(:trajectory

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

(:action (navigate rover0 waypoint2 waypoint0))

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(:action (calibrate rover0 camera0 objective0 waypoint0))

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(:action (navigate rover0 waypoint0 waypoint2))

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(:action (take_image rover0 waypoint2 objective1 camera0 high_res))

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(:action (communicate_image_data rover0 general objective1 high_res waypoint2 waypoint1))

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(:action (sample_soil rover0 rover0store waypoint2))

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

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(:action (drop rover0 rover0store))

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(:action (navigate rover0 waypoint2 waypoint0))

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(:action (sample_soil rover0 rover0store waypoint0))

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(:action (calibrate rover0 camera1 objective0 waypoint0))

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(:action (communicate_soil_data rover0 general waypoint0 waypoint0 waypoint1))

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(:action (take_image rover0 waypoint0 objective0 camera1 low_res))

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(:action (navigate rover0 waypoint0 waypoint2))

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(:action (drop rover0 rover0store))

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(:action (navigate rover0 waypoint2 waypoint1))

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(:action (sample_soil rover0 rover0store waypoint1))

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(:action (navigate rover0 waypoint1 waypoint2))

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

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)