rover01.touistl

bigand $f in $I: $f(0) end
bigand $f in diff($F,$I): not $f(0) end
bigand $f in $G: $f($length) end
bigand $i in [1..$length]:
  bigand $a in $O:
    ($a($i) =>
      ((bigand $f in $Cond($a): $f($i-1) end)
        and
        (bigand $f in $Add($a): $f($i) end)
        and
        (bigand $f in $Del($a): (not $f($i)) end)))
  end
end
bigand $i in [1..$length]:
  bigand $f in $F:
    ($f($i-1) and not $f($i))
    => (bigor $a in $O when $f in $Del($a): $a($i) end)
  end
end
bigand $i in [1..$length]:
  bigand $f in $F:
    (not $f($i-1) and $f($i))
    => (bigor $a in $O when $f in $Add($a): $a($i) end)
  end

end
bigand $i in [1..$length]:
  bigand $a1 in $O:
    bigand $f in $Cond($a1):
      bigand $a2 in $O when ($a1 != $a2) and ($f in $Del($a2)):
        (not $a1($i) or not $a2($i))
      end
    end
  end
end

data

$length = 4

$I = [at_soil_sample_waypoint0,at_rock_sample_waypoint1,at_soil_sample_waypoint2,at_rock_sample_waypoint2,at_soil_sample_waypoint3,at_rock_sample_waypoint3,channel_free_general,at_rover0_waypoint3,available_rover0,empty_rover0store]

$G = [communicated_soil_data_waypoint2,communicated_rock_data_waypoint3,communicated_image_data_objective1_high_res]

$O = [NAVIGATE_rover0_waypoint1_waypoint2,NAVIGATE_rover0_waypoint1_waypoint3,NAVIGATE_rover0_waypoint3_waypoint1,NAVIGATE_rover0_waypoint2_waypoint1,NAVIGATE_rover0_waypoint0_waypoint3,NAVIGATE_rover0_waypoint3_waypoint0,SAMPLE_SOIL_rover0_rover0store_waypoint3,SAMPLE_SOIL_rover0_rover0store_waypoint2,SAMPLE_SOIL_rover0_rover0store_waypoint0,SAMPLE_ROCK_rover0_rover0store_waypoint3,SAMPLE_ROCK_rover0_rover0store_waypoint2,SAMPLE_ROCK_rover0_rover0store_waypoint1,DROP_rover0_rover0store,CALIBRATE_rover0_camera0_objective1_waypoint3,CALIBRATE_rover0_camera0_objective1_waypoint2,CALIBRATE_rover0_camera0_objective1_waypoint1,CALIBRATE_rover0_camera0_objective1_waypoint0,TAKE_IMAGE_rover0_waypoint3_objective1_camera0_high_res,TAKE_IMAGE_rover0_waypoint2_objective1_camera0_high_res,TAKE_IMAGE_rover0_waypoint1_objective1_camera0_high_res,TAKE_IMAGE_rover0_waypoint0_objective1_camera0_high_res,TAKE_IMAGE_rover0_waypoint3_objective0_camera0_high_res,TAKE_IMAGE_rover0_waypoint2_objective0_camera0_high_res,TAKE_IMAGE_rover0_waypoint1_objective0_camera0_high_res,TAKE_IMAGE_rover0_waypoint0_objective0_camera0_high_res,TAKE_IMAGE_rover0_waypoint3_objective1_camera0_colour,TAKE_IMAGE_rover0_waypoint2_objective1_camera0_colour,TAKE_IMAGE_rover0_waypoint1_objective1_camera0_colour,TAKE_IMAGE_rover0_waypoint0_objective1_camera0_colour,TAKE_IMAGE_rover0_waypoint3_objective0_camera0_colour,TAKE_IMAGE_rover0_waypoint2_objective0_camera0_colour,TAKE_IMAGE_rover0_waypoint1_objective0_camera0_colour,TAKE_IMAGE_rover0_waypoint0_objective0_camera0_colour,COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint3_waypoint0,COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint2_waypoint0,COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint1_waypoint0,COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint1_waypoint0,COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint3_waypoint0,COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint3_waypoint0,COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint2_waypoint0,COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint2_waypoint0,COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint1_waypoint0,COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint1_waypoint0,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint3_waypoint0,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint3_waypoint0,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint3_waypoint0,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint3_waypoint0,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint2_waypoint0,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint2_waypoint0,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint2_waypoint0,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint2_waypoint0,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint1_waypoint0,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint1_waypoint0,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint1_waypoint0,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint1_waypoint0]

$F = [have_rock_analysis_rover0_waypoint3,at_soil_sample_waypoint3,at_rock_sample_waypoint2,full_rover0store,communicated_rock_data_waypoint2,have_soil_analysis_rover0_waypoint3,at_soil_sample_waypoint0,channel_free_general,communicated_image_data_objective0_high_res,have_soil_analysis_rover0_waypoint2,communicated_image_data_objective1_high_res,have_soil_analysis_rover0_waypoint0,available_rover0,communicated_soil_data_waypoint3,at_rover0_waypoint2,communicated_image_data_objective0_colour,calibrated_camera0_rover0,at_rock_sample_waypoint3,have_image_rover0_objective0_colour,at_rover0_waypoint1,at_rock_sample_waypoint1,communicated_rock_data_waypoint3,at_rover0_waypoint3,communicated_image_data_objective1_colour,at_rover0_waypoint0,have_rock_analysis_rover0_waypoint2,have_rock_analysis_rover0_waypoint1,communicated_soil_data_waypoint2,empty_rover0store,communicated_rock_data_waypoint1,have_image_rover0_objective1_colour,have_image_rover0_objective0_high_res,have_image_rover0_objective1_high_res,at_soil_sample_waypoint2]

$Fp = [at_soil_sample_waypoint2,have_image_rover0_objective1_high_res,have_image_rover0_objective0_high_res,have_image_rover0_objective1_colour,empty_rover0store,have_rock_analysis_rover0_waypoint1,have_rock_analysis_rover0_waypoint2,at_rover0_waypoint0,at_rover0_waypoint3,at_rock_sample_waypoint1,at_rover0_waypoint1,have_image_rover0_objective0_colour,at_rock_sample_waypoint3,calibrated_camera0_rover0,at_rover0_waypoint2,available_rover0,have_soil_analysis_rover0_waypoint2,channel_free_general,at_soil_sample_waypoint0,have_soil_analysis_rover0_waypoint3,full_rover0store,at_rock_sample_waypoint2,at_soil_sample_waypoint3,have_rock_analysis_rover0_waypoint3]

$Fa = [have_image_rover0_objective1_high_res,have_image_rover0_objective0_high_res,have_image_rover0_objective1_colour,communicated_rock_data_waypoint1,empty_rover0store,communicated_soil_data_waypoint2,have_rock_analysis_rover0_waypoint1,have_rock_analysis_rover0_waypoint2,at_rover0_waypoint0,communicated_image_data_objective1_colour,at_rover0_waypoint3,communicated_rock_data_waypoint3,at_rover0_waypoint1,have_image_rover0_objective0_colour,calibrated_camera0_rover0,communicated_image_data_objective0_colour,at_rover0_waypoint2,communicated_soil_data_waypoint3,available_rover0,have_soil_analysis_rover0_waypoint0,communicated_image_data_objective1_high_res,have_soil_analysis_rover0_waypoint2,communicated_image_data_objective0_high_res,channel_free_general,have_soil_analysis_rover0_waypoint3,communicated_rock_data_waypoint2,full_rover0store,have_rock_analysis_rover0_waypoint3]

$Fd = [at_soil_sample_waypoint2,empty_rover0store,at_rover0_waypoint0,at_rover0_waypoint3,at_rock_sample_waypoint1,at_rover0_waypoint1,at_rock_sample_waypoint3,calibrated_camera0_rover0,at_rover0_waypoint2,available_rover0,channel_free_general,at_soil_sample_waypoint0,full_rover0store,at_rock_sample_waypoint2,at_soil_sample_waypoint3]


$Cond(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint1_waypoint0) = [channel_free_general,available_rover0,have_image_rover0_objective0_colour,at_rover0_waypoint1]
$Add(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint1_waypoint0) = [available_rover0,communicated_image_data_objective0_colour,channel_free_general]
$Del(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint1_waypoint0) = [channel_free_general,available_rover0]
$minlevel(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint1_waypoint0) = 3
$maxlevel(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint1_waypoint0) = 3
$t_cond_begin(channel_free_general,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint1_waypoint0) = 0.000000
$t_cond_end(channel_free_general,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint1_waypoint0) = 1.000000
$t_cond_begin(available_rover0,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint1_waypoint0) = 0.000000
$t_cond_end(available_rover0,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint1_waypoint0) = 1.000000
$t_cond_begin(have_image_rover0_objective0_colour,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint1_waypoint0) = 0.000000
$t_cond_end(have_image_rover0_objective0_colour,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint1_waypoint0) = 1.000000
$t_cond_begin(at_rover0_waypoint1,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint1_waypoint0) = 0.000000
$t_cond_end(at_rover0_waypoint1,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint1_waypoint0) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint1_waypoint0,available_rover0) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint1_waypoint0,available_rover0) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint1_waypoint0,communicated_image_data_objective0_colour) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint1_waypoint0,communicated_image_data_objective0_colour) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_del_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint1_waypoint0,available_rover0) = 1.000000
$t_del_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint1_waypoint0,available_rover0) = 1.000000

$Cond(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint1_waypoint0) = [channel_free_general,available_rover0,have_image_rover0_objective0_high_res,at_rover0_waypoint1]
$Add(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint1_waypoint0) = [available_rover0,communicated_image_data_objective0_high_res,channel_free_general]
$Del(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint1_waypoint0) = [channel_free_general,available_rover0]
$minlevel(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint1_waypoint0) = 3
$maxlevel(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint1_waypoint0) = 3
$t_cond_begin(channel_free_general,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint1_waypoint0) = 0.000000
$t_cond_end(channel_free_general,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint1_waypoint0) = 1.000000
$t_cond_begin(available_rover0,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint1_waypoint0) = 0.000000
$t_cond_end(available_rover0,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint1_waypoint0) = 1.000000
$t_cond_begin(have_image_rover0_objective0_high_res,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint1_waypoint0) = 0.000000
$t_cond_end(have_image_rover0_objective0_high_res,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint1_waypoint0) = 1.000000
$t_cond_begin(at_rover0_waypoint1,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint1_waypoint0) = 0.000000
$t_cond_end(at_rover0_waypoint1,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint1_waypoint0) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint1_waypoint0,available_rover0) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint1_waypoint0,available_rover0) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint1_waypoint0,communicated_image_data_objective0_high_res) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint1_waypoint0,communicated_image_data_objective0_high_res) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_del_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint1_waypoint0,available_rover0) = 1.000000
$t_del_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint1_waypoint0,available_rover0) = 1.000000

$Cond(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint1_waypoint0) = [channel_free_general,available_rover0,have_image_rover0_objective1_colour,at_rover0_waypoint1]
$Add(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint1_waypoint0) = [available_rover0,communicated_image_data_objective1_colour,channel_free_general]
$Del(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint1_waypoint0) = [channel_free_general,available_rover0]
$minlevel(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint1_waypoint0) = 3
$maxlevel(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint1_waypoint0) = 3
$t_cond_begin(channel_free_general,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint1_waypoint0) = 0.000000
$t_cond_end(channel_free_general,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint1_waypoint0) = 1.000000
$t_cond_begin(available_rover0,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint1_waypoint0) = 0.000000
$t_cond_end(available_rover0,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint1_waypoint0) = 1.000000
$t_cond_begin(have_image_rover0_objective1_colour,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint1_waypoint0) = 0.000000
$t_cond_end(have_image_rover0_objective1_colour,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint1_waypoint0) = 1.000000
$t_cond_begin(at_rover0_waypoint1,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint1_waypoint0) = 0.000000
$t_cond_end(at_rover0_waypoint1,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint1_waypoint0) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint1_waypoint0,available_rover0) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint1_waypoint0,available_rover0) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint1_waypoint0,communicated_image_data_objective1_colour) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint1_waypoint0,communicated_image_data_objective1_colour) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_del_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint1_waypoint0,available_rover0) = 1.000000
$t_del_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint1_waypoint0,available_rover0) = 1.000000

$Cond(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint1_waypoint0) = [channel_free_general,available_rover0,have_image_rover0_objective1_high_res,at_rover0_waypoint1]
$Add(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint1_waypoint0) = [available_rover0,communicated_image_data_objective1_high_res,channel_free_general]
$Del(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint1_waypoint0) = [channel_free_general,available_rover0]
$minlevel(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint1_waypoint0) = 3
$maxlevel(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint1_waypoint0) = 4
$t_cond_begin(channel_free_general,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint1_waypoint0) = 0.000000
$t_cond_end(channel_free_general,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint1_waypoint0) = 1.000000
$t_cond_begin(available_rover0,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint1_waypoint0) = 0.000000
$t_cond_end(available_rover0,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint1_waypoint0) = 1.000000
$t_cond_begin(have_image_rover0_objective1_high_res,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint1_waypoint0) = 0.000000
$t_cond_end(have_image_rover0_objective1_high_res,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint1_waypoint0) = 1.000000
$t_cond_begin(at_rover0_waypoint1,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint1_waypoint0) = 0.000000
$t_cond_end(at_rover0_waypoint1,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint1_waypoint0) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint1_waypoint0,available_rover0) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint1_waypoint0,available_rover0) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint1_waypoint0,communicated_image_data_objective1_high_res) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint1_waypoint0,communicated_image_data_objective1_high_res) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_del_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint1_waypoint0,available_rover0) = 1.000000
$t_del_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint1_waypoint0,available_rover0) = 1.000000

$Cond(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint2_waypoint0) = [channel_free_general,available_rover0,have_image_rover0_objective0_colour,at_rover0_waypoint2]
$Add(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint2_waypoint0) = [available_rover0,communicated_image_data_objective0_colour,channel_free_general]
$Del(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint2_waypoint0) = [channel_free_general,available_rover0]
$minlevel(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint2_waypoint0) = 3
$maxlevel(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint2_waypoint0) = 3
$t_cond_begin(channel_free_general,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint2_waypoint0) = 0.000000
$t_cond_end(channel_free_general,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint2_waypoint0) = 1.000000
$t_cond_begin(available_rover0,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint2_waypoint0) = 0.000000
$t_cond_end(available_rover0,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint2_waypoint0) = 1.000000
$t_cond_begin(have_image_rover0_objective0_colour,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint2_waypoint0) = 0.000000
$t_cond_end(have_image_rover0_objective0_colour,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint2_waypoint0) = 1.000000
$t_cond_begin(at_rover0_waypoint2,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint2_waypoint0) = 0.000000
$t_cond_end(at_rover0_waypoint2,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint2_waypoint0) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint2_waypoint0,available_rover0) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint2_waypoint0,available_rover0) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint2_waypoint0,communicated_image_data_objective0_colour) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint2_waypoint0,communicated_image_data_objective0_colour) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint2_waypoint0,channel_free_general) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint2_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint2_waypoint0,channel_free_general) = 1.000000
$t_del_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint2_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint2_waypoint0,available_rover0) = 1.000000
$t_del_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint2_waypoint0,available_rover0) = 1.000000

$Cond(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint2_waypoint0) = [channel_free_general,available_rover0,have_image_rover0_objective0_high_res,at_rover0_waypoint2]
$Add(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint2_waypoint0) = [available_rover0,communicated_image_data_objective0_high_res,channel_free_general]
$Del(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint2_waypoint0) = [channel_free_general,available_rover0]
$minlevel(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint2_waypoint0) = 3
$maxlevel(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint2_waypoint0) = 3
$t_cond_begin(channel_free_general,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint2_waypoint0) = 0.000000
$t_cond_end(channel_free_general,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint2_waypoint0) = 1.000000
$t_cond_begin(available_rover0,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint2_waypoint0) = 0.000000
$t_cond_end(available_rover0,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint2_waypoint0) = 1.000000
$t_cond_begin(have_image_rover0_objective0_high_res,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint2_waypoint0) = 0.000000
$t_cond_end(have_image_rover0_objective0_high_res,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint2_waypoint0) = 1.000000
$t_cond_begin(at_rover0_waypoint2,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint2_waypoint0) = 0.000000
$t_cond_end(at_rover0_waypoint2,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint2_waypoint0) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint2_waypoint0,available_rover0) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint2_waypoint0,available_rover0) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint2_waypoint0,communicated_image_data_objective0_high_res) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint2_waypoint0,communicated_image_data_objective0_high_res) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint2_waypoint0,channel_free_general) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint2_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint2_waypoint0,channel_free_general) = 1.000000
$t_del_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint2_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint2_waypoint0,available_rover0) = 1.000000
$t_del_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint2_waypoint0,available_rover0) = 1.000000

$Cond(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint2_waypoint0) = [channel_free_general,available_rover0,have_image_rover0_objective1_colour,at_rover0_waypoint2]
$Add(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint2_waypoint0) = [available_rover0,communicated_image_data_objective1_colour,channel_free_general]
$Del(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint2_waypoint0) = [channel_free_general,available_rover0]
$minlevel(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint2_waypoint0) = 3
$maxlevel(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint2_waypoint0) = 3
$t_cond_begin(channel_free_general,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint2_waypoint0) = 0.000000
$t_cond_end(channel_free_general,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint2_waypoint0) = 1.000000
$t_cond_begin(available_rover0,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint2_waypoint0) = 0.000000
$t_cond_end(available_rover0,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint2_waypoint0) = 1.000000
$t_cond_begin(have_image_rover0_objective1_colour,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint2_waypoint0) = 0.000000
$t_cond_end(have_image_rover0_objective1_colour,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint2_waypoint0) = 1.000000
$t_cond_begin(at_rover0_waypoint2,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint2_waypoint0) = 0.000000
$t_cond_end(at_rover0_waypoint2,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint2_waypoint0) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint2_waypoint0,available_rover0) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint2_waypoint0,available_rover0) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint2_waypoint0,communicated_image_data_objective1_colour) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint2_waypoint0,communicated_image_data_objective1_colour) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint2_waypoint0,channel_free_general) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint2_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint2_waypoint0,channel_free_general) = 1.000000
$t_del_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint2_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint2_waypoint0,available_rover0) = 1.000000
$t_del_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint2_waypoint0,available_rover0) = 1.000000

$Cond(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint2_waypoint0) = [channel_free_general,available_rover0,have_image_rover0_objective1_high_res,at_rover0_waypoint2]
$Add(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint2_waypoint0) = [available_rover0,communicated_image_data_objective1_high_res,channel_free_general]
$Del(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint2_waypoint0) = [channel_free_general,available_rover0]
$minlevel(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint2_waypoint0) = 3
$maxlevel(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint2_waypoint0) = 4
$t_cond_begin(channel_free_general,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint2_waypoint0) = 0.000000
$t_cond_end(channel_free_general,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint2_waypoint0) = 1.000000
$t_cond_begin(available_rover0,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint2_waypoint0) = 0.000000
$t_cond_end(available_rover0,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint2_waypoint0) = 1.000000
$t_cond_begin(have_image_rover0_objective1_high_res,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint2_waypoint0) = 0.000000
$t_cond_end(have_image_rover0_objective1_high_res,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint2_waypoint0) = 1.000000
$t_cond_begin(at_rover0_waypoint2,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint2_waypoint0) = 0.000000
$t_cond_end(at_rover0_waypoint2,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint2_waypoint0) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint2_waypoint0,available_rover0) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint2_waypoint0,available_rover0) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint2_waypoint0,communicated_image_data_objective1_high_res) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint2_waypoint0,communicated_image_data_objective1_high_res) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint2_waypoint0,channel_free_general) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint2_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint2_waypoint0,channel_free_general) = 1.000000
$t_del_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint2_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint2_waypoint0,available_rover0) = 1.000000
$t_del_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint2_waypoint0,available_rover0) = 1.000000

$Cond(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint3_waypoint0) = [channel_free_general,available_rover0,have_image_rover0_objective0_colour,at_rover0_waypoint3]
$Add(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint3_waypoint0) = [available_rover0,communicated_image_data_objective0_colour,channel_free_general]
$Del(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint3_waypoint0) = [channel_free_general,available_rover0]
$minlevel(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint3_waypoint0) = 3
$maxlevel(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint3_waypoint0) = 3
$t_cond_begin(channel_free_general,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint3_waypoint0) = 0.000000
$t_cond_end(channel_free_general,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint3_waypoint0) = 1.000000
$t_cond_begin(available_rover0,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint3_waypoint0) = 0.000000
$t_cond_end(available_rover0,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint3_waypoint0) = 1.000000
$t_cond_begin(have_image_rover0_objective0_colour,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint3_waypoint0) = 0.000000
$t_cond_end(have_image_rover0_objective0_colour,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint3_waypoint0) = 1.000000
$t_cond_begin(at_rover0_waypoint3,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint3_waypoint0) = 0.000000
$t_cond_end(at_rover0_waypoint3,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint3_waypoint0) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint3_waypoint0,available_rover0) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint3_waypoint0,available_rover0) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint3_waypoint0,communicated_image_data_objective0_colour) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint3_waypoint0,communicated_image_data_objective0_colour) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint3_waypoint0,channel_free_general) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint3_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint3_waypoint0,channel_free_general) = 1.000000
$t_del_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint3_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint3_waypoint0,available_rover0) = 1.000000
$t_del_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_colour_waypoint3_waypoint0,available_rover0) = 1.000000

$Cond(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint3_waypoint0) = [channel_free_general,available_rover0,have_image_rover0_objective0_high_res,at_rover0_waypoint3]
$Add(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint3_waypoint0) = [available_rover0,communicated_image_data_objective0_high_res,channel_free_general]
$Del(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint3_waypoint0) = [channel_free_general,available_rover0]
$minlevel(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint3_waypoint0) = 3
$maxlevel(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint3_waypoint0) = 3
$t_cond_begin(channel_free_general,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint3_waypoint0) = 0.000000
$t_cond_end(channel_free_general,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint3_waypoint0) = 1.000000
$t_cond_begin(available_rover0,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint3_waypoint0) = 0.000000
$t_cond_end(available_rover0,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint3_waypoint0) = 1.000000
$t_cond_begin(have_image_rover0_objective0_high_res,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint3_waypoint0) = 0.000000
$t_cond_end(have_image_rover0_objective0_high_res,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint3_waypoint0) = 1.000000
$t_cond_begin(at_rover0_waypoint3,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint3_waypoint0) = 0.000000
$t_cond_end(at_rover0_waypoint3,COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint3_waypoint0) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint3_waypoint0,available_rover0) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint3_waypoint0,available_rover0) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint3_waypoint0,communicated_image_data_objective0_high_res) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint3_waypoint0,communicated_image_data_objective0_high_res) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint3_waypoint0,channel_free_general) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint3_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint3_waypoint0,channel_free_general) = 1.000000
$t_del_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint3_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint3_waypoint0,available_rover0) = 1.000000
$t_del_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective0_high_res_waypoint3_waypoint0,available_rover0) = 1.000000

$Cond(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint3_waypoint0) = [channel_free_general,available_rover0,have_image_rover0_objective1_colour,at_rover0_waypoint3]
$Add(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint3_waypoint0) = [available_rover0,communicated_image_data_objective1_colour,channel_free_general]
$Del(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint3_waypoint0) = [channel_free_general,available_rover0]
$minlevel(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint3_waypoint0) = 3
$maxlevel(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint3_waypoint0) = 3
$t_cond_begin(channel_free_general,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint3_waypoint0) = 0.000000
$t_cond_end(channel_free_general,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint3_waypoint0) = 1.000000
$t_cond_begin(available_rover0,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint3_waypoint0) = 0.000000
$t_cond_end(available_rover0,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint3_waypoint0) = 1.000000
$t_cond_begin(have_image_rover0_objective1_colour,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint3_waypoint0) = 0.000000
$t_cond_end(have_image_rover0_objective1_colour,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint3_waypoint0) = 1.000000
$t_cond_begin(at_rover0_waypoint3,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint3_waypoint0) = 0.000000
$t_cond_end(at_rover0_waypoint3,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint3_waypoint0) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint3_waypoint0,available_rover0) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint3_waypoint0,available_rover0) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint3_waypoint0,communicated_image_data_objective1_colour) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint3_waypoint0,communicated_image_data_objective1_colour) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint3_waypoint0,channel_free_general) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint3_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint3_waypoint0,channel_free_general) = 1.000000
$t_del_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint3_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint3_waypoint0,available_rover0) = 1.000000
$t_del_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_colour_waypoint3_waypoint0,available_rover0) = 1.000000

$Cond(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint3_waypoint0) = [channel_free_general,available_rover0,have_image_rover0_objective1_high_res,at_rover0_waypoint3]
$Add(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint3_waypoint0) = [available_rover0,communicated_image_data_objective1_high_res,channel_free_general]
$Del(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint3_waypoint0) = [channel_free_general,available_rover0]
$minlevel(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint3_waypoint0) = 3
$maxlevel(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint3_waypoint0) = 4
$t_cond_begin(channel_free_general,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint3_waypoint0) = 0.000000
$t_cond_end(channel_free_general,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint3_waypoint0) = 1.000000
$t_cond_begin(available_rover0,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint3_waypoint0) = 0.000000
$t_cond_end(available_rover0,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint3_waypoint0) = 1.000000
$t_cond_begin(have_image_rover0_objective1_high_res,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint3_waypoint0) = 0.000000
$t_cond_end(have_image_rover0_objective1_high_res,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint3_waypoint0) = 1.000000
$t_cond_begin(at_rover0_waypoint3,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint3_waypoint0) = 0.000000
$t_cond_end(at_rover0_waypoint3,COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint3_waypoint0) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint3_waypoint0,available_rover0) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint3_waypoint0,available_rover0) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint3_waypoint0,communicated_image_data_objective1_high_res) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint3_waypoint0,communicated_image_data_objective1_high_res) = 1.000000
$t_add_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint3_waypoint0,channel_free_general) = 1.000000
$t_add_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint3_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint3_waypoint0,channel_free_general) = 1.000000
$t_del_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint3_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint3_waypoint0,available_rover0) = 1.000000
$t_del_end(COMMUNICATE_IMAGE_DATA_rover0_general_objective1_high_res_waypoint3_waypoint0,available_rover0) = 1.000000

$Cond(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint1_waypoint0) = [channel_free_general,available_rover0,have_rock_analysis_rover0_waypoint2,at_rover0_waypoint1]
$Add(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint1_waypoint0) = [available_rover0,communicated_rock_data_waypoint2,channel_free_general]
$Del(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint1_waypoint0) = [channel_free_general,available_rover0]
$minlevel(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint1_waypoint0) = 4
$maxlevel(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint1_waypoint0) = 3
$t_cond_begin(channel_free_general,COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint1_waypoint0) = 0.000000
$t_cond_end(channel_free_general,COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint1_waypoint0) = 1.000000
$t_cond_begin(available_rover0,COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint1_waypoint0) = 0.000000
$t_cond_end(available_rover0,COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint1_waypoint0) = 1.000000
$t_cond_begin(have_rock_analysis_rover0_waypoint2,COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint1_waypoint0) = 0.000000
$t_cond_end(have_rock_analysis_rover0_waypoint2,COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint1_waypoint0) = 1.000000
$t_cond_begin(at_rover0_waypoint1,COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint1_waypoint0) = 0.000000
$t_cond_end(at_rover0_waypoint1,COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint1_waypoint0) = 1.000000
$t_add_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint1_waypoint0,available_rover0) = 1.000000
$t_add_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint1_waypoint0,available_rover0) = 1.000000
$t_add_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint1_waypoint0,communicated_rock_data_waypoint2) = 1.000000
$t_add_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint1_waypoint0,communicated_rock_data_waypoint2) = 1.000000
$t_add_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_add_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_del_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint1_waypoint0,available_rover0) = 1.000000
$t_del_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint1_waypoint0,available_rover0) = 1.000000

$Cond(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint1_waypoint0) = [channel_free_general,available_rover0,have_rock_analysis_rover0_waypoint3,at_rover0_waypoint1]
$Add(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint1_waypoint0) = [available_rover0,communicated_rock_data_waypoint3,channel_free_general]
$Del(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint1_waypoint0) = [channel_free_general,available_rover0]
$minlevel(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint1_waypoint0) = 2
$maxlevel(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint1_waypoint0) = 4
$t_cond_begin(channel_free_general,COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint1_waypoint0) = 0.000000
$t_cond_end(channel_free_general,COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint1_waypoint0) = 1.000000
$t_cond_begin(available_rover0,COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint1_waypoint0) = 0.000000
$t_cond_end(available_rover0,COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint1_waypoint0) = 1.000000
$t_cond_begin(have_rock_analysis_rover0_waypoint3,COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint1_waypoint0) = 0.000000
$t_cond_end(have_rock_analysis_rover0_waypoint3,COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint1_waypoint0) = 1.000000
$t_cond_begin(at_rover0_waypoint1,COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint1_waypoint0) = 0.000000
$t_cond_end(at_rover0_waypoint1,COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint1_waypoint0) = 1.000000
$t_add_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint1_waypoint0,available_rover0) = 1.000000
$t_add_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint1_waypoint0,available_rover0) = 1.000000
$t_add_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint1_waypoint0,communicated_rock_data_waypoint3) = 1.000000
$t_add_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint1_waypoint0,communicated_rock_data_waypoint3) = 1.000000
$t_add_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_add_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_del_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint1_waypoint0,available_rover0) = 1.000000
$t_del_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint1_waypoint0,available_rover0) = 1.000000

$Cond(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint2_waypoint0) = [channel_free_general,available_rover0,have_rock_analysis_rover0_waypoint1,at_rover0_waypoint2]
$Add(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint2_waypoint0) = [available_rover0,communicated_rock_data_waypoint1,channel_free_general]
$Del(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint2_waypoint0) = [channel_free_general,available_rover0]
$minlevel(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint2_waypoint0) = 3
$maxlevel(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint2_waypoint0) = 3
$t_cond_begin(channel_free_general,COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint2_waypoint0) = 0.000000
$t_cond_end(channel_free_general,COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint2_waypoint0) = 1.000000
$t_cond_begin(available_rover0,COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint2_waypoint0) = 0.000000
$t_cond_end(available_rover0,COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint2_waypoint0) = 1.000000
$t_cond_begin(have_rock_analysis_rover0_waypoint1,COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint2_waypoint0) = 0.000000
$t_cond_end(have_rock_analysis_rover0_waypoint1,COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint2_waypoint0) = 1.000000
$t_cond_begin(at_rover0_waypoint2,COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint2_waypoint0) = 0.000000
$t_cond_end(at_rover0_waypoint2,COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint2_waypoint0) = 1.000000
$t_add_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint2_waypoint0,available_rover0) = 1.000000
$t_add_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint2_waypoint0,available_rover0) = 1.000000
$t_add_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint2_waypoint0,communicated_rock_data_waypoint1) = 1.000000
$t_add_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint2_waypoint0,communicated_rock_data_waypoint1) = 1.000000
$t_add_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint2_waypoint0,channel_free_general) = 1.000000
$t_add_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint2_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint2_waypoint0,channel_free_general) = 1.000000
$t_del_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint2_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint2_waypoint0,available_rover0) = 1.000000
$t_del_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint2_waypoint0,available_rover0) = 1.000000

$Cond(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint2_waypoint0) = [channel_free_general,available_rover0,have_rock_analysis_rover0_waypoint3,at_rover0_waypoint2]
$Add(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint2_waypoint0) = [available_rover0,communicated_rock_data_waypoint3,channel_free_general]
$Del(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint2_waypoint0) = [channel_free_general,available_rover0]
$minlevel(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint2_waypoint0) = 3
$maxlevel(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint2_waypoint0) = 4
$t_cond_begin(channel_free_general,COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint2_waypoint0) = 0.000000
$t_cond_end(channel_free_general,COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint2_waypoint0) = 1.000000
$t_cond_begin(available_rover0,COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint2_waypoint0) = 0.000000
$t_cond_end(available_rover0,COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint2_waypoint0) = 1.000000
$t_cond_begin(have_rock_analysis_rover0_waypoint3,COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint2_waypoint0) = 0.000000
$t_cond_end(have_rock_analysis_rover0_waypoint3,COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint2_waypoint0) = 1.000000
$t_cond_begin(at_rover0_waypoint2,COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint2_waypoint0) = 0.000000
$t_cond_end(at_rover0_waypoint2,COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint2_waypoint0) = 1.000000
$t_add_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint2_waypoint0,available_rover0) = 1.000000
$t_add_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint2_waypoint0,available_rover0) = 1.000000
$t_add_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint2_waypoint0,communicated_rock_data_waypoint3) = 1.000000
$t_add_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint2_waypoint0,communicated_rock_data_waypoint3) = 1.000000
$t_add_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint2_waypoint0,channel_free_general) = 1.000000
$t_add_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint2_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint2_waypoint0,channel_free_general) = 1.000000
$t_del_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint2_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint2_waypoint0,available_rover0) = 1.000000
$t_del_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint3_waypoint2_waypoint0,available_rover0) = 1.000000

$Cond(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint3_waypoint0) = [channel_free_general,available_rover0,have_rock_analysis_rover0_waypoint1,at_rover0_waypoint3]
$Add(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint3_waypoint0) = [available_rover0,communicated_rock_data_waypoint1,channel_free_general]
$Del(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint3_waypoint0) = [channel_free_general,available_rover0]
$minlevel(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint3_waypoint0) = 3
$maxlevel(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint3_waypoint0) = 3
$t_cond_begin(channel_free_general,COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint3_waypoint0) = 0.000000
$t_cond_end(channel_free_general,COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint3_waypoint0) = 1.000000
$t_cond_begin(available_rover0,COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint3_waypoint0) = 0.000000
$t_cond_end(available_rover0,COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint3_waypoint0) = 1.000000
$t_cond_begin(have_rock_analysis_rover0_waypoint1,COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint3_waypoint0) = 0.000000
$t_cond_end(have_rock_analysis_rover0_waypoint1,COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint3_waypoint0) = 1.000000
$t_cond_begin(at_rover0_waypoint3,COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint3_waypoint0) = 0.000000
$t_cond_end(at_rover0_waypoint3,COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint3_waypoint0) = 1.000000
$t_add_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint3_waypoint0,available_rover0) = 1.000000
$t_add_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint3_waypoint0,available_rover0) = 1.000000
$t_add_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint3_waypoint0,communicated_rock_data_waypoint1) = 1.000000
$t_add_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint3_waypoint0,communicated_rock_data_waypoint1) = 1.000000
$t_add_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint3_waypoint0,channel_free_general) = 1.000000
$t_add_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint3_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint3_waypoint0,channel_free_general) = 1.000000
$t_del_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint3_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint3_waypoint0,available_rover0) = 1.000000
$t_del_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint1_waypoint3_waypoint0,available_rover0) = 1.000000

$Cond(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint3_waypoint0) = [channel_free_general,available_rover0,have_rock_analysis_rover0_waypoint2,at_rover0_waypoint3]
$Add(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint3_waypoint0) = [available_rover0,communicated_rock_data_waypoint2,channel_free_general]
$Del(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint3_waypoint0) = [channel_free_general,available_rover0]
$minlevel(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint3_waypoint0) = 4
$maxlevel(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint3_waypoint0) = 3
$t_cond_begin(channel_free_general,COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint3_waypoint0) = 0.000000
$t_cond_end(channel_free_general,COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint3_waypoint0) = 1.000000
$t_cond_begin(available_rover0,COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint3_waypoint0) = 0.000000
$t_cond_end(available_rover0,COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint3_waypoint0) = 1.000000
$t_cond_begin(have_rock_analysis_rover0_waypoint2,COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint3_waypoint0) = 0.000000
$t_cond_end(have_rock_analysis_rover0_waypoint2,COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint3_waypoint0) = 1.000000
$t_cond_begin(at_rover0_waypoint3,COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint3_waypoint0) = 0.000000
$t_cond_end(at_rover0_waypoint3,COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint3_waypoint0) = 1.000000
$t_add_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint3_waypoint0,available_rover0) = 1.000000
$t_add_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint3_waypoint0,available_rover0) = 1.000000
$t_add_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint3_waypoint0,communicated_rock_data_waypoint2) = 1.000000
$t_add_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint3_waypoint0,communicated_rock_data_waypoint2) = 1.000000
$t_add_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint3_waypoint0,channel_free_general) = 1.000000
$t_add_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint3_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint3_waypoint0,channel_free_general) = 1.000000
$t_del_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint3_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint3_waypoint0,available_rover0) = 1.000000
$t_del_end(COMMUNICATE_ROCK_DATA_rover0_general_waypoint2_waypoint3_waypoint0,available_rover0) = 1.000000

$Cond(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint1_waypoint0) = [channel_free_general,available_rover0,have_soil_analysis_rover0_waypoint2,at_rover0_waypoint1]
$Add(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint1_waypoint0) = [available_rover0,communicated_soil_data_waypoint2,channel_free_general]
$Del(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint1_waypoint0) = [channel_free_general,available_rover0]
$minlevel(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint1_waypoint0) = 4
$maxlevel(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint1_waypoint0) = 4
$t_cond_begin(channel_free_general,COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint1_waypoint0) = 0.000000
$t_cond_end(channel_free_general,COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint1_waypoint0) = 1.000000
$t_cond_begin(available_rover0,COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint1_waypoint0) = 0.000000
$t_cond_end(available_rover0,COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint1_waypoint0) = 1.000000
$t_cond_begin(have_soil_analysis_rover0_waypoint2,COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint1_waypoint0) = 0.000000
$t_cond_end(have_soil_analysis_rover0_waypoint2,COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint1_waypoint0) = 1.000000
$t_cond_begin(at_rover0_waypoint1,COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint1_waypoint0) = 0.000000
$t_cond_end(at_rover0_waypoint1,COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint1_waypoint0) = 1.000000
$t_add_begin(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint1_waypoint0,available_rover0) = 1.000000
$t_add_end(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint1_waypoint0,available_rover0) = 1.000000
$t_add_begin(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint1_waypoint0,communicated_soil_data_waypoint2) = 1.000000
$t_add_end(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint1_waypoint0,communicated_soil_data_waypoint2) = 1.000000
$t_add_begin(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_add_end(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_del_end(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint1_waypoint0,available_rover0) = 1.000000
$t_del_end(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint1_waypoint0,available_rover0) = 1.000000

$Cond(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint1_waypoint0) = [channel_free_general,available_rover0,have_soil_analysis_rover0_waypoint3,at_rover0_waypoint1]
$Add(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint1_waypoint0) = [available_rover0,communicated_soil_data_waypoint3,channel_free_general]
$Del(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint1_waypoint0) = [channel_free_general,available_rover0]
$minlevel(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint1_waypoint0) = 2
$maxlevel(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint1_waypoint0) = 3
$t_cond_begin(channel_free_general,COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint1_waypoint0) = 0.000000
$t_cond_end(channel_free_general,COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint1_waypoint0) = 1.000000
$t_cond_begin(available_rover0,COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint1_waypoint0) = 0.000000
$t_cond_end(available_rover0,COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint1_waypoint0) = 1.000000
$t_cond_begin(have_soil_analysis_rover0_waypoint3,COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint1_waypoint0) = 0.000000
$t_cond_end(have_soil_analysis_rover0_waypoint3,COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint1_waypoint0) = 1.000000
$t_cond_begin(at_rover0_waypoint1,COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint1_waypoint0) = 0.000000
$t_cond_end(at_rover0_waypoint1,COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint1_waypoint0) = 1.000000
$t_add_begin(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint1_waypoint0,available_rover0) = 1.000000
$t_add_end(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint1_waypoint0,available_rover0) = 1.000000
$t_add_begin(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint1_waypoint0,communicated_soil_data_waypoint3) = 1.000000
$t_add_end(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint1_waypoint0,communicated_soil_data_waypoint3) = 1.000000
$t_add_begin(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_add_end(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_del_end(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint1_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint1_waypoint0,available_rover0) = 1.000000
$t_del_end(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint1_waypoint0,available_rover0) = 1.000000

$Cond(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint2_waypoint0) = [channel_free_general,available_rover0,have_soil_analysis_rover0_waypoint3,at_rover0_waypoint2]
$Add(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint2_waypoint0) = [available_rover0,communicated_soil_data_waypoint3,channel_free_general]
$Del(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint2_waypoint0) = [channel_free_general,available_rover0]
$minlevel(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint2_waypoint0) = 3
$maxlevel(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint2_waypoint0) = 3
$t_cond_begin(channel_free_general,COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint2_waypoint0) = 0.000000
$t_cond_end(channel_free_general,COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint2_waypoint0) = 1.000000
$t_cond_begin(available_rover0,COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint2_waypoint0) = 0.000000
$t_cond_end(available_rover0,COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint2_waypoint0) = 1.000000
$t_cond_begin(have_soil_analysis_rover0_waypoint3,COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint2_waypoint0) = 0.000000
$t_cond_end(have_soil_analysis_rover0_waypoint3,COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint2_waypoint0) = 1.000000
$t_cond_begin(at_rover0_waypoint2,COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint2_waypoint0) = 0.000000
$t_cond_end(at_rover0_waypoint2,COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint2_waypoint0) = 1.000000
$t_add_begin(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint2_waypoint0,available_rover0) = 1.000000
$t_add_end(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint2_waypoint0,available_rover0) = 1.000000
$t_add_begin(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint2_waypoint0,communicated_soil_data_waypoint3) = 1.000000
$t_add_end(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint2_waypoint0,communicated_soil_data_waypoint3) = 1.000000
$t_add_begin(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint2_waypoint0,channel_free_general) = 1.000000
$t_add_end(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint2_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint2_waypoint0,channel_free_general) = 1.000000
$t_del_end(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint2_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint2_waypoint0,available_rover0) = 1.000000
$t_del_end(COMMUNICATE_SOIL_DATA_rover0_general_waypoint3_waypoint2_waypoint0,available_rover0) = 1.000000

$Cond(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint3_waypoint0) = [channel_free_general,available_rover0,have_soil_analysis_rover0_waypoint2,at_rover0_waypoint3]
$Add(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint3_waypoint0) = [available_rover0,communicated_soil_data_waypoint2,channel_free_general]
$Del(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint3_waypoint0) = [channel_free_general,available_rover0]
$minlevel(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint3_waypoint0) = 4
$maxlevel(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint3_waypoint0) = 4
$t_cond_begin(channel_free_general,COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint3_waypoint0) = 0.000000
$t_cond_end(channel_free_general,COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint3_waypoint0) = 1.000000
$t_cond_begin(available_rover0,COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint3_waypoint0) = 0.000000
$t_cond_end(available_rover0,COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint3_waypoint0) = 1.000000
$t_cond_begin(have_soil_analysis_rover0_waypoint2,COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint3_waypoint0) = 0.000000
$t_cond_end(have_soil_analysis_rover0_waypoint2,COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint3_waypoint0) = 1.000000
$t_cond_begin(at_rover0_waypoint3,COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint3_waypoint0) = 0.000000
$t_cond_end(at_rover0_waypoint3,COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint3_waypoint0) = 1.000000
$t_add_begin(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint3_waypoint0,available_rover0) = 1.000000
$t_add_end(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint3_waypoint0,available_rover0) = 1.000000
$t_add_begin(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint3_waypoint0,communicated_soil_data_waypoint2) = 1.000000
$t_add_end(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint3_waypoint0,communicated_soil_data_waypoint2) = 1.000000
$t_add_begin(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint3_waypoint0,channel_free_general) = 1.000000
$t_add_end(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint3_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint3_waypoint0,channel_free_general) = 1.000000
$t_del_end(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint3_waypoint0,channel_free_general) = 1.000000
$t_del_begin(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint3_waypoint0,available_rover0) = 1.000000
$t_del_end(COMMUNICATE_SOIL_DATA_rover0_general_waypoint2_waypoint3_waypoint0,available_rover0) = 1.000000

$Cond(TAKE_IMAGE_rover0_waypoint0_objective0_camera0_colour) = [at_rover0_waypoint0,calibrated_camera0_rover0]
$Add(TAKE_IMAGE_rover0_waypoint0_objective0_camera0_colour) = [have_image_rover0_objective0_colour]
$Del(TAKE_IMAGE_rover0_waypoint0_objective0_camera0_colour) = [calibrated_camera0_rover0]
$minlevel(TAKE_IMAGE_rover0_waypoint0_objective0_camera0_colour) = 2
$maxlevel(TAKE_IMAGE_rover0_waypoint0_objective0_camera0_colour) = 2
$t_cond_begin(at_rover0_waypoint0,TAKE_IMAGE_rover0_waypoint0_objective0_camera0_colour) = 0.000000
$t_cond_end(at_rover0_waypoint0,TAKE_IMAGE_rover0_waypoint0_objective0_camera0_colour) = 1.000000
$t_cond_begin(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint0_objective0_camera0_colour) = 0.000000
$t_cond_end(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint0_objective0_camera0_colour) = 1.000000
$t_add_begin(TAKE_IMAGE_rover0_waypoint0_objective0_camera0_colour,have_image_rover0_objective0_colour) = 1.000000
$t_add_end(TAKE_IMAGE_rover0_waypoint0_objective0_camera0_colour,have_image_rover0_objective0_colour) = 1.000000
$t_del_begin(TAKE_IMAGE_rover0_waypoint0_objective0_camera0_colour,calibrated_camera0_rover0) = 1.000000
$t_del_end(TAKE_IMAGE_rover0_waypoint0_objective0_camera0_colour,calibrated_camera0_rover0) = 1.000000

$Cond(TAKE_IMAGE_rover0_waypoint1_objective0_camera0_colour) = [at_rover0_waypoint1,calibrated_camera0_rover0]
$Add(TAKE_IMAGE_rover0_waypoint1_objective0_camera0_colour) = [have_image_rover0_objective0_colour]
$Del(TAKE_IMAGE_rover0_waypoint1_objective0_camera0_colour) = [calibrated_camera0_rover0]
$minlevel(TAKE_IMAGE_rover0_waypoint1_objective0_camera0_colour) = 2
$maxlevel(TAKE_IMAGE_rover0_waypoint1_objective0_camera0_colour) = 2
$t_cond_begin(at_rover0_waypoint1,TAKE_IMAGE_rover0_waypoint1_objective0_camera0_colour) = 0.000000
$t_cond_end(at_rover0_waypoint1,TAKE_IMAGE_rover0_waypoint1_objective0_camera0_colour) = 1.000000
$t_cond_begin(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint1_objective0_camera0_colour) = 0.000000
$t_cond_end(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint1_objective0_camera0_colour) = 1.000000
$t_add_begin(TAKE_IMAGE_rover0_waypoint1_objective0_camera0_colour,have_image_rover0_objective0_colour) = 1.000000
$t_add_end(TAKE_IMAGE_rover0_waypoint1_objective0_camera0_colour,have_image_rover0_objective0_colour) = 1.000000
$t_del_begin(TAKE_IMAGE_rover0_waypoint1_objective0_camera0_colour,calibrated_camera0_rover0) = 1.000000
$t_del_end(TAKE_IMAGE_rover0_waypoint1_objective0_camera0_colour,calibrated_camera0_rover0) = 1.000000

$Cond(TAKE_IMAGE_rover0_waypoint2_objective0_camera0_colour) = [at_rover0_waypoint2,calibrated_camera0_rover0]
$Add(TAKE_IMAGE_rover0_waypoint2_objective0_camera0_colour) = [have_image_rover0_objective0_colour]
$Del(TAKE_IMAGE_rover0_waypoint2_objective0_camera0_colour) = [calibrated_camera0_rover0]
$minlevel(TAKE_IMAGE_rover0_waypoint2_objective0_camera0_colour) = 3
$maxlevel(TAKE_IMAGE_rover0_waypoint2_objective0_camera0_colour) = 2
$t_cond_begin(at_rover0_waypoint2,TAKE_IMAGE_rover0_waypoint2_objective0_camera0_colour) = 0.000000
$t_cond_end(at_rover0_waypoint2,TAKE_IMAGE_rover0_waypoint2_objective0_camera0_colour) = 1.000000
$t_cond_begin(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint2_objective0_camera0_colour) = 0.000000
$t_cond_end(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint2_objective0_camera0_colour) = 1.000000
$t_add_begin(TAKE_IMAGE_rover0_waypoint2_objective0_camera0_colour,have_image_rover0_objective0_colour) = 1.000000
$t_add_end(TAKE_IMAGE_rover0_waypoint2_objective0_camera0_colour,have_image_rover0_objective0_colour) = 1.000000
$t_del_begin(TAKE_IMAGE_rover0_waypoint2_objective0_camera0_colour,calibrated_camera0_rover0) = 1.000000
$t_del_end(TAKE_IMAGE_rover0_waypoint2_objective0_camera0_colour,calibrated_camera0_rover0) = 1.000000

$Cond(TAKE_IMAGE_rover0_waypoint3_objective0_camera0_colour) = [at_rover0_waypoint3,calibrated_camera0_rover0]
$Add(TAKE_IMAGE_rover0_waypoint3_objective0_camera0_colour) = [have_image_rover0_objective0_colour]
$Del(TAKE_IMAGE_rover0_waypoint3_objective0_camera0_colour) = [calibrated_camera0_rover0]
$minlevel(TAKE_IMAGE_rover0_waypoint3_objective0_camera0_colour) = 2
$maxlevel(TAKE_IMAGE_rover0_waypoint3_objective0_camera0_colour) = 2
$t_cond_begin(at_rover0_waypoint3,TAKE_IMAGE_rover0_waypoint3_objective0_camera0_colour) = 0.000000
$t_cond_end(at_rover0_waypoint3,TAKE_IMAGE_rover0_waypoint3_objective0_camera0_colour) = 1.000000
$t_cond_begin(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint3_objective0_camera0_colour) = 0.000000
$t_cond_end(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint3_objective0_camera0_colour) = 1.000000
$t_add_begin(TAKE_IMAGE_rover0_waypoint3_objective0_camera0_colour,have_image_rover0_objective0_colour) = 1.000000
$t_add_end(TAKE_IMAGE_rover0_waypoint3_objective0_camera0_colour,have_image_rover0_objective0_colour) = 1.000000
$t_del_begin(TAKE_IMAGE_rover0_waypoint3_objective0_camera0_colour,calibrated_camera0_rover0) = 1.000000
$t_del_end(TAKE_IMAGE_rover0_waypoint3_objective0_camera0_colour,calibrated_camera0_rover0) = 1.000000

$Cond(TAKE_IMAGE_rover0_waypoint0_objective1_camera0_colour) = [at_rover0_waypoint0,calibrated_camera0_rover0]
$Add(TAKE_IMAGE_rover0_waypoint0_objective1_camera0_colour) = [have_image_rover0_objective1_colour]
$Del(TAKE_IMAGE_rover0_waypoint0_objective1_camera0_colour) = [calibrated_camera0_rover0]
$minlevel(TAKE_IMAGE_rover0_waypoint0_objective1_camera0_colour) = 2
$maxlevel(TAKE_IMAGE_rover0_waypoint0_objective1_camera0_colour) = 2
$t_cond_begin(at_rover0_waypoint0,TAKE_IMAGE_rover0_waypoint0_objective1_camera0_colour) = 0.000000
$t_cond_end(at_rover0_waypoint0,TAKE_IMAGE_rover0_waypoint0_objective1_camera0_colour) = 1.000000
$t_cond_begin(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint0_objective1_camera0_colour) = 0.000000
$t_cond_end(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint0_objective1_camera0_colour) = 1.000000
$t_add_begin(TAKE_IMAGE_rover0_waypoint0_objective1_camera0_colour,have_image_rover0_objective1_colour) = 1.000000
$t_add_end(TAKE_IMAGE_rover0_waypoint0_objective1_camera0_colour,have_image_rover0_objective1_colour) = 1.000000
$t_del_begin(TAKE_IMAGE_rover0_waypoint0_objective1_camera0_colour,calibrated_camera0_rover0) = 1.000000
$t_del_end(TAKE_IMAGE_rover0_waypoint0_objective1_camera0_colour,calibrated_camera0_rover0) = 1.000000

$Cond(TAKE_IMAGE_rover0_waypoint1_objective1_camera0_colour) = [at_rover0_waypoint1,calibrated_camera0_rover0]
$Add(TAKE_IMAGE_rover0_waypoint1_objective1_camera0_colour) = [have_image_rover0_objective1_colour]
$Del(TAKE_IMAGE_rover0_waypoint1_objective1_camera0_colour) = [calibrated_camera0_rover0]
$minlevel(TAKE_IMAGE_rover0_waypoint1_objective1_camera0_colour) = 2
$maxlevel(TAKE_IMAGE_rover0_waypoint1_objective1_camera0_colour) = 2
$t_cond_begin(at_rover0_waypoint1,TAKE_IMAGE_rover0_waypoint1_objective1_camera0_colour) = 0.000000
$t_cond_end(at_rover0_waypoint1,TAKE_IMAGE_rover0_waypoint1_objective1_camera0_colour) = 1.000000
$t_cond_begin(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint1_objective1_camera0_colour) = 0.000000
$t_cond_end(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint1_objective1_camera0_colour) = 1.000000
$t_add_begin(TAKE_IMAGE_rover0_waypoint1_objective1_camera0_colour,have_image_rover0_objective1_colour) = 1.000000
$t_add_end(TAKE_IMAGE_rover0_waypoint1_objective1_camera0_colour,have_image_rover0_objective1_colour) = 1.000000
$t_del_begin(TAKE_IMAGE_rover0_waypoint1_objective1_camera0_colour,calibrated_camera0_rover0) = 1.000000
$t_del_end(TAKE_IMAGE_rover0_waypoint1_objective1_camera0_colour,calibrated_camera0_rover0) = 1.000000

$Cond(TAKE_IMAGE_rover0_waypoint2_objective1_camera0_colour) = [at_rover0_waypoint2,calibrated_camera0_rover0]
$Add(TAKE_IMAGE_rover0_waypoint2_objective1_camera0_colour) = [have_image_rover0_objective1_colour]
$Del(TAKE_IMAGE_rover0_waypoint2_objective1_camera0_colour) = [calibrated_camera0_rover0]
$minlevel(TAKE_IMAGE_rover0_waypoint2_objective1_camera0_colour) = 3
$maxlevel(TAKE_IMAGE_rover0_waypoint2_objective1_camera0_colour) = 2
$t_cond_begin(at_rover0_waypoint2,TAKE_IMAGE_rover0_waypoint2_objective1_camera0_colour) = 0.000000
$t_cond_end(at_rover0_waypoint2,TAKE_IMAGE_rover0_waypoint2_objective1_camera0_colour) = 1.000000
$t_cond_begin(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint2_objective1_camera0_colour) = 0.000000
$t_cond_end(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint2_objective1_camera0_colour) = 1.000000
$t_add_begin(TAKE_IMAGE_rover0_waypoint2_objective1_camera0_colour,have_image_rover0_objective1_colour) = 1.000000
$t_add_end(TAKE_IMAGE_rover0_waypoint2_objective1_camera0_colour,have_image_rover0_objective1_colour) = 1.000000
$t_del_begin(TAKE_IMAGE_rover0_waypoint2_objective1_camera0_colour,calibrated_camera0_rover0) = 1.000000
$t_del_end(TAKE_IMAGE_rover0_waypoint2_objective1_camera0_colour,calibrated_camera0_rover0) = 1.000000

$Cond(TAKE_IMAGE_rover0_waypoint3_objective1_camera0_colour) = [at_rover0_waypoint3,calibrated_camera0_rover0]
$Add(TAKE_IMAGE_rover0_waypoint3_objective1_camera0_colour) = [have_image_rover0_objective1_colour]
$Del(TAKE_IMAGE_rover0_waypoint3_objective1_camera0_colour) = [calibrated_camera0_rover0]
$minlevel(TAKE_IMAGE_rover0_waypoint3_objective1_camera0_colour) = 2
$maxlevel(TAKE_IMAGE_rover0_waypoint3_objective1_camera0_colour) = 2
$t_cond_begin(at_rover0_waypoint3,TAKE_IMAGE_rover0_waypoint3_objective1_camera0_colour) = 0.000000
$t_cond_end(at_rover0_waypoint3,TAKE_IMAGE_rover0_waypoint3_objective1_camera0_colour) = 1.000000
$t_cond_begin(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint3_objective1_camera0_colour) = 0.000000
$t_cond_end(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint3_objective1_camera0_colour) = 1.000000
$t_add_begin(TAKE_IMAGE_rover0_waypoint3_objective1_camera0_colour,have_image_rover0_objective1_colour) = 1.000000
$t_add_end(TAKE_IMAGE_rover0_waypoint3_objective1_camera0_colour,have_image_rover0_objective1_colour) = 1.000000
$t_del_begin(TAKE_IMAGE_rover0_waypoint3_objective1_camera0_colour,calibrated_camera0_rover0) = 1.000000
$t_del_end(TAKE_IMAGE_rover0_waypoint3_objective1_camera0_colour,calibrated_camera0_rover0) = 1.000000

$Cond(TAKE_IMAGE_rover0_waypoint0_objective0_camera0_high_res) = [at_rover0_waypoint0,calibrated_camera0_rover0]
$Add(TAKE_IMAGE_rover0_waypoint0_objective0_camera0_high_res) = [have_image_rover0_objective0_high_res]
$Del(TAKE_IMAGE_rover0_waypoint0_objective0_camera0_high_res) = [calibrated_camera0_rover0]
$minlevel(TAKE_IMAGE_rover0_waypoint0_objective0_camera0_high_res) = 2
$maxlevel(TAKE_IMAGE_rover0_waypoint0_objective0_camera0_high_res) = 2
$t_cond_begin(at_rover0_waypoint0,TAKE_IMAGE_rover0_waypoint0_objective0_camera0_high_res) = 0.000000
$t_cond_end(at_rover0_waypoint0,TAKE_IMAGE_rover0_waypoint0_objective0_camera0_high_res) = 1.000000
$t_cond_begin(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint0_objective0_camera0_high_res) = 0.000000
$t_cond_end(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint0_objective0_camera0_high_res) = 1.000000
$t_add_begin(TAKE_IMAGE_rover0_waypoint0_objective0_camera0_high_res,have_image_rover0_objective0_high_res) = 1.000000
$t_add_end(TAKE_IMAGE_rover0_waypoint0_objective0_camera0_high_res,have_image_rover0_objective0_high_res) = 1.000000
$t_del_begin(TAKE_IMAGE_rover0_waypoint0_objective0_camera0_high_res,calibrated_camera0_rover0) = 1.000000
$t_del_end(TAKE_IMAGE_rover0_waypoint0_objective0_camera0_high_res,calibrated_camera0_rover0) = 1.000000

$Cond(TAKE_IMAGE_rover0_waypoint1_objective0_camera0_high_res) = [at_rover0_waypoint1,calibrated_camera0_rover0]
$Add(TAKE_IMAGE_rover0_waypoint1_objective0_camera0_high_res) = [have_image_rover0_objective0_high_res]
$Del(TAKE_IMAGE_rover0_waypoint1_objective0_camera0_high_res) = [calibrated_camera0_rover0]
$minlevel(TAKE_IMAGE_rover0_waypoint1_objective0_camera0_high_res) = 2
$maxlevel(TAKE_IMAGE_rover0_waypoint1_objective0_camera0_high_res) = 2
$t_cond_begin(at_rover0_waypoint1,TAKE_IMAGE_rover0_waypoint1_objective0_camera0_high_res) = 0.000000
$t_cond_end(at_rover0_waypoint1,TAKE_IMAGE_rover0_waypoint1_objective0_camera0_high_res) = 1.000000
$t_cond_begin(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint1_objective0_camera0_high_res) = 0.000000
$t_cond_end(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint1_objective0_camera0_high_res) = 1.000000
$t_add_begin(TAKE_IMAGE_rover0_waypoint1_objective0_camera0_high_res,have_image_rover0_objective0_high_res) = 1.000000
$t_add_end(TAKE_IMAGE_rover0_waypoint1_objective0_camera0_high_res,have_image_rover0_objective0_high_res) = 1.000000
$t_del_begin(TAKE_IMAGE_rover0_waypoint1_objective0_camera0_high_res,calibrated_camera0_rover0) = 1.000000
$t_del_end(TAKE_IMAGE_rover0_waypoint1_objective0_camera0_high_res,calibrated_camera0_rover0) = 1.000000

$Cond(TAKE_IMAGE_rover0_waypoint2_objective0_camera0_high_res) = [at_rover0_waypoint2,calibrated_camera0_rover0]
$Add(TAKE_IMAGE_rover0_waypoint2_objective0_camera0_high_res) = [have_image_rover0_objective0_high_res]
$Del(TAKE_IMAGE_rover0_waypoint2_objective0_camera0_high_res) = [calibrated_camera0_rover0]
$minlevel(TAKE_IMAGE_rover0_waypoint2_objective0_camera0_high_res) = 3
$maxlevel(TAKE_IMAGE_rover0_waypoint2_objective0_camera0_high_res) = 2
$t_cond_begin(at_rover0_waypoint2,TAKE_IMAGE_rover0_waypoint2_objective0_camera0_high_res) = 0.000000
$t_cond_end(at_rover0_waypoint2,TAKE_IMAGE_rover0_waypoint2_objective0_camera0_high_res) = 1.000000
$t_cond_begin(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint2_objective0_camera0_high_res) = 0.000000
$t_cond_end(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint2_objective0_camera0_high_res) = 1.000000
$t_add_begin(TAKE_IMAGE_rover0_waypoint2_objective0_camera0_high_res,have_image_rover0_objective0_high_res) = 1.000000
$t_add_end(TAKE_IMAGE_rover0_waypoint2_objective0_camera0_high_res,have_image_rover0_objective0_high_res) = 1.000000
$t_del_begin(TAKE_IMAGE_rover0_waypoint2_objective0_camera0_high_res,calibrated_camera0_rover0) = 1.000000
$t_del_end(TAKE_IMAGE_rover0_waypoint2_objective0_camera0_high_res,calibrated_camera0_rover0) = 1.000000

$Cond(TAKE_IMAGE_rover0_waypoint3_objective0_camera0_high_res) = [at_rover0_waypoint3,calibrated_camera0_rover0]
$Add(TAKE_IMAGE_rover0_waypoint3_objective0_camera0_high_res) = [have_image_rover0_objective0_high_res]
$Del(TAKE_IMAGE_rover0_waypoint3_objective0_camera0_high_res) = [calibrated_camera0_rover0]
$minlevel(TAKE_IMAGE_rover0_waypoint3_objective0_camera0_high_res) = 2
$maxlevel(TAKE_IMAGE_rover0_waypoint3_objective0_camera0_high_res) = 2
$t_cond_begin(at_rover0_waypoint3,TAKE_IMAGE_rover0_waypoint3_objective0_camera0_high_res) = 0.000000
$t_cond_end(at_rover0_waypoint3,TAKE_IMAGE_rover0_waypoint3_objective0_camera0_high_res) = 1.000000
$t_cond_begin(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint3_objective0_camera0_high_res) = 0.000000
$t_cond_end(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint3_objective0_camera0_high_res) = 1.000000
$t_add_begin(TAKE_IMAGE_rover0_waypoint3_objective0_camera0_high_res,have_image_rover0_objective0_high_res) = 1.000000
$t_add_end(TAKE_IMAGE_rover0_waypoint3_objective0_camera0_high_res,have_image_rover0_objective0_high_res) = 1.000000
$t_del_begin(TAKE_IMAGE_rover0_waypoint3_objective0_camera0_high_res,calibrated_camera0_rover0) = 1.000000
$t_del_end(TAKE_IMAGE_rover0_waypoint3_objective0_camera0_high_res,calibrated_camera0_rover0) = 1.000000

$Cond(TAKE_IMAGE_rover0_waypoint0_objective1_camera0_high_res) = [at_rover0_waypoint0,calibrated_camera0_rover0]
$Add(TAKE_IMAGE_rover0_waypoint0_objective1_camera0_high_res) = [have_image_rover0_objective1_high_res]
$Del(TAKE_IMAGE_rover0_waypoint0_objective1_camera0_high_res) = [calibrated_camera0_rover0]
$minlevel(TAKE_IMAGE_rover0_waypoint0_objective1_camera0_high_res) = 2
$maxlevel(TAKE_IMAGE_rover0_waypoint0_objective1_camera0_high_res) = 3
$t_cond_begin(at_rover0_waypoint0,TAKE_IMAGE_rover0_waypoint0_objective1_camera0_high_res) = 0.000000
$t_cond_end(at_rover0_waypoint0,TAKE_IMAGE_rover0_waypoint0_objective1_camera0_high_res) = 1.000000
$t_cond_begin(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint0_objective1_camera0_high_res) = 0.000000
$t_cond_end(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint0_objective1_camera0_high_res) = 1.000000
$t_add_begin(TAKE_IMAGE_rover0_waypoint0_objective1_camera0_high_res,have_image_rover0_objective1_high_res) = 1.000000
$t_add_end(TAKE_IMAGE_rover0_waypoint0_objective1_camera0_high_res,have_image_rover0_objective1_high_res) = 1.000000
$t_del_begin(TAKE_IMAGE_rover0_waypoint0_objective1_camera0_high_res,calibrated_camera0_rover0) = 1.000000
$t_del_end(TAKE_IMAGE_rover0_waypoint0_objective1_camera0_high_res,calibrated_camera0_rover0) = 1.000000

$Cond(TAKE_IMAGE_rover0_waypoint1_objective1_camera0_high_res) = [at_rover0_waypoint1,calibrated_camera0_rover0]
$Add(TAKE_IMAGE_rover0_waypoint1_objective1_camera0_high_res) = [have_image_rover0_objective1_high_res]
$Del(TAKE_IMAGE_rover0_waypoint1_objective1_camera0_high_res) = [calibrated_camera0_rover0]
$minlevel(TAKE_IMAGE_rover0_waypoint1_objective1_camera0_high_res) = 2
$maxlevel(TAKE_IMAGE_rover0_waypoint1_objective1_camera0_high_res) = 3
$t_cond_begin(at_rover0_waypoint1,TAKE_IMAGE_rover0_waypoint1_objective1_camera0_high_res) = 0.000000
$t_cond_end(at_rover0_waypoint1,TAKE_IMAGE_rover0_waypoint1_objective1_camera0_high_res) = 1.000000
$t_cond_begin(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint1_objective1_camera0_high_res) = 0.000000
$t_cond_end(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint1_objective1_camera0_high_res) = 1.000000
$t_add_begin(TAKE_IMAGE_rover0_waypoint1_objective1_camera0_high_res,have_image_rover0_objective1_high_res) = 1.000000
$t_add_end(TAKE_IMAGE_rover0_waypoint1_objective1_camera0_high_res,have_image_rover0_objective1_high_res) = 1.000000
$t_del_begin(TAKE_IMAGE_rover0_waypoint1_objective1_camera0_high_res,calibrated_camera0_rover0) = 1.000000
$t_del_end(TAKE_IMAGE_rover0_waypoint1_objective1_camera0_high_res,calibrated_camera0_rover0) = 1.000000

$Cond(TAKE_IMAGE_rover0_waypoint2_objective1_camera0_high_res) = [at_rover0_waypoint2,calibrated_camera0_rover0]
$Add(TAKE_IMAGE_rover0_waypoint2_objective1_camera0_high_res) = [have_image_rover0_objective1_high_res]
$Del(TAKE_IMAGE_rover0_waypoint2_objective1_camera0_high_res) = [calibrated_camera0_rover0]
$minlevel(TAKE_IMAGE_rover0_waypoint2_objective1_camera0_high_res) = 3
$maxlevel(TAKE_IMAGE_rover0_waypoint2_objective1_camera0_high_res) = 3
$t_cond_begin(at_rover0_waypoint2,TAKE_IMAGE_rover0_waypoint2_objective1_camera0_high_res) = 0.000000
$t_cond_end(at_rover0_waypoint2,TAKE_IMAGE_rover0_waypoint2_objective1_camera0_high_res) = 1.000000
$t_cond_begin(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint2_objective1_camera0_high_res) = 0.000000
$t_cond_end(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint2_objective1_camera0_high_res) = 1.000000
$t_add_begin(TAKE_IMAGE_rover0_waypoint2_objective1_camera0_high_res,have_image_rover0_objective1_high_res) = 1.000000
$t_add_end(TAKE_IMAGE_rover0_waypoint2_objective1_camera0_high_res,have_image_rover0_objective1_high_res) = 1.000000
$t_del_begin(TAKE_IMAGE_rover0_waypoint2_objective1_camera0_high_res,calibrated_camera0_rover0) = 1.000000
$t_del_end(TAKE_IMAGE_rover0_waypoint2_objective1_camera0_high_res,calibrated_camera0_rover0) = 1.000000

$Cond(TAKE_IMAGE_rover0_waypoint3_objective1_camera0_high_res) = [at_rover0_waypoint3,calibrated_camera0_rover0]
$Add(TAKE_IMAGE_rover0_waypoint3_objective1_camera0_high_res) = [have_image_rover0_objective1_high_res]
$Del(TAKE_IMAGE_rover0_waypoint3_objective1_camera0_high_res) = [calibrated_camera0_rover0]
$minlevel(TAKE_IMAGE_rover0_waypoint3_objective1_camera0_high_res) = 2
$maxlevel(TAKE_IMAGE_rover0_waypoint3_objective1_camera0_high_res) = 3
$t_cond_begin(at_rover0_waypoint3,TAKE_IMAGE_rover0_waypoint3_objective1_camera0_high_res) = 0.000000
$t_cond_end(at_rover0_waypoint3,TAKE_IMAGE_rover0_waypoint3_objective1_camera0_high_res) = 1.000000
$t_cond_begin(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint3_objective1_camera0_high_res) = 0.000000
$t_cond_end(calibrated_camera0_rover0,TAKE_IMAGE_rover0_waypoint3_objective1_camera0_high_res) = 1.000000
$t_add_begin(TAKE_IMAGE_rover0_waypoint3_objective1_camera0_high_res,have_image_rover0_objective1_high_res) = 1.000000
$t_add_end(TAKE_IMAGE_rover0_waypoint3_objective1_camera0_high_res,have_image_rover0_objective1_high_res) = 1.000000
$t_del_begin(TAKE_IMAGE_rover0_waypoint3_objective1_camera0_high_res,calibrated_camera0_rover0) = 1.000000
$t_del_end(TAKE_IMAGE_rover0_waypoint3_objective1_camera0_high_res,calibrated_camera0_rover0) = 1.000000

$Cond(CALIBRATE_rover0_camera0_objective1_waypoint0) = [at_rover0_waypoint0]
$Add(CALIBRATE_rover0_camera0_objective1_waypoint0) = [calibrated_camera0_rover0]
$Del(CALIBRATE_rover0_camera0_objective1_waypoint0) = []
$minlevel(CALIBRATE_rover0_camera0_objective1_waypoint0) = 2
$maxlevel(CALIBRATE_rover0_camera0_objective1_waypoint0) = 2
$t_cond_begin(at_rover0_waypoint0,CALIBRATE_rover0_camera0_objective1_waypoint0) = 0.000000
$t_cond_end(at_rover0_waypoint0,CALIBRATE_rover0_camera0_objective1_waypoint0) = 1.000000
$t_add_begin(CALIBRATE_rover0_camera0_objective1_waypoint0,calibrated_camera0_rover0) = 1.000000
$t_add_end(CALIBRATE_rover0_camera0_objective1_waypoint0,calibrated_camera0_rover0) = 1.000000

$Cond(CALIBRATE_rover0_camera0_objective1_waypoint1) = [at_rover0_waypoint1]
$Add(CALIBRATE_rover0_camera0_objective1_waypoint1) = [calibrated_camera0_rover0]
$Del(CALIBRATE_rover0_camera0_objective1_waypoint1) = []
$minlevel(CALIBRATE_rover0_camera0_objective1_waypoint1) = 2
$maxlevel(CALIBRATE_rover0_camera0_objective1_waypoint1) = 2
$t_cond_begin(at_rover0_waypoint1,CALIBRATE_rover0_camera0_objective1_waypoint1) = 0.000000
$t_cond_end(at_rover0_waypoint1,CALIBRATE_rover0_camera0_objective1_waypoint1) = 1.000000
$t_add_begin(CALIBRATE_rover0_camera0_objective1_waypoint1,calibrated_camera0_rover0) = 1.000000
$t_add_end(CALIBRATE_rover0_camera0_objective1_waypoint1,calibrated_camera0_rover0) = 1.000000

$Cond(CALIBRATE_rover0_camera0_objective1_waypoint2) = [at_rover0_waypoint2]
$Add(CALIBRATE_rover0_camera0_objective1_waypoint2) = [calibrated_camera0_rover0]
$Del(CALIBRATE_rover0_camera0_objective1_waypoint2) = []
$minlevel(CALIBRATE_rover0_camera0_objective1_waypoint2) = 3
$maxlevel(CALIBRATE_rover0_camera0_objective1_waypoint2) = 2
$t_cond_begin(at_rover0_waypoint2,CALIBRATE_rover0_camera0_objective1_waypoint2) = 0.000000
$t_cond_end(at_rover0_waypoint2,CALIBRATE_rover0_camera0_objective1_waypoint2) = 1.000000
$t_add_begin(CALIBRATE_rover0_camera0_objective1_waypoint2,calibrated_camera0_rover0) = 1.000000
$t_add_end(CALIBRATE_rover0_camera0_objective1_waypoint2,calibrated_camera0_rover0) = 1.000000

$Cond(CALIBRATE_rover0_camera0_objective1_waypoint3) = [at_rover0_waypoint3]
$Add(CALIBRATE_rover0_camera0_objective1_waypoint3) = [calibrated_camera0_rover0]
$Del(CALIBRATE_rover0_camera0_objective1_waypoint3) = []
$minlevel(CALIBRATE_rover0_camera0_objective1_waypoint3) = 1
$maxlevel(CALIBRATE_rover0_camera0_objective1_waypoint3) = 2
$t_cond_begin(at_rover0_waypoint3,CALIBRATE_rover0_camera0_objective1_waypoint3) = 0.000000
$t_cond_end(at_rover0_waypoint3,CALIBRATE_rover0_camera0_objective1_waypoint3) = 1.000000
$t_add_begin(CALIBRATE_rover0_camera0_objective1_waypoint3,calibrated_camera0_rover0) = 1.000000
$t_add_end(CALIBRATE_rover0_camera0_objective1_waypoint3,calibrated_camera0_rover0) = 1.000000

$Cond(DROP_rover0_rover0store) = [full_rover0store]
$Add(DROP_rover0_rover0store) = [empty_rover0store]
$Del(DROP_rover0_rover0store) = [full_rover0store]
$minlevel(DROP_rover0_rover0store) = 2
$maxlevel(DROP_rover0_rover0store) = 2
$t_cond_begin(full_rover0store,DROP_rover0_rover0store) = 0.000000
$t_cond_end(full_rover0store,DROP_rover0_rover0store) = 1.000000
$t_add_begin(DROP_rover0_rover0store,empty_rover0store) = 1.000000
$t_add_end(DROP_rover0_rover0store,empty_rover0store) = 1.000000
$t_del_begin(DROP_rover0_rover0store,full_rover0store) = 1.000000
$t_del_end(DROP_rover0_rover0store,full_rover0store) = 1.000000

$Cond(SAMPLE_ROCK_rover0_rover0store_waypoint1) = [empty_rover0store,at_rock_sample_waypoint1,at_rover0_waypoint1]
$Add(SAMPLE_ROCK_rover0_rover0store_waypoint1) = [have_rock_analysis_rover0_waypoint1,full_rover0store]
$Del(SAMPLE_ROCK_rover0_rover0store_waypoint1) = [at_rock_sample_waypoint1,empty_rover0store]
$minlevel(SAMPLE_ROCK_rover0_rover0store_waypoint1) = 2
$maxlevel(SAMPLE_ROCK_rover0_rover0store_waypoint1) = 2
$t_cond_begin(empty_rover0store,SAMPLE_ROCK_rover0_rover0store_waypoint1) = 0.000000
$t_cond_end(empty_rover0store,SAMPLE_ROCK_rover0_rover0store_waypoint1) = 1.000000
$t_cond_begin(at_rock_sample_waypoint1,SAMPLE_ROCK_rover0_rover0store_waypoint1) = 0.000000
$t_cond_end(at_rock_sample_waypoint1,SAMPLE_ROCK_rover0_rover0store_waypoint1) = 1.000000
$t_cond_begin(at_rover0_waypoint1,SAMPLE_ROCK_rover0_rover0store_waypoint1) = 0.000000
$t_cond_end(at_rover0_waypoint1,SAMPLE_ROCK_rover0_rover0store_waypoint1) = 1.000000
$t_add_begin(SAMPLE_ROCK_rover0_rover0store_waypoint1,have_rock_analysis_rover0_waypoint1) = 1.000000
$t_add_end(SAMPLE_ROCK_rover0_rover0store_waypoint1,have_rock_analysis_rover0_waypoint1) = 1.000000
$t_add_begin(SAMPLE_ROCK_rover0_rover0store_waypoint1,full_rover0store) = 1.000000
$t_add_end(SAMPLE_ROCK_rover0_rover0store_waypoint1,full_rover0store) = 1.000000
$t_del_begin(SAMPLE_ROCK_rover0_rover0store_waypoint1,at_rock_sample_waypoint1) = 1.000000
$t_del_end(SAMPLE_ROCK_rover0_rover0store_waypoint1,at_rock_sample_waypoint1) = 1.000000
$t_del_begin(SAMPLE_ROCK_rover0_rover0store_waypoint1,empty_rover0store) = 1.000000
$t_del_end(SAMPLE_ROCK_rover0_rover0store_waypoint1,empty_rover0store) = 1.000000

$Cond(SAMPLE_ROCK_rover0_rover0store_waypoint2) = [empty_rover0store,at_rock_sample_waypoint2,at_rover0_waypoint2]
$Add(SAMPLE_ROCK_rover0_rover0store_waypoint2) = [have_rock_analysis_rover0_waypoint2,full_rover0store]
$Del(SAMPLE_ROCK_rover0_rover0store_waypoint2) = [at_rock_sample_waypoint2,empty_rover0store]
$minlevel(SAMPLE_ROCK_rover0_rover0store_waypoint2) = 3
$maxlevel(SAMPLE_ROCK_rover0_rover0store_waypoint2) = 2
$t_cond_begin(empty_rover0store,SAMPLE_ROCK_rover0_rover0store_waypoint2) = 0.000000
$t_cond_end(empty_rover0store,SAMPLE_ROCK_rover0_rover0store_waypoint2) = 1.000000
$t_cond_begin(at_rock_sample_waypoint2,SAMPLE_ROCK_rover0_rover0store_waypoint2) = 0.000000
$t_cond_end(at_rock_sample_waypoint2,SAMPLE_ROCK_rover0_rover0store_waypoint2) = 1.000000
$t_cond_begin(at_rover0_waypoint2,SAMPLE_ROCK_rover0_rover0store_waypoint2) = 0.000000
$t_cond_end(at_rover0_waypoint2,SAMPLE_ROCK_rover0_rover0store_waypoint2) = 1.000000
$t_add_begin(SAMPLE_ROCK_rover0_rover0store_waypoint2,have_rock_analysis_rover0_waypoint2) = 1.000000
$t_add_end(SAMPLE_ROCK_rover0_rover0store_waypoint2,have_rock_analysis_rover0_waypoint2) = 1.000000
$t_add_begin(SAMPLE_ROCK_rover0_rover0store_waypoint2,full_rover0store) = 1.000000
$t_add_end(SAMPLE_ROCK_rover0_rover0store_waypoint2,full_rover0store) = 1.000000
$t_del_begin(SAMPLE_ROCK_rover0_rover0store_waypoint2,at_rock_sample_waypoint2) = 1.000000
$t_del_end(SAMPLE_ROCK_rover0_rover0store_waypoint2,at_rock_sample_waypoint2) = 1.000000
$t_del_begin(SAMPLE_ROCK_rover0_rover0store_waypoint2,empty_rover0store) = 1.000000
$t_del_end(SAMPLE_ROCK_rover0_rover0store_waypoint2,empty_rover0store) = 1.000000

$Cond(SAMPLE_ROCK_rover0_rover0store_waypoint3) = [empty_rover0store,at_rock_sample_waypoint3,at_rover0_waypoint3]
$Add(SAMPLE_ROCK_rover0_rover0store_waypoint3) = [have_rock_analysis_rover0_waypoint3,full_rover0store]
$Del(SAMPLE_ROCK_rover0_rover0store_waypoint3) = [at_rock_sample_waypoint3,empty_rover0store]
$minlevel(SAMPLE_ROCK_rover0_rover0store_waypoint3) = 1
$maxlevel(SAMPLE_ROCK_rover0_rover0store_waypoint3) = 3
$t_cond_begin(empty_rover0store,SAMPLE_ROCK_rover0_rover0store_waypoint3) = 0.000000
$t_cond_end(empty_rover0store,SAMPLE_ROCK_rover0_rover0store_waypoint3) = 1.000000
$t_cond_begin(at_rock_sample_waypoint3,SAMPLE_ROCK_rover0_rover0store_waypoint3) = 0.000000
$t_cond_end(at_rock_sample_waypoint3,SAMPLE_ROCK_rover0_rover0store_waypoint3) = 1.000000
$t_cond_begin(at_rover0_waypoint3,SAMPLE_ROCK_rover0_rover0store_waypoint3) = 0.000000
$t_cond_end(at_rover0_waypoint3,SAMPLE_ROCK_rover0_rover0store_waypoint3) = 1.000000
$t_add_begin(SAMPLE_ROCK_rover0_rover0store_waypoint3,have_rock_analysis_rover0_waypoint3) = 1.000000
$t_add_end(SAMPLE_ROCK_rover0_rover0store_waypoint3,have_rock_analysis_rover0_waypoint3) = 1.000000
$t_add_begin(SAMPLE_ROCK_rover0_rover0store_waypoint3,full_rover0store) = 1.000000
$t_add_end(SAMPLE_ROCK_rover0_rover0store_waypoint3,full_rover0store) = 1.000000
$t_del_begin(SAMPLE_ROCK_rover0_rover0store_waypoint3,at_rock_sample_waypoint3) = 1.000000
$t_del_end(SAMPLE_ROCK_rover0_rover0store_waypoint3,at_rock_sample_waypoint3) = 1.000000
$t_del_begin(SAMPLE_ROCK_rover0_rover0store_waypoint3,empty_rover0store) = 1.000000
$t_del_end(SAMPLE_ROCK_rover0_rover0store_waypoint3,empty_rover0store) = 1.000000

$Cond(SAMPLE_SOIL_rover0_rover0store_waypoint0) = [empty_rover0store,at_soil_sample_waypoint0,at_rover0_waypoint0]
$Add(SAMPLE_SOIL_rover0_rover0store_waypoint0) = [have_soil_analysis_rover0_waypoint0,full_rover0store]
$Del(SAMPLE_SOIL_rover0_rover0store_waypoint0) = [at_soil_sample_waypoint0,empty_rover0store]
$minlevel(SAMPLE_SOIL_rover0_rover0store_waypoint0) = 2
$maxlevel(SAMPLE_SOIL_rover0_rover0store_waypoint0) = 1
$t_cond_begin(empty_rover0store,SAMPLE_SOIL_rover0_rover0store_waypoint0) = 0.000000
$t_cond_end(empty_rover0store,SAMPLE_SOIL_rover0_rover0store_waypoint0) = 1.000000
$t_cond_begin(at_soil_sample_waypoint0,SAMPLE_SOIL_rover0_rover0store_waypoint0) = 0.000000
$t_cond_end(at_soil_sample_waypoint0,SAMPLE_SOIL_rover0_rover0store_waypoint0) = 1.000000
$t_cond_begin(at_rover0_waypoint0,SAMPLE_SOIL_rover0_rover0store_waypoint0) = 0.000000
$t_cond_end(at_rover0_waypoint0,SAMPLE_SOIL_rover0_rover0store_waypoint0) = 1.000000
$t_add_begin(SAMPLE_SOIL_rover0_rover0store_waypoint0,have_soil_analysis_rover0_waypoint0) = 1.000000
$t_add_end(SAMPLE_SOIL_rover0_rover0store_waypoint0,have_soil_analysis_rover0_waypoint0) = 1.000000
$t_add_begin(SAMPLE_SOIL_rover0_rover0store_waypoint0,full_rover0store) = 1.000000
$t_add_end(SAMPLE_SOIL_rover0_rover0store_waypoint0,full_rover0store) = 1.000000
$t_del_begin(SAMPLE_SOIL_rover0_rover0store_waypoint0,at_soil_sample_waypoint0) = 1.000000
$t_del_end(SAMPLE_SOIL_rover0_rover0store_waypoint0,at_soil_sample_waypoint0) = 1.000000
$t_del_begin(SAMPLE_SOIL_rover0_rover0store_waypoint0,empty_rover0store) = 1.000000
$t_del_end(SAMPLE_SOIL_rover0_rover0store_waypoint0,empty_rover0store) = 1.000000

$Cond(SAMPLE_SOIL_rover0_rover0store_waypoint2) = [empty_rover0store,at_soil_sample_waypoint2,at_rover0_waypoint2]
$Add(SAMPLE_SOIL_rover0_rover0store_waypoint2) = [have_soil_analysis_rover0_waypoint2,full_rover0store]
$Del(SAMPLE_SOIL_rover0_rover0store_waypoint2) = [at_soil_sample_waypoint2,empty_rover0store]
$minlevel(SAMPLE_SOIL_rover0_rover0store_waypoint2) = 3
$maxlevel(SAMPLE_SOIL_rover0_rover0store_waypoint2) = 3
$t_cond_begin(empty_rover0store,SAMPLE_SOIL_rover0_rover0store_waypoint2) = 0.000000
$t_cond_end(empty_rover0store,SAMPLE_SOIL_rover0_rover0store_waypoint2) = 1.000000
$t_cond_begin(at_soil_sample_waypoint2,SAMPLE_SOIL_rover0_rover0store_waypoint2) = 0.000000
$t_cond_end(at_soil_sample_waypoint2,SAMPLE_SOIL_rover0_rover0store_waypoint2) = 1.000000
$t_cond_begin(at_rover0_waypoint2,SAMPLE_SOIL_rover0_rover0store_waypoint2) = 0.000000
$t_cond_end(at_rover0_waypoint2,SAMPLE_SOIL_rover0_rover0store_waypoint2) = 1.000000
$t_add_begin(SAMPLE_SOIL_rover0_rover0store_waypoint2,have_soil_analysis_rover0_waypoint2) = 1.000000
$t_add_end(SAMPLE_SOIL_rover0_rover0store_waypoint2,have_soil_analysis_rover0_waypoint2) = 1.000000
$t_add_begin(SAMPLE_SOIL_rover0_rover0store_waypoint2,full_rover0store) = 1.000000
$t_add_end(SAMPLE_SOIL_rover0_rover0store_waypoint2,full_rover0store) = 1.000000
$t_del_begin(SAMPLE_SOIL_rover0_rover0store_waypoint2,at_soil_sample_waypoint2) = 1.000000
$t_del_end(SAMPLE_SOIL_rover0_rover0store_waypoint2,at_soil_sample_waypoint2) = 1.000000
$t_del_begin(SAMPLE_SOIL_rover0_rover0store_waypoint2,empty_rover0store) = 1.000000
$t_del_end(SAMPLE_SOIL_rover0_rover0store_waypoint2,empty_rover0store) = 1.000000

$Cond(SAMPLE_SOIL_rover0_rover0store_waypoint3) = [empty_rover0store,at_soil_sample_waypoint3,at_rover0_waypoint3]
$Add(SAMPLE_SOIL_rover0_rover0store_waypoint3) = [have_soil_analysis_rover0_waypoint3,full_rover0store]
$Del(SAMPLE_SOIL_rover0_rover0store_waypoint3) = [at_soil_sample_waypoint3,empty_rover0store]
$minlevel(SAMPLE_SOIL_rover0_rover0store_waypoint3) = 1
$maxlevel(SAMPLE_SOIL_rover0_rover0store_waypoint3) = 2
$t_cond_begin(empty_rover0store,SAMPLE_SOIL_rover0_rover0store_waypoint3) = 0.000000
$t_cond_end(empty_rover0store,SAMPLE_SOIL_rover0_rover0store_waypoint3) = 1.000000
$t_cond_begin(at_soil_sample_waypoint3,SAMPLE_SOIL_rover0_rover0store_waypoint3) = 0.000000
$t_cond_end(at_soil_sample_waypoint3,SAMPLE_SOIL_rover0_rover0store_waypoint3) = 1.000000
$t_cond_begin(at_rover0_waypoint3,SAMPLE_SOIL_rover0_rover0store_waypoint3) = 0.000000
$t_cond_end(at_rover0_waypoint3,SAMPLE_SOIL_rover0_rover0store_waypoint3) = 1.000000
$t_add_begin(SAMPLE_SOIL_rover0_rover0store_waypoint3,have_soil_analysis_rover0_waypoint3) = 1.000000
$t_add_end(SAMPLE_SOIL_rover0_rover0store_waypoint3,have_soil_analysis_rover0_waypoint3) = 1.000000
$t_add_begin(SAMPLE_SOIL_rover0_rover0store_waypoint3,full_rover0store) = 1.000000
$t_add_end(SAMPLE_SOIL_rover0_rover0store_waypoint3,full_rover0store) = 1.000000
$t_del_begin(SAMPLE_SOIL_rover0_rover0store_waypoint3,at_soil_sample_waypoint3) = 1.000000
$t_del_end(SAMPLE_SOIL_rover0_rover0store_waypoint3,at_soil_sample_waypoint3) = 1.000000
$t_del_begin(SAMPLE_SOIL_rover0_rover0store_waypoint3,empty_rover0store) = 1.000000
$t_del_end(SAMPLE_SOIL_rover0_rover0store_waypoint3,empty_rover0store) = 1.000000

$Cond(NAVIGATE_rover0_waypoint3_waypoint0) = [at_rover0_waypoint3,available_rover0]
$Add(NAVIGATE_rover0_waypoint3_waypoint0) = [at_rover0_waypoint0]
$Del(NAVIGATE_rover0_waypoint3_waypoint0) = [at_rover0_waypoint3]
$minlevel(NAVIGATE_rover0_waypoint3_waypoint0) = 1
$maxlevel(NAVIGATE_rover0_waypoint3_waypoint0) = 2
$t_cond_begin(at_rover0_waypoint3,NAVIGATE_rover0_waypoint3_waypoint0) = 0.000000
$t_cond_end(at_rover0_waypoint3,NAVIGATE_rover0_waypoint3_waypoint0) = 1.000000
$t_cond_begin(available_rover0,NAVIGATE_rover0_waypoint3_waypoint0) = 0.000000
$t_cond_end(available_rover0,NAVIGATE_rover0_waypoint3_waypoint0) = 1.000000
$t_add_begin(NAVIGATE_rover0_waypoint3_waypoint0,at_rover0_waypoint0) = 1.000000
$t_add_end(NAVIGATE_rover0_waypoint3_waypoint0,at_rover0_waypoint0) = 1.000000
$t_del_begin(NAVIGATE_rover0_waypoint3_waypoint0,at_rover0_waypoint3) = 1.000000
$t_del_end(NAVIGATE_rover0_waypoint3_waypoint0,at_rover0_waypoint3) = 1.000000

$Cond(NAVIGATE_rover0_waypoint0_waypoint3) = [at_rover0_waypoint0,available_rover0]
$Add(NAVIGATE_rover0_waypoint0_waypoint3) = [at_rover0_waypoint3]
$Del(NAVIGATE_rover0_waypoint0_waypoint3) = [at_rover0_waypoint0]
$minlevel(NAVIGATE_rover0_waypoint0_waypoint3) = 2
$maxlevel(NAVIGATE_rover0_waypoint0_waypoint3) = 3
$t_cond_begin(at_rover0_waypoint0,NAVIGATE_rover0_waypoint0_waypoint3) = 0.000000
$t_cond_end(at_rover0_waypoint0,NAVIGATE_rover0_waypoint0_waypoint3) = 1.000000
$t_cond_begin(available_rover0,NAVIGATE_rover0_waypoint0_waypoint3) = 0.000000
$t_cond_end(available_rover0,NAVIGATE_rover0_waypoint0_waypoint3) = 1.000000
$t_add_begin(NAVIGATE_rover0_waypoint0_waypoint3,at_rover0_waypoint3) = 1.000000
$t_add_end(NAVIGATE_rover0_waypoint0_waypoint3,at_rover0_waypoint3) = 1.000000
$t_del_begin(NAVIGATE_rover0_waypoint0_waypoint3,at_rover0_waypoint0) = 1.000000
$t_del_end(NAVIGATE_rover0_waypoint0_waypoint3,at_rover0_waypoint0) = 1.000000

$Cond(NAVIGATE_rover0_waypoint2_waypoint1) = [at_rover0_waypoint2,available_rover0]
$Add(NAVIGATE_rover0_waypoint2_waypoint1) = [at_rover0_waypoint1]
$Del(NAVIGATE_rover0_waypoint2_waypoint1) = [at_rover0_waypoint2]
$minlevel(NAVIGATE_rover0_waypoint2_waypoint1) = 3
$maxlevel(NAVIGATE_rover0_waypoint2_waypoint1) = 3
$t_cond_begin(at_rover0_waypoint2,NAVIGATE_rover0_waypoint2_waypoint1) = 0.000000
$t_cond_end(at_rover0_waypoint2,NAVIGATE_rover0_waypoint2_waypoint1) = 1.000000
$t_cond_begin(available_rover0,NAVIGATE_rover0_waypoint2_waypoint1) = 0.000000
$t_cond_end(available_rover0,NAVIGATE_rover0_waypoint2_waypoint1) = 1.000000
$t_add_begin(NAVIGATE_rover0_waypoint2_waypoint1,at_rover0_waypoint1) = 1.000000
$t_add_end(NAVIGATE_rover0_waypoint2_waypoint1,at_rover0_waypoint1) = 1.000000
$t_del_begin(NAVIGATE_rover0_waypoint2_waypoint1,at_rover0_waypoint2) = 1.000000
$t_del_end(NAVIGATE_rover0_waypoint2_waypoint1,at_rover0_waypoint2) = 1.000000

$Cond(NAVIGATE_rover0_waypoint3_waypoint1) = [at_rover0_waypoint3,available_rover0]
$Add(NAVIGATE_rover0_waypoint3_waypoint1) = [at_rover0_waypoint1]
$Del(NAVIGATE_rover0_waypoint3_waypoint1) = [at_rover0_waypoint3]
$minlevel(NAVIGATE_rover0_waypoint3_waypoint1) = 1
$maxlevel(NAVIGATE_rover0_waypoint3_waypoint1) = 3
$t_cond_begin(at_rover0_waypoint3,NAVIGATE_rover0_waypoint3_waypoint1) = 0.000000
$t_cond_end(at_rover0_waypoint3,NAVIGATE_rover0_waypoint3_waypoint1) = 1.000000
$t_cond_begin(available_rover0,NAVIGATE_rover0_waypoint3_waypoint1) = 0.000000
$t_cond_end(available_rover0,NAVIGATE_rover0_waypoint3_waypoint1) = 1.000000
$t_add_begin(NAVIGATE_rover0_waypoint3_waypoint1,at_rover0_waypoint1) = 1.000000
$t_add_end(NAVIGATE_rover0_waypoint3_waypoint1,at_rover0_waypoint1) = 1.000000
$t_del_begin(NAVIGATE_rover0_waypoint3_waypoint1,at_rover0_waypoint3) = 1.000000
$t_del_end(NAVIGATE_rover0_waypoint3_waypoint1,at_rover0_waypoint3) = 1.000000

$Cond(NAVIGATE_rover0_waypoint1_waypoint3) = [at_rover0_waypoint1,available_rover0]
$Add(NAVIGATE_rover0_waypoint1_waypoint3) = [at_rover0_waypoint3]
$Del(NAVIGATE_rover0_waypoint1_waypoint3) = [at_rover0_waypoint1]
$minlevel(NAVIGATE_rover0_waypoint1_waypoint3) = 2
$maxlevel(NAVIGATE_rover0_waypoint1_waypoint3) = 3
$t_cond_begin(at_rover0_waypoint1,NAVIGATE_rover0_waypoint1_waypoint3) = 0.000000
$t_cond_end(at_rover0_waypoint1,NAVIGATE_rover0_waypoint1_waypoint3) = 1.000000
$t_cond_begin(available_rover0,NAVIGATE_rover0_waypoint1_waypoint3) = 0.000000
$t_cond_end(available_rover0,NAVIGATE_rover0_waypoint1_waypoint3) = 1.000000
$t_add_begin(NAVIGATE_rover0_waypoint1_waypoint3,at_rover0_waypoint3) = 1.000000
$t_add_end(NAVIGATE_rover0_waypoint1_waypoint3,at_rover0_waypoint3) = 1.000000
$t_del_begin(NAVIGATE_rover0_waypoint1_waypoint3,at_rover0_waypoint1) = 1.000000
$t_del_end(NAVIGATE_rover0_waypoint1_waypoint3,at_rover0_waypoint1) = 1.000000

$Cond(NAVIGATE_rover0_waypoint1_waypoint2) = [at_rover0_waypoint1,available_rover0]
$Add(NAVIGATE_rover0_waypoint1_waypoint2) = [at_rover0_waypoint2]
$Del(NAVIGATE_rover0_waypoint1_waypoint2) = [at_rover0_waypoint1]
$minlevel(NAVIGATE_rover0_waypoint1_waypoint2) = 2
$maxlevel(NAVIGATE_rover0_waypoint1_waypoint2) = 3
$t_cond_begin(at_rover0_waypoint1,NAVIGATE_rover0_waypoint1_waypoint2) = 0.000000
$t_cond_end(at_rover0_waypoint1,NAVIGATE_rover0_waypoint1_waypoint2) = 1.000000
$t_cond_begin(available_rover0,NAVIGATE_rover0_waypoint1_waypoint2) = 0.000000
$t_cond_end(available_rover0,NAVIGATE_rover0_waypoint1_waypoint2) = 1.000000
$t_add_begin(NAVIGATE_rover0_waypoint1_waypoint2,at_rover0_waypoint2) = 1.000000
$t_add_end(NAVIGATE_rover0_waypoint1_waypoint2,at_rover0_waypoint2) = 1.000000
$t_del_begin(NAVIGATE_rover0_waypoint1_waypoint2,at_rover0_waypoint1) = 1.000000
$t_del_end(NAVIGATE_rover0_waypoint1_waypoint2,at_rover0_waypoint1) = 1.000000