(:trajectory

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

(:action (calibrate rover1 camera0 objective1 waypoint3))

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(:action (take_image rover1 waypoint3 objective1 camera0 high_res))

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(:action (communicate_image_data rover1 general objective1 high_res waypoint3 waypoint4))

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(:action (sample_soil rover1 rover1store waypoint3))

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(:action (communicate_soil_data rover1 general waypoint3 waypoint3 waypoint4))

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(:action (calibrate rover0 camera1 objective0 waypoint1))

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(:action (calibrate rover0 camera2 objective0 waypoint1))

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(:action (take_image rover0 waypoint1 objective0 camera2 high_res))

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(:action (communicate_image_data rover0 general objective0 high_res waypoint1 waypoint4))

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

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(:action (navigate rover0 waypoint1 waypoint2))

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(:action (navigate rover1 waypoint3 waypoint1))

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(:action (navigate rover0 waypoint2 waypoint1))

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(:action (calibrate rover1 camera0 objective1 waypoint1))

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(:action (communicate_image_data rover0 general objective0 colour waypoint1 waypoint4))

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(:action (navigate rover0 waypoint1 waypoint2))

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(:action (sample_soil rover0 rover0store waypoint2))

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(:action (drop rover0 rover0store))

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(:action (navigate rover0 waypoint2 waypoint1))

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(:action (communicate_image_data rover1 general objective1 high_res waypoint1 waypoint4))

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(:action (communicate_soil_data rover0 general waypoint2 waypoint1 waypoint4))

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(:action (navigate rover0 waypoint1 waypoint4))

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(:action (sample_soil rover0 rover0store waypoint4))

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(:action (navigate rover0 waypoint4 waypoint1))

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(:action (communicate_soil_data rover0 general waypoint4 waypoint1 waypoint4))

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)