(:trajectory

(:state (at rover0 waypoint3) (at rover1 waypoint1) (at_lander general waypoint3) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint3) (at_rock_sample waypoint4) (at_soil_sample waypoint2) (available rover0) (available rover1) (calibration_target camera0 objective0) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (channel_free general) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_soil_analysis rover1) (on_board camera0 rover1) (on_board camera1 rover0) (on_board camera2 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (supports camera0 colour) (supports camera0 high_res) (supports camera1 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint4 waypoint0) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective1 waypoint3))

(:action (calibrate rover1 camera0 objective0 waypoint1))

(:state (at rover0 waypoint3) (at rover1 waypoint1) (at_lander general waypoint3) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint3) (at_rock_sample waypoint4) (at_soil_sample waypoint2) (available rover0) (available rover1) (calibrated camera0 rover1) (calibration_target camera0 objective0) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (channel_free general) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_soil_analysis rover1) (on_board camera0 rover1) (on_board camera1 rover0) (on_board camera2 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (supports camera0 colour) (supports camera0 high_res) (supports camera1 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint4 waypoint0) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective1 waypoint3))

(:action (navigate rover1 waypoint1 waypoint2))

(:state (at rover0 waypoint3) (at rover1 waypoint2) (at_lander general waypoint3) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint3) (at_rock_sample waypoint4) (at_soil_sample waypoint2) (available rover0) (available rover1) (calibrated camera0 rover1) (calibration_target camera0 objective0) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (channel_free general) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_soil_analysis rover1) (on_board camera0 rover1) (on_board camera1 rover0) (on_board camera2 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (supports camera0 colour) (supports camera0 high_res) (supports camera1 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint4 waypoint0) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective1 waypoint3))

(:action (take_image rover1 waypoint2 objective0 camera0 colour))

(:state (at rover0 waypoint3) (at rover1 waypoint2) (at_lander general waypoint3) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint3) (at_rock_sample waypoint4) (at_soil_sample waypoint2) (available rover0) (available rover1) (calibration_target camera0 objective0) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (channel_free general) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_soil_analysis rover1) (have_image rover1 objective0 colour) (on_board camera0 rover1) (on_board camera1 rover0) (on_board camera2 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (supports camera0 colour) (supports camera0 high_res) (supports camera1 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint4 waypoint0) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective1 waypoint3))

(:action (communicate_image_data rover1 general objective0 colour waypoint2 waypoint3))

(:state (at rover0 waypoint3) (at rover1 waypoint2) (at_lander general waypoint3) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint3) (at_rock_sample waypoint4) (at_soil_sample waypoint2) (available rover0) (available rover1) (calibration_target camera0 objective0) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (channel_free general) (communicated_image_data objective0 colour) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_soil_analysis rover1) (have_image rover1 objective0 colour) (on_board camera0 rover1) (on_board camera1 rover0) (on_board camera2 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (supports camera0 colour) (supports camera0 high_res) (supports camera1 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint4 waypoint0) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective1 waypoint3))

(:action (sample_soil rover1 rover1store waypoint2))

(:state (at rover0 waypoint3) (at rover1 waypoint2) (at_lander general waypoint3) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint3) (at_rock_sample waypoint4) (available rover0) (available rover1) (calibration_target camera0 objective0) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (channel_free general) (communicated_image_data objective0 colour) (empty rover0store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_soil_analysis rover1) (full rover1store) (have_image rover1 objective0 colour) (have_soil_analysis rover1 waypoint2) (on_board camera0 rover1) (on_board camera1 rover0) (on_board camera2 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (supports camera0 colour) (supports camera0 high_res) (supports camera1 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint4 waypoint0) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective1 waypoint3))

(:action (communicate_soil_data rover1 general waypoint2 waypoint2 waypoint3))

(:state (at rover0 waypoint3) (at rover1 waypoint2) (at_lander general waypoint3) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint3) (at_rock_sample waypoint4) (available rover0) (available rover1) (calibration_target camera0 objective0) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (channel_free general) (communicated_image_data objective0 colour) (communicated_soil_data waypoint2) (empty rover0store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_soil_analysis rover1) (full rover1store) (have_image rover1 objective0 colour) (have_soil_analysis rover1 waypoint2) (on_board camera0 rover1) (on_board camera1 rover0) (on_board camera2 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (supports camera0 colour) (supports camera0 high_res) (supports camera1 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint4 waypoint0) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective1 waypoint3))

(:action (calibrate rover0 camera1 objective1 waypoint3))

(:state (at rover0 waypoint3) (at rover1 waypoint2) (at_lander general waypoint3) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint3) (at_rock_sample waypoint4) (available rover0) (available rover1) (calibrated camera1 rover0) (calibration_target camera0 objective0) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (channel_free general) (communicated_image_data objective0 colour) (communicated_soil_data waypoint2) (empty rover0store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_soil_analysis rover1) (full rover1store) (have_image rover1 objective0 colour) (have_soil_analysis rover1 waypoint2) (on_board camera0 rover1) (on_board camera1 rover0) (on_board camera2 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (supports camera0 colour) (supports camera0 high_res) (supports camera1 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint4 waypoint0) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective1 waypoint3))

(:action (navigate rover0 waypoint3 waypoint1))

(:state (at rover0 waypoint1) (at rover1 waypoint2) (at_lander general waypoint3) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint3) (at_rock_sample waypoint4) (available rover0) (available rover1) (calibrated camera1 rover0) (calibration_target camera0 objective0) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (channel_free general) (communicated_image_data objective0 colour) (communicated_soil_data waypoint2) (empty rover0store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_soil_analysis rover1) (full rover1store) (have_image rover1 objective0 colour) (have_soil_analysis rover1 waypoint2) (on_board camera0 rover1) (on_board camera1 rover0) (on_board camera2 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (supports camera0 colour) (supports camera0 high_res) (supports camera1 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint4 waypoint0) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective1 waypoint3))

(:action (take_image rover0 waypoint1 objective0 camera1 low_res))

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(:action (communicate_image_data rover0 general objective0 low_res waypoint1 waypoint3))

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)