The evolution of the terrestrial planets which have the embryo crossing the asteroid belt for the longest time. The embryo’s mass is 1 lunar mass in the top panel, 2.5 lunar masses in the middle panel and 5 lunar masses in the bottom panel. Each planet is represented by three curves, showing the time-evolution of its orbital q, a and Q. The depletion of the asteroid belt is less than expected from Fig. 5 because these long-lived embryos all have high orbital inclinations.