(:trajectory

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

(:action (navigate rover0 waypoint1 waypoint3))

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

(:action (navigate rover1 waypoint2 waypoint0))

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

(:action (calibrate rover1 camera0 objective1 waypoint0))

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

(:action (calibrate rover1 camera2 objective1 waypoint0))

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

(:action (sample_soil rover0 rover0store waypoint3))

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

(:action (navigate rover1 waypoint0 waypoint2))

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

(:action (take_image rover1 waypoint2 objective0 camera2 low_res))

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

(:action (communicate_image_data rover1 general objective0 low_res waypoint2 waypoint1))

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

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

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(:action (communicate_image_data rover1 general objective0 high_res waypoint2 waypoint1))

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(:action (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint1))

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(:action (drop rover0 rover0store))

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(:action (navigate rover0 waypoint3 waypoint1))

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(:action (sample_soil rover0 rover0store waypoint1))

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(:action (drop rover0 rover0store))

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(:action (navigate rover0 waypoint1 waypoint0))

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

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(:action (navigate rover0 waypoint0 waypoint4))

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(:action (navigate rover1 waypoint2 waypoint0))

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(:action (sample_rock rover1 rover1store waypoint0))

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(:action (navigate rover1 waypoint0 waypoint2))

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(:action (navigate rover1 waypoint2 waypoint4))

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(:action (drop rover1 rover1store))

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(:action (communicate_rock_data rover1 general waypoint0 waypoint4 waypoint1))

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(:action (navigate rover0 waypoint4 waypoint0))

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(:action (sample_rock rover1 rover1store waypoint4))

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(:action (communicate_rock_data rover1 general waypoint4 waypoint4 waypoint1))

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)