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Game aipsrovers01
name aipsrovers01
creator admin
number of roles 1
stylesheet generic/generic.xsl
GDL v1
enabled
matches show matches
statistics show game statistics
description

Game Description

(role solver)
(init (thing empty_rover0store))
(init (thing available_rover0))
(init (thing at_rover0_waypoint3))
(init (thing channel_free_general))
(init (thing at_rock_sample_waypoint3))
(init (thing at_soil_sample_waypoint3))
(init (thing at_rock_sample_waypoint2))
(init (thing at_soil_sample_waypoint2))
(init (thing at_rock_sample_waypoint1))
(init (thing at_soil_sample_waypoint0))
(<= solved
    (true (thing communicated_image_data_objective1_high_res))
    (true (thing communicated_rock_data_waypoint3))
    (true (thing communicated_soil_data_waypoint2)))
(<= terminal
    (true (thing communicated_image_data_objective1_high_res))
    (true (thing communicated_rock_data_waypoint3))
    (true (thing communicated_soil_data_waypoint2)))
(<= (goal solver 100)
    (true (thing communicated_image_data_objective1_high_res))
    (true (thing communicated_rock_data_waypoint3))
    (true (thing communicated_soil_data_waypoint2)))
(<= (goal solver 0)
    (not solved))
(<= (legal solver navigate_rover0_waypoint0_waypoint3)
    (true (thing at_rover0_waypoint0))
    (true (thing available_rover0)))
(<= (legal solver navigate_rover0_waypoint1_waypoint3)
    (true (thing at_rover0_waypoint1))
    (true (thing available_rover0)))
(<= (legal solver communicate_image_data_rover0_general_objective1_high_res_waypoint1_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_image_rover0_objective1_high_res))
    (true (thing at_rover0_waypoint1)))
(<= (legal solver communicate_image_data_rover0_general_objective1_colour_waypoint1_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_image_rover0_objective1_colour))
    (true (thing at_rover0_waypoint1)))
(<= (legal solver communicate_image_data_rover0_general_objective0_high_res_waypoint1_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_image_rover0_objective0_high_res))
    (true (thing at_rover0_waypoint1)))
(<= (legal solver communicate_image_data_rover0_general_objective0_colour_waypoint1_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_image_rover0_objective0_colour))
    (true (thing at_rover0_waypoint1)))
(<= (legal solver communicate_image_data_rover0_general_objective1_high_res_waypoint2_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_image_rover0_objective1_high_res))
    (true (thing at_rover0_waypoint2)))
(<= (legal solver communicate_image_data_rover0_general_objective1_colour_waypoint2_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_image_rover0_objective1_colour))
    (true (thing at_rover0_waypoint2)))
(<= (legal solver communicate_image_data_rover0_general_objective0_high_res_waypoint2_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_image_rover0_objective0_high_res))
    (true (thing at_rover0_waypoint2)))
(<= (legal solver communicate_image_data_rover0_general_objective0_colour_waypoint2_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_image_rover0_objective0_colour))
    (true (thing at_rover0_waypoint2)))
(<= (legal solver communicate_image_data_rover0_general_objective1_high_res_waypoint3_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_image_rover0_objective1_high_res))
    (true (thing at_rover0_waypoint3)))
(<= (legal solver communicate_image_data_rover0_general_objective1_colour_waypoint3_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_image_rover0_objective1_colour))
    (true (thing at_rover0_waypoint3)))
(<= (legal solver communicate_image_data_rover0_general_objective0_high_res_waypoint3_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_image_rover0_objective0_high_res))
    (true (thing at_rover0_waypoint3)))
(<= (legal solver communicate_image_data_rover0_general_objective0_colour_waypoint3_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_image_rover0_objective0_colour))
    (true (thing at_rover0_waypoint3)))
(<= (legal solver communicate_rock_data_rover0_general_waypoint3_waypoint1_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_rock_analysis_rover0_waypoint3))
    (true (thing at_rover0_waypoint1)))
(<= (legal solver communicate_rock_data_rover0_general_waypoint2_waypoint1_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_rock_analysis_rover0_waypoint2))
    (true (thing at_rover0_waypoint1)))
(<= (legal solver communicate_rock_data_rover0_general_waypoint1_waypoint1_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_rock_analysis_rover0_waypoint1))
    (true (thing at_rover0_waypoint1)))
(<= (legal solver communicate_rock_data_rover0_general_waypoint3_waypoint2_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_rock_analysis_rover0_waypoint3))
    (true (thing at_rover0_waypoint2)))
(<= (legal solver communicate_rock_data_rover0_general_waypoint2_waypoint2_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_rock_analysis_rover0_waypoint2))
    (true (thing at_rover0_waypoint2)))
(<= (legal solver communicate_rock_data_rover0_general_waypoint1_waypoint2_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_rock_analysis_rover0_waypoint1))
    (true (thing at_rover0_waypoint2)))
(<= (legal solver communicate_rock_data_rover0_general_waypoint3_waypoint3_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_rock_analysis_rover0_waypoint3))
    (true (thing at_rover0_waypoint3)))
(<= (legal solver communicate_rock_data_rover0_general_waypoint2_waypoint3_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_rock_analysis_rover0_waypoint2))
    (true (thing at_rover0_waypoint3)))
(<= (legal solver communicate_rock_data_rover0_general_waypoint1_waypoint3_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_rock_analysis_rover0_waypoint1))
    (true (thing at_rover0_waypoint3)))
(<= (legal solver communicate_soil_data_rover0_general_waypoint3_waypoint1_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_soil_analysis_rover0_waypoint3))
    (true (thing at_rover0_waypoint1)))
(<= (legal solver communicate_soil_data_rover0_general_waypoint2_waypoint1_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_soil_analysis_rover0_waypoint2))
    (true (thing at_rover0_waypoint1)))
(<= (legal solver communicate_soil_data_rover0_general_waypoint0_waypoint1_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_soil_analysis_rover0_waypoint0))
    (true (thing at_rover0_waypoint1)))
(<= (legal solver communicate_soil_data_rover0_general_waypoint3_waypoint2_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_soil_analysis_rover0_waypoint3))
    (true (thing at_rover0_waypoint2)))
(<= (legal solver communicate_soil_data_rover0_general_waypoint2_waypoint2_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_soil_analysis_rover0_waypoint2))
    (true (thing at_rover0_waypoint2)))
(<= (legal solver communicate_soil_data_rover0_general_waypoint0_waypoint2_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_soil_analysis_rover0_waypoint0))
    (true (thing at_rover0_waypoint2)))
(<= (legal solver communicate_soil_data_rover0_general_waypoint3_waypoint3_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_soil_analysis_rover0_waypoint3))
    (true (thing at_rover0_waypoint3)))
(<= (legal solver communicate_soil_data_rover0_general_waypoint2_waypoint3_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_soil_analysis_rover0_waypoint2))
    (true (thing at_rover0_waypoint3)))
(<= (legal solver communicate_soil_data_rover0_general_waypoint0_waypoint3_waypoint0)
    (true (thing channel_free_general))
    (true (thing available_rover0))
    (true (thing have_soil_analysis_rover0_waypoint0))
    (true (thing at_rover0_waypoint3)))
(<= (legal solver take_image_rover0_waypoint0_objective0_camera0_colour)
    (true (thing at_rover0_waypoint0))
    (true (thing calibrated_camera0_rover0)))
(<= (legal solver take_image_rover0_waypoint0_objective0_camera0_high_res)
    (true (thing at_rover0_waypoint0))
    (true (thing calibrated_camera0_rover0)))
(<= (legal solver take_image_rover0_waypoint1_objective0_camera0_colour)
    (true (thing at_rover0_waypoint1))
    (true (thing calibrated_camera0_rover0)))
(<= (legal solver take_image_rover0_waypoint1_objective0_camera0_high_res)
    (true (thing at_rover0_waypoint1))
    (true (thing calibrated_camera0_rover0)))
(<= (legal solver take_image_rover0_waypoint2_objective0_camera0_colour)
    (true (thing at_rover0_waypoint2))
    (true (thing calibrated_camera0_rover0)))
(<= (legal solver take_image_rover0_waypoint2_objective0_camera0_high_res)
    (true (thing at_rover0_waypoint2))
    (true (thing calibrated_camera0_rover0)))
(<= (legal solver take_image_rover0_waypoint3_objective0_camera0_colour)
    (true (thing at_rover0_waypoint3))
    (true (thing calibrated_camera0_rover0)))
(<= (legal solver take_image_rover0_waypoint3_objective0_camera0_high_res)
    (true (thing at_rover0_waypoint3))
    (true (thing calibrated_camera0_rover0)))
(<= (legal solver take_image_rover0_waypoint0_objective1_camera0_colour)
    (true (thing at_rover0_waypoint0))
    (true (thing calibrated_camera0_rover0)))
(<= (legal solver take_image_rover0_waypoint0_objective1_camera0_high_res)
    (true (thing at_rover0_waypoint0))
    (true (thing calibrated_camera0_rover0)))
(<= (legal solver take_image_rover0_waypoint1_objective1_camera0_colour)
    (true (thing at_rover0_waypoint1))
    (true (thing calibrated_camera0_rover0)))
(<= (legal solver take_image_rover0_waypoint1_objective1_camera0_high_res)
    (true (thing at_rover0_waypoint1))
    (true (thing calibrated_camera0_rover0)))
(<= (legal solver take_image_rover0_waypoint2_objective1_camera0_colour)
    (true (thing at_rover0_waypoint2))
    (true (thing calibrated_camera0_rover0)))
(<= (legal solver take_image_rover0_waypoint2_objective1_camera0_high_res)
    (true (thing at_rover0_waypoint2))
    (true (thing calibrated_camera0_rover0)))
(<= (legal solver take_image_rover0_waypoint3_objective1_camera0_colour)
    (true (thing at_rover0_waypoint3))
    (true (thing calibrated_camera0_rover0)))
(<= (legal solver take_image_rover0_waypoint3_objective1_camera0_high_res)
    (true (thing at_rover0_waypoint3))
    (true (thing calibrated_camera0_rover0)))
(<= (legal solver calibrate_rover0_camera0_objective1_waypoint0)
    (true (thing at_rover0_waypoint0)))
(<= (legal solver calibrate_rover0_camera0_objective1_waypoint1)
    (true (thing at_rover0_waypoint1)))
(<= (legal solver calibrate_rover0_camera0_objective1_waypoint2)
    (true (thing at_rover0_waypoint2)))
(<= (legal solver calibrate_rover0_camera0_objective1_waypoint3)
    (true (thing at_rover0_waypoint3)))
(<= (legal solver drop_rover0_rover0store)
    (true (thing full_rover0store)))
(<= (legal solver sample_rock_rover0_rover0store_waypoint3)
    (true (thing empty_rover0store))
    (true (thing at_rock_sample_waypoint3))
    (true (thing at_rover0_waypoint3)))
(<= (legal solver sample_rock_rover0_rover0store_waypoint2)
    (true (thing empty_rover0store))
    (true (thing at_rock_sample_waypoint2))
    (true (thing at_rover0_waypoint2)))
(<= (legal solver sample_rock_rover0_rover0store_waypoint1)
    (true (thing empty_rover0store))
    (true (thing at_rock_sample_waypoint1))
    (true (thing at_rover0_waypoint1)))
(<= (legal solver sample_soil_rover0_rover0store_waypoint3)
    (true (thing empty_rover0store))
    (true (thing at_soil_sample_waypoint3))
    (true (thing at_rover0_waypoint3)))
(<= (legal solver sample_soil_rover0_rover0store_waypoint2)
    (true (thing empty_rover0store))
    (true (thing at_soil_sample_waypoint2))
    (true (thing at_rover0_waypoint2)))
(<= (legal solver sample_soil_rover0_rover0store_waypoint0)
    (true (thing empty_rover0store))
    (true (thing at_soil_sample_waypoint0))
    (true (thing at_rover0_waypoint0)))
(<= (legal solver navigate_rover0_waypoint2_waypoint1)
    (true (thing at_rover0_waypoint2))
    (true (thing available_rover0)))
(<= (legal solver navigate_rover0_waypoint1_waypoint2)
    (true (thing at_rover0_waypoint1))
    (true (thing available_rover0)))
(<= (legal solver navigate_rover0_waypoint3_waypoint0)
    (true (thing at_rover0_waypoint3))
    (true (thing available_rover0)))
(<= (legal solver navigate_rover0_waypoint3_waypoint1)
    (true (thing at_rover0_waypoint3))
    (true (thing available_rover0)))
(legal solver noop)
(addeffect navigate_rover0_waypoint0_waypoint3 (thing at_rover0_waypoint3))
(deleteeffect navigate_rover0_waypoint0_waypoint3 (thing at_rover0_waypoint0))
(addeffect navigate_rover0_waypoint1_waypoint3 (thing at_rover0_waypoint3))
(deleteeffect navigate_rover0_waypoint1_waypoint3 (thing at_rover0_waypoint1))
(addeffect communicate_image_data_rover0_general_objective1_high_res_waypoint1_waypoint0 (thing channel_free_general))
(addeffect communicate_image_data_rover0_general_objective1_high_res_waypoint1_waypoint0 (thing communicated_image_data_objective1_high_res))
(addeffect communicate_image_data_rover0_general_objective1_high_res_waypoint1_waypoint0 (thing available_rover0))
(addeffect communicate_image_data_rover0_general_objective1_colour_waypoint1_waypoint0 (thing channel_free_general))
(addeffect communicate_image_data_rover0_general_objective1_colour_waypoint1_waypoint0 (thing communicated_image_data_objective1_colour))
(addeffect communicate_image_data_rover0_general_objective1_colour_waypoint1_waypoint0 (thing available_rover0))
(addeffect communicate_image_data_rover0_general_objective0_high_res_waypoint1_waypoint0 (thing channel_free_general))
(addeffect communicate_image_data_rover0_general_objective0_high_res_waypoint1_waypoint0 (thing communicated_image_data_objective0_high_res))
(addeffect communicate_image_data_rover0_general_objective0_high_res_waypoint1_waypoint0 (thing available_rover0))
(addeffect communicate_image_data_rover0_general_objective0_colour_waypoint1_waypoint0 (thing channel_free_general))
(addeffect communicate_image_data_rover0_general_objective0_colour_waypoint1_waypoint0 (thing communicated_image_data_objective0_colour))
(addeffect communicate_image_data_rover0_general_objective0_colour_waypoint1_waypoint0 (thing available_rover0))
(addeffect communicate_image_data_rover0_general_objective1_high_res_waypoint2_waypoint0 (thing channel_free_general))
(addeffect communicate_image_data_rover0_general_objective1_high_res_waypoint2_waypoint0 (thing communicated_image_data_objective1_high_res))
(addeffect communicate_image_data_rover0_general_objective1_high_res_waypoint2_waypoint0 (thing available_rover0))
(addeffect communicate_image_data_rover0_general_objective1_colour_waypoint2_waypoint0 (thing channel_free_general))
(addeffect communicate_image_data_rover0_general_objective1_colour_waypoint2_waypoint0 (thing communicated_image_data_objective1_colour))
(addeffect communicate_image_data_rover0_general_objective1_colour_waypoint2_waypoint0 (thing available_rover0))
(addeffect communicate_image_data_rover0_general_objective0_high_res_waypoint2_waypoint0 (thing channel_free_general))
(addeffect communicate_image_data_rover0_general_objective0_high_res_waypoint2_waypoint0 (thing communicated_image_data_objective0_high_res))
(addeffect communicate_image_data_rover0_general_objective0_high_res_waypoint2_waypoint0 (thing available_rover0))
(addeffect communicate_image_data_rover0_general_objective0_colour_waypoint2_waypoint0 (thing channel_free_general))
(addeffect communicate_image_data_rover0_general_objective0_colour_waypoint2_waypoint0 (thing communicated_image_data_objective0_colour))
(addeffect communicate_image_data_rover0_general_objective0_colour_waypoint2_waypoint0 (thing available_rover0))
(addeffect communicate_image_data_rover0_general_objective1_high_res_waypoint3_waypoint0 (thing channel_free_general))
(addeffect communicate_image_data_rover0_general_objective1_high_res_waypoint3_waypoint0 (thing communicated_image_data_objective1_high_res))
(addeffect communicate_image_data_rover0_general_objective1_high_res_waypoint3_waypoint0 (thing available_rover0))
(addeffect communicate_image_data_rover0_general_objective1_colour_waypoint3_waypoint0 (thing channel_free_general))
(addeffect communicate_image_data_rover0_general_objective1_colour_waypoint3_waypoint0 (thing communicated_image_data_objective1_colour))
(addeffect communicate_image_data_rover0_general_objective1_colour_waypoint3_waypoint0 (thing available_rover0))
(addeffect communicate_image_data_rover0_general_objective0_high_res_waypoint3_waypoint0 (thing channel_free_general))
(addeffect communicate_image_data_rover0_general_objective0_high_res_waypoint3_waypoint0 (thing communicated_image_data_objective0_high_res))
(addeffect communicate_image_data_rover0_general_objective0_high_res_waypoint3_waypoint0 (thing available_rover0))
(addeffect communicate_image_data_rover0_general_objective0_colour_waypoint3_waypoint0 (thing channel_free_general))
(addeffect communicate_image_data_rover0_general_objective0_colour_waypoint3_waypoint0 (thing communicated_image_data_objective0_colour))
(addeffect communicate_image_data_rover0_general_objective0_colour_waypoint3_waypoint0 (thing available_rover0))
(addeffect communicate_rock_data_rover0_general_waypoint3_waypoint1_waypoint0 (thing channel_free_general))
(addeffect communicate_rock_data_rover0_general_waypoint3_waypoint1_waypoint0 (thing communicated_rock_data_waypoint3))
(addeffect communicate_rock_data_rover0_general_waypoint3_waypoint1_waypoint0 (thing available_rover0))
(addeffect communicate_rock_data_rover0_general_waypoint2_waypoint1_waypoint0 (thing channel_free_general))
(addeffect communicate_rock_data_rover0_general_waypoint2_waypoint1_waypoint0 (thing communicated_rock_data_waypoint2))
(addeffect communicate_rock_data_rover0_general_waypoint2_waypoint1_waypoint0 (thing available_rover0))
(addeffect communicate_rock_data_rover0_general_waypoint1_waypoint1_waypoint0 (thing channel_free_general))
(addeffect communicate_rock_data_rover0_general_waypoint1_waypoint1_waypoint0 (thing communicated_rock_data_waypoint1))
(addeffect communicate_rock_data_rover0_general_waypoint1_waypoint1_waypoint0 (thing available_rover0))
(addeffect communicate_rock_data_rover0_general_waypoint3_waypoint2_waypoint0 (thing channel_free_general))
(addeffect communicate_rock_data_rover0_general_waypoint3_waypoint2_waypoint0 (thing communicated_rock_data_waypoint3))
(addeffect communicate_rock_data_rover0_general_waypoint3_waypoint2_waypoint0 (thing available_rover0))
(addeffect communicate_rock_data_rover0_general_waypoint2_waypoint2_waypoint0 (thing channel_free_general))
(addeffect communicate_rock_data_rover0_general_waypoint2_waypoint2_waypoint0 (thing communicated_rock_data_waypoint2))
(addeffect communicate_rock_data_rover0_general_waypoint2_waypoint2_waypoint0 (thing available_rover0))
(addeffect communicate_rock_data_rover0_general_waypoint1_waypoint2_waypoint0 (thing channel_free_general))
(addeffect communicate_rock_data_rover0_general_waypoint1_waypoint2_waypoint0 (thing communicated_rock_data_waypoint1))
(addeffect communicate_rock_data_rover0_general_waypoint1_waypoint2_waypoint0 (thing available_rover0))
(addeffect communicate_rock_data_rover0_general_waypoint3_waypoint3_waypoint0 (thing channel_free_general))
(addeffect communicate_rock_data_rover0_general_waypoint3_waypoint3_waypoint0 (thing communicated_rock_data_waypoint3))
(addeffect communicate_rock_data_rover0_general_waypoint3_waypoint3_waypoint0 (thing available_rover0))
(addeffect communicate_rock_data_rover0_general_waypoint2_waypoint3_waypoint0 (thing channel_free_general))
(addeffect communicate_rock_data_rover0_general_waypoint2_waypoint3_waypoint0 (thing communicated_rock_data_waypoint2))
(addeffect communicate_rock_data_rover0_general_waypoint2_waypoint3_waypoint0 (thing available_rover0))
(addeffect communicate_rock_data_rover0_general_waypoint1_waypoint3_waypoint0 (thing channel_free_general))
(addeffect communicate_rock_data_rover0_general_waypoint1_waypoint3_waypoint0 (thing communicated_rock_data_waypoint1))
(addeffect communicate_rock_data_rover0_general_waypoint1_waypoint3_waypoint0 (thing available_rover0))
(addeffect communicate_soil_data_rover0_general_waypoint3_waypoint1_waypoint0 (thing channel_free_general))
(addeffect communicate_soil_data_rover0_general_waypoint3_waypoint1_waypoint0 (thing communicated_soil_data_waypoint3))
(addeffect communicate_soil_data_rover0_general_waypoint3_waypoint1_waypoint0 (thing available_rover0))
(addeffect communicate_soil_data_rover0_general_waypoint2_waypoint1_waypoint0 (thing channel_free_general))
(addeffect communicate_soil_data_rover0_general_waypoint2_waypoint1_waypoint0 (thing communicated_soil_data_waypoint2))
(addeffect communicate_soil_data_rover0_general_waypoint2_waypoint1_waypoint0 (thing available_rover0))
(addeffect communicate_soil_data_rover0_general_waypoint0_waypoint1_waypoint0 (thing channel_free_general))
(addeffect communicate_soil_data_rover0_general_waypoint0_waypoint1_waypoint0 (thing communicated_soil_data_waypoint0))
(addeffect communicate_soil_data_rover0_general_waypoint0_waypoint1_waypoint0 (thing available_rover0))
(addeffect communicate_soil_data_rover0_general_waypoint3_waypoint2_waypoint0 (thing channel_free_general))
(addeffect communicate_soil_data_rover0_general_waypoint3_waypoint2_waypoint0 (thing communicated_soil_data_waypoint3))
(addeffect communicate_soil_data_rover0_general_waypoint3_waypoint2_waypoint0 (thing available_rover0))
(addeffect communicate_soil_data_rover0_general_waypoint2_waypoint2_waypoint0 (thing channel_free_general))
(addeffect communicate_soil_data_rover0_general_waypoint2_waypoint2_waypoint0 (thing communicated_soil_data_waypoint2))
(addeffect communicate_soil_data_rover0_general_waypoint2_waypoint2_waypoint0 (thing available_rover0))
(addeffect communicate_soil_data_rover0_general_waypoint0_waypoint2_waypoint0 (thing channel_free_general))
(addeffect communicate_soil_data_rover0_general_waypoint0_waypoint2_waypoint0 (thing communicated_soil_data_waypoint0))
(addeffect communicate_soil_data_rover0_general_waypoint0_waypoint2_waypoint0 (thing available_rover0))
(addeffect communicate_soil_data_rover0_general_waypoint3_waypoint3_waypoint0 (thing channel_free_general))
(addeffect communicate_soil_data_rover0_general_waypoint3_waypoint3_waypoint0 (thing communicated_soil_data_waypoint3))
(addeffect communicate_soil_data_rover0_general_waypoint3_waypoint3_waypoint0 (thing available_rover0))
(addeffect communicate_soil_data_rover0_general_waypoint2_waypoint3_waypoint0 (thing channel_free_general))
(addeffect communicate_soil_data_rover0_general_waypoint2_waypoint3_waypoint0 (thing communicated_soil_data_waypoint2))
(addeffect communicate_soil_data_rover0_general_waypoint2_waypoint3_waypoint0 (thing available_rover0))
(addeffect communicate_soil_data_rover0_general_waypoint0_waypoint3_waypoint0 (thing channel_free_general))
(addeffect communicate_soil_data_rover0_general_waypoint0_waypoint3_waypoint0 (thing communicated_soil_data_waypoint0))
(addeffect communicate_soil_data_rover0_general_waypoint0_waypoint3_waypoint0 (thing available_rover0))
(addeffect take_image_rover0_waypoint0_objective0_camera0_colour (thing have_image_rover0_objective0_colour))
(deleteeffect take_image_rover0_waypoint0_objective0_camera0_colour (thing calibrated_camera0_rover0))
(addeffect take_image_rover0_waypoint0_objective0_camera0_high_res (thing have_image_rover0_objective0_high_res))
(deleteeffect take_image_rover0_waypoint0_objective0_camera0_high_res (thing calibrated_camera0_rover0))
(addeffect take_image_rover0_waypoint1_objective0_camera0_colour (thing have_image_rover0_objective0_colour))
(deleteeffect take_image_rover0_waypoint1_objective0_camera0_colour (thing calibrated_camera0_rover0))
(addeffect take_image_rover0_waypoint1_objective0_camera0_high_res (thing have_image_rover0_objective0_high_res))
(deleteeffect take_image_rover0_waypoint1_objective0_camera0_high_res (thing calibrated_camera0_rover0))
(addeffect take_image_rover0_waypoint2_objective0_camera0_colour (thing have_image_rover0_objective0_colour))
(deleteeffect take_image_rover0_waypoint2_objective0_camera0_colour (thing calibrated_camera0_rover0))
(addeffect take_image_rover0_waypoint2_objective0_camera0_high_res (thing have_image_rover0_objective0_high_res))
(deleteeffect take_image_rover0_waypoint2_objective0_camera0_high_res (thing calibrated_camera0_rover0))
(addeffect take_image_rover0_waypoint3_objective0_camera0_colour (thing have_image_rover0_objective0_colour))
(deleteeffect take_image_rover0_waypoint3_objective0_camera0_colour (thing calibrated_camera0_rover0))
(addeffect take_image_rover0_waypoint3_objective0_camera0_high_res (thing have_image_rover0_objective0_high_res))
(deleteeffect take_image_rover0_waypoint3_objective0_camera0_high_res (thing calibrated_camera0_rover0))
(addeffect take_image_rover0_waypoint0_objective1_camera0_colour (thing have_image_rover0_objective1_colour))
(deleteeffect take_image_rover0_waypoint0_objective1_camera0_colour (thing calibrated_camera0_rover0))
(addeffect take_image_rover0_waypoint0_objective1_camera0_high_res (thing have_image_rover0_objective1_high_res))
(deleteeffect take_image_rover0_waypoint0_objective1_camera0_high_res (thing calibrated_camera0_rover0))
(addeffect take_image_rover0_waypoint1_objective1_camera0_colour (thing have_image_rover0_objective1_colour))
(deleteeffect take_image_rover0_waypoint1_objective1_camera0_colour (thing calibrated_camera0_rover0))
(addeffect take_image_rover0_waypoint1_objective1_camera0_high_res (thing have_image_rover0_objective1_high_res))
(deleteeffect take_image_rover0_waypoint1_objective1_camera0_high_res (thing calibrated_camera0_rover0))
(addeffect take_image_rover0_waypoint2_objective1_camera0_colour (thing have_image_rover0_objective1_colour))
(deleteeffect take_image_rover0_waypoint2_objective1_camera0_colour (thing calibrated_camera0_rover0))
(addeffect take_image_rover0_waypoint2_objective1_camera0_high_res (thing have_image_rover0_objective1_high_res))
(deleteeffect take_image_rover0_waypoint2_objective1_camera0_high_res (thing calibrated_camera0_rover0))
(addeffect take_image_rover0_waypoint3_objective1_camera0_colour (thing have_image_rover0_objective1_colour))
(deleteeffect take_image_rover0_waypoint3_objective1_camera0_colour (thing calibrated_camera0_rover0))
(addeffect take_image_rover0_waypoint3_objective1_camera0_high_res (thing have_image_rover0_objective1_high_res))
(deleteeffect take_image_rover0_waypoint3_objective1_camera0_high_res (thing calibrated_camera0_rover0))
(addeffect calibrate_rover0_camera0_objective1_waypoint0 (thing calibrated_camera0_rover0))
(addeffect calibrate_rover0_camera0_objective1_waypoint1 (thing calibrated_camera0_rover0))
(addeffect calibrate_rover0_camera0_objective1_waypoint2 (thing calibrated_camera0_rover0))
(addeffect calibrate_rover0_camera0_objective1_waypoint3 (thing calibrated_camera0_rover0))
(addeffect drop_rover0_rover0store (thing empty_rover0store))
(deleteeffect drop_rover0_rover0store (thing full_rover0store))
(addeffect sample_rock_rover0_rover0store_waypoint3 (thing full_rover0store))
(addeffect sample_rock_rover0_rover0store_waypoint3 (thing have_rock_analysis_rover0_waypoint3))
(deleteeffect sample_rock_rover0_rover0store_waypoint3 (thing empty_rover0store))
(deleteeffect sample_rock_rover0_rover0store_waypoint3 (thing at_rock_sample_waypoint3))
(addeffect sample_rock_rover0_rover0store_waypoint2 (thing full_rover0store))
(addeffect sample_rock_rover0_rover0store_waypoint2 (thing have_rock_analysis_rover0_waypoint2))
(deleteeffect sample_rock_rover0_rover0store_waypoint2 (thing empty_rover0store))
(deleteeffect sample_rock_rover0_rover0store_waypoint2 (thing at_rock_sample_waypoint2))
(addeffect sample_rock_rover0_rover0store_waypoint1 (thing full_rover0store))
(addeffect sample_rock_rover0_rover0store_waypoint1 (thing have_rock_analysis_rover0_waypoint1))
(deleteeffect sample_rock_rover0_rover0store_waypoint1 (thing empty_rover0store))
(deleteeffect sample_rock_rover0_rover0store_waypoint1 (thing at_rock_sample_waypoint1))
(addeffect sample_soil_rover0_rover0store_waypoint3 (thing full_rover0store))
(addeffect sample_soil_rover0_rover0store_waypoint3 (thing have_soil_analysis_rover0_waypoint3))
(deleteeffect sample_soil_rover0_rover0store_waypoint3 (thing empty_rover0store))
(deleteeffect sample_soil_rover0_rover0store_waypoint3 (thing at_soil_sample_waypoint3))
(addeffect sample_soil_rover0_rover0store_waypoint2 (thing full_rover0store))
(addeffect sample_soil_rover0_rover0store_waypoint2 (thing have_soil_analysis_rover0_waypoint2))
(deleteeffect sample_soil_rover0_rover0store_waypoint2 (thing empty_rover0store))
(deleteeffect sample_soil_rover0_rover0store_waypoint2 (thing at_soil_sample_waypoint2))
(addeffect sample_soil_rover0_rover0store_waypoint0 (thing full_rover0store))
(addeffect sample_soil_rover0_rover0store_waypoint0 (thing have_soil_analysis_rover0_waypoint0))
(deleteeffect sample_soil_rover0_rover0store_waypoint0 (thing empty_rover0store))
(deleteeffect sample_soil_rover0_rover0store_waypoint0 (thing at_soil_sample_waypoint0))
(addeffect navigate_rover0_waypoint2_waypoint1 (thing at_rover0_waypoint1))
(deleteeffect navigate_rover0_waypoint2_waypoint1 (thing at_rover0_waypoint2))
(addeffect navigate_rover0_waypoint1_waypoint2 (thing at_rover0_waypoint2))
(deleteeffect navigate_rover0_waypoint1_waypoint2 (thing at_rover0_waypoint1))
(addeffect navigate_rover0_waypoint3_waypoint0 (thing at_rover0_waypoint0))
(deleteeffect navigate_rover0_waypoint3_waypoint0 (thing at_rover0_waypoint3))
(addeffect navigate_rover0_waypoint3_waypoint1 (thing at_rover0_waypoint1))
(deleteeffect navigate_rover0_waypoint3_waypoint1 (thing at_rover0_waypoint3))
(<= (next (thing ?pred))
    (does solver ?action)
    (true (thing ?pred))
    (not (deleteeffect ?action (thing ?pred))))
(<= (next (thing ?pred))
    (does solver ?action)
    (addeffect ?action (thing ?pred)))
(init (step 1))
(succ 1 2)
(succ 2 3)
(succ 3 4)
(succ 4 5)
(succ 5 6)
(succ 6 7)
(succ 7 8)
(succ 8 9)
(succ 9 10)
(succ 10 11)
(succ 11 12)
(succ 12 13)
(succ 13 14)
(succ 14 15)
(succ 15 16)
(succ 16 17)
(succ 17 18)
(succ 18 19)
(succ 19 20)
(succ 20 21)
(succ 21 22)
(succ 22 23)
(succ 23 24)
(succ 24 25)
(succ 25 26)
(succ 26 27)
(succ 27 28)
(succ 28 29)
(succ 29 30)
(succ 30 31)
(<= (next (step ?y))
    (true (step ?x))
    (succ ?x ?y))
(<= terminal
    (true (step 30)))

sees_XML(...) rules

(<= (sees_xml random ?t) (true ?t))
(<= (sees_xml ?p ?t) (role ?p) (distinct ?p random) (true ?t))