diff --git a/core/downward b/core/downward
index 099f833..190df6f 160000
--- a/core/downward
+++ b/core/downward
@@ -1 +1 @@
-Subproject commit 099f8330d23d04c78f432762e800f120174f33ba
+Subproject commit 190df6f6635269336ed3b17b65ac26ffd8418814
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
diff --git a/pr2 b/pr2
index a7591e7..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"
diff --git a/pr2-scripts/snapshot-viz/js/snapshots.js b/pr2-scripts/snapshot-viz/js/snapshots.js
index d16429c..28b03d2 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,
@@ -22,117 +22,257 @@ 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": "0x555555a7c730",
         "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"
+          }
+         ]
+      },
+      "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-forward-door-open l2 l3 d3 d4",
-        "state": "0x1cceaa0",
+        "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-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",
+              "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-forward-door-open_DETDUP_3 l2 l3 d3 d4",
+              "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-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,
+      "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"
+          }
          ]
       },
-      "4": {
-        "expected_successor": "3",
-        "action": "pick-key l1",
-        "state": "0x1cce140",
-        "distance": 4,
+      "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": "pick-key l1",
-              "successor_id": "3"
+              "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"
           }
          ]
       },
-      "3": {
-        "expected_successor": "2",
-        "action": "move-forward-door-open l1 l2 d2 d3",
-        "state": "0x1cce490",
-        "distance": 3,
+      "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-forward-door-open_DETDUP_1 l1 l2 d2 d3",
-              "successor_id": "2"
+              "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-forward-door-open_DETDUP_2 l1 l2 d2 d3",
+              "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-forward-door-open_DETDUP_3 l1 l2 d2 d3",
+              "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-forward-door-open_DETDUP_4 l1 l2 d2 d3",
+              "outcome_label": "move-car_detdup_2 l-1-1 l-2-1",
               "successor_id": "-1"
           }
          ]
@@ -141,71 +281,122 @@ var snapshots = {
     "edges" : [
         ["1", ">", "0"],
         ["1", ">", "-1"],
+        ["4", ">", "3"],
+        ["4", ">", "-1"],
         ["2", ">", "1"],
         ["2", ">", "-1"],
-        ["2", ">", "-1"],
-        ["2", ">", "-1"],
-        ["4", ">", "3"],
         ["3", ">", "2"],
         ["3", ">", "-1"],
-        ["3", ">", "-1"],
-        ["3", ">", "-1"]
+        ["5", ">", "4"],
+        ["5", ">", "-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)"
-      ],
-      "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)"
+      "0x555555a450b0": [
+        "Atom vehicle-at(l-1-7)"
+      ],
+      "0x555555a7c730": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-6)"
+      ],
+      "0x555555a71ca0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-3)"
+      ],
+      "0x555555a7d8e0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-5)"
+      ],
+      "0x555555a7c540": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-4)"
+      ],
+      "0x555555a7a760": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-2)"
+      ],
+      "0x555555a7ec20": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-7-1)"
+      ],
+      "0x555555a7ee00": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-1)"
+      ],
+      "0x555555a7f040": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
+      ],
+      "0x555555a7f2a0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
+      ],
+      "0x555555a7f470": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
+      ],
+      "0x555555a7f660": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
+      ],
+      "0x555555a7f830": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
       ]
      }
   },
   "policy": "Coming soon...",
   "ps2fs": {
-    1: {6: 6, },
-    2: {2: 2, },
-    4: {0: 0, },
-    3: {1: 1, },
-  },
-  "prpsearchnodes": {
+    1: {21: 21, },
+    4: {15: 15, },
+    2: {19: 19, },
+    3: {17: 17, },
+    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,
@@ -219,21 +410,21 @@ var snapshots = {
       subsumed: 0,
   },
   5: {
-      name: "(5)",
+      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",
+      name: "(6)",
       open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   7: {
-      name: "(7)",
+      name: "(7) move-car l-5-1 l-6-1",
       open: 1,
       init: 0,
       poisoned: 0,
@@ -247,7 +438,7 @@ var snapshots = {
       subsumed: 0,
   },
   9: {
-      name: "(9)",
+      name: "(9) move-car l-6-1 l-7-1",
       open: 1,
       init: 0,
       poisoned: 0,
@@ -261,135 +452,379 @@ var snapshots = {
       subsumed: 0,
   },
   11: {
-      name: "(11)",
+      name: "(11) move-car l-7-1 l-6-2",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  12: {
+      name: "(12)",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  13: {
+      name: "(13) move-car l-6-2 l-5-3",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  14: {
+      name: "(14)",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  15: {
+      name: "(15) move-car l-5-3 l-4-4",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  16: {
+      name: "(16)",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  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: 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],
+    [11,13],
+    [11,14],
+    [13,15],
+    [13,16],
+    [15,17],
+    [15,18],
+    [17,19],
+    [17,20],
+    [19,21],
+    [19,22],
+    [21,23],
+    [21,24],
   ],
 },
 },
 2: {
 "solution": {
-  "type": "(case-4) Hooking Up [node 11]",
-  "score": 0.243,
-  "size": 5,
+  "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": "0x555555a7c730",
         "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",
-        "distance": 2,
+      "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-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-5-3 l-4-4",
+              "successor_id": "3"
           },
           {
-              "outcome_label": "move-forward-door-open_DETDUP_4 l2 l3 d3 d4",
+              "outcome_label": "move-car_detdup_2 l-5-3 l-4-4",
               "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,
+      "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": "pick-key l1",
-              "successor_id": "3"
+              "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-forward-door-open l1 l2 d2 d3",
-        "state": "0x1cce490",
+        "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-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",
+              "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-forward-door-open_DETDUP_4 l1 l2 d2 d3",
+              "outcome_label": "move-car_detdup_2 l-1-1 l-2-1",
               "successor_id": "-1"
           }
          ]
@@ -398,72 +833,123 @@ var snapshots = {
     "edges" : [
         ["1", ">", "0"],
         ["1", ">", "0"],
+        ["4", ">", "3"],
+        ["4", ">", "-1"],
         ["2", ">", "1"],
         ["2", ">", "-1"],
-        ["2", ">", "-1"],
-        ["2", ">", "-1"],
-        ["4", ">", "3"],
         ["3", ">", "2"],
         ["3", ">", "-1"],
-        ["3", ">", "-1"],
-        ["3", ">", "-1"]
+        ["5", ">", "4"],
+        ["5", ">", "-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)"
-      ],
-      "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)"
+      "0x555555a450b0": [
+        "Atom vehicle-at(l-1-7)"
+      ],
+      "0x555555a7c730": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-6)"
+      ],
+      "0x555555a71ca0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-3)"
+      ],
+      "0x555555a7d8e0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-5)"
+      ],
+      "0x555555a7c540": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-4)"
+      ],
+      "0x555555a7a760": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-2)"
+      ],
+      "0x555555a7ec20": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-7-1)"
+      ],
+      "0x555555a7ee00": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-1)"
+      ],
+      "0x555555a7f040": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
+      ],
+      "0x555555a7f2a0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
+      ],
+      "0x555555a7f470": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
+      ],
+      "0x555555a7f660": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
+      ],
+      "0x555555a7f830": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
       ]
      }
   },
   "policy": "Coming soon...",
   "ps2fs": {
-    1: {6: 6, },
-    2: {2: 2, },
-    0: {11: 11, },
-    4: {0: 0, },
-    3: {1: 1, },
-  },
-  "prpsearchnodes": {
+    0: {24: 24, },
+    1: {21: 21, },
+    4: {15: 15, },
+    2: {19: 19, },
+    3: {17: 17, },
+    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,
@@ -477,21 +963,21 @@ var snapshots = {
       subsumed: 0,
   },
   5: {
-      name: "(5)",
+      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",
+      name: "(6)",
       open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   7: {
-      name: "(7)",
+      name: "(7) move-car l-5-1 l-6-1",
       open: 1,
       init: 0,
       poisoned: 0,
@@ -505,7 +991,7 @@ var snapshots = {
       subsumed: 0,
   },
   9: {
-      name: "(9)",
+      name: "(9) move-car l-6-1 l-7-1",
       open: 1,
       init: 0,
       poisoned: 0,
@@ -519,135 +1005,379 @@ var snapshots = {
       subsumed: 0,
   },
   11: {
-      name: "(11)",
+      name: "(11) move-car l-7-1 l-6-2",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  12: {
+      name: "(12)",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  13: {
+      name: "(13) move-car l-6-2 l-5-3",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  14: {
+      name: "(14)",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  15: {
+      name: "(15) move-car l-5-3 l-4-4",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  16: {
+      name: "(16)",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  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],
+    [11,13],
+    [11,14],
+    [13,15],
+    [13,16],
+    [15,17],
+    [15,18],
+    [17,19],
+    [17,20],
+    [19,21],
+    [19,22],
+    [21,23],
+    [21,24],
   ],
 },
 },
 3: {
 "solution": {
-  "type": "(case-3) Predefined Path [node 10]",
-  "score": 0.243,
-  "size": 5,
+  "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": "0x555555a7c730",
         "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"
           }
          ]
       },
+      "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-forward-door-open l2 l3 d3 d4",
-        "state": "0x1cceaa0",
+        "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-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",
+              "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-forward-door-open_DETDUP_3 l2 l3 d3 d4",
-              "successor_id": "-1"
+              "outcome_label": "move-car_detdup_1 l-4-4 l-3-5",
+              "successor_id": "2"
           },
           {
-              "outcome_label": "move-forward-door-open_DETDUP_4 l2 l3 d3 d4",
+              "outcome_label": "move-car_detdup_2 l-4-4 l-3-5",
               "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,
+      "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": "pick-key l1",
-              "successor_id": "3"
+              "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"
           }
          ]
       },
-      "3": {
-        "expected_successor": "2",
-        "action": "move-forward-door-open l1 l2 d2 d3",
-        "state": "0x1cce490",
-        "distance": 3,
+      "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-forward-door-open_DETDUP_1 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_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": "0x555555a7ee00",
+        "distance": 7,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 0,
+        "successors": [
           {
-              "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"
+          }
+         ]
+      },
+      "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"
           }
          ]
@@ -656,72 +1386,123 @@ var snapshots = {
     "edges" : [
         ["1", ">", "0"],
         ["1", ">", "0"],
+        ["4", ">", "3"],
+        ["4", ">", "-1"],
         ["2", ">", "1"],
         ["2", ">", "-1"],
-        ["2", ">", "-1"],
-        ["2", ">", "-1"],
-        ["4", ">", "3"],
         ["3", ">", "2"],
         ["3", ">", "-1"],
-        ["3", ">", "-1"],
-        ["3", ">", "-1"]
+        ["5", ">", "4"],
+        ["5", ">", "-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)"
-      ],
-      "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)"
+      "0x555555a450b0": [
+        "Atom vehicle-at(l-1-7)"
+      ],
+      "0x555555a7c730": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-6)"
+      ],
+      "0x555555a71ca0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-3)"
+      ],
+      "0x555555a7d8e0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-5)"
+      ],
+      "0x555555a7c540": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-4)"
+      ],
+      "0x555555a7a760": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-2)"
+      ],
+      "0x555555a7ec20": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-7-1)"
+      ],
+      "0x555555a7ee00": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-1)"
+      ],
+      "0x555555a7f040": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
+      ],
+      "0x555555a7f2a0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
+      ],
+      "0x555555a7f470": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
+      ],
+      "0x555555a7f660": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
+      ],
+      "0x555555a7f830": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
       ]
      }
   },
   "policy": "Coming soon...",
   "ps2fs": {
-    1: {6: 6, },
-    2: {2: 2, },
-    0: {10: 10, 11: 11, },
-    4: {0: 0, },
-    3: {1: 1, },
-  },
-  "prpsearchnodes": {
+    0: {23: 23, 24: 24, },
+    1: {21: 21, },
+    4: {15: 15, },
+    2: {19: 19, },
+    3: {17: 17, },
+    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,
@@ -735,21 +1516,21 @@ var snapshots = {
       subsumed: 0,
   },
   5: {
-      name: "(5)",
+      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",
+      name: "(6)",
       open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   7: {
-      name: "(7)",
+      name: "(7) move-car l-5-1 l-6-1",
       open: 1,
       init: 0,
       poisoned: 0,
@@ -763,7 +1544,7 @@ var snapshots = {
       subsumed: 0,
   },
   9: {
-      name: "(9)",
+      name: "(9) move-car l-6-1 l-7-1",
       open: 1,
       init: 0,
       poisoned: 0,
@@ -771,242 +1552,828 @@ var snapshots = {
   },
   10: {
       name: "(10)",
-      open: 0,
+      open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   11: {
-      name: "(11)",
+      name: "(11) move-car l-7-1 l-6-2",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  12: {
+      name: "(12)",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  13: {
+      name: "(13) move-car l-6-2 l-5-3",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  14: {
+      name: "(14)",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  15: {
+      name: "(15) move-car l-5-3 l-4-4",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  16: {
+      name: "(16)",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  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],
+    [11,13],
+    [11,14],
+    [13,15],
+    [13,16],
+    [15,17],
+    [15,18],
+    [17,19],
+    [17,20],
+    [19,21],
+    [19,22],
+    [21,23],
+    [21,24],
   ],
 },
 },
 4: {
 "solution": {
-  "type": "(case-5) New Path [node 9]",
-  "score": 0.509,
-  "size": 6,
+  "type": "(case-5) New Path [node 22]",
+  "score": 0.001,
+  "size": 25,
   "round": 1,
 "psgraph": {
 
-    "init": "4",
+    "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-forward-last-door-open l3 l4 d4",
-        "state": "0x1ccf170",
+        "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-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"
           }
          ]
       },
+      "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-forward-door-open l2 l3 d3 d4",
-        "state": "0x1cceaa0",
+        "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-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",
+              "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-forward-door-open_DETDUP_3 l2 l3 d3 d4",
+              "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-forward-door-open_DETDUP_4 l2 l3 d3 d4",
-              "successor_id": "5"
+              "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,
+      "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"
+          }
          ]
       },
-      "4": {
-        "expected_successor": "3",
-        "action": "pick-key l1",
-        "state": "0x1cce140",
-        "distance": 4,
+      "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": "pick-key l1",
-              "successor_id": "3"
+              "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"
           }
          ]
       },
-      "3": {
-        "expected_successor": "2",
-        "action": "move-forward-door-open l1 l2 d2 d3",
-        "state": "0x1cce490",
-        "distance": 3,
+      "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-forward-door-open_DETDUP_1 l1 l2 d2 d3",
-              "successor_id": "2"
+              "outcome_label": "move-car_detdup_1 l-5-1 l-6-1",
+              "successor_id": "7"
           },
           {
-              "outcome_label": "move-forward-door-open_DETDUP_2 l1 l2 d2 d3",
+              "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-forward-door-open_DETDUP_3 l1 l2 d2 d3",
+              "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-forward-door-open_DETDUP_4 l1 l2 d2 d3",
+              "outcome_label": "move-car_detdup_2 l-3-1 l-4-1",
               "successor_id": "-1"
           }
          ]
       },
-      "5": {
-        "expected_successor": "0",
-        "action": "move-forward-last-door-closed l3 l4 d4",
-        "state": "0x1cd04a0",
-        "distance": 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-forward-last-door-closed_DETDUP_1 l3 l4 d4",
-              "successor_id": "0"
+              "outcome_label": "move-car_detdup_1 l-2-1 l-3-1",
+              "successor_id": "10"
           },
           {
-              "outcome_label": "move-forward-last-door-closed_DETDUP_2 l3 l4 d4",
+              "outcome_label": "move-car_detdup_2 l-2-1 l-3-1",
               "successor_id": "-1"
           }
          ]
-      }
-    },
-    "edges" : [
-        ["1", ">", "0"],
-        ["1", ">", "0"],
-        ["2", ">", "1"],
-        ["2", ">", "-1"],
-        ["2", ">", "-1"],
-        ["2", ">", "5"],
+      },
+      "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",
+        "state": "0x555555aa9c60",
+        "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": "16"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-6-2 l-5-3",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "18": {
+        "expected_successor": "17",
+        "action": "move-car l-7-1 l-6-2",
+        "state": "0x555555a84e70",
+        "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": "17"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-7-1 l-6-2",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "19": {
+        "expected_successor": "18",
+        "action": "move-car l-6-1 l-7-1",
+        "state": "0x555555a85160",
+        "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": "18"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-6-1 l-7-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "20": {
+        "expected_successor": "19",
+        "action": "move-car l-5-1 l-6-1",
+        "state": "0x555555a85450",
+        "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": "19"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-5-1 l-6-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "21": {
+        "expected_successor": "20",
+        "action": "move-car l-4-1 l-5-1",
+        "state": "0x555555a85740",
+        "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": "20"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-4-1 l-5-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "22": {
+        "expected_successor": "21",
+        "action": "move-car l-3-1 l-4-1",
+        "state": "0x555555a85a30",
+        "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": "21"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-3-1 l-4-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "23": {
+        "expected_successor": "22",
+        "action": "move-car l-2-1 l-3-1",
+        "state": "0x555555a85d20",
+        "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": "22"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-2-1 l-3-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "24": {
+        "expected_successor": "23",
+        "action": "move-car l-1-1 l-2-1",
+        "state": "0x555555a86010",
+        "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": "23"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-1-1 l-2-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "14": {
+        "expected_successor": "1",
+        "action": "move-car l-3-5 l-2-6",
+        "state": "0x555555aa9340",
+        "distance": 2,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 1,
+        "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": "13"
+          }
+         ]
+      },
+      "15": {
+        "expected_successor": "14",
+        "action": "move-car l-4-4 l-3-5",
+        "state": "0x555555aa9700",
+        "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": "14"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-4-4 l-3-5",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "16": {
+        "expected_successor": "15",
+        "action": "move-car l-5-3 l-4-4",
+        "state": "0x555555aa99b0",
+        "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": "15"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-5-3 l-4-4",
+              "successor_id": "-1"
+          }
+         ]
+      }
+    },
+    "edges" : [
+        ["1", ">", "0"],
+        ["1", ">", "0"],
         ["4", ">", "3"],
+        ["4", ">", "-1"],
+        ["2", ">", "1"],
+        ["2", ">", "-1"],
         ["3", ">", "2"],
         ["3", ">", "-1"],
-        ["3", ">", "-1"],
-        ["3", ">", "-1"],
-        ["5", ">", "0"],
-        ["5", ">", "-1"]
+        ["5", ">", "4"],
+        ["5", ">", "-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"],
+        ["13", ">", "1"],
+        ["17", ">", "16"],
+        ["17", ">", "-1"],
+        ["18", ">", "17"],
+        ["18", ">", "-1"],
+        ["19", ">", "18"],
+        ["19", ">", "-1"],
+        ["20", ">", "19"],
+        ["20", ">", "-1"],
+        ["21", ">", "20"],
+        ["21", ">", "-1"],
+        ["22", ">", "21"],
+        ["22", ">", "-1"],
+        ["23", ">", "22"],
+        ["23", ">", "-1"],
+        ["24", ">", "23"],
+        ["24", ">", "-1"],
+        ["14", ">", "1"],
+        ["14", ">", "13"],
+        ["15", ">", "14"],
+        ["15", ">", "-1"],
+        ["16", ">", "15"],
+        ["16", ">", "-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)"
-      ],
-      "0x1cd04a0": [
-        "Atom hold-key()",
-        "Atom closed(d4)",
-        "Atom player-at(l3)"
+      "0x555555a450b0": [
+        "Atom vehicle-at(l-1-7)"
+      ],
+      "0x555555a7c730": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-6)"
+      ],
+      "0x555555a71ca0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-3)"
+      ],
+      "0x555555a7d8e0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-5)"
+      ],
+      "0x555555a7c540": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-4)"
+      ],
+      "0x555555a7a760": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-2)"
+      ],
+      "0x555555a7ec20": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-7-1)"
+      ],
+      "0x555555a7ee00": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-1)"
+      ],
+      "0x555555a7f040": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
+      ],
+      "0x555555a7f2a0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
+      ],
+      "0x555555a7f470": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
+      ],
+      "0x555555a7f660": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
+      ],
+      "0x555555a7f830": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
+      ],
+      "0x555555aa93f0": [
+        "Atom spare-in(l-2-6)",
+        "Atom vehicle-at(l-2-6)"
+      ],
+      "0x555555aa9c60": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-2)"
+      ],
+      "0x555555a84e70": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-7-1)"
+      ],
+      "0x555555a85160": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-1)"
+      ],
+      "0x555555a85450": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
+      ],
+      "0x555555a85740": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "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)"
+      ],
+      "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)"
+      ],
+      "0x555555aa99b0": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-3)"
       ]
      }
   },
   "policy": "Coming soon...",
   "ps2fs": {
-    1: {6: 6, },
-    2: {2: 2, },
-    0: {10: 10, 11: 11, },
-    4: {0: 0, },
-    3: {1: 1, },
-    5: {9: 9, },
-  },
-  "prpsearchnodes": {
+    0: {23: 23, 24: 24, },
+    1: {21: 21, },
+    4: {},
+    2: {},
+    3: {},
+    5: {},
+    6: {},
+    7: {},
+    8: {},
+    9: {},
+    10: {},
+    11: {},
+    12: {},
+    13: {22: 22, },
+    17: {13: 13, },
+    18: {11: 11, },
+    19: {9: 9, },
+    20: {7: 7, },
+    21: {5: 5, },
+    22: {3: 3, },
+    23: {1: 1, },
+    24: {0: 0, },
+    14: {19: 19, },
+    15: {17: 17, },
+    16: {15: 15, },
+  },
+  "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,
@@ -1020,21 +2387,21 @@ var snapshots = {
       subsumed: 0,
   },
   5: {
-      name: "(5)",
+      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",
+      name: "(6)",
       open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   7: {
-      name: "(7)",
+      name: "(7) move-car l-5-1 l-6-1",
       open: 1,
       init: 0,
       poisoned: 0,
@@ -1048,22 +2415,22 @@ var snapshots = {
       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,
@@ -1076,759 +2443,598 @@ var snapshots = {
       subsumed: 0,
   },
   13: {
-      name: "(13)",
+      name: "(13) move-car l-6-2 l-5-3",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  14: {
+      name: "(14)",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  15: {
+      name: "(15) move-car l-5-3 l-4-4",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  16: {
+      name: "(16)",
+      open: 1,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  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) changetire l-2-6",
+      open: 0,
+      init: 0,
+      poisoned: 0,
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-      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) move-forward-last-door-closed l3 l4 d4",
-      open: 0,
-      init: 0,
-      poisoned: 0,
-      subsumed: 0,
-  },
-  10: {
-      name: "(10)",
-      open: 0,
-      init: 0,
-      poisoned: 0,
-      subsumed: 0,
-  },
-  11: {
-      name: "(11)",
-      open: 0,
-      init: 0,
-      poisoned: 0,
-      subsumed: 0,
-  },
-  12: {
-      name: "(12)",
-      open: 0,
-      init: 0,
-      poisoned: 0,
-      subsumed: 0,
-  },
-  13: {
-      name: "(13)",
-      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],
-    [9,12],
-    [9,13],
-  ],
-},
-},
-7: {
-"solution": {
-  "type": "(case-4) Hooking Up [node 8]",
-  "score": 0.509,
-  "size": 6,
-  "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,
+      },
+      "17": {
+        "expected_successor": "16",
+        "action": "move-car l-6-2 l-5-3",
+        "state": "0x555555aa9c60",
+        "distance": 5,
         "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-6-2 l-5-3",
+              "successor_id": "16"
           },
           {
-              "outcome_label": "move-forward-last-door-open_DETDUP_2 l3 l4 d4",
-              "successor_id": "0"
+              "outcome_label": "move-car_detdup_2 l-6-2 l-5-3",
+              "successor_id": "-1"
           }
          ]
       },
-      "2": {
-        "expected_successor": "1",
-        "action": "move-forward-door-open l2 l3 d3 d4",
-        "state": "0x1cceaa0",
-        "distance": 2,
+      "18": {
+        "expected_successor": "17",
+        "action": "move-car l-7-1 l-6-2",
+        "state": "0x555555a84e70",
+        "distance": 6,
         "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-car_detdup_1 l-7-1 l-6-2",
+              "successor_id": "17"
           },
           {
-              "outcome_label": "move-forward-door-open_DETDUP_2 l2 l3 d3 d4",
+              "outcome_label": "move-car_detdup_2 l-7-1 l-6-2",
               "successor_id": "-1"
-          },
+          }
+         ]
+      },
+      "19": {
+        "expected_successor": "18",
+        "action": "move-car l-6-1 l-7-1",
+        "state": "0x555555a85160",
+        "distance": 7,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 0,
+        "successors": [
           {
-              "outcome_label": "move-forward-door-open_DETDUP_3 l2 l3 d3 d4",
-              "successor_id": "1"
+              "outcome_label": "move-car_detdup_1 l-6-1 l-7-1",
+              "successor_id": "18"
           },
           {
-              "outcome_label": "move-forward-door-open_DETDUP_4 l2 l3 d3 d4",
-              "successor_id": "5"
+              "outcome_label": "move-car_detdup_2 l-6-1 l-7-1",
+              "successor_id": "-1"
           }
          ]
       },
-      "0": {
-        "expected_successor": false,
-        "action": "---",
-        "state": "0x1cb01a0",
-        "distance": 0,
-        "is_relevant": 1,
-        "is_goal": 1,
-        "is_sc": 1,
+      "20": {
+        "expected_successor": "19",
+        "action": "move-car l-5-1 l-6-1",
+        "state": "0x555555a85450",
+        "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": "19"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-5-1 l-6-1",
+              "successor_id": "-1"
+          }
          ]
       },
-      "4": {
-        "expected_successor": "3",
-        "action": "pick-key l1",
-        "state": "0x1cce140",
-        "distance": 4,
+      "21": {
+        "expected_successor": "20",
+        "action": "move-car l-4-1 l-5-1",
+        "state": "0x555555a85740",
+        "distance": 9,
         "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-4-1 l-5-1",
+              "successor_id": "20"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-4-1 l-5-1",
+              "successor_id": "-1"
           }
          ]
       },
-      "3": {
-        "expected_successor": "2",
-        "action": "move-forward-door-open l1 l2 d2 d3",
-        "state": "0x1cce490",
-        "distance": 3,
+      "22": {
+        "expected_successor": "21",
+        "action": "move-car l-3-1 l-4-1",
+        "state": "0x555555a85a30",
+        "distance": 10,
         "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-3-1 l-4-1",
+              "successor_id": "21"
           },
           {
-              "outcome_label": "move-forward-door-open_DETDUP_2 l1 l2 d2 d3",
+              "outcome_label": "move-car_detdup_2 l-3-1 l-4-1",
               "successor_id": "-1"
+          }
+         ]
+      },
+      "23": {
+        "expected_successor": "22",
+        "action": "move-car l-2-1 l-3-1",
+        "state": "0x555555a85d20",
+        "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": "22"
           },
           {
-              "outcome_label": "move-forward-door-open_DETDUP_3 l1 l2 d2 d3",
+              "outcome_label": "move-car_detdup_2 l-2-1 l-3-1",
               "successor_id": "-1"
+          }
+         ]
+      },
+      "24": {
+        "expected_successor": "23",
+        "action": "move-car l-1-1 l-2-1",
+        "state": "0x555555a86010",
+        "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": "23"
           },
           {
-              "outcome_label": "move-forward-door-open_DETDUP_4 l1 l2 d2 d3",
+              "outcome_label": "move-car_detdup_2 l-1-1 l-2-1",
               "successor_id": "-1"
           }
          ]
       },
-      "5": {
-        "expected_successor": "0",
-        "action": "move-forward-last-door-closed l3 l4 d4",
-        "state": "0x1cd04a0",
-        "distance": 1,
+      "14": {
+        "expected_successor": "1",
+        "action": "move-car l-3-5 l-2-6",
+        "state": "0x555555aa9340",
+        "distance": 2,
         "is_relevant": 0,
         "is_goal": 0,
         "is_sc": 1,
         "successors": [
           {
-              "outcome_label": "move-forward-last-door-closed_DETDUP_1 l3 l4 d4",
-              "successor_id": "0"
+              "outcome_label": "move-car_detdup_1 l-3-5 l-2-6",
+              "successor_id": "1"
           },
           {
-              "outcome_label": "move-forward-last-door-closed_DETDUP_2 l3 l4 d4",
-              "successor_id": "0"
+              "outcome_label": "move-car_detdup_2 l-3-5 l-2-6",
+              "successor_id": "13"
+          }
+         ]
+      },
+      "15": {
+        "expected_successor": "14",
+        "action": "move-car l-4-4 l-3-5",
+        "state": "0x555555aa9700",
+        "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": "14"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-4-4 l-3-5",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "16": {
+        "expected_successor": "15",
+        "action": "move-car l-5-3 l-4-4",
+        "state": "0x555555aa99b0",
+        "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": "15"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-5-3 l-4-4",
+              "successor_id": "-1"
           }
          ]
       }
@@ -1836,80 +3042,217 @@ var snapshots = {
     "edges" : [
         ["1", ">", "0"],
         ["1", ">", "0"],
+        ["4", ">", "3"],
+        ["4", ">", "-1"],
         ["2", ">", "1"],
         ["2", ">", "-1"],
-        ["2", ">", "1"],
-        ["2", ">", "5"],
-        ["4", ">", "3"],
         ["3", ">", "2"],
         ["3", ">", "-1"],
-        ["3", ">", "-1"],
-        ["3", ">", "-1"],
-        ["5", ">", "0"],
-        ["5", ">", "0"]
+        ["5", ">", "4"],
+        ["5", ">", "-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"],
+        ["13", ">", "1"],
+        ["17", ">", "16"],
+        ["17", ">", "-1"],
+        ["18", ">", "17"],
+        ["18", ">", "-1"],
+        ["19", ">", "18"],
+        ["19", ">", "-1"],
+        ["20", ">", "19"],
+        ["20", ">", "-1"],
+        ["21", ">", "20"],
+        ["21", ">", "-1"],
+        ["22", ">", "21"],
+        ["22", ">", "-1"],
+        ["23", ">", "22"],
+        ["23", ">", "-1"],
+        ["24", ">", "23"],
+        ["24", ">", "-1"],
+        ["14", ">", "1"],
+        ["14", ">", "13"],
+        ["15", ">", "14"],
+        ["15", ">", "-1"],
+        ["16", ">", "15"],
+        ["16", ">", "-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)"
-      ],
-      "0x1cd04a0": [
-        "Atom hold-key()",
-        "Atom closed(d4)",
-        "Atom player-at(l3)"
+      "0x555555a450b0": [
+        "Atom vehicle-at(l-1-7)"
+      ],
+      "0x555555a7c730": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-6)"
+      ],
+      "0x555555a71ca0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-3)"
+      ],
+      "0x555555a7d8e0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-5)"
+      ],
+      "0x555555a7c540": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-4)"
+      ],
+      "0x555555a7a760": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-2)"
+      ],
+      "0x555555a7ec20": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-7-1)"
+      ],
+      "0x555555a7ee00": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-1)"
+      ],
+      "0x555555a7f040": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
+      ],
+      "0x555555a7f2a0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
+      ],
+      "0x555555a7f470": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
+      ],
+      "0x555555a7f660": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
+      ],
+      "0x555555a7f830": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
+      ],
+      "0x555555aa93f0": [
+        "Atom spare-in(l-2-6)",
+        "Atom vehicle-at(l-2-6)"
+      ],
+      "0x555555aa9c60": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-2)"
+      ],
+      "0x555555a84e70": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-7-1)"
+      ],
+      "0x555555a85160": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-1)"
+      ],
+      "0x555555a85450": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
+      ],
+      "0x555555a85740": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "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)"
+      ],
+      "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)"
+      ],
+      "0x555555aa99b0": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-3)"
       ]
      }
   },
   "policy": "Coming soon...",
   "ps2fs": {
-    1: {6: 6, 8: 8, },
-    2: {2: 2, },
-    0: {13: 13, 12: 12, 10: 10, 11: 11, },
-    4: {0: 0, },
-    3: {1: 1, },
-    5: {9: 9, },
-  },
-  "prpsearchnodes": {
+    0: {23: 23, 24: 24, },
+    1: {21: 21, 25: 25, },
+    4: {},
+    2: {},
+    3: {},
+    5: {},
+    6: {},
+    7: {},
+    8: {},
+    9: {},
+    10: {},
+    11: {},
+    12: {},
+    13: {22: 22, },
+    17: {13: 13, },
+    18: {11: 11, },
+    19: {9: 9, },
+    20: {7: 7, },
+    21: {5: 5, },
+    22: {3: 3, },
+    23: {1: 1, },
+    24: {0: 0, },
+    14: {19: 19, },
+    15: {17: 17, },
+    16: {15: 15, },
+  },
+  "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,
@@ -1923,21 +3266,21 @@ var snapshots = {
       subsumed: 0,
   },
   5: {
-      name: "(5)",
+      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",
+      name: "(6)",
       open: 1,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
   7: {
-      name: "(7)",
+      name: "(7) move-car l-5-1 l-6-1",
       open: 1,
       init: 0,
       poisoned: 0,
@@ -1945,573 +3288,850 @@ var snapshots = {
   },
   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,
-      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],
-    [9,12],
-    [9,13],
-  ],
-},
-},
-8: {
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+        "is_goal": 0,
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+          },
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+              "outcome_label": "move-car_detdup_2 l-6-1 l-7-1",
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+         ]
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+              "outcome_label": "move-car_detdup_2 l-5-1 l-6-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
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+        "is_goal": 0,
+        "is_sc": 0,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-4-1 l-5-1",
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+          {
+              "outcome_label": "move-car_detdup_2 l-4-1 l-5-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
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+        "expected_successor": "21",
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+        "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": "21"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-3-1 l-4-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "23": {
+        "expected_successor": "22",
+        "action": "move-car l-2-1 l-3-1",
+        "state": "0x555555a85d20",
+        "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": "22"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-2-1 l-3-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "24": {
+        "expected_successor": "23",
+        "action": "move-car l-1-1 l-2-1",
+        "state": "0x555555a86010",
+        "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": "23"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-1-1 l-2-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "14": {
+        "expected_successor": "1",
+        "action": "move-car l-3-5 l-2-6",
+        "state": "0x555555aa9340",
+        "distance": 2,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 1,
+        "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": "13"
+          }
+         ]
+      },
+      "15": {
+        "expected_successor": "14",
+        "action": "move-car l-4-4 l-3-5",
+        "state": "0x555555aa9700",
+        "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": "14"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-4-4 l-3-5",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "16": {
+        "expected_successor": "15",
+        "action": "move-car l-5-3 l-4-4",
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+        "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": "15"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-5-3 l-4-4",
+              "successor_id": "-1"
+          }
+         ]
+      }
+    },
+    "edges" : [
+        ["1", ">", "0"],
+        ["1", ">", "0"],
         ["4", ">", "3"],
+        ["4", ">", "-1"],
+        ["2", ">", "1"],
+        ["2", ">", "-1"],
         ["3", ">", "2"],
         ["3", ">", "-1"],
-        ["3", ">", "-1"],
-        ["3", ">", "-1"],
-        ["5", ">", "0"],
-        ["5", ">", "0"]
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+        ["5", ">", "-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"],
+        ["13", ">", "1"],
+        ["17", ">", "16"],
+        ["17", ">", "-1"],
+        ["18", ">", "17"],
+        ["18", ">", "-1"],
+        ["19", ">", "18"],
+        ["19", ">", "-1"],
+        ["20", ">", "19"],
+        ["20", ">", "-1"],
+        ["21", ">", "20"],
+        ["21", ">", "-1"],
+        ["22", ">", "21"],
+        ["22", ">", "-1"],
+        ["23", ">", "22"],
+        ["23", ">", "-1"],
+        ["24", ">", "23"],
+        ["24", ">", "-1"],
+        ["14", ">", "1"],
+        ["14", ">", "13"],
+        ["15", ">", "14"],
+        ["15", ">", "-1"],
+        ["16", ">", "15"],
+        ["16", ">", "-1"]
     ],
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-        "Atom open(d4)",
-        "Atom player-at(l3)"
-      ],
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-        "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)"
-      ],
-      "0x1cd04a0": [
-        "Atom hold-key()",
-        "Atom closed(d4)",
-        "Atom player-at(l3)"
+      "0x555555a450b0": [
+        "Atom vehicle-at(l-1-7)"
+      ],
+      "0x555555a7c730": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-6)"
+      ],
+      "0x555555a71ca0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-3)"
+      ],
+      "0x555555a7d8e0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-5)"
+      ],
+      "0x555555a7c540": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-4)"
+      ],
+      "0x555555a7a760": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-2)"
+      ],
+      "0x555555a7ec20": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-7-1)"
+      ],
+      "0x555555a7ee00": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-1)"
+      ],
+      "0x555555a7f040": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
+      ],
+      "0x555555a7f2a0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
+      ],
+      "0x555555a7f470": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
+      ],
+      "0x555555a7f660": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
+      ],
+      "0x555555a7f830": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
+      ],
+      "0x555555aa93f0": [
+        "Atom spare-in(l-2-6)",
+        "Atom vehicle-at(l-2-6)"
+      ],
+      "0x555555aa9c60": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-2)"
+      ],
+      "0x555555a84e70": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-7-1)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-1)"
+      ],
+      "0x555555a85450": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
+      ],
+      "0x555555a85740": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "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)"
+      ],
+      "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)"
+      ],
+      "0x555555aa99b0": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-3)"
       ]
      }
   },
   "policy": "Coming soon...",
   "ps2fs": {
-    1: {6: 6, 8: 8, },
-    2: {2: 2, },
-    0: {13: 13, 12: 12, 10: 10, 11: 11, },
-    4: {0: 0, },
-    3: {1: 1, },
-    5: {7: 7, 9: 9, },
-  },
-  "prpsearchnodes": {
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+    1: {21: 21, 25: 25, },
+    4: {},
+    2: {},
+    3: {},
+    5: {},
+    6: {},
+    7: {},
+    8: {},
+    9: {},
+    10: {},
+    11: {},
+    12: {},
+    13: {22: 22, },
+    17: {13: 13, },
+    18: {11: 11, },
+    19: {9: 9, },
+    20: {7: 7, },
+    21: {5: 5, },
+    22: {3: 3, },
+    23: {1: 1, },
+    24: {0: 0, },
+    14: {19: 19, },
+    15: {17: 17, },
+    16: {15: 15, },
+  },
+  "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,
@@ -2525,980 +4145,859 @@ var snapshots = {
       subsumed: 0,
   },
   5: {
-      name: "(5)",
+      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: 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],
-    [9,12],
-    [9,13],
-  ],
-},
-},
-10: {
-"solution": {
-  "type": "(case-5) New Path [node 5]",
-  "score": 1,
-  "size": 7,
-  "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",
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-        "distance": 2,
-        "is_relevant": 0,
-        "is_goal": 0,
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-        "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",
-              "successor_id": "1"
-          },
-          {
-              "outcome_label": "move-forward-door-open_DETDUP_4 l2 l3 d3 d4",
-              "successor_id": "5"
-          }
-         ]
-      },
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-        "action": "---",
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-        "successors": [
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-              "outcome_label": "move-forward-door-open_DETDUP_1 l1 l2 d2 d3",
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-          },
-          {
-              "outcome_label": "move-forward-door-open_DETDUP_2 l1 l2 d2 d3",
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-          },
-          {
-              "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",
-              "successor_id": "6"
-          }
-         ]
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-              "outcome_label": "move-forward-door-closed_DETDUP_3 l2 l3 d3 d4",
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-          },
-          {
-              "outcome_label": "move-forward-door-closed_DETDUP_4 l2 l3 d3 d4",
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-        ["1", ">", "0"],
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-        ["2", ">", "5"],
-        ["2", ">", "1"],
-        ["2", ">", "5"],
-        ["4", ">", "3"],
-        ["3", ">", "2"],
-        ["3", ">", "-1"],
-        ["3", ">", "-1"],
-        ["3", ">", "6"],
-        ["5", ">", "0"],
-        ["5", ">", "0"],
-        ["6", ">", "1"],
-        ["6", ">", "-1"],
-        ["6", ">", "-1"],
-        ["6", ">", "-1"]
-    ],
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-        "Atom open(d4)",
-        "Atom player-at(l3)"
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-        "state": "0x1ccf170",
-        "distance": 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": 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-1-1 l-2-1",
+              "successor_id": "11"
           },
           {
-              "outcome_label": "move-forward-last-door-open_DETDUP_2 l3 l4 d4",
-              "successor_id": "0"
+              "outcome_label": "move-car_detdup_2 l-1-1 l-2-1",
+              "successor_id": "-1"
           }
          ]
       },
-      "2": {
+      "13": {
         "expected_successor": "1",
-        "action": "move-forward-door-open l2 l3 d3 d4",
-        "state": "0x1cceaa0",
+        "action": "changetire l-2-6",
+        "state": "0x555555aa93f0",
         "distance": 2,
         "is_relevant": 0,
         "is_goal": 0,
         "is_sc": 1,
         "successors": [
           {
-              "outcome_label": "move-forward-door-open_DETDUP_1 l2 l3 d3 d4",
+              "outcome_label": "changetire l-2-6",
               "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",
-              "successor_id": "1"
-          },
-          {
-              "outcome_label": "move-forward-door-open_DETDUP_4 l2 l3 d3 d4",
-              "successor_id": "5"
           }
          ]
       },
-      "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,
+      "17": {
+        "expected_successor": "16",
+        "action": "move-car l-6-2 l-5-3",
+        "state": "0x555555aa9c60",
+        "distance": 5,
         "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-6-2 l-5-3",
+              "successor_id": "16"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-6-2 l-5-3",
+              "successor_id": "-1"
           }
          ]
       },
-      "3": {
-        "expected_successor": "2",
-        "action": "move-forward-door-open l1 l2 d2 d3",
-        "state": "0x1cce490",
-        "distance": 3,
+      "18": {
+        "expected_successor": "17",
+        "action": "move-car l-7-1 l-6-2",
+        "state": "0x555555a84e70",
+        "distance": 6,
         "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-7-1 l-6-2",
+              "successor_id": "17"
           },
           {
-              "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"
-          },
-          {
-              "outcome_label": "move-forward-door-open_DETDUP_3 l1 l2 d2 d3",
+          }
+         ]
+      },
+      "19": {
+        "expected_successor": "18",
+        "action": "move-car l-6-1 l-7-1",
+        "state": "0x555555a85160",
+        "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": "18"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-6-1 l-7-1",
               "successor_id": "-1"
+          }
+         ]
+      },
+      "20": {
+        "expected_successor": "19",
+        "action": "move-car l-5-1 l-6-1",
+        "state": "0x555555a85450",
+        "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": "19"
           },
           {
-              "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,
+      "21": {
+        "expected_successor": "20",
+        "action": "move-car l-4-1 l-5-1",
+        "state": "0x555555a85740",
+        "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": "20"
           },
           {
-              "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": {
+      "22": {
+        "expected_successor": "21",
+        "action": "move-car l-3-1 l-4-1",
+        "state": "0x555555a85a30",
+        "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": "21"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-3-1 l-4-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "23": {
+        "expected_successor": "22",
+        "action": "move-car l-2-1 l-3-1",
+        "state": "0x555555a85d20",
+        "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": "22"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-2-1 l-3-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "24": {
+        "expected_successor": "23",
+        "action": "move-car l-1-1 l-2-1",
+        "state": "0x555555a86010",
+        "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": "23"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-1-1 l-2-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "14": {
         "expected_successor": "1",
-        "action": "move-forward-door-closed l2 l3 d3 d4",
-        "state": "0x1ce3c80",
+        "action": "move-car l-3-5 l-2-6",
+        "state": "0x555555aa9340",
         "distance": 2,
         "is_relevant": 0,
         "is_goal": 0,
-        "is_sc": 0,
+        "is_sc": 1,
         "successors": [
           {
-              "outcome_label": "move-forward-door-closed_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-closed_DETDUP_2 l2 l3 d3 d4",
+              "outcome_label": "move-car_detdup_2 l-3-5 l-2-6",
+              "successor_id": "13"
+          }
+         ]
+      },
+      "15": {
+        "expected_successor": "14",
+        "action": "move-car l-4-4 l-3-5",
+        "state": "0x555555aa9700",
+        "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": "14"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-4-4 l-3-5",
               "successor_id": "-1"
+          }
+         ]
+      },
+      "16": {
+        "expected_successor": "15",
+        "action": "move-car l-5-3 l-4-4",
+        "state": "0x555555aa99b0",
+        "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": "15"
           },
           {
-              "outcome_label": "move-forward-door-closed_DETDUP_3 l2 l3 d3 d4",
-              "successor_id": "1"
+              "outcome_label": "move-car_detdup_2 l-5-3 l-4-4",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "26": {
+        "expected_successor": "14",
+        "action": "move-car l-4-4 l-3-5",
+        "state": "0x555555ab59c0",
+        "distance": 3,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 1,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-4-4 l-3-5",
+              "successor_id": "14"
           },
           {
-              "outcome_label": "move-forward-door-closed_DETDUP_4 l2 l3 d3 d4",
-              "successor_id": "5"
+              "outcome_label": "move-car_detdup_2 l-4-4 l-3-5",
+              "successor_id": "25"
+          }
+         ]
+      },
+      "27": {
+        "expected_successor": "26",
+        "action": "move-car l-5-3 l-4-4",
+        "state": "0x555555aabad0",
+        "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": "26"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-5-3 l-4-4",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "28": {
+        "expected_successor": "27",
+        "action": "move-car l-6-2 l-5-3",
+        "state": "0x555555aabd80",
+        "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": "27"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-6-2 l-5-3",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "29": {
+        "expected_successor": "28",
+        "action": "move-car l-7-1 l-6-2",
+        "state": "0x555555aac030",
+        "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": "28"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-7-1 l-6-2",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "30": {
+        "expected_successor": "29",
+        "action": "move-car l-6-1 l-7-1",
+        "state": "0x555555aac2e0",
+        "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": "29"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-6-1 l-7-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "31": {
+        "expected_successor": "30",
+        "action": "move-car l-5-1 l-6-1",
+        "state": "0x555555aac590",
+        "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": "30"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-5-1 l-6-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "32": {
+        "expected_successor": "31",
+        "action": "move-car l-4-1 l-5-1",
+        "state": "0x555555aac840",
+        "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": "31"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-4-1 l-5-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "33": {
+        "expected_successor": "32",
+        "action": "move-car l-3-1 l-4-1",
+        "state": "0x555555aacb10",
+        "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": "32"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-3-1 l-4-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "34": {
+        "expected_successor": "33",
+        "action": "move-car l-2-1 l-3-1",
+        "state": "0x555555aace00",
+        "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": "33"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-2-1 l-3-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "25": {
+        "expected_successor": "14",
+        "action": "changetire l-3-5",
+        "state": "0x555555aab030",
+        "distance": 3,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 1,
+        "successors": [
+          {
+              "outcome_label": "changetire l-3-5",
+              "successor_id": "14"
+          }
+         ]
+      },
+      "35": {
+        "expected_successor": "34",
+        "action": "move-car l-1-1 l-2-1",
+        "state": "0x555555acfdd0",
+        "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": "34"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-1-1 l-2-1",
+              "successor_id": "-1"
           }
          ]
       }
@@ -3506,90 +5005,314 @@ var snapshots = {
     "edges" : [
         ["1", ">", "0"],
         ["1", ">", "0"],
-        ["2", ">", "1"],
-        ["2", ">", "5"],
-        ["2", ">", "1"],
-        ["2", ">", "5"],
         ["4", ">", "3"],
+        ["4", ">", "-1"],
+        ["2", ">", "1"],
+        ["2", ">", "-1"],
         ["3", ">", "2"],
         ["3", ">", "-1"],
-        ["3", ">", "-1"],
-        ["3", ">", "6"],
-        ["5", ">", "0"],
-        ["5", ">", "0"],
-        ["6", ">", "1"],
+        ["5", ">", "4"],
+        ["5", ">", "-1"],
+        ["6", ">", "5"],
         ["6", ">", "-1"],
-        ["6", ">", "1"],
-        ["6", ">", "5"]
+        ["7", ">", "6"],
+        ["7", ">", "-1"],
+        ["8", ">", "7"],
+        ["8", ">", "-1"],
+        ["9", ">", "8"],
+        ["9", ">", "-1"],
+        ["10", ">", "9"],
+        ["10", ">", "-1"],
+        ["11", ">", "10"],
+        ["11", ">", "-1"],
+        ["12", ">", "11"],
+        ["12", ">", "-1"],
+        ["13", ">", "1"],
+        ["17", ">", "16"],
+        ["17", ">", "-1"],
+        ["18", ">", "17"],
+        ["18", ">", "-1"],
+        ["19", ">", "18"],
+        ["19", ">", "-1"],
+        ["20", ">", "19"],
+        ["20", ">", "-1"],
+        ["21", ">", "20"],
+        ["21", ">", "-1"],
+        ["22", ">", "21"],
+        ["22", ">", "-1"],
+        ["23", ">", "22"],
+        ["23", ">", "-1"],
+        ["24", ">", "23"],
+        ["24", ">", "-1"],
+        ["14", ">", "1"],
+        ["14", ">", "13"],
+        ["15", ">", "14"],
+        ["15", ">", "-1"],
+        ["16", ">", "15"],
+        ["16", ">", "-1"],
+        ["26", ">", "14"],
+        ["26", ">", "25"],
+        ["27", ">", "26"],
+        ["27", ">", "-1"],
+        ["28", ">", "27"],
+        ["28", ">", "-1"],
+        ["29", ">", "28"],
+        ["29", ">", "-1"],
+        ["30", ">", "29"],
+        ["30", ">", "-1"],
+        ["31", ">", "30"],
+        ["31", ">", "-1"],
+        ["32", ">", "31"],
+        ["32", ">", "-1"],
+        ["33", ">", "32"],
+        ["33", ">", "-1"],
+        ["34", ">", "33"],
+        ["34", ">", "-1"],
+        ["25", ">", "14"],
+        ["35", ">", "34"],
+        ["35", ">", "-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)"
-      ],
-      "0x1cd04a0": [
-        "Atom hold-key()",
-        "Atom closed(d4)",
-        "Atom player-at(l3)"
-      ],
-      "0x1ce3c80": [
-        "Atom hold-key()",
-        "Atom closed(d3)",
-        "Atom player-at(l2)"
+      "0x555555a450b0": [
+        "Atom vehicle-at(l-1-7)"
+      ],
+      "0x555555a7c730": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-6)"
+      ],
+      "0x555555a71ca0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-3)"
+      ],
+      "0x555555a7d8e0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-5)"
+      ],
+      "0x555555a7c540": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-4)"
+      ],
+      "0x555555a7a760": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-2)"
+      ],
+      "0x555555a7ec20": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-7-1)"
+      ],
+      "0x555555a7ee00": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-1)"
+      ],
+      "0x555555a7f040": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
+      ],
+      "0x555555a7f2a0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
+      ],
+      "0x555555a7f470": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
+      ],
+      "0x555555a7f660": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
+      ],
+      "0x555555a7f830": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
+      ],
+      "0x555555aa93f0": [
+        "Atom spare-in(l-2-6)",
+        "Atom vehicle-at(l-2-6)"
+      ],
+      "0x555555aa9c60": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-2)"
+      ],
+      "0x555555a84e70": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-7-1)"
+      ],
+      "0x555555a85160": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-1)"
+      ],
+      "0x555555a85450": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
+      ],
+      "0x555555a85740": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "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)"
+      ],
+      "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)"
+      ],
+      "0x555555aa99b0": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-3)"
+      ],
+      "0x555555ab59c0": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-4)"
+      ],
+      "0x555555aabad0": [
+        "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)"
       ]
      }
   },
   "policy": "Coming soon...",
   "ps2fs": {
-    1: {6: 6, 8: 8, 16: 16, },
-    2: {2: 2, },
-    0: {13: 13, 12: 12, 10: 10, 11: 11, },
-    4: {0: 0, },
-    3: {1: 1, },
-    5: {7: 7, 9: 9, 17: 17, },
-    6: {5: 5, },
-  },
-  "prpsearchnodes": {
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+    1: {21: 21, 25: 25, },
+    4: {},
+    2: {},
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+    12: {},
+    13: {22: 22, },
+    17: {},
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+    14: {19: 19, },
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+    26: {17: 17, },
+    27: {15: 15, },
+    28: {13: 13, },
+    29: {11: 11, },
+    30: {9: 9, },
+    31: {7: 7, },
+    32: {5: 5, },
+    33: {3: 3, },
+    34: {1: 1, },
+    25: {20: 20, },
+    35: {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,
@@ -3603,64 +5326,64 @@ 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,
@@ -3673,7 +5396,7 @@ var snapshots = {
       subsumed: 0,
   },
   15: {
-      name: "(15)",
+      name: "(15) move-car l-5-3 l-4-4",
       open: 1,
       init: 0,
       poisoned: 0,
@@ -3681,655 +5404,1104 @@ var snapshots = {
   },
   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) changetire l-3-5",
+      open: 0,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  21: {
+      name: "(21) move-car l-2-6 l-1-7",
+      open: 0,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  22: {
+      name: "(22) changetire l-2-6",
+      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: 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],
+    [22,25],
+    [20,26],
   ],
 },
 },
-13: {
+8: {
 "solution": {
-  "type": "(case-4) Hooking Up [node 15]",
-  "score": 1,
-  "size": 7,
+  "type": "(case-3) Predefined Path [node 26]",
+  "score": 0.001,
+  "size": 36,
   "round": 1,
 "psgraph": {
 
-    "init": "4",
+    "init": "35",
     "goal": "0",
     "nodes" : {
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+        "expected_successor": false,
+        "action": "goal_action",
+        "state": "0x555555a450b0",
+        "distance": 0,
+        "is_relevant": 1,
+        "is_goal": 1,
+        "is_sc": 1,
+        "successors": [
+
+         ]
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       "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": "0x555555a7c730",
         "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"
           }
          ]
       },
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+              "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-forward-door-open l2 l3 d3 d4",
-        "state": "0x1cceaa0",
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         "distance": 2,
         "is_relevant": 0,
         "is_goal": 0,
-        "is_sc": 1,
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         "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": "5"
+              "outcome_label": "move-car_detdup_2 l-3-5 l-2-6",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "3": {
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+              "successor_id": "2"
           },
           {
-              "outcome_label": "move-forward-door-open_DETDUP_3 l2 l3 d3 d4",
-              "successor_id": "1"
+              "outcome_label": "move-car_detdup_2 l-4-4 l-3-5",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "5": {
+        "expected_successor": "4",
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+              "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"
+          }
+         ]
+      },
+      "6": {
+        "expected_successor": "5",
+        "action": "move-car l-7-1 l-6-2",
+        "state": "0x555555a7ec20",
+        "distance": 6,
+        "is_relevant": 0,
+        "is_goal": 0,
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+        "successors": [
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+              "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"
           }
          ]
       },
-      "0": {
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-        "action": "---",
-        "state": "0x1cb01a0",
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+      "7": {
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+        "is_relevant": 0,
+        "is_goal": 0,
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         "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"
+          }
          ]
       },
-      "4": {
-        "expected_successor": "3",
-        "action": "pick-key l1",
-        "state": "0x1cce140",
-        "distance": 4,
+      "8": {
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+        "action": "move-car l-5-1 l-6-1",
+        "state": "0x555555a7f040",
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         "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-5-1 l-6-1",
+              "successor_id": "7"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-5-1 l-6-1",
+              "successor_id": "-1"
           }
          ]
       },
-      "3": {
-        "expected_successor": "2",
-        "action": "move-forward-door-open l1 l2 d2 d3",
-        "state": "0x1cce490",
-        "distance": 3,
+      "9": {
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+        "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-forward-door-open_DETDUP_1 l1 l2 d2 d3",
-              "successor_id": "2"
+              "outcome_label": "move-car_detdup_1 l-4-1 l-5-1",
+              "successor_id": "8"
           },
           {
-              "outcome_label": "move-forward-door-open_DETDUP_2 l1 l2 d2 d3",
+              "outcome_label": "move-car_detdup_2 l-4-1 l-5-1",
               "successor_id": "-1"
+          }
+         ]
+      },
+      "10": {
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+        "state": "0x555555a7f470",
+        "distance": 10,
+        "is_relevant": 0,
+        "is_goal": 0,
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+        "successors": [
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+              "successor_id": "9"
           },
           {
-              "outcome_label": "move-forward-door-open_DETDUP_3 l1 l2 d2 d3",
+              "outcome_label": "move-car_detdup_2 l-3-1 l-4-1",
               "successor_id": "-1"
+          }
+         ]
+      },
+      "11": {
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+        "distance": 11,
+        "is_relevant": 0,
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+        "successors": [
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+              "successor_id": "10"
           },
           {
-              "outcome_label": "move-forward-door-open_DETDUP_4 l1 l2 d2 d3",
-              "successor_id": "6"
+              "outcome_label": "move-car_detdup_2 l-2-1 l-3-1",
+              "successor_id": "-1"
           }
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+              "successor_id": "32"
           },
           {
-              "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"
+          }
+         ]
+      },
+      "34": {
+        "expected_successor": "33",
+        "action": "move-car l-2-1 l-3-1",
+        "state": "0x555555aace00",
+        "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": "33"
           },
           {
-              "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"
           }
          ]
-      }
-    },
+      },
+      "25": {
+        "expected_successor": "14",
+        "action": "changetire l-3-5",
+        "state": "0x555555aab030",
+        "distance": 3,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 1,
+        "successors": [
+          {
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+              "successor_id": "14"
+          }
+         ]
+      },
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+        "expected_successor": "34",
+        "action": "move-car l-1-1 l-2-1",
+        "state": "0x555555acfdd0",
+        "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": "34"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-1-1 l-2-1",
+              "successor_id": "-1"
+          }
+         ]
+      }
+    },
     "edges" : [
         ["1", ">", "0"],
         ["1", ">", "0"],
-        ["2", ">", "1"],
-        ["2", ">", "5"],
-        ["2", ">", "1"],
-        ["2", ">", "5"],
         ["4", ">", "3"],
+        ["4", ">", "-1"],
+        ["2", ">", "1"],
+        ["2", ">", "-1"],
         ["3", ">", "2"],
         ["3", ">", "-1"],
-        ["3", ">", "-1"],
-        ["3", ">", "6"],
-        ["5", ">", "0"],
-        ["5", ">", "0"],
-        ["6", ">", "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"],
+        ["13", ">", "1"],
+        ["17", ">", "16"],
+        ["17", ">", "-1"],
+        ["18", ">", "17"],
+        ["18", ">", "-1"],
+        ["19", ">", "18"],
+        ["19", ">", "-1"],
+        ["20", ">", "19"],
+        ["20", ">", "-1"],
+        ["21", ">", "20"],
+        ["21", ">", "-1"],
+        ["22", ">", "21"],
+        ["22", ">", "-1"],
+        ["23", ">", "22"],
+        ["23", ">", "-1"],
+        ["24", ">", "23"],
+        ["24", ">", "-1"],
+        ["14", ">", "1"],
+        ["14", ">", "13"],
+        ["15", ">", "14"],
+        ["15", ">", "-1"],
+        ["16", ">", "15"],
+        ["16", ">", "-1"],
+        ["26", ">", "14"],
+        ["26", ">", "25"],
+        ["27", ">", "26"],
+        ["27", ">", "-1"],
+        ["28", ">", "27"],
+        ["28", ">", "-1"],
+        ["29", ">", "28"],
+        ["29", ">", "-1"],
+        ["30", ">", "29"],
+        ["30", ">", "-1"],
+        ["31", ">", "30"],
+        ["31", ">", "-1"],
+        ["32", ">", "31"],
+        ["32", ">", "-1"],
+        ["33", ">", "32"],
+        ["33", ">", "-1"],
+        ["34", ">", "33"],
+        ["34", ">", "-1"],
+        ["25", ">", "14"],
+        ["35", ">", "34"],
+        ["35", ">", "-1"]
     ],
     "states" : {
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-        "Atom open(d4)",
-        "Atom player-at(l3)"
-      ],
-      "0x1cceaa0": [
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-        "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)"
-      ],
-      "0x1cd04a0": [
-        "Atom hold-key()",
-        "Atom closed(d4)",
-        "Atom player-at(l3)"
-      ],
-      "0x1ce3c80": [
-        "Atom hold-key()",
-        "Atom closed(d3)",
-        "Atom player-at(l2)"
+      "0x555555a450b0": [
+        "Atom vehicle-at(l-1-7)"
+      ],
+      "0x555555a7c730": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-6)"
+      ],
+      "0x555555a71ca0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-3)"
+      ],
+      "0x555555a7d8e0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-5)"
+      ],
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+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-4)"
+      ],
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+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-2)"
+      ],
+      "0x555555a7ec20": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-7-1)"
+      ],
+      "0x555555a7ee00": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-1)"
+      ],
+      "0x555555a7f040": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
+      ],
+      "0x555555a7f2a0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
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+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
+      ],
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+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
+      ],
+      "0x555555a7f830": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
+      ],
+      "0x555555aa93f0": [
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+        "Atom vehicle-at(l-2-6)"
+      ],
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+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-2)"
+      ],
+      "0x555555a84e70": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-7-1)"
+      ],
+      "0x555555a85160": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-1)"
+      ],
+      "0x555555a85450": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
+      ],
+      "0x555555a85740": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "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)"
+      ],
+      "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)"
+      ],
+      "0x555555aa99b0": [
+        "Atom spare-in(l-2-6)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-3)"
+      ],
+      "0x555555ab59c0": [
+        "Atom spare-in(l-2-6)",
+        "Atom spare-in(l-3-5)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-4)"
+      ],
+      "0x555555aabad0": [
+        "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)"
       ]
      }
   },
   "policy": "Coming soon...",
   "ps2fs": {
-    1: {6: 6, 8: 8, 14: 14, 16: 16, },
-    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": {
+    0: {23: 23, 24: 24, },
+    1: {21: 21, 25: 25, },
+    4: {},
+    2: {},
+    3: {},
+    5: {},
+    6: {},
+    7: {},
+    8: {},
+    9: {},
+    10: {},
+    11: {},
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+    13: {22: 22, },
+    17: {},
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+    20: {},
+    21: {},
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+    23: {},
+    24: {},
+    14: {19: 19, 26: 26, },
+    15: {},
+    16: {},
+    26: {17: 17, },
+    27: {15: 15, },
+    28: {13: 13, },
+    29: {11: 11, },
+    30: {9: 9, },
+    31: {7: 7, },
+    32: {5: 5, },
+    33: {3: 3, },
+    34: {1: 1, },
+    25: {20: 20, },
+    35: {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 +6515,57322 @@ 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)",
+      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) changetire l-3-5",
+      open: 0,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  21: {
+      name: "(21) move-car l-2-6 l-1-7",
+      open: 0,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  22: {
+      name: "(22) changetire l-2-6",
+      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,
   },
   },
-  "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],
+    [22,25],
+    [20,26],
   ],
 },
 },
-15: {
+9: {
 "solution": {
-  "type": "(case-4) Hooking Up [node 4]",
-  "score": 1,
-  "size": 7,
+  "type": "(case-2) Matched complete state\n -- No modification [node 19]",
+  "score": 0.001,
+  "size": 36,
   "round": 1,
 "psgraph": {
 
-    "init": "4",
+    "init": "35",
     "goal": "0",
     "nodes" : {
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+        "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": "0x555555a7c730",
         "distance": 1,
         "is_relevant": 0,
         "is_goal": 0,
-        "is_sc": 1,
+        "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,
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+        "Atom spare-in(l-4-4)",
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+        "Atom vehicle-at(l-6-2)"
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+        "Atom spare-in(l-4-4)",
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+        "Atom not-flattire()",
+        "Atom vehicle-at(l-7-1)"
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+        "Atom spare-in(l-3-5)",
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+        "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 not-flattire()",
+        "Atom vehicle-at(l-5-1)"
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+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
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+        "Atom spare-in(l-5-3)",
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+        "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-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)",
+        "Atom spare-in(l-4-4)",
+        "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-2-6)",
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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-5-1)"
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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-4-1)"
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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-3-1)"
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+        "Atom spare-in(l-5-3)",
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+        "Atom spare-in(l-6-2)",
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+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-2)",
+        "Atom vehicle-at(l-6-2)"
+      ]
+     }
+  },
+  "policy": "Coming soon...",
+  "ps2fs": {
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+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
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+        "Atom not-flattire()",
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+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
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+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
+      ]
+     }
+  },
+  "policy": "Coming soon...",
+  "ps2fs": {
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+        "Atom vehicle-at(l-7-1)"
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+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
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+        "Atom spare-in(l-2-6)",
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+        "Atom vehicle-at(l-3-5)"
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+        "Atom vehicle-at(l-6-2)"
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+        "Atom vehicle-at(l-7-1)"
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+        "Atom vehicle-at(l-6-1)"
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+        "Atom vehicle-at(l-5-1)"
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+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-1)"
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+        "Atom spare-in(l-4-4)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-1)"
+      ],
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+        "Atom spare-in(l-3-5)",
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+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-1)"
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+        "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 spare-in(l-3-5)",
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+        "Atom vehicle-at(l-4-4)"
+      ],
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+        "Atom spare-in(l-4-4)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-3)"
+      ],
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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-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)"
+      ],
+      "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)"
+      ],
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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-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)"
+      ],
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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-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-6-2)",
+        "Atom spare-in(l-7-1)",
+        "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 spare-in(l-6-2)",
+        "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 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)"
+      ],
+      "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)"
+      ],
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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)"
+      ],
+      "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)"
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+      "0x555555b8d710": [
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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 vehicle-at(l-5-1)"
+      ],
+      "0x555555bae290": [
+        "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)"
+      ],
+      "0x555555b8ceb0": [
+        "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)"
+      ],
+      "0x555555b8e120": [
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+        "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-1-1)"
+      ]
+     }
+  },
+  "policy": "Coming soon...",
+  "ps2fs": {
+    0: {23: 23, 24: 24, },
+    1: {21: 21, 25: 25, },
+    4: {},
+    2: {},
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+    76: {8: 8, },
+    77: {5: 5, },
+    78: {3: 3, },
+    79: {1: 1, },
+    80: {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,
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+  },
+  2: {
+      name: "(2)",
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+      init: 0,
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+  },
+  3: {
+      name: "(3) move-car l-3-1 l-4-1",
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+  },
+  4: {
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+      init: 0,
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+  },
+  5: {
+      name: "(5) move-car l-4-1 l-5-1",
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+  6: {
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+  },
+  7: {
+      name: "(7) move-car l-5-1 l-6-1",
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+  8: {
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+      name: "(9) move-car l-6-1 l-7-1",
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+  13: {
+      name: "(13) move-car l-6-2 l-5-3",
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+  15: {
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+        "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)"
+      ],
+      "0x555555b8d710": [
+        "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)"
+      ],
+      "0x555555bae290": [
+        "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)"
+      ],
+      "0x555555b8ceb0": [
+        "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)"
+      ],
+      "0x555555b8e120": [
+        "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-1-1)"
+      ],
+      "0x555555bb08f0": [
+        "Atom spare-in(l-2-6)",
+        "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-4-1)"
+      ],
+      "0x555555bad7e0": [
+        "Atom spare-in(l-2-6)",
+        "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-3-1)"
+      ],
+      "0x555555bb0bf0": [
+        "Atom spare-in(l-2-6)",
+        "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)"
+      ],
+      "0x555555bb1140": [
+        "Atom spare-in(l-2-6)",
+        "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-1-1)"
+      ]
+     }
+  },
+  "policy": "Coming soon...",
+  "ps2fs": {
+    0: {23: 23, 24: 24, },
+    1: {21: 21, 25: 25, },
+    4: {},
+    2: {},
+    3: {},
+    5: {},
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+    22: {},
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+    14: {19: 19, 26: 26, },
+    15: {},
+    16: {},
+    26: {17: 17, 27: 27, },
+    27: {},
+    28: {},
+    29: {},
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+    25: {20: 20, },
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+    36: {18: 18, },
+    37: {15: 15, 28: 28, },
+    47: {13: 13, 29: 29, },
+    48: {},
+    49: {},
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+    52: {},
+    53: {},
+    54: {},
+    46: {16: 16, },
+    56: {11: 11, 30: 30, },
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+    58: {},
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+    63: {12: 12, },
+    55: {14: 14, },
+    64: {9: 9, 31: 31, },
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+    70: {10: 10, },
+    71: {7: 7, 32: 32, },
+    72: {},
+    73: {},
+    74: {},
+    75: {},
+    76: {8: 8, },
+    77: {5: 5, },
+    78: {},
+    79: {},
+    80: {},
+    81: {6: 6, },
+    82: {3: 3, },
+    83: {1: 1, },
+    84: {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) changetire l-4-1",
+      open: 0,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  7: {
+      name: "(7) move-car l-5-1 l-6-1",
+      open: 0,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
+  },
+  8: {
+      name: "(8) changetire l-5-1",
+      open: 0,
+      init: 0,
+      poisoned: 0,
+      subsumed: 0,
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+        "Atom vehicle-at(l-3-1)"
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+        "Atom not-flattire()",
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+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
+        "Atom spare-in(l-6-2)",
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+        "Atom spare-in(l-7-1)",
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+        "Atom spare-in(l-5-3)",
+        "Atom spare-in(l-6-1)",
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+        "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)",
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+        "Atom spare-in(l-6-1)",
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+        "Atom spare-in(l-7-1)",
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-1-1)"
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+  },
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-        "action": "---",
-        "state": "0x1cb01a0",
-        "distance": 0,
-        "is_relevant": 1,
-        "is_goal": 1,
+      "69": {
+        "expected_successor": "68",
+        "action": "move-car l-1-1 l-2-1",
+        "state": "0x555555b44980",
+        "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": "68"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-1-1 l-2-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "70": {
+        "expected_successor": "64",
+        "action": "changetire l-6-1",
+        "state": "0x555555b68ed0",
+        "distance": 8,
+        "is_relevant": 0,
+        "is_goal": 0,
         "is_sc": 1,
         "successors": [
-
+          {
+              "outcome_label": "changetire l-6-1",
+              "successor_id": "64"
+          }
          ]
       },
-      "4": {
-        "expected_successor": "3",
-        "action": "pick-key l1",
-        "state": "0x1cce140",
-        "distance": 4,
+      "71": {
+        "expected_successor": "64",
+        "action": "move-car l-5-1 l-6-1",
+        "state": "0x555555b68b90",
+        "distance": 8,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 1,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-5-1 l-6-1",
+              "successor_id": "64"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-5-1 l-6-1",
+              "successor_id": "70"
+          }
+         ]
+      },
+      "72": {
+        "expected_successor": "71",
+        "action": "move-car l-4-1 l-5-1",
+        "state": "0x555555b69380",
+        "distance": 9,
         "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-4-1 l-5-1",
+              "successor_id": "71"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-4-1 l-5-1",
+              "successor_id": "-1"
           }
          ]
       },
-      "3": {
-        "expected_successor": "2",
-        "action": "move-forward-door-open l1 l2 d2 d3",
-        "state": "0x1cce490",
-        "distance": 3,
+      "73": {
+        "expected_successor": "72",
+        "action": "move-car l-3-1 l-4-1",
+        "state": "0x555555b695f0",
+        "distance": 10,
         "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-3-1 l-4-1",
+              "successor_id": "72"
           },
           {
-              "outcome_label": "move-forward-door-open_DETDUP_2 l1 l2 d2 d3",
+              "outcome_label": "move-car_detdup_2 l-3-1 l-4-1",
               "successor_id": "-1"
+          }
+         ]
+      },
+      "74": {
+        "expected_successor": "73",
+        "action": "move-car l-2-1 l-3-1",
+        "state": "0x555555b69860",
+        "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": "73"
           },
           {
-              "outcome_label": "move-forward-door-open_DETDUP_3 l1 l2 d2 d3",
-              "successor_id": "2"
+              "outcome_label": "move-car_detdup_2 l-2-1 l-3-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "75": {
+        "expected_successor": "74",
+        "action": "move-car l-1-1 l-2-1",
+        "state": "0x555555b69b50",
+        "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": "74"
           },
           {
-              "outcome_label": "move-forward-door-open_DETDUP_4 l1 l2 d2 d3",
-              "successor_id": "6"
+              "outcome_label": "move-car_detdup_2 l-1-1 l-2-1",
+              "successor_id": "-1"
           }
          ]
       },
-      "5": {
-        "expected_successor": "0",
-        "action": "move-forward-last-door-closed l3 l4 d4",
-        "state": "0x1cd04a0",
-        "distance": 1,
+      "76": {
+        "expected_successor": "71",
+        "action": "changetire l-5-1",
+        "state": "0x555555b8d710",
+        "distance": 9,
         "is_relevant": 0,
         "is_goal": 0,
         "is_sc": 1,
         "successors": [
           {
-              "outcome_label": "move-forward-last-door-closed_DETDUP_1 l3 l4 d4",
-              "successor_id": "0"
+              "outcome_label": "changetire l-5-1",
+              "successor_id": "71"
+          }
+         ]
+      },
+      "77": {
+        "expected_successor": "71",
+        "action": "move-car l-4-1 l-5-1",
+        "state": "0x555555bae290",
+        "distance": 9,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 1,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-4-1 l-5-1",
+              "successor_id": "71"
           },
           {
-              "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": "76"
           }
          ]
       },
-      "6": {
-        "expected_successor": "1",
-        "action": "move-forward-door-closed l2 l3 d3 d4",
-        "state": "0x1ce3c80",
-        "distance": 2,
+      "78": {
+        "expected_successor": "77",
+        "action": "move-car l-3-1 l-4-1",
+        "state": "0x555555b8ceb0",
+        "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": "77"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-3-1 l-4-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "79": {
+        "expected_successor": "78",
+        "action": "move-car l-2-1 l-3-1",
+        "state": "0x555555b8deb0",
+        "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": "78"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-2-1 l-3-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "80": {
+        "expected_successor": "79",
+        "action": "move-car l-1-1 l-2-1",
+        "state": "0x555555b8e120",
+        "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": "79"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-1-1 l-2-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "81": {
+        "expected_successor": "77",
+        "action": "changetire l-4-1",
+        "state": "0x555555bb08f0",
+        "distance": 10,
         "is_relevant": 0,
         "is_goal": 0,
         "is_sc": 1,
         "successors": [
           {
-              "outcome_label": "move-forward-door-closed_DETDUP_1 l2 l3 d3 d4",
-              "successor_id": "1"
+              "outcome_label": "changetire l-4-1",
+              "successor_id": "77"
+          }
+         ]
+      },
+      "82": {
+        "expected_successor": "77",
+        "action": "move-car l-3-1 l-4-1",
+        "state": "0x555555bad7e0",
+        "distance": 10,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 1,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-3-1 l-4-1",
+              "successor_id": "77"
           },
           {
-              "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": "81"
+          }
+         ]
+      },
+      "83": {
+        "expected_successor": "82",
+        "action": "move-car l-2-1 l-3-1",
+        "state": "0x555555bb0bf0",
+        "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": "82"
           },
           {
-              "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"
+          }
+         ]
+      },
+      "84": {
+        "expected_successor": "83",
+        "action": "move-car l-1-1 l-2-1",
+        "state": "0x555555bb1140",
+        "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": "83"
           },
           {
-              "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"
+          }
+         ]
+      },
+      "85": {
+        "expected_successor": "82",
+        "action": "changetire l-3-1",
+        "state": "0x555555bd0c10",
+        "distance": 11,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 1,
+        "successors": [
+          {
+              "outcome_label": "changetire l-3-1",
+              "successor_id": "82"
+          }
+         ]
+      },
+      "86": {
+        "expected_successor": "82",
+        "action": "move-car l-2-1 l-3-1",
+        "state": "0x555555beb6f0",
+        "distance": 11,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 1,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-2-1 l-3-1",
+              "successor_id": "82"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-2-1 l-3-1",
+              "successor_id": "85"
+          }
+         ]
+      },
+      "87": {
+        "expected_successor": "86",
+        "action": "move-car l-1-1 l-2-1",
+        "state": "0x555555bd0eb0",
+        "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": "86"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-1-1 l-2-1",
+              "successor_id": "-1"
+          }
+         ]
+      },
+      "88": {
+        "expected_successor": "86",
+        "action": "changetire l-2-1",
+        "state": "0x555555bed310",
+        "distance": 12,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 1,
+        "successors": [
+          {
+              "outcome_label": "changetire l-2-1",
+              "successor_id": "86"
+          }
+         ]
+      },
+      "89": {
+        "expected_successor": "86",
+        "action": "move-car l-1-1 l-2-1",
+        "state": "0x555555b8ce80",
+        "distance": 12,
+        "is_relevant": 0,
+        "is_goal": 0,
+        "is_sc": 1,
+        "successors": [
+          {
+              "outcome_label": "move-car_detdup_1 l-1-1 l-2-1",
+              "successor_id": "86"
+          },
+          {
+              "outcome_label": "move-car_detdup_2 l-1-1 l-2-1",
+              "successor_id": "88"
           }
          ]
       }
@@ -4616,582 +63838,1258 @@ var snapshots = {
     "edges" : [
         ["1", ">", "0"],
         ["1", ">", "0"],
-        ["2", ">", "1"],
-        ["2", ">", "5"],
-        ["2", ">", "1"],
-        ["2", ">", "5"],
         ["4", ">", "3"],
+        ["4", ">", "-1"],
+        ["2", ">", "1"],
+        ["2", ">", "-1"],
         ["3", ">", "2"],
         ["3", ">", "-1"],
-        ["3", ">", "2"],
-        ["3", ">", "6"],
-        ["5", ">", "0"],
-        ["5", ">", "0"],
-        ["6", ">", "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"],
+        ["13", ">", "1"],
+        ["17", ">", "16"],
+        ["17", ">", "-1"],
+        ["18", ">", "17"],
+        ["18", ">", "-1"],
+        ["19", ">", "18"],
+        ["19", ">", "-1"],
+        ["20", ">", "19"],
+        ["20", ">", "-1"],
+        ["21", ">", "20"],
+        ["21", ">", "-1"],
+        ["22", ">", "21"],
+        ["22", ">", "-1"],
+        ["23", ">", "22"],
+        ["23", ">", "-1"],
+        ["24", ">", "23"],
+        ["24", ">", "-1"],
+        ["14", ">", "1"],
+        ["14", ">", "13"],
+        ["15", ">", "14"],
+        ["15", ">", "-1"],
+        ["16", ">", "15"],
+        ["16", ">", "-1"],
+        ["26", ">", "14"],
+        ["26", ">", "25"],
+        ["27", ">", "26"],
+        ["27", ">", "-1"],
+        ["28", ">", "27"],
+        ["28", ">", "-1"],
+        ["29", ">", "28"],
+        ["29", ">", "-1"],
+        ["30", ">", "29"],
+        ["30", ">", "-1"],
+        ["31", ">", "30"],
+        ["31", ">", "-1"],
+        ["32", ">", "31"],
+        ["32", ">", "-1"],
+        ["33", ">", "32"],
+        ["33", ">", "-1"],
+        ["34", ">", "33"],
+        ["34", ">", "-1"],
+        ["25", ">", "14"],
+        ["35", ">", "34"],
+        ["35", ">", "-1"],
+        ["38", ">", "37"],
+        ["38", ">", "-1"],
+        ["39", ">", "38"],
+        ["39", ">", "-1"],
+        ["40", ">", "39"],
+        ["40", ">", "-1"],
+        ["41", ">", "40"],
+        ["41", ">", "-1"],
+        ["42", ">", "41"],
+        ["42", ">", "-1"],
+        ["43", ">", "42"],
+        ["43", ">", "-1"],
+        ["44", ">", "43"],
+        ["44", ">", "-1"],
+        ["45", ">", "44"],
+        ["45", ">", "-1"],
+        ["36", ">", "26"],
+        ["37", ">", "26"],
+        ["37", ">", "36"],
+        ["47", ">", "37"],
+        ["47", ">", "46"],
+        ["48", ">", "47"],
+        ["48", ">", "-1"],
+        ["49", ">", "48"],
+        ["49", ">", "-1"],
+        ["50", ">", "49"],
+        ["50", ">", "-1"],
+        ["51", ">", "50"],
+        ["51", ">", "-1"],
+        ["52", ">", "51"],
+        ["52", ">", "-1"],
+        ["53", ">", "52"],
+        ["53", ">", "-1"],
+        ["54", ">", "53"],
+        ["54", ">", "-1"],
+        ["46", ">", "37"],
+        ["56", ">", "47"],
+        ["56", ">", "55"],
+        ["57", ">", "56"],
+        ["57", ">", "-1"],
+        ["58", ">", "57"],
+        ["58", ">", "-1"],
+        ["59", ">", "58"],
+        ["59", ">", "-1"],
+        ["60", ">", "59"],
+        ["60", ">", "-1"],
+        ["61", ">", "60"],
+        ["61", ">", "-1"],
+        ["62", ">", "61"],
+        ["62", ">", "-1"],
+        ["63", ">", "56"],
+        ["55", ">", "47"],
+        ["64", ">", "56"],
+        ["64", ">", "63"],
+        ["65", ">", "64"],
+        ["65", ">", "-1"],
+        ["66", ">", "65"],
+        ["66", ">", "-1"],
+        ["67", ">", "66"],
+        ["67", ">", "-1"],
+        ["68", ">", "67"],
+        ["68", ">", "-1"],
+        ["69", ">", "68"],
+        ["69", ">", "-1"],
+        ["70", ">", "64"],
+        ["71", ">", "64"],
+        ["71", ">", "70"],
+        ["72", ">", "71"],
+        ["72", ">", "-1"],
+        ["73", ">", "72"],
+        ["73", ">", "-1"],
+        ["74", ">", "73"],
+        ["74", ">", "-1"],
+        ["75", ">", "74"],
+        ["75", ">", "-1"],
+        ["76", ">", "71"],
+        ["77", ">", "71"],
+        ["77", ">", "76"],
+        ["78", ">", "77"],
+        ["78", ">", "-1"],
+        ["79", ">", "78"],
+        ["79", ">", "-1"],
+        ["80", ">", "79"],
+        ["80", ">", "-1"],
+        ["81", ">", "77"],
+        ["82", ">", "77"],
+        ["82", ">", "81"],
+        ["83", ">", "82"],
+        ["83", ">", "-1"],
+        ["84", ">", "83"],
+        ["84", ">", "-1"],
+        ["85", ">", "82"],
+        ["86", ">", "82"],
+        ["86", ">", "85"],
+        ["87", ">", "86"],
+        ["87", ">", "-1"],
+        ["88", ">", "86"],
+        ["89", ">", "86"],
+        ["89", ">", "88"]
     ],
     "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)"
-      ],
-      "0x1cd04a0": [
-        "Atom hold-key()",
-        "Atom closed(d4)",
-        "Atom player-at(l3)"
-      ],
-      "0x1ce3c80": [
-        "Atom hold-key()",
-        "Atom closed(d3)",
-        "Atom player-at(l2)"
+      "0x555555a450b0": [
+        "Atom vehicle-at(l-1-7)"
+      ],
+      "0x555555a7c730": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-2-6)"
+      ],
+      "0x555555a71ca0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-3)"
+      ],
+      "0x555555a7d8e0": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-3-5)"
+      ],
+      "0x555555a7c540": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-4-4)"
+      ],
+      "0x555555a7a760": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-2)"
+      ],
+      "0x555555a7ec20": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-7-1)"
+      ],
+      "0x555555a7ee00": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-6-1)"
+      ],
+      "0x555555a7f040": [
+        "Atom not-flattire()",
+        "Atom vehicle-at(l-5-1)"
+      ],
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+  33: {
+      name: "(33)",
       open: 0,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
-  16: {
-      name: "(16)",
+  34: {
+      name: "(34)",
       open: 0,
       init: 0,
       poisoned: 0,
       subsumed: 0,
   },
-  17: {
-      name: "(17)",
-      open: 0,
+  35: {
+      name: "(35)",
+      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],
+    [22,25],
+    [20,26],
+    [18,27],
+    [16,28],
+    [14,29],
+    [12,30],
+    [10,31],
+    [8,32],
+    [6,33],
+    [4,34],
+    [2,35],
   ],
 },
 },
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..7ee9985 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;
         }
@@ -360,6 +363,8 @@ function drawFullGraph(s) {
     }
 
     fsstates = false;
+    fsstates = snapshots[s].solution;
+
 
     fsnodes.forEach(function (v) { v.height = v.width = 2 * fsnodeRadius; });
 
@@ -413,8 +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
@@ -484,7 +492,7 @@ 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 +500,14 @@ 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 +517,16 @@ 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);
-
+            if (!(u === undefined || v === undefined)) {
+                pslinks.push({ source: u, target: v, id: u + '-' + v });
+                pssucc[u].push(v);
+                pspred[v].push(u);
+            }
         }
     }
 
@@ -539,7 +550,7 @@ 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];
@@ -655,7 +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/deadend.cc b/src/deadend.cc
index 36b0bf9..abb4ca6 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();
@@ -109,38 +109,39 @@ 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));
 
         }
 
         ////////////////////////////////////////////
 
-        // 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));
 
-        }
+        // }
 
         ////////////////////////////////////////////
 
         // 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));
         }
     }
 
@@ -154,7 +155,7 @@ 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);
     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..f442dc6 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);
 }
@@ -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();
@@ -327,12 +331,12 @@ 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/partial_state.cc b/src/fd_integration/partial_state.cc
index d09afd8..6cc77c0 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();
 }
@@ -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 c6275fd..a292c4c 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"
 
@@ -15,8 +16,10 @@ 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.resize(size);
+    }
+    void _deallocate() {}
     // void _copy_buffer_from_state(const PR2State &state);
 
 public:
@@ -26,6 +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
@@ -43,6 +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 b118fba..9728175 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
@@ -98,7 +101,7 @@ 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
@@ -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() {
@@ -191,18 +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();
@@ -213,13 +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());
@@ -258,12 +268,13 @@ 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;
-        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]));
@@ -278,7 +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 f5c6b01..816a1a9 100644
--- a/src/fd_integration/pr2_search_algorithm.cc
+++ b/src/fd_integration/pr2_search_algorithm.cc
@@ -34,15 +34,16 @@ 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();
-    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(PR2.proxy->get_pr2_goals()));
 
     // Build FF heuristic object.
     if (h) {
-        h->reset(*goals);
+        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::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 +65,7 @@ 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,
@@ -82,8 +83,16 @@ 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();
 }
@@ -125,9 +134,9 @@ 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 +144,7 @@ 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 +168,7 @@ 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 6d0e0f8..250672d 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();
@@ -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());
@@ -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>());
@@ -284,17 +287,11 @@ 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 1
-        if (op.get_name().find("_detdup_") == std::string::npos){
-            PR2.general.nondet_outcome_mapping[op.get_id()] = 1;
-        } else {
-            PR2.general.nondet_outcome_mapping[op.get_id()] = 
-                stoi(op.get_name().substr(op.get_name().find("_detdup_") + 8).substr(0, 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;
+        nondet_index_map[op.get_id()] = op.nondet_index;
 
         for (auto eff : op.get_all_effects()) {
             for (auto cond : eff.get_conditions()) {
@@ -305,55 +302,50 @@ 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()) {
+    PR2.proxy->set_nondet_index_map(nondet_index_map);
+}
 
-    //         nondet_index = cur_nondet;
-    //         PRP.general.nondet_index_mapping[op.get_nondet_name()] = cur_nondet;
+void PR2OperatorProxy::update_nondet_info() {
+    nondet_index = PR2.proxy->get_nondet_index(_index);
+    nondet_outcome = PR2.general.nondet_outcome_mapping[_index];
+}
 
-    //         PRP.general.nondet_mapping.push_back(new vector<GlobalOperator *>());
-    //         PRP.general.conditional_mask.push_back(new vector<int>());
+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;
+        }
+    }
 
-    //         PRP.deadend.nondetop2fsaps.push_back(new vector< FSAP* >());
+    for (auto varval : PR2.general.goal_op->get_preconditions()) {
 
-    //         cur_nondet++;
+        if (state[varval.get_variable().get_id()].get_value() != varval.get_value()) {
+            return false;
+        }
+    }
 
-    //     } else {
-    //         nondet_index = PRP.general.nondet_index_mapping[op.get_nondet_name()];
-    //     }
+    PR2State *gs = new PR2State();
+    for (auto varval : PR2.general.goal_op->get_preconditions())
+        (*gs)[varval.get_variable().get_id()] = varval.get_value();
 
-    //     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;
+    SolutionStep *grs = new SolutionStep(gs, PR2.solution.incumbent->network, 0,
+                                         *(PR2.general.goal_op),
+                                         -1, true, true, true);
 
-    //     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);
-    //         }
-    //     }
-    // }
-}
+    PR2.general.matched_step = grs;
 
-void PR2OperatorProxy::update_nondet_info() {
-    nondet_index = PR2.proxy->get_nondet_index(_index);
-    nondet_outcome = PR2.general.nondet_outcome_mapping[_index];
+    return true;
 }
-
diff --git a/src/pr2.h b/src/pr2.h
index 070fda8..05ecdf6 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;
 
@@ -59,6 +63,7 @@ struct PR2Wrapper {
 
     void generate_nondet_operator_mappings();
 
+    bool pr2_goal_check(TaskProxy task, State state);
 
     /*********************************************
      *
@@ -119,9 +124,9 @@ 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
@@ -297,6 +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
 
@@ -305,8 +313,8 @@ 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
@@ -335,8 +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;
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/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));
             }
         }
 
diff --git a/src/solution.cc b/src/solution.cc
index e68f482..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;
@@ -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);