problem

来自「SHOP2 一个人工智能里面关于任务分解和任务规划的系统。JSHOP2是其jav」· 代码 · 共 1,059 行 · 第 1/3 页

    (CAN_TRAVERSE ROVER5 WAYPOINT27 WAYPOINT10)
    (CAN_TRAVERSE ROVER5 WAYPOINT12 WAYPOINT19)
    (CAN_TRAVERSE ROVER5 WAYPOINT19 WAYPOINT12)
    (CAN_TRAVERSE ROVER5 WAYPOINT12 WAYPOINT21)
    (CAN_TRAVERSE ROVER5 WAYPOINT21 WAYPOINT12)
    (CAN_TRAVERSE ROVER5 WAYPOINT23 WAYPOINT17)
    (CAN_TRAVERSE ROVER5 WAYPOINT17 WAYPOINT23)
    (CAN_TRAVERSE ROVER5 WAYPOINT23 WAYPOINT20)
    (CAN_TRAVERSE ROVER5 WAYPOINT20 WAYPOINT23)
    (CAN_TRAVERSE ROVER5 WAYPOINT13 WAYPOINT4)
    (CAN_TRAVERSE ROVER5 WAYPOINT4 WAYPOINT13)
    (CAN_TRAVERSE ROVER5 WAYPOINT13 WAYPOINT8)
    (CAN_TRAVERSE ROVER5 WAYPOINT8 WAYPOINT13)
    (CAN_TRAVERSE ROVER5 WAYPOINT26 WAYPOINT1)
    (CAN_TRAVERSE ROVER5 WAYPOINT1 WAYPOINT26)
    (CAN_TRAVERSE ROVER5 WAYPOINT26 WAYPOINT2)
    (CAN_TRAVERSE ROVER5 WAYPOINT2 WAYPOINT26)
    (CAN_TRAVERSE ROVER5 WAYPOINT26 WAYPOINT14)
    (CAN_TRAVERSE ROVER5 WAYPOINT14 WAYPOINT26)
    (CAN_TRAVERSE ROVER5 WAYPOINT26 WAYPOINT15)
    (CAN_TRAVERSE ROVER5 WAYPOINT15 WAYPOINT26)
    (CAN_TRAVERSE ROVER5 WAYPOINT26 WAYPOINT22)
    (CAN_TRAVERSE ROVER5 WAYPOINT22 WAYPOINT26)
    (CAN_TRAVERSE ROVER5 WAYPOINT26 WAYPOINT29)
    (CAN_TRAVERSE ROVER5 WAYPOINT29 WAYPOINT26)
    (CAN_TRAVERSE ROVER5 WAYPOINT11 WAYPOINT6)
    (CAN_TRAVERSE ROVER5 WAYPOINT6 WAYPOINT11)
    (CAN_TRAVERSE ROVER5 WAYPOINT16 WAYPOINT24)
    (CAN_TRAVERSE ROVER5 WAYPOINT24 WAYPOINT16)
    (CAN_TRAVERSE ROVER5 WAYPOINT18 WAYPOINT0)
    (CAN_TRAVERSE ROVER5 WAYPOINT0 WAYPOINT18)
    (CAN_TRAVERSE ROVER5 WAYPOINT19 WAYPOINT25)
    (CAN_TRAVERSE ROVER5 WAYPOINT25 WAYPOINT19)
    (CAN_TRAVERSE ROVER5 WAYPOINT21 WAYPOINT5)
    (CAN_TRAVERSE ROVER5 WAYPOINT5 WAYPOINT21)
    (AT ROVER6 WAYPOINT23)
    (AVAILABLE ROVER6)
    (STORE_OF ROVER6STORE ROVER6)
    (EMPTY ROVER6STORE)
    (EQUIPPED_FOR_SOIL_ANALYSIS ROVER6)
    (EQUIPPED_FOR_ROCK_ANALYSIS ROVER6)
    (CAN_TRAVERSE ROVER6 WAYPOINT23 WAYPOINT7)
    (CAN_TRAVERSE ROVER6 WAYPOINT7 WAYPOINT23)
    (CAN_TRAVERSE ROVER6 WAYPOINT23 WAYPOINT12)
    (CAN_TRAVERSE ROVER6 WAYPOINT12 WAYPOINT23)
    (CAN_TRAVERSE ROVER6 WAYPOINT23 WAYPOINT13)
    (CAN_TRAVERSE ROVER6 WAYPOINT13 WAYPOINT23)
    (CAN_TRAVERSE ROVER6 WAYPOINT23 WAYPOINT17)
    (CAN_TRAVERSE ROVER6 WAYPOINT17 WAYPOINT23)
    (CAN_TRAVERSE ROVER6 WAYPOINT23 WAYPOINT18)
    (CAN_TRAVERSE ROVER6 WAYPOINT18 WAYPOINT23)
    (CAN_TRAVERSE ROVER6 WAYPOINT7 WAYPOINT5)
    (CAN_TRAVERSE ROVER6 WAYPOINT5 WAYPOINT7)
    (CAN_TRAVERSE ROVER6 WAYPOINT7 WAYPOINT10)
    (CAN_TRAVERSE ROVER6 WAYPOINT10 WAYPOINT7)
    (CAN_TRAVERSE ROVER6 WAYPOINT7 WAYPOINT20)
    (CAN_TRAVERSE ROVER6 WAYPOINT20 WAYPOINT7)
    (CAN_TRAVERSE ROVER6 WAYPOINT12 WAYPOINT3)
    (CAN_TRAVERSE ROVER6 WAYPOINT3 WAYPOINT12)
    (CAN_TRAVERSE ROVER6 WAYPOINT12 WAYPOINT24)
    (CAN_TRAVERSE ROVER6 WAYPOINT24 WAYPOINT12)
    (CAN_TRAVERSE ROVER6 WAYPOINT13 WAYPOINT4)
    (CAN_TRAVERSE ROVER6 WAYPOINT4 WAYPOINT13)
    (CAN_TRAVERSE ROVER6 WAYPOINT13 WAYPOINT21)
    (CAN_TRAVERSE ROVER6 WAYPOINT21 WAYPOINT13)
    (CAN_TRAVERSE ROVER6 WAYPOINT17 WAYPOINT16)
    (CAN_TRAVERSE ROVER6 WAYPOINT16 WAYPOINT17)
    (CAN_TRAVERSE ROVER6 WAYPOINT18 WAYPOINT0)
    (CAN_TRAVERSE ROVER6 WAYPOINT0 WAYPOINT18)
    (CAN_TRAVERSE ROVER6 WAYPOINT18 WAYPOINT6)
    (CAN_TRAVERSE ROVER6 WAYPOINT6 WAYPOINT18)
    (CAN_TRAVERSE ROVER6 WAYPOINT18 WAYPOINT19)
    (CAN_TRAVERSE ROVER6 WAYPOINT19 WAYPOINT18)
    (CAN_TRAVERSE ROVER6 WAYPOINT18 WAYPOINT28)
    (CAN_TRAVERSE ROVER6 WAYPOINT28 WAYPOINT18)
    (CAN_TRAVERSE ROVER6 WAYPOINT5 WAYPOINT2)
    (CAN_TRAVERSE ROVER6 WAYPOINT2 WAYPOINT5)
    (CAN_TRAVERSE ROVER6 WAYPOINT5 WAYPOINT27)
    (CAN_TRAVERSE ROVER6 WAYPOINT27 WAYPOINT5)
    (CAN_TRAVERSE ROVER6 WAYPOINT10 WAYPOINT9)
    (CAN_TRAVERSE ROVER6 WAYPOINT9 WAYPOINT10)
    (CAN_TRAVERSE ROVER6 WAYPOINT10 WAYPOINT11)
    (CAN_TRAVERSE ROVER6 WAYPOINT11 WAYPOINT10)
    (CAN_TRAVERSE ROVER6 WAYPOINT20 WAYPOINT25)
    (CAN_TRAVERSE ROVER6 WAYPOINT25 WAYPOINT20)
    (CAN_TRAVERSE ROVER6 WAYPOINT20 WAYPOINT26)
    (CAN_TRAVERSE ROVER6 WAYPOINT26 WAYPOINT20)
    (CAN_TRAVERSE ROVER6 WAYPOINT20 WAYPOINT29)
    (CAN_TRAVERSE ROVER6 WAYPOINT29 WAYPOINT20)
    (CAN_TRAVERSE ROVER6 WAYPOINT4 WAYPOINT8)
    (CAN_TRAVERSE ROVER6 WAYPOINT8 WAYPOINT4)
    (AT ROVER7 WAYPOINT12)
    (AVAILABLE ROVER7)
    (STORE_OF ROVER7STORE ROVER7)
    (EMPTY ROVER7STORE)
    (EQUIPPED_FOR_SOIL_ANALYSIS ROVER7)
    (EQUIPPED_FOR_IMAGING ROVER7)
    (CAN_TRAVERSE ROVER7 WAYPOINT12 WAYPOINT3)
    (CAN_TRAVERSE ROVER7 WAYPOINT3 WAYPOINT12)
    (CAN_TRAVERSE ROVER7 WAYPOINT12 WAYPOINT7)
    (CAN_TRAVERSE ROVER7 WAYPOINT7 WAYPOINT12)
    (CAN_TRAVERSE ROVER7 WAYPOINT12 WAYPOINT10)
    (CAN_TRAVERSE ROVER7 WAYPOINT10 WAYPOINT12)
    (CAN_TRAVERSE ROVER7 WAYPOINT12 WAYPOINT16)
    (CAN_TRAVERSE ROVER7 WAYPOINT16 WAYPOINT12)
    (CAN_TRAVERSE ROVER7 WAYPOINT12 WAYPOINT19)
    (CAN_TRAVERSE ROVER7 WAYPOINT19 WAYPOINT12)
    (CAN_TRAVERSE ROVER7 WAYPOINT12 WAYPOINT23)
    (CAN_TRAVERSE ROVER7 WAYPOINT23 WAYPOINT12)
    (CAN_TRAVERSE ROVER7 WAYPOINT12 WAYPOINT24)
    (CAN_TRAVERSE ROVER7 WAYPOINT24 WAYPOINT12)
    (CAN_TRAVERSE ROVER7 WAYPOINT3 WAYPOINT13)
    (CAN_TRAVERSE ROVER7 WAYPOINT13 WAYPOINT3)
    (CAN_TRAVERSE ROVER7 WAYPOINT3 WAYPOINT26)
    (CAN_TRAVERSE ROVER7 WAYPOINT26 WAYPOINT3)
    (CAN_TRAVERSE ROVER7 WAYPOINT3 WAYPOINT28)
    (CAN_TRAVERSE ROVER7 WAYPOINT28 WAYPOINT3)
    (CAN_TRAVERSE ROVER7 WAYPOINT7 WAYPOINT5)
    (CAN_TRAVERSE ROVER7 WAYPOINT5 WAYPOINT7)
    (CAN_TRAVERSE ROVER7 WAYPOINT7 WAYPOINT20)
    (CAN_TRAVERSE ROVER7 WAYPOINT20 WAYPOINT7)
    (CAN_TRAVERSE ROVER7 WAYPOINT10 WAYPOINT9)
    (CAN_TRAVERSE ROVER7 WAYPOINT9 WAYPOINT10)
    (CAN_TRAVERSE ROVER7 WAYPOINT10 WAYPOINT11)
    (CAN_TRAVERSE ROVER7 WAYPOINT11 WAYPOINT10)
    (CAN_TRAVERSE ROVER7 WAYPOINT10 WAYPOINT18)
    (CAN_TRAVERSE ROVER7 WAYPOINT18 WAYPOINT10)
    (CAN_TRAVERSE ROVER7 WAYPOINT10 WAYPOINT27)
    (CAN_TRAVERSE ROVER7 WAYPOINT27 WAYPOINT10)
    (CAN_TRAVERSE ROVER7 WAYPOINT16 WAYPOINT1)
    (CAN_TRAVERSE ROVER7 WAYPOINT1 WAYPOINT16)
    (CAN_TRAVERSE ROVER7 WAYPOINT19 WAYPOINT0)
    (CAN_TRAVERSE ROVER7 WAYPOINT0 WAYPOINT19)
    (CAN_TRAVERSE ROVER7 WAYPOINT19 WAYPOINT2)
    (CAN_TRAVERSE ROVER7 WAYPOINT2 WAYPOINT19)
    (CAN_TRAVERSE ROVER7 WAYPOINT19 WAYPOINT21)
    (CAN_TRAVERSE ROVER7 WAYPOINT21 WAYPOINT19)
    (CAN_TRAVERSE ROVER7 WAYPOINT23 WAYPOINT17)
    (CAN_TRAVERSE ROVER7 WAYPOINT17 WAYPOINT23)
    (CAN_TRAVERSE ROVER7 WAYPOINT13 WAYPOINT8)
    (CAN_TRAVERSE ROVER7 WAYPOINT8 WAYPOINT13)
    (CAN_TRAVERSE ROVER7 WAYPOINT13 WAYPOINT15)
    (CAN_TRAVERSE ROVER7 WAYPOINT15 WAYPOINT13)
    (CAN_TRAVERSE ROVER7 WAYPOINT26 WAYPOINT14)
    (CAN_TRAVERSE ROVER7 WAYPOINT14 WAYPOINT26)
    (CAN_TRAVERSE ROVER7 WAYPOINT26 WAYPOINT22)
    (CAN_TRAVERSE ROVER7 WAYPOINT22 WAYPOINT26)
    (CAN_TRAVERSE ROVER7 WAYPOINT26 WAYPOINT29)
    (CAN_TRAVERSE ROVER7 WAYPOINT29 WAYPOINT26)
    (CAN_TRAVERSE ROVER7 WAYPOINT20 WAYPOINT25)
    (CAN_TRAVERSE ROVER7 WAYPOINT25 WAYPOINT20)
    (CAN_TRAVERSE ROVER7 WAYPOINT11 WAYPOINT6)
    (CAN_TRAVERSE ROVER7 WAYPOINT6 WAYPOINT11)
    (ON_BOARD CAMERA0 ROVER3)
    (CALIBRATION_TARGET CAMERA0 OBJECTIVE5)
    (SUPPORTS CAMERA0 COLOUR)
    (SUPPORTS CAMERA0 HIGH_RES)
    (ON_BOARD CAMERA1 ROVER1)
    (CALIBRATION_TARGET CAMERA1 OBJECTIVE5)
    (SUPPORTS CAMERA1 COLOUR)
    (SUPPORTS CAMERA1 HIGH_RES)
    (ON_BOARD CAMERA2 ROVER5)
    (CALIBRATION_TARGET CAMERA2 OBJECTIVE4)
    (SUPPORTS CAMERA2 LOW_RES)
    (ON_BOARD CAMERA3 ROVER4)
    (CALIBRATION_TARGET CAMERA3 OBJECTIVE5)
    (SUPPORTS CAMERA3 LOW_RES)
    (ON_BOARD CAMERA4 ROVER3)
    (CALIBRATION_TARGET CAMERA4 OBJECTIVE3)
    (SUPPORTS CAMERA4 HIGH_RES)
    (ON_BOARD CAMERA5 ROVER3)
    (CALIBRATION_TARGET CAMERA5 OBJECTIVE6)
    (SUPPORTS CAMERA5 COLOUR)
    (SUPPORTS CAMERA5 HIGH_RES)
    (ON_BOARD CAMERA6 ROVER2)
    (CALIBRATION_TARGET CAMERA6 OBJECTIVE4)
    (SUPPORTS CAMERA6 HIGH_RES)
    (ON_BOARD CAMERA7 ROVER3)
    (CALIBRATION_TARGET CAMERA7 OBJECTIVE1)
    (SUPPORTS CAMERA7 HIGH_RES)
    (SUPPORTS CAMERA7 LOW_RES)
    (ON_BOARD CAMERA8 ROVER5)
    (CALIBRATION_TARGET CAMERA8 OBJECTIVE0)
    (SUPPORTS CAMERA8 COLOUR)
    (ON_BOARD CAMERA9 ROVER5)
    (CALIBRATION_TARGET CAMERA9 OBJECTIVE0)
    (SUPPORTS CAMERA9 HIGH_RES)
    (SUPPORTS CAMERA9 LOW_RES)
    (ON_BOARD CAMERA10 ROVER7)
    (CALIBRATION_TARGET CAMERA10 OBJECTIVE9)
    (SUPPORTS CAMERA10 HIGH_RES)
    (SUPPORTS CAMERA10 LOW_RES)
    (VISIBLE_FROM OBJECTIVE0 WAYPOINT0)
    (VISIBLE_FROM OBJECTIVE0 WAYPOINT1)
    (VISIBLE_FROM OBJECTIVE0 WAYPOINT2)
    (VISIBLE_FROM OBJECTIVE0 WAYPOINT3)
    (VISIBLE_FROM OBJECTIVE0 WAYPOINT4)
    (VISIBLE_FROM OBJECTIVE0 WAYPOINT5)
    (VISIBLE_FROM OBJECTIVE0 WAYPOINT6)
    (VISIBLE_FROM OBJECTIVE0 WAYPOINT7)
    (VISIBLE_FROM OBJECTIVE0 WAYPOINT8)
    (VISIBLE_FROM OBJECTIVE0 WAYPOINT9)
    (VISIBLE_FROM OBJECTIVE0 WAYPOINT10)
    (VISIBLE_FROM OBJECTIVE0 WAYPOINT11)
    (VISIBLE_FROM OBJECTIVE0 WAYPOINT12)
    (VISIBLE_FROM OBJECTIVE0 WAYPOINT13)
    (VISIBLE_FROM OBJECTIVE0 WAYPOINT14)
    (VISIBLE_FROM OBJECTIVE0 WAYPOINT15)
    (VISIBLE_FROM OBJECTIVE0 WAYPOINT16)
    (VISIBLE_FROM OBJECTIVE0 WAYPOINT17)
    (VISIBLE_FROM OBJECTIVE0 WAYPOINT18)
    (VISIBLE_FROM OBJECTIVE1 WAYPOINT0)
    (VISIBLE_FROM OBJECTIVE1 WAYPOINT1)
    (VISIBLE_FROM OBJECTIVE1 WAYPOINT2)
    (VISIBLE_FROM OBJECTIVE1 WAYPOINT3)
    (VISIBLE_FROM OBJECTIVE1 WAYPOINT4)
    (VISIBLE_FROM OBJECTIVE1 WAYPOINT5)
    (VISIBLE_FROM OBJECTIVE1 WAYPOINT6)
    (VISIBLE_FROM OBJECTIVE1 WAYPOINT7)
    (VISIBLE_FROM OBJECTIVE1 WAYPOINT8)
    (VISIBLE_FROM OBJECTIVE1 WAYPOINT9)
    (VISIBLE_FROM OBJECTIVE1 WAYPOINT10)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT0)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT1)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT2)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT3)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT4)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT5)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT6)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT7)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT8)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT9)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT10)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT11)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT12)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT13)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT14)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT15)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT16)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT17)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT18)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT19)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT20)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT21)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT22)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT23)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT24)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT25)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT26)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT27)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT28)
    (VISIBLE_FROM OBJECTIVE2 WAYPOINT29)
    (VISIBLE_FROM OBJECTIVE3 WAYPOINT0)
    (VISIBLE_FROM OBJECTIVE3 WAYPOINT1)
    (VISIBLE_FROM OBJECTIVE3 WAYPOINT2)
    (VISIBLE_FROM OBJECTIVE3 WAYPOINT3)
    (VISIBLE_FROM OBJECTIVE3 WAYPOINT4)
    (VISIBLE_FROM OBJECTIVE3 WAYPOINT5)
    (VISIBLE_FROM OBJECTIVE3 WAYPOINT6)
    (VISIBLE_FROM OBJECTIVE3 WAYPOINT7)
    (VISIBLE_FROM OBJECTIVE3 WAYPOINT8)
    (VISIBLE_FROM OBJECTIVE3 WAYPOINT9)
    (VISIBLE_FROM OBJECTIVE3 WAYPOINT10)
    (VISIBLE_FROM OBJECTIVE3 WAYPOINT11)
    (VISIBLE_FROM OBJECTIVE3 WAYPOINT12)
    (VISIBLE_FROM OBJECTIVE3 WAYPOINT13)
    (VISIBLE_FROM OBJECTIVE3 WAYPOINT14)
    (VISIBLE_FROM OBJECTIVE3 WAYPOINT15)
    (VISIBLE_FROM OBJECTIVE3 WAYPOINT16)
    (VISIBLE_FROM OBJECTIVE3 WAYPOINT17)
    (VISIBLE_FROM OBJECTIVE4 WAYPOINT0)
    (VISIBLE_FROM OBJECTIVE4 WAYPOINT1)
    (VISIBLE_FROM OBJECTIVE4 WAYPOINT2)
    (VISIBLE_FROM OBJECTIVE4 WAYPOINT3)
    (VISIBLE_FROM OBJECTIVE4 WAYPOINT4)
    (VISIBLE_FROM OBJECTIVE4 WAYPOINT5)
    (VISIBLE_FROM OBJECTIVE5 WAYPOINT0)
    (VISIBLE_FROM OBJECTIVE5 WAYPOINT1)
    (VISIBLE_FROM OBJECTIVE5 WAYPOINT2)
    (VISIBLE_FROM OBJECTIVE5 WAYPOINT3)
    (VISIBLE_FROM OBJECTIVE5 WAYPOINT4)
    (VISIBLE_FROM OBJECTIVE5 WAYPOINT5)
    (VISIBLE_FROM OBJECTIVE5 WAYPOINT6)
    (VISIBLE_FROM OBJECTIVE5 WAYPOINT7)
    (VISIBLE_FROM OBJECTIVE5 WAYPOINT8)
    (VISIBLE_FROM OBJECTIVE5 WAYPOINT9)
    (VISIBLE_FROM OBJECTIVE5 WAYPOINT10)
    (VISIBLE_FROM OBJECTIVE6 WAYPOINT0)
    (VISIBLE_FROM OBJECTIVE6 WAYPOINT1)
    (VISIBLE_FROM OBJECTIVE6 WAYPOINT2)
    (VISIBLE_FROM OBJECTIVE6 WAYPOINT3)
    (VISIBLE_FROM OBJECTIVE6 WAYPOINT4)
    (VISIBLE_FROM OBJECTIVE6 WAYPOINT5)
    (VISIBLE_FROM OBJECTIVE6 WAYPOINT6)
    (VISIBLE_FROM OBJECTIVE6 WAYPOINT7)
    (VISIBLE_FROM OBJECTIVE6 WAYPOINT8)
    (VISIBLE_FROM OBJECTIVE6 WAYPOINT9)
    (VISIBLE_FROM OBJECTIVE6 WAYPOINT10)
    (VISIBLE_FROM OBJECTIVE6 WAYPOINT11)
    (VISIBLE_FROM OBJECTIVE6 WAYPOINT12)
    (VISIBLE_FROM OBJECTIVE6 WAYPOINT13)
    (VISIBLE_FROM OBJECTIVE6 WAYPOINT14)
    (VISIBLE_FROM OBJECTIVE6 WAYPOINT15)
    (VISIBLE_FROM OBJECTIVE7 WAYPOINT0)
    (VISIBLE_FROM OBJECTIVE7 WAYPOINT1)
    (VISIBLE_FROM OBJECTIVE7 WAYPOINT2)
    (VISIBLE_FROM OBJECTIVE7 WAYPOINT3)
    (VISIBLE_FROM OBJECTIVE8 WAYPOINT0)
    (VISIBLE_FROM OBJECTIVE8 WAYPOINT1)
    (VISIBLE_FROM OBJECTIVE8 WAYPOINT2)
    (VISIBLE_FROM OBJECTIVE9 WAYPOINT0)
    (VISIBLE_FROM OBJECTIVE9 WAYPOINT1)
    (VISIBLE_FROM OBJECTIVE9 WAYPOINT2)
    (VISIBLE_FROM OBJECTIVE9 WAYPOINT3)
    (VISIBLE_FROM OBJECTIVE9 WAYPOINT4)
    (VISIBLE_FROM OBJECTIVE9 WAYPOINT5)
    (VISIBLE_FROM OBJECTIVE9 WAYPOINT6)
    (VISIBLE_FROM OBJECTIVE9 WAYPOINT7)
    (VISIBLE_FROM OBJECTIVE9 WAYPOINT8)
    (VISIBLE_FROM OBJECTIVE9 WAYPOINT9)
  )
  ;;;
  ;;; goals
  ;;;
(
     (get_SOIL_DATA WAYPOINT5)
     (get_SOIL_DATA WAYPOINT13)
     (get_SOIL_DATA WAYPOINT4)
     (get_SOIL_DATA WAYPOINT23)
     (get_SOIL_DATA WAYPOINT15)
     (get_SOIL_DATA WAYPOINT7)
     (get_SOIL_DATA WAYPOINT20)
     (get_SOIL_DATA WAYPOINT26)
     (get_SOIL_DATA WAYPOINT2)
     (get_ROCK_DATA WAYPOINT27)
     (get_ROCK_DATA WAYPOINT19)
     (get_ROCK_DATA WAYPOINT1)
     (get_ROCK_DATA WAYPOINT3)
     (get_ROCK_DATA WAYPOINT7)
     (get_ROCK_DATA WAYPOINT20)
     (get_ROCK_DATA WAYPOINT22)
     (get_IMAGE_DATA OBJECTIVE2 LOW_RES)
     (get_IMAGE_DATA OBJECTIVE6 LOW_RES)
     (get_IMAGE_DATA OBJECTIVE3 LOW_RES)
     (get_IMAGE_DATA OBJECTIVE6 COLOUR)
     (get_IMAGE_DATA OBJECTIVE3 HIGH_RES)
     (get_IMAGE_DATA OBJECTIVE1 COLOUR)
     (get_IMAGE_DATA OBJECTIVE6 HIGH_RES)
     (get_IMAGE_DATA OBJECTIVE3 COLOUR)
     (get_IMAGE_DATA OBJECTIVE2 HIGH_RES)
 )
)