Note that the %% conversion type doesn’t consume any of the two <values> shown to the right of the string modulo operator (30, "bananas"). You can think of this conversion type as a way to escape the percent character in case you need to render a literal percent character in your ...
For this, we add path_sequence(t,r) in Line 10, where t is the final task assigned to robot r. Here, t is identifiable as a final task as it has no successor task in any task sequence. Note, that Line 10 covers two cases: one where there exists a fact task_sequence( t ′ ,...