ],
-      "0x1cd04a0": [
-        "Atom hold-key()",
-        "Atom closed(d4)",
-        "Atom player-at(l3)"
+      "0x555555a7b610": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
       ],
-      "0x1ce3c80": [
-        "Atom hold-key()",
-        "Atom closed(d3)",
-        "Atom player-at(l2)"
+      "0x555555a7b800": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
+      ],
+      "0x555555a7b9d0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
+      ],
+      "0x555555a7bbc0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
+      ],
+      "0x555555a7bd90": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
       ]
      }
   },
   "policy": "Coming soon...",
   "ps2fs": {
-    1: {6: 6, 8: 8, 14: 14, 16: 16, },
-    2: {4: 4, 2: 2, },
-    0: {13: 13, 12: 12, 10: 10, 11: 11, },
-    4: {0: 0, },
-    3: {1: 1, },
-    5: {15: 15, 7: 7, 9: 9, 17: 17, },
-    6: {5: 5, },
-  },
-  "prpsearchnodes": {
+    0: {24: 24, },
+    1: {21: 21, },
+    2: {19: 19, },
+    3: {17: 17, },
+    4: {15: 15, },
+    5: {13: 13, },
+    6: {11: 11, },
+    7: {9: 9, },
+    8: {7: 7, },
+    9: {5: 5, },
+    10: {3: 3, },
+    11: {1: 1, },
+    12: {0: 0, },
+  },
+  "pr2searchnodes": {
   0: {
-      name: "(0) pick-key l1",
+      name: "(0) move-car l-1-1 l-2-1",
       open: 0,
       init: 1,
       poisoned: 0,
       subsumed: 0,
   },
   1: {
-      name: "(1) move-forward-door-open l1 l2 d2 d3",
+      name: "(1) move-car l-2-1 l-3-1",
       open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   2: {
-      name: "(2) move-forward-door-open l2 l3 d3 d4",
+      name: "(2)",
       open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   3: {
-      name: "(3)",
+      name: "(3) move-car l-3-1 l-4-1",
       open: 1,
       init: 0,
       poisoned: 0,
@@ -4707,278 +957,428 @@ var snapshots = {
   },
   4: {
       name: "(4)",
-      open: 0,
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   5: {
-      name: "(5) move-forward-door-closed l2 l3 d3 d4",
-      open: 0,
+      name: "(5) move-car l-4-1 l-5-1",
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   6: {
-      name: "(6) move-forward-last-door-open l3 l4 d4",
-      open: 0,
+      name: "(6)",
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   7: {
-      name: "(7)",
-      open: 0,
+      name: "(7) move-car l-5-1 l-6-1",
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   8: {
       name: "(8)",
-      open: 0,
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   9: {
-      name: "(9) move-forward-last-door-closed l3 l4 d4",
-      open: 0,
+      name: "(9) move-car l-6-1 l-7-1",
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   10: {
       name: "(10)",
-      open: 0,
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   11: {
-      name: "(11)",
-      open: 0,
+      name: "(11) move-car l-7-1 l-6-2",
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   12: {
       name: "(12)",
-      open: 0,
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   13: {
-      name: "(13)",
-      open: 0,
+      name: "(13) move-car l-6-2 l-5-3",
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   14: {
       name: "(14)",
-      open: 0,
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   15: {
-      name: "(15)",
-      open: 0,
+      name: "(15) move-car l-5-3 l-4-4",
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   16: {
       name: "(16)",
-      open: 0,
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   17: {
-      name: "(17)",
+      name: "(17) move-car l-4-4 l-3-5",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  18: {
+      name: "(18)",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  19: {
+      name: "(19) move-car l-3-5 l-2-6",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  20: {
+      name: "(20)",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  21: {
+      name: "(21) move-car l-2-6 l-1-7",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  22: {
+      name: "(22)",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  23: {
+      name: "(23)",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  24: {
+      name: "(24)",
       open: 0,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   },
-  "prpsearchnodelinks": [
+  "pr2searchnodelinks": [
     [0,1],
-    [1,2],
+    [0,2],
     [1,3],
     [1,4],
-    [1,5],
-    [2,6],
-    [2,7],
-    [2,8],
-    [2,9],
-    [6,10],
-    [6,11],
+    [3,5],
+    [3,6],
+    [5,7],
+    [5,8],
+    [7,9],
+    [7,10],
+    [9,11],
     [9,12],
-    [9,13],
-    [5,14],
-    [5,15],
-    [5,16],
-    [5,17],
+    [11,13],
+    [11,14],
+    [13,15],
+    [13,16],
+    [15,17],
+    [15,18],
+    [17,19],
+    [17,20],
+    [19,21],
+    [19,22],
+    [21,23],
+    [21,24],
   ],
 },
 },
-16: {
+3: {
 "solution": {
-  "type": "(case-4) Hooking Up [node 3]",
-  "score": 1,
-  "size": 7,
+  "type": "(case-3) Predefined Path [node 23]",
+  "score": 0.002,
+  "size": 13,
   "round": 1,
 "psgraph": {
 
-    "init": "4",
+    "init": "12",
     "goal": "0",
     "nodes" : {
+      "0": {
+        "expected_successor": false,
+        "action": "goal_action",
+        "state": "0x555555a450b0",
+        "distance": 0,
+        "is_relevant": 1,
+        "is_goal": 1,
+        "is_sc": 1,
+        "successors": [
+
+         ]
+      },
       "1": {
         "expected_successor": "0",
-        "action": "move-forward-last-door-open l3 l4 d4",
-        "state": "0x1ccf170",
+        "action": "move-car l-2-6 l-1-7",
+        "state": "0x555555a7c8a0",
         "distance": 1,
         "is_relevant": 0,
         "is_goal": 0,
         "is_sc": 1,
         "successors": [
           {
-              "outcome_label": "move-forward-last-door-open_DETDUP_1 l3 l4 d4",
+              "outcome_label": "move-car_detdup_1 l-2-6 l-1-7",
               "successor_id": "0"
           },
           {
-              "outcome_label": "move-forward-last-door-open_DETDUP_2 l3 l4 d4",
+              "outcome_label": "move-car_detdup_2 l-2-6 l-1-7",
               "successor_id": "0"
           }
          ]
       },
       "2": {
         "expected_successor": "1",
-        "action": "move-forward-door-open l2 l3 d3 d4",
-        "state": "0x1cceaa0",
+        "action": "move-car l-3-5 l-2-6",
+        "state": "0x555555a7a9e0",
         "distance": 2,
         "is_relevant": 0,
         "is_goal": 0,
-        "is_sc": 1,
+        "is_sc": 0,
         "successors": [
           {
-              "outcome_label": "move-forward-door-open_DETDUP_1 l2 l3 d3 d4",
-              "successor_id": "1"
-          },
-          {
-              "outcome_label": "move-forward-door-open_DETDUP_2 l2 l3 d3 d4",
-              "successor_id": "5"
-          },
-          {
-              "outcome_label": "move-forward-door-open_DETDUP_3 l2 l3 d3 d4",
+              "outcome_label": "move-car_detdup_1 l-3-5 l-2-6",
               "successor_id": "1"
           },
           {
-              "outcome_label": "move-forward-door-open_DETDUP_4 l2 l3 d3 d4",
-              "successor_id": "5"
+              "outcome_label": "move-car_detdup_2 l-3-5 l-2-6",
+              "successor_id": "-1"
           }
          ]
       },
-      "0": {
-        "expected_successor": false,
-        "action": "---",
-        "state": "0x1cb01a0",
-        "distance": 0,
-        "is_relevant": 1,
-        "is_goal": 1,
-        "is_sc": 1,
+      "3": {
+        "expected_successor": "2",
+        "action": "move-car l-4-4 l-3-5",
+        "state": "0x555555a7c5f0",
+        "distance": 3,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 0,
         "successors": [
-
+          {
+              "outcome_label": "move-car_detdup_1 l-4-4 l-3-5",
+              "successor_id": "2"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-4-4 l-3-5",
+              "successor_id": "-1"
+          }
          ]
       },
       "4": {
         "expected_successor": "3",
-        "action": "pick-key l1",
-        "state": "0x1cce140",
+        "action": "move-car l-5-3 l-4-4",
+        "state": "0x555555a794b0",
         "distance": 4,
         "is_relevant": 0,
         "is_goal": 0,
-        "is_sc": 1,
+        "is_sc": 0,
         "successors": [
           {
-              "outcome_label": "pick-key l1",
+              "outcome_label": "move-car_detdup_1 l-5-3 l-4-4",
               "successor_id": "3"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-5-3 l-4-4",
+              "successor_id": "-1"
           }
          ]
       },
-      "3": {
-        "expected_successor": "2",
-        "action": "move-forward-door-open l1 l2 d2 d3",
-        "state": "0x1cce490",
-        "distance": 3,
+      "5": {
+        "expected_successor": "4",
+        "action": "move-car l-6-2 l-5-3",
+        "state": "0x555555a7b010",
+        "distance": 5,
         "is_relevant": 0,
         "is_goal": 0,
-        "is_sc": 1,
+        "is_sc": 0,
         "successors": [
           {
-              "outcome_label": "move-forward-door-open_DETDUP_1 l1 l2 d2 d3",
-              "successor_id": "2"
+              "outcome_label": "move-car_detdup_1 l-6-2 l-5-3",
+              "successor_id": "4"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-6-2 l-5-3",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "6": {
+        "expected_successor": "5",
+        "action": "move-car l-7-1 l-6-2",
+        "state": "0x555555a7b1f0",
+        "distance": 6,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 0,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-7-1 l-6-2",
+              "successor_id": "5"
           },
           {
-              "outcome_label": "move-forward-door-open_DETDUP_2 l1 l2 d2 d3",
+              "outcome_label": "move-car_detdup_2 l-7-1 l-6-2",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "7": {
+        "expected_successor": "6",
+        "action": "move-car l-6-1 l-7-1",
+        "state": "0x555555a7b3d0",
+        "distance": 7,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 0,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-6-1 l-7-1",
               "successor_id": "6"
           },
           {
-              "outcome_label": "move-forward-door-open_DETDUP_3 l1 l2 d2 d3",
-              "successor_id": "2"
+              "outcome_label": "move-car_detdup_2 l-6-1 l-7-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "8": {
+        "expected_successor": "7",
+        "action": "move-car l-5-1 l-6-1",
+        "state": "0x555555a7b610",
+        "distance": 8,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 0,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-5-1 l-6-1",
+              "successor_id": "7"
           },
           {
-              "outcome_label": "move-forward-door-open_DETDUP_4 l1 l2 d2 d3",
-              "successor_id": "6"
+              "outcome_label": "move-car_detdup_2 l-5-1 l-6-1",
+              "successor_id": "-1"
           }
          ]
       },
-      "5": {
-        "expected_successor": "0",
-        "action": "move-forward-last-door-closed l3 l4 d4",
-        "state": "0x1cd04a0",
-        "distance": 1,
+      "9": {
+        "expected_successor": "8",
+        "action": "move-car l-4-1 l-5-1",
+        "state": "0x555555a7b800",
+        "distance": 9,
         "is_relevant": 0,
         "is_goal": 0,
-        "is_sc": 1,
+        "is_sc": 0,
         "successors": [
           {
-              "outcome_label": "move-forward-last-door-closed_DETDUP_1 l3 l4 d4",
-              "successor_id": "0"
+              "outcome_label": "move-car_detdup_1 l-4-1 l-5-1",
+              "successor_id": "8"
           },
           {
-              "outcome_label": "move-forward-last-door-closed_DETDUP_2 l3 l4 d4",
-              "successor_id": "0"
+              "outcome_label": "move-car_detdup_2 l-4-1 l-5-1",
+              "successor_id": "-1"
           }
          ]
       },
-      "6": {
-        "expected_successor": "1",
-        "action": "move-forward-door-closed l2 l3 d3 d4",
-        "state": "0x1ce3c80",
-        "distance": 2,
+      "10": {
+        "expected_successor": "9",
+        "action": "move-car l-3-1 l-4-1",
+        "state": "0x555555a7b9d0",
+        "distance": 10,
         "is_relevant": 0,
         "is_goal": 0,
-        "is_sc": 1,
+        "is_sc": 0,
         "successors": [
           {
-              "outcome_label": "move-forward-door-closed_DETDUP_1 l2 l3 d3 d4",
-              "successor_id": "1"
+              "outcome_label": "move-car_detdup_1 l-3-1 l-4-1",
+              "successor_id": "9"
           },
           {
-              "outcome_label": "move-forward-door-closed_DETDUP_2 l2 l3 d3 d4",
-              "successor_id": "5"
+              "outcome_label": "move-car_detdup_2 l-3-1 l-4-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "11": {
+        "expected_successor": "10",
+        "action": "move-car l-2-1 l-3-1",
+        "state": "0x555555a7bbc0",
+        "distance": 11,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 0,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-2-1 l-3-1",
+              "successor_id": "10"
           },
           {
-              "outcome_label": "move-forward-door-closed_DETDUP_3 l2 l3 d3 d4",
-              "successor_id": "1"
+              "outcome_label": "move-car_detdup_2 l-2-1 l-3-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "12": {
+        "expected_successor": "11",
+        "action": "move-car l-1-1 l-2-1",
+        "state": "0x555555a7bd90",
+        "distance": 12,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 0,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-1-1 l-2-1",
+              "successor_id": "11"
           },
           {
-              "outcome_label": "move-forward-door-closed_DETDUP_4 l2 l3 d3 d4",
-              "successor_id": "5"
+              "outcome_label": "move-car_detdup_2 l-1-1 l-2-1",
+              "successor_id": "-1"
           }
          ]
       }
@@ -4987,211 +1387,300 @@ var snapshots = {
         ["1", ">", "0"],
         ["1", ">", "0"],
         ["2", ">", "1"],
-        ["2", ">", "5"],
-        ["2", ">", "1"],
-        ["2", ">", "5"],
-        ["4", ">", "3"],
-        ["3", ">", "2"],
-        ["3", ">", "6"],
+        ["2", ">", "-1"],
         ["3", ">", "2"],
-        ["3", ">", "6"],
-        ["5", ">", "0"],
-        ["5", ">", "0"],
-        ["6", ">", "1"],
+        ["3", ">", "-1"],
+        ["4", ">", "3"],
+        ["4", ">", "-1"],
+        ["5", ">", "4"],
+        ["5", ">", "-1"],
         ["6", ">", "5"],
-        ["6", ">", "1"],
-        ["6", ">", "5"]
+        ["6", ">", "-1"],
+        ["7", ">", "6"],
+        ["7", ">", "-1"],
+        ["8", ">", "7"],
+        ["8", ">", "-1"],
+        ["9", ">", "8"],
+        ["9", ">", "-1"],
+        ["10", ">", "9"],
+        ["10", ">", "-1"],
+        ["11", ">", "10"],
+        ["11", ">", "-1"],
+        ["12", ">", "11"],
+        ["12", ">", "-1"]
     ],
     "states" : {
-      "0x1ccf170": [
-        "Atom open(d4)",
-        "Atom player-at(l3)"
+      "0x555555a450b0": [
+        "Atom vehicle-at(l-1-7)"
+      ],
+      "0x555555a7c8a0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-6)"
+      ],
+      "0x555555a7a9e0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-5)"
+      ],
+      "0x555555a7c5f0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-4)"
+      ],
+      "0x555555a794b0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-3)"
+      ],
+      "0x555555a7b010": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-2)"
+      ],
+      "0x555555a7b1f0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-7-1)"
       ],
-      "0x1cceaa0": [
-        "Atom hold-key()",
-        "Atom open(d3)",
-        "Atom player-at(l2)"
+      "0x555555a7b3d0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-1)"
       ],
-      "0x1cb01a0": [
-        "Atom player-at(l4)"
+      "0x555555a7b610": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
       ],
-      "0x1cce140": [
-        "Atom open(d2)",
-        "Atom player-at(l1)"
+      "0x555555a7b800": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
       ],
-      "0x1cce490": [
-        "Atom hold-key()",
-        "Atom open(d2)",
-        "Atom player-at(l1)"
+      "0x555555a7b9d0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
       ],
-      "0x1cd04a0": [
-        "Atom hold-key()",
-        "Atom closed(d4)",
-        "Atom player-at(l3)"
+      "0x555555a7bbc0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
       ],
-      "0x1ce3c80": [
-        "Atom hold-key()",
-        "Atom closed(d3)",
-        "Atom player-at(l2)"
+      "0x555555a7bd90": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
       ]
      }
   },
   "policy": "Coming soon...",
   "ps2fs": {
-    1: {6: 6, 8: 8, 14: 14, 16: 16, },
-    2: {4: 4, 2: 2, },
-    0: {13: 13, 12: 12, 10: 10, 11: 11, },
-    4: {0: 0, },
-    3: {1: 1, },
-    5: {15: 15, 7: 7, 9: 9, 17: 17, },
-    6: {3: 3, 5: 5, },
-  },
-  "prpsearchnodes": {
+    0: {23: 23, 24: 24, },
+    1: {21: 21, },
+    2: {19: 19, },
+    3: {17: 17, },
+    4: {15: 15, },
+    5: {13: 13, },
+    6: {11: 11, },
+    7: {9: 9, },
+    8: {7: 7, },
+    9: {5: 5, },
+    10: {3: 3, },
+    11: {1: 1, },
+    12: {0: 0, },
+  },
+  "pr2searchnodes": {
   0: {
-      name: "(0) pick-key l1",
+      name: "(0) move-car l-1-1 l-2-1",
       open: 0,
       init: 1,
       poisoned: 0,
       subsumed: 0,
   },
   1: {
-      name: "(1) move-forward-door-open l1 l2 d2 d3",
+      name: "(1) move-car l-2-1 l-3-1",
       open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   2: {
-      name: "(2) move-forward-door-open l2 l3 d3 d4",
+      name: "(2)",
       open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   3: {
-      name: "(3)",
-      open: 0,
+      name: "(3) move-car l-3-1 l-4-1",
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   4: {
       name: "(4)",
-      open: 0,
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   5: {
-      name: "(5) move-forward-door-closed l2 l3 d3 d4",
-      open: 0,
+      name: "(5) move-car l-4-1 l-5-1",
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   6: {
-      name: "(6) move-forward-last-door-open l3 l4 d4",
-      open: 0,
+      name: "(6)",
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   7: {
-      name: "(7)",
-      open: 0,
+      name: "(7) move-car l-5-1 l-6-1",
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   8: {
       name: "(8)",
-      open: 0,
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   9: {
-      name: "(9) move-forward-last-door-closed l3 l4 d4",
-      open: 0,
+      name: "(9) move-car l-6-1 l-7-1",
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   10: {
       name: "(10)",
-      open: 0,
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   11: {
-      name: "(11)",
-      open: 0,
+      name: "(11) move-car l-7-1 l-6-2",
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   12: {
       name: "(12)",
-      open: 0,
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   13: {
-      name: "(13)",
-      open: 0,
+      name: "(13) move-car l-6-2 l-5-3",
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   14: {
       name: "(14)",
-      open: 0,
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   15: {
-      name: "(15)",
-      open: 0,
+      name: "(15) move-car l-5-3 l-4-4",
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   16: {
       name: "(16)",
-      open: 0,
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   17: {
-      name: "(17)",
+      name: "(17) move-car l-4-4 l-3-5",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  18: {
+      name: "(18)",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  19: {
+      name: "(19) move-car l-3-5 l-2-6",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  20: {
+      name: "(20)",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  21: {
+      name: "(21) move-car l-2-6 l-1-7",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  22: {
+      name: "(22)",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  23: {
+      name: "(23)",
+      open: 0,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  24: {
+      name: "(24)",
       open: 0,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   },
-  "prpsearchnodelinks": [
+  "pr2searchnodelinks": [
     [0,1],
-    [1,2],
+    [0,2],
     [1,3],
     [1,4],
-    [1,5],
-    [2,6],
-    [2,7],
-    [2,8],
-    [2,9],
-    [6,10],
-    [6,11],
+    [3,5],
+    [3,6],
+    [5,7],
+    [5,8],
+    [7,9],
+    [7,10],
+    [9,11],
     [9,12],
-    [9,13],
-    [5,14],
-    [5,15],
-    [5,16],
-    [5,17],
+    [11,13],
+    [11,14],
+    [13,15],
+    [13,16],
+    [15,17],
+    [15,18],
+    [17,19],
+    [17,20],
+    [19,21],
+    [19,22],
+    [21,23],
+    [21,24],
   ],
 },
 },
diff --git a/pr2-scripts/snapshot-viz/js/viz.js b/pr2-scripts/snapshot-viz/js/viz.js
index 96cc823..4d389fa 100644
--- a/pr2-scripts/snapshot-viz/js/viz.js
+++ b/pr2-scripts/snapshot-viz/js/viz.js
@@ -480,7 +480,6 @@ function drawPSGraph(s) {
     var ncount = 0;
     for (var nid in snapshots[s].solution.psgraph.nodes) {
         n = snapshots[s].solution.psgraph.nodes[nid];
-        nid = String(parseInt(nid) - 1);
         nname = n.action + ' ('+n.distance+')';
         init = false;
         if (n.distance == 0)
diff --git a/src/fd_integration/pr2_proxies.h b/src/fd_integration/pr2_proxies.h
index 9590253..9c5fc16 100644
--- a/src/fd_integration/pr2_proxies.h
+++ b/src/fd_integration/pr2_proxies.h
@@ -51,6 +51,9 @@ class PR2OperatorProxy : public OperatorProxy {
 
     string get_nondet_name() const
     {
+        if (_index == -1) {
+            return "goal_action";
+        }
         string name = get_name();
         // Split the get_name() string and return everything before _DETDUP_x and after
         //Only works up to 9 splits. Will have to be rewritten to accomdate more
@@ -131,20 +134,21 @@ class PR2OperatorsProxy : public OperatorsProxy {
 };
 
 class PR2GoalProxy : public PR2OperatorProxy {
-    const AbstractTask *task;
-    int _index = -1;
+    const AbstractTask *_task;
+    int _index;
     bool _is_an_axiom = false;
     GoalsProxy goal;
 
 public:
-    int nondet_index;
-    int nondet_outcome;
 
     // TODO: https://github.com/QuMuLab/rbp/blob/main/src/search/global_operator.cc#L142
     PR2State *all_fire_context;
 
     PR2GoalProxy(const AbstractTask &task) 
-        : PR2OperatorProxy(task, -1, false), task(&task), goal(GoalsProxy(task)) {}
+        : PR2OperatorProxy(task, -1, false), goal(GoalsProxy(task)) {
+        nondet_index = -1;
+        nondet_outcome = -1;
+    }
 
     void dump() const {
         cout << "Operator: " << get_name() << endl;
@@ -160,6 +164,10 @@ class PR2GoalProxy : public PR2OperatorProxy {
         cout << "Goal Achieved";
     }
     
+    string get_nondet_name() const {
+        return "goal_action";
+    }
+
     bool is_possibly_applicable(const PR2State &state) const {
         // Iterate over the conditions, and look for something that disagrees with the state
         for (auto pre : goal)
@@ -180,7 +188,7 @@ class PR2GoalProxy : public PR2OperatorProxy {
     }
     // necessary as PR2GoalProxy needs to override
     EffectsProxy get_all_effects() const {
-        return EffectsProxy(*task, -1, false);
+        return EffectsProxy(*_task, -1, false);
     }
     // // necessary as PR2GoalProxy needs to override
     // ConditionsProxy * get_all_preconditions() {
diff --git a/src/partial_state_graph.cc b/src/partial_state_graph.cc
index 649d96c..dc94447 100644
--- a/src/partial_state_graph.cc
+++ b/src/partial_state_graph.cc
@@ -293,13 +293,10 @@ void PSGraph::record_snapshot(ofstream &outfile, string indent, bool keyname) {
     // Print out the nodes
     outfile << "," << endl << indent << "  \"nodes\" : {" << endl;
     bool first = true;
-    bool second = true;
     for (auto n : steps) {
         if (n) {
             if (first)
                 first = false;
-            else if (second)
-                second = false;
             else
                 outfile << "," << endl;
             n->record_snapshot(outfile, indent+"    ");
diff --git a/src/pr2.cc b/src/pr2.cc
index 09a8cf1..1ef4e4e 100644
--- a/src/pr2.cc
+++ b/src/pr2.cc
@@ -341,8 +341,7 @@ bool PR2Wrapper::pr2_goal_check(TaskProxy task, State state) {
         (*gs)[varval.get_variable().get_id()] = varval.get_value();
 
     SolutionStep *grs = new SolutionStep(gs, PR2.solution.incumbent->network, 0,
-                                         // Null?
-                                         PR2OperatorProxy(*PR2.general.goal_op),
+                                         *(PR2.general.goal_op),
                                          -1, true, true, true);
 
     PR2.general.matched_step = grs;
diff --git a/src/solution.cc b/src/solution.cc
index 959d8f8..8b44956 100644
--- a/src/solution.cc
+++ b/src/solution.cc
@@ -188,8 +188,8 @@ void SolutionStep::validate(set< PR2SearchNode * > &matching_nodes) {
 }
 
 void SolutionStep::record_snapshot(ofstream &outfile, string indent) {
-    if (op.get_id() == -1)
-        return;
+    // if (op.get_id() == -1)
+    //     return;
     outfile << indent << "\"" << step_id << "\": {" << endl;
     if (is_goal)
         outfile << indent << "  \"expected_successor\": false," << endl;

From 9aff1f4a82dca8d61b8c9c29f0769bbe5ed98c70 Mon Sep 17 00:00:00 2001
From: connoralittle <connoralittle@gmail.com>
Date: Mon, 18 Nov 2024 11:32:44 -0500
Subject: [PATCH 09/26] pr2 search works!

---
 pr2                                        |     2 +-
 pr2-scripts/snapshot-viz/js/snapshots.js   | 63697 ++++++++++++++++++-
 src/fd_integration/pr2_search_algorithm.cc |     2 +-
 src/fond_search.cc                         |     2 -
 src/pr2.cc                                 |    13 +-
 5 files changed, 63562 insertions(+), 154 deletions(-)

diff --git a/pr2 b/pr2
index a7591e7..c42bcec 100755
--- a/pr2
+++ b/pr2
@@ -97,7 +97,7 @@ function run {
         FD="$FD --build=$RELEASE_BUILD"
     fi
 
-    if [ "--disable-object-sampling" = "$1" ]; then
+    if [true]; then
         shift
     else
         # checks if there are any symmetries to play with
diff --git a/pr2-scripts/snapshot-viz/js/snapshots.js b/pr2-scripts/snapshot-viz/js/snapshots.js
index 4e634b5..28b03d2 100644
--- a/pr2-scripts/snapshot-viz/js/snapshots.js
+++ b/pr2-scripts/snapshot-viz/js/snapshots.js
@@ -52,7 +52,7 @@ var snapshots = {
       "1": {
         "expected_successor": "0",
         "action": "move-car l-2-6 l-1-7",
-        "state": "0x555555a7c8a0",
+        "state": "0x555555a7c730",
         "distance": 1,
         "is_relevant": 0,
         "is_goal": 0,
@@ -68,10 +68,29 @@ var snapshots = {
           }
          ]
       },
+      "4": {
+        "expected_successor": "3",
+        "action": "move-car l-5-3 l-4-4",
+        "state": "0x555555a71ca0",
+        "distance": 4,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 0,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-5-3 l-4-4",
+              "successor_id": "3"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-5-3 l-4-4",
+              "successor_id": "-1"
+          }
+         ]
+      },
       "2": {
         "expected_successor": "1",
         "action": "move-car l-3-5 l-2-6",
-        "state": "0x555555a7a9e0",
+        "state": "0x555555a7d8e0",
         "distance": 2,
         "is_relevant": 0,
         "is_goal": 0,
@@ -90,7 +109,7 @@ var snapshots = {
       "3": {
         "expected_successor": "2",
         "action": "move-car l-4-4 l-3-5",
-        "state": "0x555555a7c5f0",
+        "state": "0x555555a7c540",
         "distance": 3,
         "is_relevant": 0,
         "is_goal": 0,
@@ -106,29 +125,10 @@ var snapshots = {
           }
          ]
       },
-      "4": {
-        "expected_successor": "3",
-        "action": "move-car l-5-3 l-4-4",
-        "state": "0x555555a794b0",
-        "distance": 4,
-        "is_relevant": 0,
-        "is_goal": 0,
-        "is_sc": 0,
-        "successors": [
-          {
-              "outcome_label": "move-car_detdup_1 l-5-3 l-4-4",
-              "successor_id": "3"
-          },
-          {
-              "outcome_label": "move-car_detdup_2 l-5-3 l-4-4",
-              "successor_id": "-1"
-          }
-         ]
-      },
       "5": {
         "expected_successor": "4",
         "action": "move-car l-6-2 l-5-3",
-        "state": "0x555555a7b010",
+        "state": "0x555555a7a760",
         "distance": 5,
         "is_relevant": 0,
         "is_goal": 0,
@@ -147,7 +147,7 @@ var snapshots = {
       "6": {
         "expected_successor": "5",
         "action": "move-car l-7-1 l-6-2",
-        "state": "0x555555a7b1f0",
+        "state": "0x555555a7ec20",
         "distance": 6,
         "is_relevant": 0,
         "is_goal": 0,
@@ -166,7 +166,7 @@ var snapshots = {
       "7": {
         "expected_successor": "6",
         "action": "move-car l-6-1 l-7-1",
-        "state": "0x555555a7b3d0",
+        "state": "0x555555a7ee00",
         "distance": 7,
         "is_relevant": 0,
         "is_goal": 0,
@@ -185,7 +185,7 @@ var snapshots = {
       "8": {
         "expected_successor": "7",
         "action": "move-car l-5-1 l-6-1",
-        "state": "0x555555a7b610",
+        "state": "0x555555a7f040",
         "distance": 8,
         "is_relevant": 0,
         "is_goal": 0,
@@ -204,7 +204,7 @@ var snapshots = {
       "9": {
         "expected_successor": "8",
         "action": "move-car l-4-1 l-5-1",
-        "state": "0x555555a7b800",
+        "state": "0x555555a7f2a0",
         "distance": 9,
         "is_relevant": 0,
         "is_goal": 0,
@@ -223,7 +223,7 @@ var snapshots = {
       "10": {
         "expected_successor": "9",
         "action": "move-car l-3-1 l-4-1",
-        "state": "0x555555a7b9d0",
+        "state": "0x555555a7f470",
         "distance": 10,
         "is_relevant": 0,
         "is_goal": 0,
@@ -242,7 +242,7 @@ var snapshots = {
       "11": {
         "expected_successor": "10",
         "action": "move-car l-2-1 l-3-1",
-        "state": "0x555555a7bbc0",
+        "state": "0x555555a7f660",
         "distance": 11,
         "is_relevant": 0,
         "is_goal": 0,
@@ -261,7 +261,7 @@ var snapshots = {
       "12": {
         "expected_successor": "11",
         "action": "move-car l-1-1 l-2-1",
-        "state": "0x555555a7bd90",
+        "state": "0x555555a7f830",
         "distance": 12,
         "is_relevant": 0,
         "is_goal": 0,
@@ -281,12 +281,12 @@ var snapshots = {
     "edges" : [
         ["1", ">", "0"],
         ["1", ">", "-1"],
+        ["4", ">", "3"],
+        ["4", ">", "-1"],
         ["2", ">", "1"],
         ["2", ">", "-1"],
         ["3", ">", "2"],
         ["3", ">", "-1"],
-        ["4", ">", "3"],
-        ["4", ">", "-1"],
         ["5", ">", "4"],
         ["5", ">", "-1"],
         ["6", ">", "5"],
@@ -308,51 +308,51 @@ var snapshots = {
       "0x555555a450b0": [
         "Atom vehicle-at(l-1-7)"
       ],
-      "0x555555a7c8a0": [
+      "0x555555a7c730": [
         "Atom not-flattire()",
         "Atom vehicle-at(l-2-6)"
       ],
-      "0x555555a7a9e0": [
+      "0x555555a71ca0": [
         "Atom not-flattire()",
-        "Atom vehicle-at(l-3-5)"
+        "Atom vehicle-at(l-5-3)"
       ],
-      "0x555555a7c5f0": [
+      "0x555555a7d8e0": [
         "Atom not-flattire()",
-        "Atom vehicle-at(l-4-4)"
+        "Atom vehicle-at(l-3-5)"
       ],
-      "0x555555a794b0": [
+      "0x555555a7c540": [
         "Atom not-flattire()",
-        "Atom vehicle-at(l-5-3)"
+        "Atom vehicle-at(l-4-4)"
       ],
-      "0x555555a7b010": [
+      "0x555555a7a760": [
         "Atom not-flattire()",
         "Atom vehicle-at(l-6-2)"
       ],
-      "0x555555a7b1f0": [
+      "0x555555a7ec20": [
         "Atom not-flattire()",
         "Atom vehicle-at(l-7-1)"
       ],
-      "0x555555a7b3d0": [
+      "0x555555a7ee00": [
         "Atom not-flattire()",
         "Atom vehicle-at(l-6-1)"
       ],
-      "0x555555a7b610": [
+      "0x555555a7f040": [
         "Atom not-flattire()",
         "Atom vehicle-at(l-5-1)"
       ],
-      "0x555555a7b800": [
+      "0x555555a7f2a0": [
         "Atom not-flattire()",
         "Atom vehicle-at(l-4-1)"
       ],
-      "0x555555a7b9d0": [
+      "0x555555a7f470": [
         "Atom not-flattire()",
         "Atom vehicle-at(l-3-1)"
       ],
-      "0x555555a7bbc0": [
+      "0x555555a7f660": [
         "Atom not-flattire()",
         "Atom vehicle-at(l-2-1)"
       ],
-      "0x555555a7bd90": [
+      "0x555555a7f830": [
         "Atom not-flattire()",
         "Atom vehicle-at(l-1-1)"
       ]
@@ -361,9 +361,9 @@ var snapshots = {
   "policy": "Coming soon...",
   "ps2fs": {
     1: {21: 21, },
+    4: {15: 15, },
     2: {19: 19, },
     3: {17: 17, },
-    4: {15: 15, },
     5: {13: 13, },
     6: {11: 11, },
     7: {9: 9, },
@@ -604,7 +604,7 @@ var snapshots = {
       "1": {
         "expected_successor": "0",
         "action": "move-car l-2-6 l-1-7",
-        "state": "0x555555a7c8a0",
+        "state": "0x555555a7c730",
         "distance": 1,
         "is_relevant": 0,
         "is_goal": 0,
@@ -620,10 +620,29 @@ var snapshots = {
           }
          ]
       },
+      "4": {
+        "expected_successor": "3",
+        "action": "move-car l-5-3 l-4-4",
+        "state": "0x555555a71ca0",
+        "distance": 4,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 0,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-5-3 l-4-4",
+              "successor_id": "3"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-5-3 l-4-4",
+              "successor_id": "-1"
+          }
+         ]
+      },
       "2": {
         "expected_successor": "1",
         "action": "move-car l-3-5 l-2-6",
-        "state": "0x555555a7a9e0",
+        "state": "0x555555a7d8e0",
         "distance": 2,
         "is_relevant": 0,
         "is_goal": 0,
@@ -642,7 +661,7 @@ var snapshots = {
       "3": {
         "expected_successor": "2",
         "action": "move-car l-4-4 l-3-5",
-        "state": "0x555555a7c5f0",
+        "state": "0x555555a7c540",
         "distance": 3,
         "is_relevant": 0,
         "is_goal": 0,
@@ -658,29 +677,10 @@ var snapshots = {
           }
          ]
       },
-      "4": {
-        "expected_successor": "3",
-        "action": "move-car l-5-3 l-4-4",
-        "state": "0x555555a794b0",
-        "distance": 4,
-        "is_relevant": 0,
-        "is_goal": 0,
-        "is_sc": 0,
-        "successors": [
-          {
-              "outcome_label": "move-car_detdup_1 l-5-3 l-4-4",
-              "successor_id": "3"
-          },
-          {
-              "outcome_label": "move-car_detdup_2 l-5-3 l-4-4",
-              "successor_id": "-1"
-          }
-         ]
-      },
       "5": {
         "expected_successor": "4",
         "action": "move-car l-6-2 l-5-3",
-        "state": "0x555555a7b010",
+        "state": "0x555555a7a760",
         "distance": 5,
         "is_relevant": 0,
         "is_goal": 0,
@@ -699,7 +699,7 @@ var snapshots = {
       "6": {
         "expected_successor": "5",
         "action": "move-car l-7-1 l-6-2",
-        "state": "0x555555a7b1f0",
+        "state": "0x555555a7ec20",
         "distance": 6,
         "is_relevant": 0,
         "is_goal": 0,
@@ -718,7 +718,7 @@ var snapshots = {
       "7": {
         "expected_successor": "6",
         "action": "move-car l-6-1 l-7-1",
-        "state": "0x555555a7b3d0",
+        "state": "0x555555a7ee00",
         "distance": 7,
         "is_relevant": 0,
         "is_goal": 0,
@@ -737,7 +737,7 @@ var snapshots = {
       "8": {
         "expected_successor": "7",
         "action": "move-car l-5-1 l-6-1",
-        "state": "0x555555a7b610",
+        "state": "0x555555a7f040",
         "distance": 8,
         "is_relevant": 0,
         "is_goal": 0,
@@ -756,7 +756,7 @@ var snapshots = {
       "9": {
         "expected_successor": "8",
         "action": "move-car l-4-1 l-5-1",
-        "state": "0x555555a7b800",
+        "state": "0x555555a7f2a0",
         "distance": 9,
         "is_relevant": 0,
         "is_goal": 0,
@@ -775,7 +775,7 @@ var snapshots = {
       "10": {
         "expected_successor": "9",
         "action": "move-car l-3-1 l-4-1",
-        "state": "0x555555a7b9d0",
+        "state": "0x555555a7f470",
         "distance": 10,
         "is_relevant": 0,
         "is_goal": 0,
@@ -794,7 +794,7 @@ var snapshots = {
       "11": {
         "expected_successor": "10",
         "action": "move-car l-2-1 l-3-1",
-        "state": "0x555555a7bbc0",
+        "state": "0x555555a7f660",
         "distance": 11,
         "is_relevant": 0,
         "is_goal": 0,
@@ -813,7 +813,7 @@ var snapshots = {
       "12": {
         "expected_successor": "11",
         "action": "move-car l-1-1 l-2-1",
-        "state": "0x555555a7bd90",
+        "state": "0x555555a7f830",
         "distance": 12,
         "is_relevant": 0,
         "is_goal": 0,
@@ -833,12 +833,12 @@ var snapshots = {
     "edges" : [
         ["1", ">", "0"],
         ["1", ">", "0"],
+        ["4", ">", "3"],
+        ["4", ">", "-1"],
         ["2", ">", "1"],
         ["2", ">", "-1"],
         ["3", ">", "2"],
         ["3", ">", "-1"],
-        ["4", ">", "3"],
-        ["4", ">", "-1"],
         ["5", ">", "4"],
         ["5", ">", "-1"],
         ["6", ">", "5"],
@@ -860,51 +860,51 @@ var snapshots = {
       "0x555555a450b0": [
         "Atom vehicle-at(l-1-7)"
       ],
-      "0x555555a7c8a0": [
+      "0x555555a7c730": [
         "Atom not-flattire()",
         "Atom vehicle-at(l-2-6)"
       ],
-      "0x555555a7a9e0": [
+      "0x555555a71ca0": [
         "Atom not-flattire()",
-        "Atom vehicle-at(l-3-5)"
+        "Atom vehicle-at(l-5-3)"
       ],
-      "0x555555a7c5f0": [
+      "0x555555a7d8e0": [
         "Atom not-flattire()",
-        "Atom vehicle-at(l-4-4)"
+        "Atom vehicle-at(l-3-5)"
       ],
-      "0x555555a794b0": [
+      "0x555555a7c540": [
         "Atom not-flattire()",
-        "Atom vehicle-at(l-5-3)"
+        "Atom vehicle-at(l-4-4)"
       ],
-      "0x555555a7b010": [
+      "0x555555a7a760": [
         "Atom not-flattire()",
         "Atom vehicle-at(l-6-2)"
       ],
-      "0x555555a7b1f0": [
+      "0x555555a7ec20": [
         "Atom not-flattire()",
         "Atom vehicle-at(l-7-1)"
       ],
-      "0x555555a7b3d0": [
+      "0x555555a7ee00": [
         "Atom not-flattire()",
         "Atom vehicle-at(l-6-1)"
       ],
-      "0x555555a7b610": [
+      "0x555555a7f040": [
         "Atom not-flattire()",
         "Atom vehicle-at(l-5-1)"
       ],
-      "0x555555a7b800": [
+      "0x555555a7f2a0": [
         "Atom not-flattire()",
         "Atom vehicle-at(l-4-1)"
       ],
-      "0x555555a7b9d0": [
+      "0x555555a7f470": [
         "Atom not-flattire()",
         "Atom vehicle-at(l-3-1)"
       ],
-      "0x555555a7bbc0": [
+      "0x555555a7f660": [
         "Atom not-flattire()",
         "Atom vehicle-at(l-2-1)"
       ],
-      "0x555555a7bd90": [
+      "0x555555a7f830": [
         "Atom not-flattire()",
         "Atom vehicle-at(l-1-1)"
       ]
@@ -914,9 +914,9 @@ var snapshots = {
   "ps2fs": {
     0: {24: 24, },
     1: {21: 21, },
+    4: {15: 15, },
     2: {19: 19, },
     3: {17: 17, },
-    4: {15: 15, },
     5: {13: 13, },
     6: {11: 11, },
     7: {9: 9, },
@@ -1157,7 +1157,7 @@ var snapshots = {
       "1": {
         "expected_successor": "0",
         "action": "move-car l-2-6 l-1-7",
-        "state": "0x555555a7c8a0",
+        "state": "0x555555a7c730",
         "distance": 1,
         "is_relevant": 0,
         "is_goal": 0,
@@ -1173,10 +1173,29 @@ var snapshots = {
           }
          ]
       },
+      "4": {
+        "expected_successor": "3",
+        "action": "move-car l-5-3 l-4-4",
+        "state": "0x555555a71ca0",
+        "distance": 4,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 0,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-5-3 l-4-4",
+              "successor_id": "3"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-5-3 l-4-4",
+              "successor_id": "-1"
+          }
+         ]
+      },
       "2": {
         "expected_successor": "1",
         "action": "move-car l-3-5 l-2-6",
-        "state": "0x555555a7a9e0",
+        "state": "0x555555a7d8e0",
         "distance": 2,
         "is_relevant": 0,
         "is_goal": 0,
@@ -1195,7 +1214,7 @@ var snapshots = {
       "3": {
         "expected_successor": "2",
         "action": "move-car l-4-4 l-3-5",
-        "state": "0x555555a7c5f0",
+        "state": "0x555555a7c540",
         "distance": 3,
         "is_relevant": 0,
         "is_goal": 0,
@@ -1211,29 +1230,10 @@ var snapshots = {
           }
          ]
       },
-      "4": {
-        "expected_successor": "3",
-        "action": "move-car l-5-3 l-4-4",
-        "state": "0x555555a794b0",
-        "distance": 4,
-        "is_relevant": 0,
-        "is_goal": 0,
-        "is_sc": 0,
-        "successors": [
-          {
-              "outcome_label": "move-car_detdup_1 l-5-3 l-4-4",
-              "successor_id": "3"
-          },
-          {
-              "outcome_label": "move-car_detdup_2 l-5-3 l-4-4",
-              "successor_id": "-1"
-          }
-         ]
-      },
       "5": {
         "expected_successor": "4",
         "action": "move-car l-6-2 l-5-3",
-        "state": "0x555555a7b010",
+        "state": "0x555555a7a760",
         "distance": 5,
         "is_relevant": 0,
         "is_goal": 0,
@@ -1252,7 +1252,7 @@ var snapshots = {
       "6": {
         "expected_successor": "5",
         "action": "move-car l-7-1 l-6-2",
-        "state": "0x555555a7b1f0",
+        "state": "0x555555a7ec20",
         "distance": 6,
         "is_relevant": 0,
         "is_goal": 0,
@@ -1271,7 +1271,7 @@ var snapshots = {
       "7": {
         "expected_successor": "6",
         "action": "move-car l-6-1 l-7-1",
-        "state": "0x555555a7b3d0",
+        "state": "0x555555a7ee00",
         "distance": 7,
         "is_relevant": 0,
         "is_goal": 0,
@@ -1290,7 +1290,7 @@ var snapshots = {
       "8": {
         "expected_successor": "7",
         "action": "move-car l-5-1 l-6-1",
-        "state": "0x555555a7b610",
+        "state": "0x555555a7f040",
         "distance": 8,
         "is_relevant": 0,
         "is_goal": 0,
@@ -1309,7 +1309,7 @@ var snapshots = {
       "9": {
         "expected_successor": "8",
         "action": "move-car l-4-1 l-5-1",
-        "state": "0x555555a7b800",
+        "state": "0x555555a7f2a0",
         "distance": 9,
         "is_relevant": 0,
         "is_goal": 0,
@@ -1328,7 +1328,7 @@ var snapshots = {
       "10": {
         "expected_successor": "9",
         "action": "move-car l-3-1 l-4-1",
-        "state": "0x555555a7b9d0",
+        "state": "0x555555a7f470",
         "distance": 10,
         "is_relevant": 0,
         "is_goal": 0,
@@ -1347,7 +1347,7 @@ var snapshots = {
       "11": {
         "expected_successor": "10",
         "action": "move-car l-2-1 l-3-1",
-        "state": "0x555555a7bbc0",
+        "state": "0x555555a7f660",
         "distance": 11,
         "is_relevant": 0,
         "is_goal": 0,
@@ -1366,7 +1366,7 @@ var snapshots = {
       "12": {
         "expected_successor": "11",
         "action": "move-car l-1-1 l-2-1",
-        "state": "0x555555a7bd90",
+        "state": "0x555555a7f830",
         "distance": 12,
         "is_relevant": 0,
         "is_goal": 0,
@@ -1386,12 +1386,12 @@ var snapshots = {
     "edges" : [
         ["1", ">", "0"],
         ["1", ">", "0"],
+        ["4", ">", "3"],
+        ["4", ">", "-1"],
         ["2", ">", "1"],
         ["2", ">", "-1"],
         ["3", ">", "2"],
         ["3", ">", "-1"],
-        ["4", ">", "3"],
-        ["4", ">", "-1"],
         ["5", ">", "4"],
         ["5", ">", "-1"],
         ["6", ">", "5"],
@@ -1413,51 +1413,51 @@ var snapshots = {
       "0x555555a450b0": [
         "Atom vehicle-at(l-1-7)"
       ],
-      "0x555555a7c8a0": [
+      "0x555555a7c730": [
         "Atom not-flattire()",
         "Atom vehicle-at(l-2-6)"
       ],
-      "0x555555a7a9e0": [
+      "0x555555a71ca0": [
         "Atom not-flattire()",
-        "Atom vehicle-at(l-3-5)"
+        "Atom vehicle-at(l-5-3)"
       ],
-      "0x555555a7c5f0": [
+      "0x555555a7d8e0": [
         "Atom not-flattire()",
-        "Atom vehicle-at(l-4-4)"
+        "Atom vehicle-at(l-3-5)"
       ],
-      "0x555555a794b0": [
+      "0x555555a7c540": [
         "Atom not-flattire()",
-        "Atom vehicle-at(l-5-3)"
+        "Atom vehicle-at(l-4-4)"
       ],
-      "0x555555a7b010": [
+      "0x555555a7a760": [
         "Atom not-flattire()",
         "Atom vehicle-at(l-6-2)"
       ],
-      "0x555555a7b1f0": [
+      "0x555555a7ec20": [
         "Atom not-flattire()",
         "Atom vehicle-at(l-7-1)"
       ],
-      "0x555555a7b3d0": [
+      "0x555555a7ee00": [
         "Atom not-flattire()",
         "Atom vehicle-at(l-6-1)"
       ],
-      "0x555555a7b610": [
+      "0x555555a7f040": [
         "Atom not-flattire()",
         "Atom vehicle-at(l-5-1)"
       ],
-      "0x555555a7b800": [
+      "0x555555a7f2a0": [
         "Atom not-flattire()",
         "Atom vehicle-at(l-4-1)"
       ],
-      "0x555555a7b9d0": [
+      "0x555555a7f470": [
         "Atom not-flattire()",
         "Atom vehicle-at(l-3-1)"
       ],
-      "0x555555a7bbc0": [
+      "0x555555a7f660": [
         "Atom not-flattire()",
         "Atom vehicle-at(l-2-1)"
       ],
-      "0x555555a7bd90": [
+      "0x555555a7f830": [
         "Atom not-flattire()",
         "Atom vehicle-at(l-1-1)"
       ]
@@ -1467,9 +1467,9 @@ var snapshots = {
   "ps2fs": {
     0: {23: 23, 24: 24, },
     1: {21: 21, },
+    4: {15: 15, },
     2: {19: 19, },
     3: {17: 17, },
-    4: {15: 15, },
     5: {13: 13, },
     6: {11: 11, },
     7: {9: 9, },
@@ -1684,4 +1684,63413 @@ var snapshots = {
   ],
 },
 },
+4: {
+"solution": {
+  "type": "(case-5) New Path [node 22]",
+  "score": 0.001,
+  "size": 25,
+  "round": 1,
+"psgraph": {
+
+    "init": "24",
+    "goal": "0",
+    "nodes" : {
+      "0": {
+        "expected_successor": false,
+        "action": "goal_action",
+        "state": "0x555555a450b0",
+        "distance": 0,
+        "is_relevant": 1,
+        "is_goal": 1,
+        "is_sc": 1,
+        "successors": [
+
+         ]
+      },
+      "1": {
+        "expected_successor": "0",
+        "action": "move-car l-2-6 l-1-7",
+        "state": "0x555555a7c730",
+        "distance": 1,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 1,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-2-6 l-1-7",
+              "successor_id": "0"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-2-6 l-1-7",
+              "successor_id": "0"
+          }
+         ]
+      },
+      "4": {
+        "expected_successor": "3",
+        "action": "move-car l-5-3 l-4-4",
+        "state": "0x555555a71ca0",
+        "distance": 4,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 0,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-5-3 l-4-4",
+              "successor_id": "3"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-5-3 l-4-4",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "2": {
+        "expected_successor": "1",
+        "action": "move-car l-3-5 l-2-6",
+        "state": "0x555555a7d8e0",
+        "distance": 2,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 0,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-3-5 l-2-6",
+              "successor_id": "1"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-3-5 l-2-6",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "3": {
+        "expected_successor": "2",
+        "action": "move-car l-4-4 l-3-5",
+        "state": "0x555555a7c540",
+        "distance": 3,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 0,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-4-4 l-3-5",
+              "successor_id": "2"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-4-4 l-3-5",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "5": {
+        "expected_successor": "4",
+        "action": "move-car l-6-2 l-5-3",
+        "state": "0x555555a7a760",
+        "distance": 5,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 0,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-6-2 l-5-3",
+              "successor_id": "4"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-6-2 l-5-3",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "6": {
+        "expected_successor": "5",
+        "action": "move-car l-7-1 l-6-2",
+        "state": "0x555555a7ec20",
+        "distance": 6,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 0,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-7-1 l-6-2",
+              "successor_id": "5"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-7-1 l-6-2",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "7": {
+        "expected_successor": "6",
+        "action": "move-car l-6-1 l-7-1",
+        "state": "0x555555a7ee00",
+        "distance": 7,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 0,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-6-1 l-7-1",
+              "successor_id": "6"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-6-1 l-7-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "8": {
+        "expected_successor": "7",
+        "action": "move-car l-5-1 l-6-1",
+        "state": "0x555555a7f040",
+        "distance": 8,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 0,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-5-1 l-6-1",
+              "successor_id": "7"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-5-1 l-6-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "9": {
+        "expected_successor": "8",
+        "action": "move-car l-4-1 l-5-1",
+        "state": "0x555555a7f2a0",
+        "distance": 9,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 0,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-4-1 l-5-1",
+              "successor_id": "8"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-4-1 l-5-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "10": {
+        "expected_successor": "9",
+        "action": "move-car l-3-1 l-4-1",
+        "state": "0x555555a7f470",
+        "distance": 10,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 0,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-3-1 l-4-1",
+              "successor_id": "9"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-3-1 l-4-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "11": {
+        "expected_successor": "10",
+        "action": "move-car l-2-1 l-3-1",
+        "state": "0x555555a7f660",
+        "distance": 11,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 0,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-2-1 l-3-1",
+              "successor_id": "10"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-2-1 l-3-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "12": {
+        "expected_successor": "11",
+        "action": "move-car l-1-1 l-2-1",
+        "state": "0x555555a7f830",
+        "distance": 12,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 0,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-1-1 l-2-1",
+              "successor_id": "11"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-1-1 l-2-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "13": {
+        "expected_successor": "1",
+        "action": "changetire l-2-6",
+        "state": "0x555555aa93f0",
+        "distance": 2,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 1,
+        "successors": [
+          {
+              "outcome_label": "changetire l-2-6",
+              "successor_id": "1"
+          }
+         ]
+      },
+      "17": {
+        "expected_successor": "16",
+        "action": "move-car l-6-2 l-5-3",
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+          }
+         ]
+      },
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+          },
+          {
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+        "Atom vehicle-at(l-5-1)"
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+        "Atom vehicle-at(l-4-1)"
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+        "Atom vehicle-at(l-2-1)"
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+        "Atom vehicle-at(l-1-1)"
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+        "Atom vehicle-at(l-5-1)"
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+        "Atom vehicle-at(l-4-1)"
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+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
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+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
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+        "Atom vehicle-at(l-1-1)"
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+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom vehicle-at(l-5-3)"
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+        "Atom vehicle-at(l-1-1)"
+      ]
+     }
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+        "Atom vehicle-at(l-1-1)"
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+        "Atom vehicle-at(l-5-3)"
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+        "Atom vehicle-at(l-5-1)"
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+    1: {21: 21, 25: 25, },
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+        "Atom vehicle-at(l-4-1)"
+      ],
+      "0x555555a85a30": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
+      ],
+      "0x555555a85d20": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
+      ],
+      "0x555555a86010": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
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+      "0x555555aa9340": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-5)"
+      ],
+      "0x555555aa9700": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-4)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-3)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-4)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-3)"
+      ],
+      "0x555555aabd80": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-2)"
+      ],
+      "0x555555aac030": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-7-1)"
+      ],
+      "0x555555aac2e0": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-1)"
+      ],
+      "0x555555aac590": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
+      ],
+      "0x555555aac840": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
+      ],
+      "0x555555aacb10": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
+      ],
+      "0x555555aace00": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
+      ],
+      "0x555555aab030": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom vehicle-at(l-3-5)"
+      ],
+      "0x555555acfdd0": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
+      ],
+      "0x555555ad2100": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-2)"
+      ],
+      "0x555555ad2390": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-7-1)"
+      ],
+      "0x555555ad2680": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-1)"
+      ],
+      "0x555555ad2970": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
+      ],
+      "0x555555ad2c60": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
+      ],
+      "0x555555ad2f50": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
+      ],
+      "0x555555ad3240": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
+      ],
+      "0x555555ad3530": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
+      ],
+      "0x555555ad1fb0": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom vehicle-at(l-4-4)"
+      ],
+      "0x555555ad2070": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-3)"
+      ],
+      "0x555555af8460": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-2)"
+      ],
+      "0x555555af85d0": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-7-1)"
+      ],
+      "0x555555af8840": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-1)"
+      ],
+      "0x555555af8b30": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
+      ],
+      "0x555555af8e20": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
+      ],
+      "0x555555af9110": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
+      ],
+      "0x555555af9400": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
+      ],
+      "0x555555af96f0": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
+      ],
+      "0x555555af83a0": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom vehicle-at(l-5-3)"
+      ],
+      "0x555555b40750": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-7-1)"
+      ],
+      "0x555555b1e580": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-1)"
+      ],
+      "0x555555b1e7f0": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
+      ],
+      "0x555555b1eae0": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
+      ],
+      "0x555555b1edd0": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
+      ],
+      "0x555555b1f0c0": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
+      ],
+      "0x555555b1f3b0": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
+      ],
+      "0x555555b43940": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom vehicle-at(l-7-1)"
+      ],
+      "0x555555b1e0d0": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom vehicle-at(l-6-2)"
+      ],
+      "0x555555b437a0": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-1)"
+      ],
+      "0x555555b43e80": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
+      ],
+      "0x555555b440f0": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
+      ],
+      "0x555555b443a0": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
+      ],
+      "0x555555b44690": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
+      ],
+      "0x555555b44980": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
+      ],
+      "0x555555b68ed0": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom vehicle-at(l-6-1)"
+      ],
+      "0x555555b68b90": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
+      ],
+      "0x555555b69380": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
+      ],
+      "0x555555b695f0": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
+      ],
+      "0x555555b69860": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
+      ],
+      "0x555555b69b50": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
+      ]
+     }
+  },
+  "policy": "Coming soon...",
+  "ps2fs": {
+    0: {23: 23, 24: 24, },
+    1: {21: 21, 25: 25, },
+    4: {},
+    2: {},
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+    14: {19: 19, 26: 26, },
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+    37: {15: 15, 28: 28, },
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+    56: {11: 11, 30: 30, },
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+    71: {7: 7, },
+    72: {5: 5, },
+    73: {3: 3, },
+    74: {1: 1, },
+    75: {0: 0, },
+  },
+  "pr2searchnodes": {
+  0: {
+      name: "(0) move-car l-1-1 l-2-1",
+      open: 0,
+      init: 1,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  1: {
+      name: "(1) move-car l-2-1 l-3-1",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  2: {
+      name: "(2)",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  3: {
+      name: "(3) move-car l-3-1 l-4-1",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  4: {
+      name: "(4)",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  5: {
+      name: "(5) move-car l-4-1 l-5-1",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  6: {
+      name: "(6)",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  7: {
+      name: "(7) move-car l-5-1 l-6-1",
+      open: 1,
+      init: 0,
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+  },
+  8: {
+      name: "(8)",
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+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  9: {
+      name: "(9) move-car l-6-1 l-7-1",
+      open: 1,
+      init: 0,
+      poisoned: 0,
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+  },
+  10: {
+      name: "(10) changetire l-6-1",
+      open: 0,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  11: {
+      name: "(11) move-car l-7-1 l-6-2",
+      open: 0,
+      init: 0,
+      poisoned: 0,
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+  },
+  12: {
+      name: "(12) changetire l-7-1",
+      open: 0,
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+      poisoned: 0,
+      subsumed: 0,
+  },
+  13: {
+      name: "(13) move-car l-6-2 l-5-3",
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+        "Atom vehicle-at(l-3-1)"
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+        "Atom vehicle-at(l-5-3)"
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+        "Atom vehicle-at(l-5-1)"
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+        "Atom vehicle-at(l-2-1)"
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+        "Atom vehicle-at(l-5-3)"
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+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-2)"
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+        "Atom not-flattire()",
+        "Atom vehicle-at(l-7-1)"
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+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-1)"
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+        "Atom spare-in(l-3-5)",
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+        "Atom spare-in(l-5-3)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
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+        "Atom spare-in(l-3-5)",
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+        "Atom spare-in(l-5-3)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
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+        "Atom spare-in(l-3-5)",
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+        "Atom vehicle-at(l-5-3)"
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+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-7-1)"
+      ],
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+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-1)"
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+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
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+        "Atom vehicle-at(l-5-1)"
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+        "Atom vehicle-at(l-4-1)"
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+        "Atom vehicle-at(l-3-1)"
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+        "Atom vehicle-at(l-2-1)"
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+        "Atom vehicle-at(l-1-1)"
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+        "Atom spare-in(l-7-1)",
+        "Atom vehicle-at(l-7-1)"
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+        "Atom spare-in(l-6-2)",
+        "Atom vehicle-at(l-6-2)"
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+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-1)"
+      ],
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+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
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+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
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+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
+      ],
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+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
+      ],
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+        "Atom spare-in(l-3-5)",
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+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
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+        "Atom spare-in(l-2-6)",
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+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom vehicle-at(l-6-1)"
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+        "Atom spare-in(l-2-6)",
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+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
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+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
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+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
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+        "Atom spare-in(l-2-6)",
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+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
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+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
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+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom vehicle-at(l-5-1)"
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+        "Atom spare-in(l-4-4)",
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+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
+      ],
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+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-1)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
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+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
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+        "Atom spare-in(l-5-1)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
+      ]
+     }
+  },
+  "policy": "Coming soon...",
+  "ps2fs": {
+    0: {23: 23, 24: 24, },
+    1: {21: 21, 25: 25, },
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+    79: {1: 1, },
+    80: {0: 0, },
+  },
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+      name: "(0) move-car l-1-1 l-2-1",
+      open: 0,
+      init: 1,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  1: {
+      name: "(1) move-car l-2-1 l-3-1",
+      open: 1,
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+  2: {
+      name: "(2)",
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+  },
+  3: {
+      name: "(3) move-car l-3-1 l-4-1",
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+  },
+  5: {
+      name: "(5) move-car l-4-1 l-5-1",
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+      name: "(7) move-car l-5-1 l-6-1",
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+  8: {
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+      name: "(13) move-car l-6-2 l-5-3",
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+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
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+        "Atom vehicle-at(l-4-4)"
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+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-3)"
+      ],
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+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-2)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-7-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
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+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
+      ],
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+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
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+        "Atom spare-in(l-5-3)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
+      ],
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+        "Atom spare-in(l-3-5)",
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+        "Atom spare-in(l-5-3)",
+        "Atom vehicle-at(l-5-3)"
+      ],
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+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-7-1)"
+      ],
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+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-1)"
+      ],
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+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
+      ],
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+        "Atom spare-in(l-3-5)",
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+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
+      ],
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+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
+      ],
+      "0x555555b1f3b0": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
+      ],
+      "0x555555b43940": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom vehicle-at(l-7-1)"
+      ],
+      "0x555555b1e0d0": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom vehicle-at(l-6-2)"
+      ],
+      "0x555555b437a0": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
+      ],
+      "0x555555b44690": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
+      ],
+      "0x555555b44980": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
+      ],
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+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom vehicle-at(l-6-1)"
+      ],
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+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-1)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom vehicle-at(l-5-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-1)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-1)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
+      ],
+      "0x555555b8deb0": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-1)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
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+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-1)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
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+        "Atom spare-in(l-4-1)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-1)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom vehicle-at(l-4-1)"
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+      "0x555555bad7e0": [
+        "Atom spare-in(l-2-6)",
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+        "Atom spare-in(l-4-1)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-1)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
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+        "Atom spare-in(l-4-1)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-1)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
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+        "Atom spare-in(l-2-6)",
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+        "Atom spare-in(l-4-1)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-1)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-1)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-1)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-1)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom vehicle-at(l-3-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-1)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-1)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-1)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
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+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-1)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
+      ]
+     }
+  },
+  "policy": "Coming soon...",
+  "ps2fs": {
+    0: {23: 23, 24: 24, },
+    1: {21: 21, 25: 25, },
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+      name: "(0) move-car l-1-1 l-2-1",
+      open: 0,
+      init: 1,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  1: {
+      name: "(1) move-car l-2-1 l-3-1",
+      open: 1,
+      init: 0,
+      poisoned: 0,
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+  },
+  2: {
+      name: "(2)",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  3: {
+      name: "(3) move-car l-3-1 l-4-1",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
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+        "Atom spare-in(l-6-2)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-1)"
+      ],
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+        "Atom spare-in(l-6-2)",
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+        "Atom spare-in(l-6-2)",
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+        "Atom vehicle-at(l-2-1)"
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+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom vehicle-at(l-6-2)"
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+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-1)"
+      ],
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+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
+      ],
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+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
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+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
+      ],
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+        "Atom spare-in(l-3-5)",
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+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
+      ],
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+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom vehicle-at(l-6-1)"
+      ],
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+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
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+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
+      ],
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+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
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+        "Atom spare-in(l-3-5)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
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+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
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+        "Atom spare-in(l-5-1)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom vehicle-at(l-5-1)"
+      ],
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+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-1)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
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+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-1)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
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+        "Atom spare-in(l-5-1)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
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+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
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+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-1)",
+        "Atom spare-in(l-5-3)",
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+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom vehicle-at(l-4-1)"
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+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-1)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
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+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
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+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
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+        "Atom spare-in(l-4-4)",
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+        "Atom spare-in(l-5-3)",
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+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-1)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
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+        "Atom spare-in(l-4-1)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-1)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
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+        "Atom spare-in(l-4-1)",
+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-1)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom vehicle-at(l-2-1)"
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+        "Atom spare-in(l-4-4)",
+        "Atom spare-in(l-5-1)",
+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
+      ]
+     }
+  },
+  "policy": "Coming soon...",
+  "ps2fs": {
+    0: {23: 23, 24: 24, },
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+      open: 0,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  23: {
+      name: "(23)",
+      open: 0,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  24: {
+      name: "(24)",
+      open: 0,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  25: {
+      name: "(25)",
+      open: 0,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  26: {
+      name: "(26)",
+      open: 0,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  27: {
+      name: "(27)",
+      open: 0,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  28: {
+      name: "(28)",
+      open: 0,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  29: {
+      name: "(29)",
+      open: 0,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  30: {
+      name: "(30)",
+      open: 0,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  31: {
+      name: "(31)",
+      open: 0,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  32: {
+      name: "(32)",
+      open: 0,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  33: {
+      name: "(33)",
+      open: 0,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  34: {
+      name: "(34)",
+      open: 0,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  35: {
+      name: "(35)",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  },
+  "pr2searchnodelinks": [
+    [0,1],
+    [0,2],
+    [1,3],
+    [1,4],
+    [3,5],
+    [3,6],
+    [5,7],
+    [5,8],
+    [7,9],
+    [7,10],
+    [9,11],
+    [9,12],
+    [11,13],
+    [11,14],
+    [13,15],
+    [13,16],
+    [15,17],
+    [15,18],
+    [17,19],
+    [17,20],
+    [19,21],
+    [19,22],
+    [21,23],
+    [21,24],
+    [22,25],
+    [20,26],
+    [18,27],
+    [16,28],
+    [14,29],
+    [12,30],
+    [10,31],
+    [8,32],
+    [6,33],
+    [4,34],
+    [2,35],
+  ],
+},
+},
 };
\ No newline at end of file
diff --git a/src/fd_integration/pr2_search_algorithm.cc b/src/fd_integration/pr2_search_algorithm.cc
index b9a620b..2c90ceb 100644
--- a/src/fd_integration/pr2_search_algorithm.cc
+++ b/src/fd_integration/pr2_search_algorithm.cc
@@ -67,7 +67,7 @@ unique_ptr<SearchAlgorithm> PR2Search::get_search_engine() {
         numeric_limits<double>::infinity(),
         "PR2 Search",
         utils::Verbosity::SILENT,
-        tasks::g_root_task,
+        weak_task,
         new DeadendAwareSuccessorGenerator());
 
     return unique_ptr<SearchAlgorithm>(engine);
diff --git a/src/fond_search.cc b/src/fond_search.cc
index 3db1944..da9c6f2 100644
--- a/src/fond_search.cc
+++ b/src/fond_search.cc
@@ -315,8 +315,6 @@ bool case3_predefined_path(PR2SearchStatus * SS) {
         //  of the inconsistent full-states that share the same
         //  abstract path. Thus, this check becomes an invariant.
 
-        solstep->state;
-
         assert(SS->current_state->entails(*(solstep->state)));
         assert(SS->previous_step);
 
diff --git a/src/pr2.cc b/src/pr2.cc
index 1ef4e4e..6fb9644 100644
--- a/src/pr2.cc
+++ b/src/pr2.cc
@@ -311,16 +311,17 @@ void PR2OperatorProxy::update_nondet_info() {
 }
 
 bool PR2Wrapper::pr2_goal_check(TaskProxy task, State state) {
-    if (PR2.solution.incumbent){
+    if (PR2.solution.incumbent)
+    {
         SolutionStep * best_step = PR2.solution.incumbent->get_step(state);
 
         if ((best_step && PR2.weaksearch.stop_on_policy) || (best_step && best_step->is_goal)) {
         #ifndef NDEBUG
-                if (!best_step->is_goal) {
-                    PR2State *cur = new PR2State(state);
-                    assert(!is_forbidden(*cur, best_step->op));
-                    delete cur;
-                }
+            if (!best_step->is_goal) {
+                PR2State *cur = new PR2State(state);
+                assert(!is_forbidden(*cur, best_step->op));
+                delete cur;
+            }
         #endif
             PR2.general.matched_step = best_step;
             return true;

From 6d109b6d89e413d549082e843fccd985bf0fd563 Mon Sep 17 00:00:00 2001
From: connoralittle <connoralittle@gmail.com>
Date: Thu, 2 Jan 2025 10:39:05 -0500
Subject: [PATCH 10/26] various fixes while searching for blowup

---
 pr2                                        |  6 +-
 pr2-scripts/snapshot-viz/js/viz.js         | 25 +++---
 src/fd_integration/partial_state.cc        | 98 ++++++++++++++++++++--
 src/fd_integration/partial_state.h         |  3 +
 src/fd_integration/pr2_search_algorithm.cc |  4 +-
 src/pr2.h                                  |  9 +-
 6 files changed, 115 insertions(+), 30 deletions(-)

diff --git a/pr2 b/pr2
index c42bcec..5b1fdbd 100755
--- a/pr2
+++ b/pr2
@@ -4,8 +4,8 @@ set -e
 
 # Settings
 BASEDIR="$(dirname "$0")/core/downward"
-DEBUG_BUILD="debug64"
-RELEASE_BUILD="release64"
+DEBUG_BUILD="debug"
+RELEASE_BUILD="release"
 
 MAXWIDTH=5
 INV_TIME_LIMIT="300"
@@ -97,7 +97,7 @@ function run {
         FD="$FD --build=$RELEASE_BUILD"
     fi
 
-    if [true]; then
+    if [ "--disable-object-sampling" = "$1" ]; then
         shift
     else
         # checks if there are any symmetries to play with
diff --git a/pr2-scripts/snapshot-viz/js/viz.js b/pr2-scripts/snapshot-viz/js/viz.js
index 4d389fa..7ee9985 100644
--- a/pr2-scripts/snapshot-viz/js/viz.js
+++ b/pr2-scripts/snapshot-viz/js/viz.js
@@ -363,6 +363,8 @@ function drawFullGraph(s) {
     }
 
     fsstates = false;
+    fsstates = snapshots[s].solution;
+
 
     fsnodes.forEach(function (v) { v.height = v.width = 2 * fsnodeRadius; });
 
@@ -416,8 +418,11 @@ function drawFullGraph(s) {
     });
 
     fsnode.on("mouseover", function(d) {
-              $('#state').html('<pre></pre>');
-              $('#state').html('<h4>Complete State for SearchNode ('+d.nid+')</h4><pre>\nComing soon...</pre>');
+        $('#state').html('<pre></pre>');
+        console.log(d);
+        console.log(fsstates);
+        $('#state').html('<h4>Complete State for SearchNode ('+d.nid+')</h4><pre>\nComing soon...</pre>');
+              $('#state').html()
               if (COLLAPSE_FSGRAPH_CHAINS)
                   $('#collapsed_path').html('\n<h4>Chain of nodes:</h4>\n<pre>'+d.name+'</pre>\n');
               else
@@ -517,18 +522,6 @@ function drawPSGraph(s) {
                 v = psnode2id[e[2]];
             }
 
-            console.log(u);
-            console.log(v);
-
-            console.log(psnodes);
-            console.log(pslinks);
-            console.log(pssucc);
-            console.log(pspred);
-            console.log(psstates);
-            console.log(newpsnodes);
-            console.log(newpspaths);
-            console.log(psnode2id);
-
             if (!(u === undefined || v === undefined)) {
                 pslinks.push({ source: u, target: v, id: u + '-' + v });
                 pssucc[u].push(v);
@@ -673,7 +666,9 @@ function drawPSGraph(s) {
     });
 
     psnode.on("mouseover", function(d) {
-              $('#state').html('<pre></pre>');
+        $('#state').html('<pre></pre>');
+        console.log(d);
+        console.log(psstates);
               if (d.data && psstates)
                   $('#state').html('<h4>Partial State for SolutionStep ('+d.nid+")</h4><pre>\n"+
                                     psstates[d.data.state].join("\n")+'</pre>');
diff --git a/src/fd_integration/partial_state.cc b/src/fd_integration/partial_state.cc
index c020170..6cc77c0 100644
--- a/src/fd_integration/partial_state.cc
+++ b/src/fd_integration/partial_state.cc
@@ -88,6 +88,9 @@ PR2State * PR2State::regress(const PR2OperatorProxy &op, PR2State *context) {
     assert(!op.is_axiom());
     assert(NULL != context);
 
+    // vector<int> relevant_axioms = {};
+    // set<int> added = {};
+
     PR2State * prev = new PR2State(*this);
 
     // Remove all of the effect settings
@@ -104,31 +107,110 @@ PR2State * PR2State::regress(const PR2OperatorProxy &op, PR2State *context) {
                 cout << "Effect: " << endl;
                 for (auto cond : eff.get_conditions())
                     cout << "  " << cond.get_variable().get_id() << " = " << cond.get_value() << endl;
-                dump_pddl();
-                op.dump();
             }
 
             assert(!inconsistent);
             (*prev)[eff.get_fact().get_variable().get_id()] = -1;
         }
     }
-
+    
     // Assign the values from the context that are mentioned in conditions
     for (auto var : *(PR2.general.conditional_mask[op.nondet_index]))
         (*prev)[var] = (*context)[var];
 
     // Add all of the precondition conditions
-    for (auto pre : op.get_preconditions())
-        (*prev)[pre.get_variable().get_id()] = pre.get_value();
+    for (FactProxy pre : op.get_preconditions()) {
+        //if the precondition is an derived predicate, find relevant variables and undefine
+        if (pre.get_variable().is_derived()) {
+            // relevant_axioms.push_back(pre.get_pair().var);   
+        //else set to context value
+        } else {
+            (*prev)[pre.get_pair().var] = pre.get_pair().value;
+        }
+    }
 
-    // PR2 TODO : This is disabled since we cannot handle domains with axioms,
-    //      leaving it in slows us down.
-    //g_axiom_evaluator->evaluate(*this);
+    // cout << prev->get_unpacked_values() << endl;
+
+    // set<int> potential_untouchables = get_relevant_basic_variables(relevant_axioms);
+
+    // set<int> intermediate;
+
+    // std::set_difference( 
+    //     potential_untouchables.begin(), potential_untouchables.end(),
+    //     (*prev).untouchables.begin(), (*prev).untouchables.end(), 
+    //     inserter(intermediate, intermediate.begin()));
+
+    // (*prev).untouchables = intermediate;
+
+    // cout << prev->get_unpacked_values() << endl;
+
+    // for (int index : (*prev).untouchables)
+    // {
+    //     int new_index = PR2.proxy->get_variables()[index].get_id();
+    //     (*prev)[new_index] = (*context)[new_index];
+    // }
+    
+    // set<int> step1 = {};
+    // set<int> step2 = {};
+
+    // std::set_union(potential_untouchables.begin(), potential_untouchables.end(),
+    //           (*context).untouchables.begin(), (*context).untouchables.end(),
+    //           inserter(step1,step1.begin()));
+
+    // std::set_difference( 
+    //     step1.begin(), step1.end(),
+    //     added.begin(), added.end(), 
+    //     inserter(step2, step2.begin())); 
+
+    // (*prev).untouchables = step2;
+
+    // //Undefine all axioms
+    // for (int i = 0; i < vars.size(); i++) {
+    //     VariablesProxy variables = PR2.proxy->get_variables();
+    //     if (variables[i].is_derived())
+    //     {
+    //         (*prev)[i] = -1;
+    //     }
+    // }
 
     return prev;
+}
 
+set<int> get_relevant_basic_variables(vector<int> target_axioms) {
+    if (target_axioms.empty()) {
+        return {};
+    }
+
+    AxiomsProxy axioms = PR2.proxy->get_axioms();
+    set<int> relevant_basics = {};
+    vector<int> seen = target_axioms;
+
+    while (!target_axioms.empty()) {
+        int target = target_axioms.back();
+        target_axioms.pop_back();
+
+        for (OperatorProxy op : axioms) {
+            if (op.get_effects()[0].get_fact().get_pair().var == target) {
+                for (FactProxy pre : op.get_effects()[0].get_conditions()) {
+                    int index = pre.get_variable().get_id();
+                    if (pre.get_variable().get_axiom_layer() != -1) {
+                        if (find(seen.begin(), seen.end(), index) == seen.end()) {
+                            target_axioms.push_back(index);
+                            seen.push_back(index);
+                        }
+                    } else {
+                        if (find(relevant_basics.begin(), relevant_basics.end(), index) == relevant_basics.end()) {
+                            relevant_basics.insert(index);
+                        }
+                    }
+                }
+            }
+        }
+    }
+    return relevant_basics;
 }
 
+
 bool PR2State::entails(const PR2State &other) {
     for (unsigned i = 0; i < PR2.general.num_vars; i++)
         if ((other[i] != -1) && (vars[i] != other[i]))
diff --git a/src/fd_integration/partial_state.h b/src/fd_integration/partial_state.h
index 454523c..3b66405 100644
--- a/src/fd_integration/partial_state.h
+++ b/src/fd_integration/partial_state.h
@@ -6,6 +6,7 @@
 #include <vector>
 #include <string>
 #include <sstream>
+#include <set>
 
 #include "../../task_proxy.h"
 
@@ -28,6 +29,8 @@ class PR2State : public StateInterface {
         return vars;
     };
 
+    std::set<int> untouchables = {}; //values of untouchables
+
     PR2State &operator=(const PR2State &other);
 
     PR2State(); // Creates a state with -1 values for everything
diff --git a/src/fd_integration/pr2_search_algorithm.cc b/src/fd_integration/pr2_search_algorithm.cc
index 2c90ceb..c358c81 100644
--- a/src/fd_integration/pr2_search_algorithm.cc
+++ b/src/fd_integration/pr2_search_algorithm.cc
@@ -42,7 +42,7 @@ unique_ptr<SearchAlgorithm> PR2Search::get_search_engine() {
     if (h) {
         h->reset(*goals);
     } else {
-        h = make_shared<fsap_penalized_ff_heuristic::FSAPPenalizedFFHeuristic>(tasks::g_root_task, true, "FSAP Aware Heuristic", utils::Verbosity::SILENT);
+        h = make_shared<fsap_penalized_ff_heuristic::FSAPPenalizedFFHeuristic>(tasks::g_root_task, true, "FSAP Aware Heuristic", utils::Verbosity::NORMAL);
         preferred_list.push_back(h);
         preferred_list_scalar.push_back(h);
     }
@@ -64,7 +64,7 @@ unique_ptr<SearchAlgorithm> PR2Search::get_search_engine() {
         -1,
         ONE,
         numeric_limits<int>::max(),
-        numeric_limits<double>::infinity(),
+        PR2.time.limit - PR2.time.time_taken(),
         "PR2 Search",
         utils::Verbosity::SILENT,
         weak_task,
diff --git a/src/pr2.h b/src/pr2.h
index d73c4f8..05ecdf6 100644
--- a/src/pr2.h
+++ b/src/pr2.h
@@ -302,6 +302,9 @@ struct PR2Wrapper {
         bool final_fsap_free_round = true; // Do a final best-effort round
         bool optimize_final_solution = true; // Rebuild the final solution to throw away irrelevant parts
 
+        bool successor_generator_defined = false;
+        successor_generator::SuccessorGenerator *successor_generator;
+
         // General stats
         unsigned int num_vars = 0; // The number of variables in the problem
 
@@ -340,8 +343,10 @@ struct PR2Wrapper {
             /**************************************************************/
 
             
-            else if (args[i].compare("--search") == 0)
-                assert(args[++i] == "pr2search()");
+            else if (args[i].compare("--search") == 0){
+                ++i;
+                assert(args[i] == "pr2search()");
+            }
 
             else if (args[i].compare("--internal-plan-file") == 0) {
                 ++i;continue;

From 1c00802613b99b790b4a0a9d25ab414a4f47d491 Mon Sep 17 00:00:00 2001
From: Christian Muise <christian.muise@queensu.ca>
Date: Thu, 2 Jan 2025 13:50:12 -0500
Subject: [PATCH 11/26] New versions of the sub-modules.

---
 fond-domains | 2 +-
 fond-utils   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/fond-domains b/fond-domains
index bd5a810..94c6801 160000
--- a/fond-domains
+++ b/fond-domains
@@ -1 +1 @@
-Subproject commit bd5a810d8dc919de7ee50eef1974ddfba76fe8f9
+Subproject commit 94c680161da488071429f0f83c60f7a300f2fb8c
diff --git a/fond-utils b/fond-utils
index 56480c0..c5a9b1f 160000
--- a/fond-utils
+++ b/fond-utils
@@ -1 +1 @@
-Subproject commit 56480c0467fe6e04cd3d464e9b94f642e5f19b7d
+Subproject commit c5a9b1facb2181e76091831c14b50ea6f2e8eb2d

From 9b07ac0029f39fc88fc2cf0ace13abec19311a5d Mon Sep 17 00:00:00 2001
From: Christian Muise <christian.muise@queensu.ca>
Date: Thu, 2 Jan 2025 14:42:54 -0500
Subject: [PATCH 12/26] Mirror the latest of the core.

---
 core/downward | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/core/downward b/core/downward
index 099f833..cdf07be 160000
--- a/core/downward
+++ b/core/downward
@@ -1 +1 @@
-Subproject commit 099f8330d23d04c78f432762e800f120174f33ba
+Subproject commit cdf07be5109482495d874740f8f08efe600d7228

From 5789b282560ed0cde8c3ffa0667b0252b0c0a6c2 Mon Sep 17 00:00:00 2001
From: Christian Muise <christian.muise@queensu.ca>
Date: Mon, 6 Jan 2025 11:08:45 -0500
Subject: [PATCH 13/26] Hush now.

---
 core/downward                              | 2 +-
 src/fd_integration/pr2_search_algorithm.cc | 2 +-
 src/pr2.cc                                 | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/core/downward b/core/downward
index cdf07be..3e19750 160000
--- a/core/downward
+++ b/core/downward
@@ -1 +1 @@
-Subproject commit cdf07be5109482495d874740f8f08efe600d7228
+Subproject commit 3e197500c2e7f6a114d41e6afe50e55129b855c8
diff --git a/src/fd_integration/pr2_search_algorithm.cc b/src/fd_integration/pr2_search_algorithm.cc
index c358c81..ad985cd 100644
--- a/src/fd_integration/pr2_search_algorithm.cc
+++ b/src/fd_integration/pr2_search_algorithm.cc
@@ -42,7 +42,7 @@ unique_ptr<SearchAlgorithm> PR2Search::get_search_engine() {
     if (h) {
         h->reset(*goals);
     } else {
-        h = make_shared<fsap_penalized_ff_heuristic::FSAPPenalizedFFHeuristic>(tasks::g_root_task, true, "FSAP Aware Heuristic", utils::Verbosity::NORMAL);
+        h = make_shared<fsap_penalized_ff_heuristic::FSAPPenalizedFFHeuristic>(tasks::g_root_task, true, "FSAP Aware Heuristic", utils::Verbosity::SILENT);
         preferred_list.push_back(h);
         preferred_list_scalar.push_back(h);
     }
diff --git a/src/pr2.cc b/src/pr2.cc
index 6fb9644..b14f06a 100644
--- a/src/pr2.cc
+++ b/src/pr2.cc
@@ -25,7 +25,7 @@ bool PR2Wrapper::run_pr2() {
     opts.set("bound", 999999);
     opts.set("max_time", PR2.time.limit);
     opts.set("description", "PR2_Search");
-    opts.set("verbosity", utils::Verbosity::NORMAL);
+    opts.set("verbosity", utils::Verbosity::SILENT);
     
     PR2.pr2_engine = make_shared<pr2_search::PR2Search>(opts);
 

From 31c6d2484379222bea57fba9839c9a020150c4ba Mon Sep 17 00:00:00 2001
From: Christian Muise <christian.muise@queensu.ca>
Date: Mon, 6 Jan 2025 11:45:18 -0500
Subject: [PATCH 14/26] Put the logging checks in the right place.

---
 core/downward                              | 2 +-
 src/fd_integration/pr2_search_algorithm.cc | 2 +-
 src/pr2.cc                                 | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/core/downward b/core/downward
index 3e19750..2d73638 160000
--- a/core/downward
+++ b/core/downward
@@ -1 +1 @@
-Subproject commit 3e197500c2e7f6a114d41e6afe50e55129b855c8
+Subproject commit 2d736387adda09b3057e471a44228d3579c1949c
diff --git a/src/fd_integration/pr2_search_algorithm.cc b/src/fd_integration/pr2_search_algorithm.cc
index ad985cd..c358c81 100644
--- a/src/fd_integration/pr2_search_algorithm.cc
+++ b/src/fd_integration/pr2_search_algorithm.cc
@@ -42,7 +42,7 @@ unique_ptr<SearchAlgorithm> PR2Search::get_search_engine() {
     if (h) {
         h->reset(*goals);
     } else {
-        h = make_shared<fsap_penalized_ff_heuristic::FSAPPenalizedFFHeuristic>(tasks::g_root_task, true, "FSAP Aware Heuristic", utils::Verbosity::SILENT);
+        h = make_shared<fsap_penalized_ff_heuristic::FSAPPenalizedFFHeuristic>(tasks::g_root_task, true, "FSAP Aware Heuristic", utils::Verbosity::NORMAL);
         preferred_list.push_back(h);
         preferred_list_scalar.push_back(h);
     }
diff --git a/src/pr2.cc b/src/pr2.cc
index b14f06a..6fb9644 100644
--- a/src/pr2.cc
+++ b/src/pr2.cc
@@ -25,7 +25,7 @@ bool PR2Wrapper::run_pr2() {
     opts.set("bound", 999999);
     opts.set("max_time", PR2.time.limit);
     opts.set("description", "PR2_Search");
-    opts.set("verbosity", utils::Verbosity::SILENT);
+    opts.set("verbosity", utils::Verbosity::NORMAL);
     
     PR2.pr2_engine = make_shared<pr2_search::PR2Search>(opts);
 

From d7349170416aacc8c23ce0866226d7725451f9ca Mon Sep 17 00:00:00 2001
From: Christian Muise <christian.muise@queensu.ca>
Date: Mon, 6 Jan 2025 12:44:24 -0500
Subject: [PATCH 15/26] Fixing some nasty bugs with heuristic logging.

---
 core/downward                                     |  2 +-
 src/fd_integration/fsap_penalized_ff_heuristic.cc | 10 +++++-----
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/core/downward b/core/downward
index 2d73638..190df6f 160000
--- a/core/downward
+++ b/core/downward
@@ -1 +1 @@
-Subproject commit 2d736387adda09b3057e471a44228d3579c1949c
+Subproject commit 190df6f6635269336ed3b17b65ac26ffd8418814
diff --git a/src/fd_integration/fsap_penalized_ff_heuristic.cc b/src/fd_integration/fsap_penalized_ff_heuristic.cc
index 7e15749..b6d78e0 100644
--- a/src/fd_integration/fsap_penalized_ff_heuristic.cc
+++ b/src/fd_integration/fsap_penalized_ff_heuristic.cc
@@ -39,14 +39,14 @@ void FSAPPenalizedFFHeuristic::enqueue_if_necessary(PropID prop_id, int cost, Op
     }
     if (PR2.logging.heuristic) {
         UnaryOperator *op = get_operator(op_id);
-        if (op) {
+        if (cost > 0) {
             cout << "Enquing operator " << PR2.proxy->get_operators()[op->operator_no].get_name() << " at cost " << cost << endl;
             cout << "  PRE:";
-            for (auto pre : get_preconditions(op->operator_no))
-                cout << "  " << pre;
-            cout << "\n  EFF:  " << prop << endl;
+            for (auto pre : get_preconditions(op_id))
+                cout << "  " << propnames[pre];
+            cout << "\n  EFF:  " << propnames[prop_id] << endl;
         } else
-            cout << "Enquing true prop " << prop << " at cost " << cost << endl;
+            cout << "Enquing true prop " << propnames[prop_id] << " at cost " << cost << endl;
     }
     assert(prop->cost != -1 && prop->cost <= cost);
 }

From ab172f97b4fc8887eeeea512146fee6c8c6fd796 Mon Sep 17 00:00:00 2001
From: Christian Muise <christian.muise@queensu.ca>
Date: Mon, 6 Jan 2025 16:17:53 -0500
Subject: [PATCH 16/26] Fixed a goal bug, but still stuck.

---
 src/fd_integration/fsap_penalized_ff_heuristic.cc |  4 ++++
 src/fd_integration/partial_state.h                |  1 +
 src/fd_integration/pr2_proxies.h                  |  3 ++-
 src/fd_integration/pr2_search_algorithm.cc        | 10 +++++++++-
 4 files changed, 16 insertions(+), 2 deletions(-)

diff --git a/src/fd_integration/fsap_penalized_ff_heuristic.cc b/src/fd_integration/fsap_penalized_ff_heuristic.cc
index b6d78e0..f442dc6 100644
--- a/src/fd_integration/fsap_penalized_ff_heuristic.cc
+++ b/src/fd_integration/fsap_penalized_ff_heuristic.cc
@@ -279,6 +279,10 @@ int FSAPPenalizedFFHeuristic::compute_add_and_ff(const State &state) {
         cout << "\nFSAP-Heur(" << PR2.logging.id() << "): Computing heuristic for the following state:" << endl;
         PR2.proxy->dump_pddl_state(state);
         cout << endl;
+
+        cout << "Goals:" << endl;
+        for (auto goal : goal_propositions)
+            cout << "  " << propnames[goal] << endl;
     }
 
     setup_exploration_queue();
diff --git a/src/fd_integration/partial_state.h b/src/fd_integration/partial_state.h
index 3b66405..a292c4c 100644
--- a/src/fd_integration/partial_state.h
+++ b/src/fd_integration/partial_state.h
@@ -48,6 +48,7 @@ class PR2State : public StateInterface {
     }
 
     int size() const;
+    int numvars() const { return vars.size(); }
 
     PR2State * progress(const PR2OperatorProxy &op);
     PR2State * regress(const PR2OperatorProxy &op, PR2State *context=NULL);
diff --git a/src/fd_integration/pr2_proxies.h b/src/fd_integration/pr2_proxies.h
index 9c5fc16..faf761c 100644
--- a/src/fd_integration/pr2_proxies.h
+++ b/src/fd_integration/pr2_proxies.h
@@ -271,7 +271,8 @@ class PR2TaskProxy : public TaskProxy {
     }
     void set_goal(const PR2State &state) {
         vector<pair<int, int>> goal_facts;
-        for (int i = 0; i <= state.size(); i++)
+
+        for (int i = 0; i <= state.numvars(); i++)
         {
             if (state[i] != -1)
                 goal_facts.push_back(make_pair(i, state[i]));
diff --git a/src/fd_integration/pr2_search_algorithm.cc b/src/fd_integration/pr2_search_algorithm.cc
index c358c81..60307c4 100644
--- a/src/fd_integration/pr2_search_algorithm.cc
+++ b/src/fd_integration/pr2_search_algorithm.cc
@@ -82,8 +82,16 @@ SearchStatus PR2Search::step() {
     unique_ptr<SearchAlgorithm> current_search = get_search_engine();
     current_search->search();
 
-    if (current_search->found_solution())
+    if (current_search->found_solution()) {
         set_plan(current_search->get_plan());
+        if (PR2.logging.verbose) {
+            cout << "Solution found!" << endl;
+            for (const auto & opid : get_plan()) {
+                cout << PR2.proxy->get_operators()[opid].get_name() << endl;
+            }
+        }
+        current_search->print_statistics();
+    }
 
     return current_search->get_status();
 }

From 960f707e9a88c72e79c449ecf99fee99713ceeb0 Mon Sep 17 00:00:00 2001
From: connoralittle <connoralittle@gmail.com>
Date: Mon, 6 Jan 2025 16:46:09 -0500
Subject: [PATCH 17/26] off by 1

---
 src/fd_integration/pr2_proxies.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/fd_integration/pr2_proxies.h b/src/fd_integration/pr2_proxies.h
index faf761c..a7bffc3 100644
--- a/src/fd_integration/pr2_proxies.h
+++ b/src/fd_integration/pr2_proxies.h
@@ -272,7 +272,7 @@ class PR2TaskProxy : public TaskProxy {
     void set_goal(const PR2State &state) {
         vector<pair<int, int>> goal_facts;
 
-        for (int i = 0; i <= state.numvars(); i++)
+        for (int i = 0; i < state.numvars(); i++)
         {
             if (state[i] != -1)
                 goal_facts.push_back(make_pair(i, state[i]));

From 8a57d39e53ae8fe2c87a077818ceec3bfe07a26f Mon Sep 17 00:00:00 2001
From: Christian Muise <christian.muise@queensu.ca>
Date: Wed, 8 Jan 2025 13:13:13 -0500
Subject: [PATCH 18/26] Fixing some memory issues caught by memcache.

---
 src/fd_integration/pr2_proxies.h           | 22 ++++++++++++----------
 src/fd_integration/pr2_search_algorithm.cc |  4 ++--
 2 files changed, 14 insertions(+), 12 deletions(-)

diff --git a/src/fd_integration/pr2_proxies.h b/src/fd_integration/pr2_proxies.h
index a7bffc3..9728175 100644
--- a/src/fd_integration/pr2_proxies.h
+++ b/src/fd_integration/pr2_proxies.h
@@ -199,18 +199,18 @@ class PR2GoalProxy : public PR2OperatorProxy {
 class PR2TaskProxy : public TaskProxy {
 
     // Map from operator id to nondet index
-    vector<int>* nondet_index_map;
+    vector<int> nondet_index_map;
 
     const AbstractTask *task;
     PR2State *orig_initial_state;
 
     // Store the ever-changing goals/initial state
     PR2State *current_initial_state;
-    vector<FactPair> *current_goals;
+    vector<FactPair> current_goals;
 
 public:
 
-    explicit PR2TaskProxy(const AbstractTask &task, PR2State *init) : TaskProxy(task), task(&task), orig_initial_state(init) {}
+    explicit PR2TaskProxy(const AbstractTask &task, PR2State *init) : TaskProxy(task), nondet_index_map(), task(&task), orig_initial_state(init), current_goals() {}
 
     PR2OperatorsProxy get_operators() const {
         const OperatorsProxy &ops = TaskProxy::get_operators();
@@ -221,13 +221,15 @@ class PR2TaskProxy : public TaskProxy {
         return new PR2GoalProxy(*task);
     }
 
-    void set_nondet_index_map(vector<int> &nmap) {
-        nondet_index_map = &nmap;
+    void set_nondet_index_map(const vector<int> &nmap) {
+        nondet_index_map = nmap;
     }
     int get_nondet_index(int op_id) const {
-        if (nondet_index_map == nullptr)
+        if (nondet_index_map.empty() || op_id == -1)
             return -1;
-        return (*nondet_index_map)[op_id];
+        assert(op_id < static_cast<int>(nondet_index_map.size()));
+        assert(op_id >= 0);
+        return nondet_index_map[op_id];
     }
     int get_nondet_index(OperatorID op) const {
         return get_nondet_index(op.get_index());
@@ -266,8 +268,8 @@ class PR2TaskProxy : public TaskProxy {
     
 
 
-    void set_goal(vector<FactPair> &goal_facts) {
-        current_goals = &goal_facts;
+    void set_goal(const vector<FactPair> &goal_facts) {
+        current_goals = goal_facts;
     }
     void set_goal(const PR2State &state) {
         vector<pair<int, int>> goal_facts;
@@ -287,7 +289,7 @@ class PR2TaskProxy : public TaskProxy {
         }
         set_goal(goal_facts_);
     }
-    vector<FactPair> *get_pr2_goals() const {
+    vector<FactPair> get_pr2_goals() const {
         return current_goals;
     }
 
diff --git a/src/fd_integration/pr2_search_algorithm.cc b/src/fd_integration/pr2_search_algorithm.cc
index 60307c4..09698b5 100644
--- a/src/fd_integration/pr2_search_algorithm.cc
+++ b/src/fd_integration/pr2_search_algorithm.cc
@@ -36,11 +36,11 @@ unique_ptr<SearchAlgorithm> PR2Search::get_search_engine() {
 
     auto initial_state_values = PR2.proxy->get_pr2_initial_state()->get_unpacked_values();
     auto goals = PR2.proxy->get_pr2_goals();
-    std::shared_ptr<extra_tasks::WeakPlanningTask> weak_task = std::make_shared<extra_tasks::WeakPlanningTask>(tasks::g_root_task, std::move(initial_state_values), std::move(*goals));
+    std::shared_ptr<extra_tasks::WeakPlanningTask> weak_task = std::make_shared<extra_tasks::WeakPlanningTask>(tasks::g_root_task, std::move(initial_state_values), std::move(goals));
 
     // Build FF heuristic object.
     if (h) {
-        h->reset(*goals);
+        h->reset(goals);
     } else {
         h = make_shared<fsap_penalized_ff_heuristic::FSAPPenalizedFFHeuristic>(tasks::g_root_task, true, "FSAP Aware Heuristic", utils::Verbosity::NORMAL);
         preferred_list.push_back(h);

From ee5323472f355f6f65f59d6eff6550c2322373b0 Mon Sep 17 00:00:00 2001
From: Christian Muise <christian.muise@queensu.ca>
Date: Wed, 8 Jan 2025 13:53:13 -0500
Subject: [PATCH 19/26] Couple more memory optimizations.

---
 src/pr2.cc       | 6 +++---
 src/simulator.cc | 4 ++++
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/src/pr2.cc b/src/pr2.cc
index 6fb9644..250672d 100644
--- a/src/pr2.cc
+++ b/src/pr2.cc
@@ -260,7 +260,7 @@ PR2Wrapper PR2; // Holds all of the settings and data for PR2
 
 void PR2Wrapper::generate_nondet_operator_mappings() {
     // Map from operator id to nondet index
-    vector<int>* nondet_index_map = new vector<int>(PR2.proxy->get_operators().size());
+    vector<int> nondet_index_map = vector<int>(PR2.proxy->get_operators().size());
 
     // assert that the mappings are empty
     assert(PR2.general.nondet_mapping.empty());
@@ -291,7 +291,7 @@ void PR2Wrapper::generate_nondet_operator_mappings() {
             PR2.general.nondet_mapping[nondet_name_to_index[op.get_nondet_name()]].size() - 1;
         op.nondet_index = nondet_name_to_index[op.get_nondet_name()];
         op.nondet_outcome = PR2.general.nondet_outcome_mapping[op.get_id()];
-        (*nondet_index_map)[op.get_id()] = op.nondet_index;
+        nondet_index_map[op.get_id()] = op.nondet_index;
 
         for (auto eff : op.get_all_effects()) {
             for (auto cond : eff.get_conditions()) {
@@ -302,7 +302,7 @@ void PR2Wrapper::generate_nondet_operator_mappings() {
         }
     }
 
-    PR2.proxy->set_nondet_index_map(*nondet_index_map);
+    PR2.proxy->set_nondet_index_map(nondet_index_map);
 }
 
 void PR2OperatorProxy::update_nondet_info() {
diff --git a/src/simulator.cc b/src/simulator.cc
index 43c4b70..807cf92 100644
--- a/src/simulator.cc
+++ b/src/simulator.cc
@@ -8,10 +8,14 @@
 #include "deadend.h"
 
 Simulator::Simulator(shared_ptr<pr2_search::PR2Search> eng) : engine(eng) {
+    if (current_state)
+        delete current_state;
     current_state = PR2.proxy->generate_new_init();
 }
 
 void Simulator::setup_simulation(PR2State * init) {
+    if (current_state)
+        delete current_state;
     if (init)
         current_state = new PR2State(*init);
     else

From 060dd9a162bc5dfb7de2b2bce303d3f3814115de Mon Sep 17 00:00:00 2001
From: connoralittle <connoralittle@gmail.com>
Date: Wed, 8 Jan 2025 14:33:44 -0500
Subject: [PATCH 20/26] heuristic search works now

---
 src/fd_integration/pr2_search_algorithm.cc | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/fd_integration/pr2_search_algorithm.cc b/src/fd_integration/pr2_search_algorithm.cc
index 09698b5..9c76b15 100644
--- a/src/fd_integration/pr2_search_algorithm.cc
+++ b/src/fd_integration/pr2_search_algorithm.cc
@@ -35,12 +35,13 @@ unique_ptr<SearchAlgorithm> PR2Search::get_search_engine() {
     */
 
     auto initial_state_values = PR2.proxy->get_pr2_initial_state()->get_unpacked_values();
-    auto goals = PR2.proxy->get_pr2_goals();
+    vector<FactPair> goals = PR2.proxy->get_pr2_goals();
+    vector<FactPair> goals2 = PR2.proxy->get_pr2_goals();
     std::shared_ptr<extra_tasks::WeakPlanningTask> weak_task = std::make_shared<extra_tasks::WeakPlanningTask>(tasks::g_root_task, std::move(initial_state_values), std::move(goals));
 
     // Build FF heuristic object.
     if (h) {
-        h->reset(goals);
+        h->reset(goals2);
     } else {
         h = make_shared<fsap_penalized_ff_heuristic::FSAPPenalizedFFHeuristic>(tasks::g_root_task, true, "FSAP Aware Heuristic", utils::Verbosity::NORMAL);
         preferred_list.push_back(h);

From e5055a158bac91de25016aee0c7beffe798e09a7 Mon Sep 17 00:00:00 2001
From: connoralittle <connoralittle@gmail.com>
Date: Wed, 8 Jan 2025 15:00:00 -0500
Subject: [PATCH 21/26] cleaned up previous push

---
 src/fd_integration/pr2_search_algorithm.cc | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/src/fd_integration/pr2_search_algorithm.cc b/src/fd_integration/pr2_search_algorithm.cc
index 9c76b15..f6210bb 100644
--- a/src/fd_integration/pr2_search_algorithm.cc
+++ b/src/fd_integration/pr2_search_algorithm.cc
@@ -36,12 +36,11 @@ unique_ptr<SearchAlgorithm> PR2Search::get_search_engine() {
 
     auto initial_state_values = PR2.proxy->get_pr2_initial_state()->get_unpacked_values();
     vector<FactPair> goals = PR2.proxy->get_pr2_goals();
-    vector<FactPair> goals2 = PR2.proxy->get_pr2_goals();
-    std::shared_ptr<extra_tasks::WeakPlanningTask> weak_task = std::make_shared<extra_tasks::WeakPlanningTask>(tasks::g_root_task, std::move(initial_state_values), std::move(goals));
+    std::shared_ptr<extra_tasks::WeakPlanningTask> weak_task = std::make_shared<extra_tasks::WeakPlanningTask>(tasks::g_root_task, std::move(initial_state_values), std::move(PR2.proxy->get_pr2_goals()));
 
     // Build FF heuristic object.
     if (h) {
-        h->reset(goals2);
+        h->reset(goals);
     } else {
         h = make_shared<fsap_penalized_ff_heuristic::FSAPPenalizedFFHeuristic>(tasks::g_root_task, true, "FSAP Aware Heuristic", utils::Verbosity::NORMAL);
         preferred_list.push_back(h);

From 3bf5fe79bd9a61869a16acc494cd25bcab75b1d6 Mon Sep 17 00:00:00 2001
From: connoralittle <connoralittle@gmail.com>
Date: Wed, 8 Jan 2025 15:47:11 -0500
Subject: [PATCH 22/26] rearranged again

---
 src/fd_integration/pr2_search_algorithm.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/fd_integration/pr2_search_algorithm.cc b/src/fd_integration/pr2_search_algorithm.cc
index f6210bb..816a1a9 100644
--- a/src/fd_integration/pr2_search_algorithm.cc
+++ b/src/fd_integration/pr2_search_algorithm.cc
@@ -34,12 +34,13 @@ unique_ptr<SearchAlgorithm> PR2Search::get_search_engine() {
       factory function with somewhat complex behaviour.
     */
 
+    //Move is destructive and necessary.
     auto initial_state_values = PR2.proxy->get_pr2_initial_state()->get_unpacked_values();
-    vector<FactPair> goals = PR2.proxy->get_pr2_goals();
     std::shared_ptr<extra_tasks::WeakPlanningTask> weak_task = std::make_shared<extra_tasks::WeakPlanningTask>(tasks::g_root_task, std::move(initial_state_values), std::move(PR2.proxy->get_pr2_goals()));
 
     // Build FF heuristic object.
     if (h) {
+        vector<FactPair> goals = PR2.proxy->get_pr2_goals();
         h->reset(goals);
     } else {
         h = make_shared<fsap_penalized_ff_heuristic::FSAPPenalizedFFHeuristic>(tasks::g_root_task, true, "FSAP Aware Heuristic", utils::Verbosity::NORMAL);

From 934dfa30e2cdeef2ed52716f882bcd452e6f82e5 Mon Sep 17 00:00:00 2001
From: Christian Muise <christian.muise@queensu.ca>
Date: Wed, 8 Jan 2025 15:53:20 -0500
Subject: [PATCH 23/26] Reverting memleak fix.

---
 src/simulator.cc | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/src/simulator.cc b/src/simulator.cc
index 807cf92..43c4b70 100644
--- a/src/simulator.cc
+++ b/src/simulator.cc
@@ -8,14 +8,10 @@
 #include "deadend.h"
 
 Simulator::Simulator(shared_ptr<pr2_search::PR2Search> eng) : engine(eng) {
-    if (current_state)
-        delete current_state;
     current_state = PR2.proxy->generate_new_init();
 }
 
 void Simulator::setup_simulation(PR2State * init) {
-    if (current_state)
-        delete current_state;
     if (init)
         current_state = new PR2State(*init);
     else

From 6b20bbeb456964bd6788eadc5b0e80510af91c5c Mon Sep 17 00:00:00 2001
From: connoralittle <connoralittle@gmail.com>
Date: Thu, 27 Mar 2025 17:18:13 -0400
Subject: [PATCH 24/26] various bug fixes

---
 src/deadend.cc                                |  9 +++--
 .../fsap_penalized_ff_heuristic.cc            |  2 +-
 src/fd_integration/partial_state.cc           | 21 +++++++++++
 src/fd_integration/partial_state.h            |  1 +
 src/fd_integration/pr2_proxies.h              | 10 +++---
 src/fd_integration/pr2_search_algorithm.cc    |  4 +--
 src/policy.h                                  |  2 ++
 src/pr2.cc                                    | 14 +++-----
 src/pr2.h                                     |  1 +
 src/regression.cc                             | 35 +++++++++++++++----
 src/simulator.cc                              |  5 +--
 src/solution.cc                               |  2 +-
 12 files changed, 78 insertions(+), 28 deletions(-)

diff --git a/src/deadend.cc b/src/deadend.cc
index abb4ca6..5f63160 100644
--- a/src/deadend.cc
+++ b/src/deadend.cc
@@ -36,6 +36,10 @@ int FSAP::get_index() {
     return op->get_id();
 }
 
+int FSAP::get_nondet_index() {
+    return PR2.general.nondet_name_to_index[op->get_nondet_name()];
+}
+
 
 bool is_deadend(PR2State &state) {
     PR2.deadend.reachability_heuristic->reset();
@@ -154,8 +158,9 @@ void update_deadends(vector< DeadendTuple* > &failed_states) {
     }
 
     // Add a pointer from the operator to the newly created fsaps
-    for (auto fsap : fsaps)
-        PR2.deadend.nondetop2fsaps[fsap->get_index()]->push_back(fsap);
+    for (auto fsap : fsaps) {
+        PR2.deadend.nondetop2fsaps[fsap->get_nondet_index()]->push_back(fsap);
+    }
 
     PR2.deadend.policy->update_policy(fsaps);
     PR2.deadend.states->update_policy(deadends);
diff --git a/src/fd_integration/fsap_penalized_ff_heuristic.cc b/src/fd_integration/fsap_penalized_ff_heuristic.cc
index f442dc6..f7568e0 100644
--- a/src/fd_integration/fsap_penalized_ff_heuristic.cc
+++ b/src/fd_integration/fsap_penalized_ff_heuristic.cc
@@ -336,7 +336,7 @@ int FSAPPenalizedFFHeuristic::compute_heuristic(const State &state) {
         PR2.deadend.policy->generate_entailed_items(*ps, reg_items);
         delete ps;
         for (auto item : reg_items)
-            forbidden_ops.insert(item->get_index());
+            forbidden_ops.insert(item->get_nondet_index());
 
         // Collecting the relaxed plan also sets the preferred operators.
         for (size_t i = 0; i < goal_propositions.size(); ++i)
diff --git a/src/fd_integration/partial_state.cc b/src/fd_integration/partial_state.cc
index 6cc77c0..a711458 100644
--- a/src/fd_integration/partial_state.cc
+++ b/src/fd_integration/partial_state.cc
@@ -64,6 +64,12 @@ bool PR2State::triggers(const EffectProxy &effect) {
     return true;
 }
 
+bool PR2State::triggers(const FactProxy &fact) {
+    if (vars[fact.get_variable().get_id()] != fact.get_value())
+        return false;
+    return true;
+}
+
 PR2State * PR2State::progress(const PR2OperatorProxy &op) {
 
     assert(!op.is_axiom());
@@ -93,18 +99,24 @@ PR2State * PR2State::regress(const PR2OperatorProxy &op, PR2State *context) {
 
     PR2State * prev = new PR2State(*this);
 
+    std::set<int> seen;
+
     // Remove all of the effect settings
     for (auto eff : op.get_all_effects()) {
         if (context->triggers(eff)) {
             int var = eff.get_fact().get_variable().get_id();
             int val = eff.get_fact().get_value();
 
+            seen.insert(var);
+
             bool inconsistent = (vars[var] != -1) && (vars[var] != val);
 
             if (inconsistent) {
                 cout << "\n\n !! Error: Inconsistent regression !!\n" << endl;
                 // Dump the effect
                 cout << "Effect: " << endl;
+                op.dump();
+
                 for (auto cond : eff.get_conditions())
                     cout << "  " << cond.get_variable().get_id() << " = " << cond.get_value() << endl;
             }
@@ -113,6 +125,15 @@ PR2State * PR2State::regress(const PR2OperatorProxy &op, PR2State *context) {
             (*prev)[eff.get_fact().get_variable().get_id()] = -1;
         }
     }
+
+    // Remove all of the prevail effects
+    for (auto pre : op.get_preconditions()) {
+        int var = pre.get_variable().get_id();
+        int val = pre.get_value();
+        if (0 == seen.count(var) && context->triggers(pre)) {
+            (*prev)[var] = -1;
+        }
+    }
     
     // Assign the values from the context that are mentioned in conditions
     for (auto var : *(PR2.general.conditional_mask[op.nondet_index]))
diff --git a/src/fd_integration/partial_state.h b/src/fd_integration/partial_state.h
index a292c4c..6e1a031 100644
--- a/src/fd_integration/partial_state.h
+++ b/src/fd_integration/partial_state.h
@@ -53,6 +53,7 @@ class PR2State : public StateInterface {
     PR2State * progress(const PR2OperatorProxy &op);
     PR2State * regress(const PR2OperatorProxy &op, PR2State *context=NULL);
 
+    bool triggers(const FactProxy &fact);
     bool triggers(const EffectProxy &effect);
     bool consistent_with(const PR2State &other);
     bool entails(const PR2State &other);
diff --git a/src/fd_integration/pr2_proxies.h b/src/fd_integration/pr2_proxies.h
index 9728175..a604b51 100644
--- a/src/fd_integration/pr2_proxies.h
+++ b/src/fd_integration/pr2_proxies.h
@@ -5,6 +5,7 @@
 #include "../../plan_manager.h"
 #include "../../search_algorithm.h"
 #include "../../plugins/options.h"
+#include <regex>
 
 class TaskProxy;
 class OperatorProxy;
@@ -40,6 +41,7 @@ class PR2OperatorProxy : public OperatorProxy {
     int nondet_outcome;
 
     // TODO: https://github.com/QuMuLab/rbp/blob/main/src/search/global_operator.cc#L142
+    // Dead link
     PR2State *all_fire_context;
 
     PR2OperatorProxy(const AbstractTask &task, int index, bool is_axiom)
@@ -55,11 +57,9 @@ class PR2OperatorProxy : public OperatorProxy {
             return "goal_action";
         }
         string name = get_name();
-        // Split the get_name() string and return everything before _DETDUP_x and after
-        //Only works up to 9 splits. Will have to be rewritten to accomdate more
-        if (name.find("_detdup_") != std::string::npos)
-            name = name.erase(name.find("_detdup_"), name.find("_detdup_") + 1);
-        return name;
+        std::regex target("_detdup_[0-9]*");
+        string name2 = std::regex_replace(name, target, "");
+        return name2;
     }
     void dump() const {
         cout << "Operator: " << get_name() << endl;
diff --git a/src/fd_integration/pr2_search_algorithm.cc b/src/fd_integration/pr2_search_algorithm.cc
index 816a1a9..505d02c 100644
--- a/src/fd_integration/pr2_search_algorithm.cc
+++ b/src/fd_integration/pr2_search_algorithm.cc
@@ -144,7 +144,7 @@ void DeadendAwareSuccessorGenerator::generate_applicable_ops(const PR2State &_cu
         set<int> forbidden;
         for (auto item : reg_items) {
 
-            int index = item->get_index();
+            int index = item->get_nondet_index();
 
             forbidden.insert(index);
 
@@ -165,7 +165,7 @@ void DeadendAwareSuccessorGenerator::generate_applicable_ops(const PR2State &_cu
         if (!PR2.weaksearch.limit_states && PR2.deadend.record_online &&
              PR2.deadend.combine && (orig_ops.size() > 0) && ops.empty()) {
 
-            // Combind all of the FSAPs
+            // Combined all of the FSAPs
             PR2State *newDE = new PR2State();
             for (unsigned i = 0; i < ruled_out.size(); i++) {
                 newDE->combine_with(*((fsap_map[ruled_out[i]])->state));
diff --git a/src/policy.h b/src/policy.h
index 45827b2..40d61c6 100644
--- a/src/policy.h
+++ b/src/policy.h
@@ -53,6 +53,8 @@ struct FSAP : PolicyItem {
     string get_name();
     int get_index();
     void dump() const;
+
+    int get_nondet_index();
 };
 
 template<typename T> class Policy {
diff --git a/src/pr2.cc b/src/pr2.cc
index 250672d..33ff74c 100644
--- a/src/pr2.cc
+++ b/src/pr2.cc
@@ -238,7 +238,6 @@ bool PR2Wrapper::run_pr2() {
 
     }
 
-
     cout << endl;
 
     return PR2.solution.best->is_strong_cyclic();
@@ -267,17 +266,14 @@ void PR2Wrapper::generate_nondet_operator_mappings() {
     assert(PR2.general.nondet_outcome_mapping.empty());
 
     // temporary mapping from non-det name to index
-    map<string, int> nondet_name_to_index;
 
     int current_nondet_index = 0;
     
     for (auto op : PR2.proxy->get_operators()) {
         //If not in the mapping yet
-        PR2.general.conditional_mask.push_back(new vector<int>());
-        PR2.deadend.nondetop2fsaps.push_back(new vector< FSAP* >());
 
-        if (nondet_name_to_index.find(op.get_nondet_name()) == nondet_name_to_index.end()) {
-            nondet_name_to_index[op.get_nondet_name()] = current_nondet_index;
+        if (PR2.general.nondet_name_to_index.find(op.get_nondet_name()) == PR2.general.nondet_name_to_index.end()) {
+            PR2.general.nondet_name_to_index[op.get_nondet_name()] = current_nondet_index;
             PR2.general.nondet_mapping.push_back(vector<int>());
             current_nondet_index++;
 
@@ -286,10 +282,10 @@ void PR2Wrapper::generate_nondet_operator_mappings() {
             PR2.general.conditional_mask.push_back(new vector<int>());
             PR2.deadend.nondetop2fsaps.push_back(new vector< FSAP* >());
         }
-        PR2.general.nondet_mapping[nondet_name_to_index[op.get_nondet_name()]].push_back(op.get_id());
+        PR2.general.nondet_mapping[PR2.general.nondet_name_to_index[op.get_nondet_name()]].push_back(op.get_id());
         PR2.general.nondet_outcome_mapping[op.get_id()] =
-            PR2.general.nondet_mapping[nondet_name_to_index[op.get_nondet_name()]].size() - 1;
-        op.nondet_index = nondet_name_to_index[op.get_nondet_name()];
+            PR2.general.nondet_mapping[PR2.general.nondet_name_to_index[op.get_nondet_name()]].size() - 1;
+        op.nondet_index = PR2.general.nondet_name_to_index[op.get_nondet_name()];
         op.nondet_outcome = PR2.general.nondet_outcome_mapping[op.get_id()];
         nondet_index_map[op.get_id()] = op.nondet_index;
 
diff --git a/src/pr2.h b/src/pr2.h
index 05ecdf6..5d6adfc 100644
--- a/src/pr2.h
+++ b/src/pr2.h
@@ -311,6 +311,7 @@ struct PR2Wrapper {
         // General data structures
         vector< vector<int> > nondet_mapping; // Maps a non-deterministic action id to a list of ground operator ids
         map<int, int> nondet_outcome_mapping; // Maps an action id to the outcome of the non-deterministic action
+        map<string, int> nondet_name_to_index; // Maps an action name to a non-deterministic index
 
         vector<vector<int> *> conditional_mask; // Maps a non-deterministic action id to the variables that must be defined when doing context-sensitive regression
         Policy<PolicyItem> *regressable_ops; // The policy to check what operators are regressable
diff --git a/src/regression.cc b/src/regression.cc
index 515df5f..4ecebc6 100644
--- a/src/regression.cc
+++ b/src/regression.cc
@@ -4,9 +4,20 @@
 #include "pr2.h"
 
 bool RegressableOperator::check_relevance(const PR2State &ps) {
-    for (auto eff : op.get_effects())
-        if (!ps.is_undefined(eff.get_fact().get_variable().get_id()))
+    
+    std::set<int> seen;
+
+    for (auto eff : op.get_all_effects()) {
+        int var = eff.get_fact().get_variable().get_id();
+        seen.insert(var);
+        if (!ps.is_undefined(var))
+            return true;
+    }
+    for (auto pre : op.get_preconditions()) {
+        int var = pre.get_variable().get_id();
+        if (0 == seen.count(var) && !ps.is_undefined(var))
             return true;
+    }
     return false;
 }
 
@@ -33,9 +44,21 @@ void generate_regressable_ops() {
         if (0 == PR2.general.conditional_mask[op.nondet_index]->size()) {
             s = new PR2State();
 
+            std::set<int> seen;
+
             // Only applicable if the effects currently hold.
-            for (auto eff : op.get_effects()) {
-                (*s)[eff.get_fact().get_variable().get_id()] = eff.get_fact().get_value();
+            for (auto eff : op.get_all_effects()) {
+                int var = eff.get_fact().get_variable().get_id();
+                (*s)[var] = eff.get_fact().get_value();
+                seen.insert(var);
+            }
+
+            // Prevail Conditions
+            for (auto pre : op.get_preconditions()) {
+                int var = pre.get_variable().get_id();
+                if (0 == seen.count(var)) {
+                    (*s)[var] = pre.get_value();
+                }
             }
 
             reg_steps.push_back(new RegressableOperator(op, s));
@@ -62,7 +85,7 @@ void generate_regressable_ops() {
 
             // Only makes sense to continue if it is consistent so far
             if (consistent) {
-                for (auto eff : op.get_effects()) {
+                for (auto eff : op.get_all_effects()) {
                     for (auto cond : eff.get_conditions()) {
 
 
@@ -91,7 +114,7 @@ void generate_regressable_ops() {
             // Only makes sense to continue if it is consistent so far
             if (consistent) {
                 // Only applicable if the post conditions currently hold.
-                for (auto eff : op.get_effects()) {
+                for (auto eff : op.get_all_effects()) {
                     int eff_var = eff.get_fact().get_variable().get_id();
                     bool var_is_defined = !(s->is_undefined(eff_var));
                     bool var_is_consistent = (eff.get_fact().get_value() == (*s)[eff_var]);
diff --git a/src/simulator.cc b/src/simulator.cc
index 43c4b70..2458a61 100644
--- a/src/simulator.cc
+++ b/src/simulator.cc
@@ -196,6 +196,7 @@ bool Simulator::check_1safe() {
     PR2OperatorsProxy ops = PR2.proxy->get_operators();
     for (unsigned i = 0; i < safe_checks; i++) {
         const PR2OperatorProxy op = ops[engine->get_plan()[i]];
+
         PR2OperatorProxy *op_stable = new PR2OperatorProxy(op);
         vector<NondetSuccessor *> successors;
         new_s = generate_nondet_successors(old_s, op_stable, successors);
@@ -203,11 +204,11 @@ bool Simulator::check_1safe() {
         for (auto succ : successors) {
             if (is_deadend(*(succ->state))) {
                 PR2State * new_dead_state = new PR2State(*(succ->state));
-                int op_ind = PR2.general.nondet_mapping[op_stable->nondet_index][succ->id - 1];
+                int op_ind = PR2.general.nondet_mapping[op_stable->nondet_index][succ->id];
                 const PR2OperatorProxy bad_op = ops[op_ind];
                 PR2OperatorProxy *bad_op_stable = new PR2OperatorProxy(bad_op);
                 if (PR2.deadend.generalize)
-                    generalize_deadend(*new_dead_state);
+                    generalize_deadend(*new_dead_state);  
                 new_deadends.push_back(new DeadendTuple(new_dead_state, new PR2State(*old_s), bad_op_stable));
             }
         }
diff --git a/src/solution.cc b/src/solution.cc
index 8b44956..154148f 100644
--- a/src/solution.cc
+++ b/src/solution.cc
@@ -112,7 +112,7 @@ void SolutionStep::strengthen(PR2State *context) {
     for (auto fsap : reg_items) {
 
         // If this holds, then we may trigger the forbidden pair
-        if (fsap->get_index() == op.nondet_index) {
+        if (fsap->get_nondet_index() == op.nondet_index) {
 
             for (unsigned j = 0; j < PR2.general.num_vars; j++) {
 

From c0efa76a39a4c78979abc0fda620437328e33fb4 Mon Sep 17 00:00:00 2001
From: Connor Little <connoralittle@gmail.com>
Date: Mon, 25 Aug 2025 15:51:04 -0400
Subject: [PATCH 25/26] various bug fixes. I believe forest should work now.
 Speed up in combination with core changes

---
 src/deadend.cc                                | 74 +------------------
 src/expand.cc                                 |  2 +-
 .../fsap_penalized_ff_heuristic.cc            |  4 +-
 src/fd_integration/partial_state.cc           | 60 ++++-----------
 src/fd_integration/pr2_proxies.h              |  2 +-
 src/fd_integration/pr2_search_algorithm.cc    |  5 +-
 src/fond_search.cc                            | 12 ++-
 src/partial_state_graph.cc                    |  3 +-
 src/policy.cc                                 |  2 +-
 src/pr2.cc                                    |  5 ++
 src/pr2.h                                     |  5 ++
 src/simulator.cc                              |  8 ++
 12 files changed, 56 insertions(+), 126 deletions(-)

diff --git a/src/deadend.cc b/src/deadend.cc
index 5f63160..e7c3f80 100644
--- a/src/deadend.cc
+++ b/src/deadend.cc
@@ -25,7 +25,7 @@ bool FSAP::operator< (const FSAP& other) const {
     if (is_active != other.is_active)
         return is_active;
     else
-        return op->nondet_index > other.op->nondet_index;
+        return op->nondet_index < other.op->nondet_index;
 }
 
 string FSAP::get_name() {
@@ -167,75 +167,3 @@ void update_deadends(vector< DeadendTuple* > &failed_states) {
 }
 
 
-
-// void DeadendAwareSuccessorGenerator::generate_applicable_ops(const PR2State &_curr, vector<OperatorID> &ops) const {
-//     if (PR2.deadend.enabled && PR2.deadend.policy) {
-
-//         PR2State curr = PR2State(_curr);
-
-//         vector<PolicyItem *> reg_items;
-//         vector<OperatorID> orig_ops;
-//         map<int, PolicyItem *> fsap_map;
-
-//         PR2.generate_orig_applicable_ops(_curr, orig_ops);
-//         PR2.deadend.policy->generate_entailed_items(curr, reg_items);
-
-//         set<int> forbidden;
-//         for (auto item : reg_items) {
-
-//             int index = ((FSAP*)item)->get_index();
-
-//             forbidden.insert(index);
-
-//             if ((fsap_map.find(index) == fsap_map.end()) ||
-//                 (item->state->size() < fsap_map[index]->state->size()))
-//                     fsap_map[index] = item;
-//         }
-
-//         vector<int> ruled_out;
-//         for (auto opid : orig_ops) {
-//             if (0 == forbidden.count(PR2.proxy->get_nondet_index(opid)))
-//                 ops.push_back(opid);
-//             else if (PR2.deadend.combine)
-//                 ruled_out.push_back(PR2.proxy->get_nondet_index(opid));
-//         }
-
-//         // Add this state as a deadend if we have ruled out everything
-//         if (!PR2.weaksearch.limit_states && PR2.deadend.record_online &&
-//              PR2.deadend.combine && (orig_ops.size() > 0) && ops.empty()) {
-
-//             // Combind all of the FSAPs
-//             PR2State *newDE = new PR2State();
-//             for (unsigned i = 0; i < ruled_out.size(); i++) {
-//                 newDE->combine_with(*(((FSAP*)(fsap_map[ruled_out[i]]))->state));
-//             }
-
-//             // Also rule out all of the unapplicable actions
-//             for (const auto & op : PR2.proxy->get_operators()) {
-//                 if (0 == forbidden.count(op.nondet_index)) {
-//                     if (op.is_possibly_applicable(*newDE)) {
-//                         assert (!(op.is_possibly_applicable(curr)));
-//                         int conflict_var = op.compute_conflict_var(curr);
-//                         assert (conflict_var != -1);
-//                         assert ((*newDE)[conflict_var] == -1);
-//                         (*newDE)[conflict_var] = curr[conflict_var];
-//                     }
-//                 }
-//             }
-
-//             PR2.deadend.combination_count++;
-
-//             vector<DeadendTuple *> failed_states;
-//             failed_states.push_back(new DeadendTuple(newDE, NULL, NULL));
-//             update_deadends(failed_states);
-//         }
-
-//     } else {
-
-//         PR2.generate_orig_applicable_ops(_curr, ops);
-
-//     }
-
-//     return;
-// }
-
diff --git a/src/expand.cc b/src/expand.cc
index 57453ad..6e17e1b 100644
--- a/src/expand.cc
+++ b/src/expand.cc
@@ -9,7 +9,7 @@ PR2State * generate_nondet_successors(PR2State * current_state, const PR2Operato
         PR2OperatorProxy o = PR2.proxy->get_operators()[oid];
         successors.push_back(new NondetSuccessor(current_state->progress(o),
                                                  (oid == op->get_id()), o.nondet_outcome));
-        if (o == *op)
+        if (o.get_id() == op->get_id())
             expected = successors.back()->state;
     }
 
diff --git a/src/fd_integration/fsap_penalized_ff_heuristic.cc b/src/fd_integration/fsap_penalized_ff_heuristic.cc
index f7568e0..b23fdbc 100644
--- a/src/fd_integration/fsap_penalized_ff_heuristic.cc
+++ b/src/fd_integration/fsap_penalized_ff_heuristic.cc
@@ -354,8 +354,10 @@ int FSAPPenalizedFFHeuristic::compute_heuristic(const State &state) {
         // for (size_t i = 0; i < goal_propositions.size(); ++i)
         //     mark_preferred_operators(state, goal_propositions[i]);
     } else {
-        if (PR2.logging.deadends)
+        if (PR2.logging.deadends) {
             cout << "\nHeuristic found deadend!" << endl;
+            PR2State(state).dump_pddl();
+        }
 
         if (PR2.deadend.record_online) {
             PR2.deadend.found_online.push_back(new DeadendTuple(new PR2State(state), NULL, NULL));
diff --git a/src/fd_integration/partial_state.cc b/src/fd_integration/partial_state.cc
index a711458..bf60e8b 100644
--- a/src/fd_integration/partial_state.cc
+++ b/src/fd_integration/partial_state.cc
@@ -9,6 +9,8 @@
 #include <iostream>
 #include <cassert>
 
+set<int> get_relevant_basic_variables(vector<int> target_axioms);
+
 PR2State & PR2State::operator=(const PR2State &other) {
     if (this != &other) {
         vars = other.vars;
@@ -81,9 +83,7 @@ PR2State * PR2State::progress(const PR2OperatorProxy &op) {
             (*next)[eff.get_fact().get_variable().get_id()] = eff.get_fact().get_value();
     }
 
-    // PR2 TODO : This is disabled since we cannot handle domains with axioms,
-    //      leaving it in slows us down.
-    //g_axiom_evaluator->evaluate(*this);
+    PR2.axioms.axiom_evaluator->evaluate(this->vars);
 
     return next;
 
@@ -94,8 +94,7 @@ PR2State * PR2State::regress(const PR2OperatorProxy &op, PR2State *context) {
     assert(!op.is_axiom());
     assert(NULL != context);
 
-    // vector<int> relevant_axioms = {};
-    // set<int> added = {};
+    vector<int> relevant_axioms;
 
     PR2State * prev = new PR2State(*this);
 
@@ -126,14 +125,14 @@ PR2State * PR2State::regress(const PR2OperatorProxy &op, PR2State *context) {
         }
     }
 
-    // Remove all of the prevail effects
-    for (auto pre : op.get_preconditions()) {
-        int var = pre.get_variable().get_id();
-        int val = pre.get_value();
-        if (0 == seen.count(var) && context->triggers(pre)) {
-            (*prev)[var] = -1;
-        }
-    }
+    // // Remove all of the prevail effects
+    // for (auto pre : op.get_preconditions()) {
+    //     int var = pre.get_variable().get_id();
+    //     int val = pre.get_value();
+    //     if (0 == seen.count(var) && context->triggers(pre)) {
+    //         (*prev)[var] = -1;
+    //     }
+    // }
     
     // Assign the values from the context that are mentioned in conditions
     for (auto var : *(PR2.general.conditional_mask[op.nondet_index]))
@@ -143,47 +142,20 @@ PR2State * PR2State::regress(const PR2OperatorProxy &op, PR2State *context) {
     for (FactProxy pre : op.get_preconditions()) {
         //if the precondition is an derived predicate, find relevant variables and undefine
         if (pre.get_variable().is_derived()) {
-            // relevant_axioms.push_back(pre.get_pair().var);   
+            relevant_axioms.push_back(pre.get_pair().var);   
         //else set to context value
         } else {
             (*prev)[pre.get_pair().var] = pre.get_pair().value;
         }
     }
 
-    // cout << prev->get_unpacked_values() << endl;
-
-    // set<int> potential_untouchables = get_relevant_basic_variables(relevant_axioms);
-
-    // set<int> intermediate;
+    // set<int> required_basics = get_relevant_basic_variables(relevant_axioms);
 
-    // std::set_difference( 
-    //     potential_untouchables.begin(), potential_untouchables.end(),
-    //     (*prev).untouchables.begin(), (*prev).untouchables.end(), 
-    //     inserter(intermediate, intermediate.begin()));
-
-    // (*prev).untouchables = intermediate;
-
-    // cout << prev->get_unpacked_values() << endl;
-
-    // for (int index : (*prev).untouchables)
+    // for (int index : required_basics)
     // {
     //     int new_index = PR2.proxy->get_variables()[index].get_id();
     //     (*prev)[new_index] = (*context)[new_index];
     // }
-    
-    // set<int> step1 = {};
-    // set<int> step2 = {};
-
-    // std::set_union(potential_untouchables.begin(), potential_untouchables.end(),
-    //           (*context).untouchables.begin(), (*context).untouchables.end(),
-    //           inserter(step1,step1.begin()));
-
-    // std::set_difference( 
-    //     step1.begin(), step1.end(),
-    //     added.begin(), added.end(), 
-    //     inserter(step2, step2.begin())); 
-
-    // (*prev).untouchables = step2;
 
     // //Undefine all axioms
     // for (int i = 0; i < vars.size(); i++) {
@@ -214,7 +186,7 @@ set<int> get_relevant_basic_variables(vector<int> target_axioms) {
             if (op.get_effects()[0].get_fact().get_pair().var == target) {
                 for (FactProxy pre : op.get_effects()[0].get_conditions()) {
                     int index = pre.get_variable().get_id();
-                    if (pre.get_variable().get_axiom_layer() != -1) {
+                    if (pre.get_variable().is_derived()) {
                         if (find(seen.begin(), seen.end(), index) == seen.end()) {
                             target_axioms.push_back(index);
                             seen.push_back(index);
diff --git a/src/fd_integration/pr2_proxies.h b/src/fd_integration/pr2_proxies.h
index a604b51..356a0b1 100644
--- a/src/fd_integration/pr2_proxies.h
+++ b/src/fd_integration/pr2_proxies.h
@@ -57,7 +57,7 @@ class PR2OperatorProxy : public OperatorProxy {
             return "goal_action";
         }
         string name = get_name();
-        std::regex target("_detdup_[0-9]*");
+        std::regex target("_detdup_[0-9]*|_DETDUP_[0-9]*");
         string name2 = std::regex_replace(name, target, "");
         return name2;
     }
diff --git a/src/fd_integration/pr2_search_algorithm.cc b/src/fd_integration/pr2_search_algorithm.cc
index 505d02c..0d66413 100644
--- a/src/fd_integration/pr2_search_algorithm.cc
+++ b/src/fd_integration/pr2_search_algorithm.cc
@@ -67,7 +67,7 @@ unique_ptr<SearchAlgorithm> PR2Search::get_search_engine() {
         numeric_limits<int>::max(),
         PR2.time.limit - PR2.time.time_taken(),
         "PR2 Search",
-        utils::Verbosity::SILENT,
+        utils::Verbosity::DEBUG,
         weak_task,
         new DeadendAwareSuccessorGenerator());
 
@@ -172,7 +172,8 @@ void DeadendAwareSuccessorGenerator::generate_applicable_ops(const PR2State &_cu
             }
 
             // Also rule out all of the unapplicable actions
-            for (const auto & op : PR2.proxy->get_operators()) {
+            for (int i = 0; i < PR2.proxy->get_operators().size(); i++) {
+                PR2OperatorProxy op = PR2.proxy->get_operators()[i];
                 if (0 == forbidden.count(op.nondet_index)) {
                     if (op.is_possibly_applicable(*newDE)) {
                         assert (!(op.is_possibly_applicable(curr)));
diff --git a/src/fond_search.cc b/src/fond_search.cc
index da9c6f2..bef4afd 100644
--- a/src/fond_search.cc
+++ b/src/fond_search.cc
@@ -368,6 +368,11 @@ bool case5_new_path(PR2SearchStatus * SS) {
         if (PR2.logging.fond_search)
             cout << "\nFONDSEARCH(" << PR2.logging.id() << "): Handled by Case-5 (computing new path)" << endl;
 
+                
+        for (auto opid: SS->sim->engine.get()->get_plan()) {
+            cout << PR2.proxy->get_operators()[opid.get_index()].get_name() << endl;
+        }
+
         // Update the statistics, as we just patched up the
         //  policy a little bit.
         SS->num_fixed_states++;
@@ -541,6 +546,10 @@ void PR2SearchNode::poison() {
     if (0 == previous_nodes.size())
         poison_recurse();
 
+    if (!poisoned) {
+        poisoned = true;
+    }
+
     assert(poisoned);
 }
 
@@ -814,8 +823,7 @@ void PR2SearchStatus::pop_next_node () {
         previous_node = current_node->previous_nodes[0];
         prev_to_curr_outcome = current_node->previous_node_outcomes[0];
         int prev_op_ind = PR2.general.nondet_mapping[previous_step->op.nondet_index][prev_to_curr_outcome];
-        PR2OperatorProxy prev_op_proxy = PR2.proxy->get_operators()[prev_op_ind];
-        previous_op = &prev_op_proxy;
+        previous_op = new PR2OperatorProxy(PR2.proxy->get_operators()[prev_op_ind]);
     }
 }
 
diff --git a/src/partial_state_graph.cc b/src/partial_state_graph.cc
index dc94447..a27947d 100644
--- a/src/partial_state_graph.cc
+++ b/src/partial_state_graph.cc
@@ -215,8 +215,9 @@ void PSGraph::full_marking() {
     // Identify all of the solsteps that aren't marked strong cyclic
     set< SolutionStep * > unmarked;
     for (auto s : steps)
-        if (!(s->is_sc))
+        if (!(s->is_sc)) {
             unmarked.insert(s);
+        }
 
     // For any that possibly veer off course, flag them as not strong cyclic
     set< SolutionStep * > not_sc;
diff --git a/src/policy.cc b/src/policy.cc
index 56dc882..764223e 100644
--- a/src/policy.cc
+++ b/src/policy.cc
@@ -3,7 +3,7 @@
 #include "solution.h"
 
 int PolicyItem::generality() {
-    if (-1 != _generality) {
+    if (_generality != -1) {
         _generality = 0;
         for (unsigned i = 0; i < PR2.general.num_vars; i++) {
             if (-1 == value(i)) {
diff --git a/src/pr2.cc b/src/pr2.cc
index 33ff74c..a5f3aca 100644
--- a/src/pr2.cc
+++ b/src/pr2.cc
@@ -56,6 +56,8 @@ bool PR2Wrapper::run_pr2() {
     // We also create a deadend heuristic computer
     PR2.deadend.reachability_heuristic = PR2.proxy->new_deadend_heuristic();
 
+    PR2.axioms.axiom_evaluator = new AxiomEvaluator((TaskProxy) *PR2.proxy);
+
     /**********************
      * Handle Time Limits *
      **********************/
@@ -240,6 +242,9 @@ bool PR2Wrapper::run_pr2() {
 
     cout << endl;
 
+    if (PR2.solution.best->is_strong_cyclic())
+        cout << "Strong cyclic solution found." << endl;
+
     return PR2.solution.best->is_strong_cyclic();
 }
 
diff --git a/src/pr2.h b/src/pr2.h
index 5d6adfc..f137a67 100644
--- a/src/pr2.h
+++ b/src/pr2.h
@@ -107,6 +107,11 @@ struct PR2Wrapper {
 
     } time;
 
+    struct AXIOMS {
+        AxiomEvaluator *axiom_evaluator = nullptr;
+
+    } axioms;
+
 
     /************
      * Deadends *
diff --git a/src/simulator.cc b/src/simulator.cc
index 2458a61..08b6eee 100644
--- a/src/simulator.cc
+++ b/src/simulator.cc
@@ -27,6 +27,11 @@ const PR2OperatorProxy Simulator::pick_action(SolutionStep *step, int index) {
 
 void Simulator::reset_goal() {
     PR2.proxy->set_goal(PR2.localize.original_goal);
+    std::vector<int> vars(PR2.general.num_vars, -1);
+    for (auto goal: PR2.proxy->get_pr2_goals()) {
+        vars[goal.var] = goal.value;
+    }
+    this->set_goal(new PR2State(vars));  
 }
 
 // Adjust the goal if we are planning locally
@@ -220,6 +225,9 @@ bool Simulator::check_1safe() {
         delete old_s;
         old_s = new_s;
     }
+    
+    if (safe_checks > 0)
+        delete new_s;
 
     if (new_deadends.size() > 0) {
         if (PR2.logging.deadends)

From 519dbca0368c65e70a1bf34521e22c5b9bb84abe Mon Sep 17 00:00:00 2001
From: Connor Little <connoralittle@gmail.com>
Date: Tue, 26 Aug 2025 13:40:57 -0400
Subject: [PATCH 26/26] cleaned up needless changes

---
 pr2                                        | 17 ++++--
 src/fd_integration/partial_state.cc        | 67 ++++++++++++----------
 src/fd_integration/pr2_search_algorithm.cc |  2 +-
 src/fond_search.cc                         |  4 --
 src/partial_state_graph.cc                 |  3 +-
 5 files changed, 51 insertions(+), 42 deletions(-)

diff --git a/pr2 b/pr2
index 5b1fdbd..90c591f 100755
--- a/pr2
+++ b/pr2
@@ -3,7 +3,8 @@
 set -e
 
 # Settings
-BASEDIR="$(dirname "$0")/core/downward"
+BASEDIR_SAMPLE="$(dirname "$0")"
+BASEDIR="${BASEDIR_SAMPLE}/core/downward"
 DEBUG_BUILD="debug"
 RELEASE_BUILD="release"
 
@@ -101,7 +102,7 @@ function run {
         shift
     else
         # checks if there are any symmetries to play with
-        timeout "$OBJ_SAMPLE_CHECK_LIMIT" bash -c "python $BASEDIR/pr2-scripts/sample_objects.py --domain $1 --problem $2 --output object-sampled-problem.pddl --sample -1 > object-sampled-output.txt" || true
+        timeout "$OBJ_SAMPLE_CHECK_LIMIT" bash -c "python $BASEDIR_SAMPLE/pr2-scripts/sample_objects.py --domain $1 --problem $2 --output object-sampled-problem.pddl --sample -1 > object-sampled-output.txt" || true
 
         if grep -q "True" object-sampled-output.txt; then
 
@@ -112,9 +113,9 @@ function run {
             # Iterate over the object sampling indices
             for i in ${!OBJ_SAMPLE_RATES[@]}; do
                 echo "Testing with ${OBJ_SAMPLE_RATES[$i]} symmetric objects for a max of ${OBJ_SAMPLE_TIMES[$i]} seconds..."
-                python $BASEDIR/pr2-scripts/sample_objects.py --domain "$1" --problem "$2" --output object-sampled-problem.pddl --sample "${OBJ_SAMPLE_RATES[$i]}"
+                python $BASEDIR_SAMPLE/pr2-scripts/sample_objects.py --domain "$1" --problem "$2" --output object-sampled-problem.pddl --sample "${OBJ_SAMPLE_RATES[$i]}"
 
-                timeout "${OBJ_SAMPLE_TIMES[$i]}" bash -c "$BASEDIR/pr2 --disable-object-sampling $1 object-sampled-problem.pddl --final-fsap-free-round 0 ${@:3} > object-sampled-subsolve.txt 2>&1" || true
+                timeout "${OBJ_SAMPLE_TIMES[$i]}" bash -c "$BASEDIR_SAMPLE/pr2 --disable-object-sampling $1 object-sampled-problem.pddl --final-fsap-free-round 0 ${@:3} > object-sampled-subsolve.txt 2>&1" || true
 
                 if grep -Fxq "Strong cyclic solution found." object-sampled-subsolve.txt
                 then
@@ -135,8 +136,12 @@ function run {
         rm -f object-sampled-*
     fi
 
-    $FD --translate $1 $2 --translate-options --keep-unimportant-variables --invariant-generation-max-time $INV_TIME_LIMIT
+
+    echo determinizing domain
+    fond-utils determinize --input $1 --output determinized-domain.pddl --suffix-domain ""
+    $FD --translate determinized-domain.pddl $2 --translate-options --keep-unimportant-variables --invariant-generation-max-time $INV_TIME_LIMIT
     shift 2
+    rm determinized-domain.pddl
 
     set -e
     $FD$OPT output.sas --search "pr2search()" "$@" || true
@@ -214,4 +219,4 @@ else
     run "$@"
 fi
 
-exit 0
+exit 0
\ No newline at end of file
diff --git a/src/fd_integration/partial_state.cc b/src/fd_integration/partial_state.cc
index bf60e8b..1d948c7 100644
--- a/src/fd_integration/partial_state.cc
+++ b/src/fd_integration/partial_state.cc
@@ -59,7 +59,8 @@ vector< pair<int,int> > * PR2State::varvals() {
 }
 
 bool PR2State::triggers(const EffectProxy &effect) {
-    for (auto cond : effect.get_conditions()) {
+    for (int i = 0; i < effect.get_conditions().size(); i++) {
+        FactProxy cond = effect.get_conditions()[i];
         if (vars[cond.get_variable().get_id()] != cond.get_value())
             return false;
     }
@@ -78,7 +79,8 @@ PR2State * PR2State::progress(const PR2OperatorProxy &op) {
 
     PR2State * next = new PR2State(*this);
 
-    for (auto eff : op.get_all_effects()) {
+    for (int i = 0; i < op.get_all_effects().size(); i++) {
+        EffectProxy eff = op.get_all_effects()[i];
         if (triggers(eff))
             (*next)[eff.get_fact().get_variable().get_id()] = eff.get_fact().get_value();
     }
@@ -101,7 +103,8 @@ PR2State * PR2State::regress(const PR2OperatorProxy &op, PR2State *context) {
     std::set<int> seen;
 
     // Remove all of the effect settings
-    for (auto eff : op.get_all_effects()) {
+    for (int i = 0; i < op.get_all_effects().size(); i++) {
+        EffectProxy eff = op.get_all_effects()[i];
         if (context->triggers(eff)) {
             int var = eff.get_fact().get_variable().get_id();
             int val = eff.get_fact().get_value();
@@ -116,8 +119,10 @@ PR2State * PR2State::regress(const PR2OperatorProxy &op, PR2State *context) {
                 cout << "Effect: " << endl;
                 op.dump();
 
-                for (auto cond : eff.get_conditions())
+                for (int j = 0; j < eff.get_conditions().size(); j++) {
+                    FactProxy cond = eff.get_conditions()[j];
                     cout << "  " << cond.get_variable().get_id() << " = " << cond.get_value() << endl;
+                }
             }
 
             assert(!inconsistent);
@@ -125,21 +130,23 @@ PR2State * PR2State::regress(const PR2OperatorProxy &op, PR2State *context) {
         }
     }
 
-    // // Remove all of the prevail effects
-    // for (auto pre : op.get_preconditions()) {
-    //     int var = pre.get_variable().get_id();
-    //     int val = pre.get_value();
-    //     if (0 == seen.count(var) && context->triggers(pre)) {
-    //         (*prev)[var] = -1;
-    //     }
-    // }
+    // Remove all of the prevail effects
+    for (int i = 0; i < op.get_preconditions().size(); i++) {
+        FactProxy pre = op.get_preconditions()[i];
+        int var = pre.get_variable().get_id();
+        int val = pre.get_value();
+        if (0 == seen.count(var) && context->triggers(pre)) {
+            (*prev)[var] = -1;
+        }
+    }
     
     // Assign the values from the context that are mentioned in conditions
     for (auto var : *(PR2.general.conditional_mask[op.nondet_index]))
         (*prev)[var] = (*context)[var];
 
     // Add all of the precondition conditions
-    for (FactProxy pre : op.get_preconditions()) {
+    for (int i = 0; i < op.get_preconditions().size(); i++) {
+        FactProxy pre = op.get_preconditions()[i];
         //if the precondition is an derived predicate, find relevant variables and undefine
         if (pre.get_variable().is_derived()) {
             relevant_axioms.push_back(pre.get_pair().var);   
@@ -149,22 +156,22 @@ PR2State * PR2State::regress(const PR2OperatorProxy &op, PR2State *context) {
         }
     }
 
-    // set<int> required_basics = get_relevant_basic_variables(relevant_axioms);
+    set<int> required_basics = get_relevant_basic_variables(relevant_axioms);
 
-    // for (int index : required_basics)
-    // {
-    //     int new_index = PR2.proxy->get_variables()[index].get_id();
-    //     (*prev)[new_index] = (*context)[new_index];
-    // }
+    for (int index : required_basics)
+    {
+        int new_index = PR2.proxy->get_variables()[index].get_id();
+        (*prev)[new_index] = (*context)[new_index];
+    }
 
-    // //Undefine all axioms
-    // for (int i = 0; i < vars.size(); i++) {
-    //     VariablesProxy variables = PR2.proxy->get_variables();
-    //     if (variables[i].is_derived())
-    //     {
-    //         (*prev)[i] = -1;
-    //     }
-    // }
+    //Undefine all axioms
+    for (int i = 0; i < vars.size(); i++) {
+        VariablesProxy variables = PR2.proxy->get_variables();
+        if (variables[i].is_derived())
+        {
+            (*prev)[i] = -1;
+        }
+    }
 
     return prev;
 }
@@ -182,9 +189,11 @@ set<int> get_relevant_basic_variables(vector<int> target_axioms) {
         int target = target_axioms.back();
         target_axioms.pop_back();
 
-        for (OperatorProxy op : axioms) {
+        for (int i = 0; i < axioms.size(); i++) {
+            OperatorProxy op = axioms[i];
             if (op.get_effects()[0].get_fact().get_pair().var == target) {
-                for (FactProxy pre : op.get_effects()[0].get_conditions()) {
+                for (int j = 0; j < op.get_effects()[0].get_conditions().size(); j++) {
+                    FactProxy pre = op.get_effects()[0].get_conditions()[j];
                     int index = pre.get_variable().get_id();
                     if (pre.get_variable().is_derived()) {
                         if (find(seen.begin(), seen.end(), index) == seen.end()) {
diff --git a/src/fd_integration/pr2_search_algorithm.cc b/src/fd_integration/pr2_search_algorithm.cc
index 0d66413..084a4a5 100644
--- a/src/fd_integration/pr2_search_algorithm.cc
+++ b/src/fd_integration/pr2_search_algorithm.cc
@@ -67,7 +67,7 @@ unique_ptr<SearchAlgorithm> PR2Search::get_search_engine() {
         numeric_limits<int>::max(),
         PR2.time.limit - PR2.time.time_taken(),
         "PR2 Search",
-        utils::Verbosity::DEBUG,
+        utils::Verbosity::SILENT,
         weak_task,
         new DeadendAwareSuccessorGenerator());
 
diff --git a/src/fond_search.cc b/src/fond_search.cc
index bef4afd..bfc6aa8 100644
--- a/src/fond_search.cc
+++ b/src/fond_search.cc
@@ -546,10 +546,6 @@ void PR2SearchNode::poison() {
     if (0 == previous_nodes.size())
         poison_recurse();
 
-    if (!poisoned) {
-        poisoned = true;
-    }
-
     assert(poisoned);
 }
 
diff --git a/src/partial_state_graph.cc b/src/partial_state_graph.cc
index a27947d..dc94447 100644
--- a/src/partial_state_graph.cc
+++ b/src/partial_state_graph.cc
@@ -215,9 +215,8 @@ void PSGraph::full_marking() {
     // Identify all of the solsteps that aren't marked strong cyclic
     set< SolutionStep * > unmarked;
     for (auto s : steps)
-        if (!(s->is_sc)) {
+        if (!(s->is_sc))
             unmarked.insert(s);
-        }
 
     // For any that possibly veer off course, flag them as not strong cyclic
     set< SolutionStep * > not_sc;