(:trajectory

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

(:action (navigate rover1 waypoint4 waypoint1))

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

(:action (navigate rover0 waypoint2 waypoint3))

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

(:action (calibrate rover0 camera0 objective0 waypoint3))

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

(:action (take_image rover0 waypoint3 objective1 camera0 high_res))

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

(:action (communicate_image_data rover0 general objective1 high_res waypoint3 waypoint2))

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

(:action (calibrate rover0 camera0 objective0 waypoint3))

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

(:action (sample_rock rover0 rover0store waypoint3))

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

(:action (communicate_rock_data rover0 general waypoint3 waypoint3 waypoint2))

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

(:action (drop rover0 rover0store))

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

(:action (sample_soil rover0 rover0store waypoint3))

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(:action (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint2))

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

(:action (navigate rover0 waypoint3 waypoint2))

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(:action (navigate rover0 waypoint2 waypoint0))

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

(:action (take_image rover0 waypoint0 objective1 camera0 colour))

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(:action (drop rover0 rover0store))

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(:action (sample_rock rover0 rover0store waypoint0))

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(:action (communicate_rock_data rover0 general waypoint0 waypoint0 waypoint2))

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(:action (navigate rover0 waypoint0 waypoint2))

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(:action (drop rover0 rover0store))

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(:action (sample_rock rover0 rover0store waypoint2))

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(:action (navigate rover0 waypoint2 waypoint0))

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(:action (communicate_rock_data rover0 general waypoint2 waypoint0 waypoint2))

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(:action (drop rover0 rover0store))

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(:action (navigate rover0 waypoint0 waypoint4))

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(:action (navigate rover0 waypoint4 waypoint0))

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(:action (navigate rover0 waypoint0 waypoint2))

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(:action (navigate rover1 waypoint1 waypoint4))

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(:action (navigate rover1 waypoint4 waypoint0))

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(:action (sample_soil rover0 rover0store waypoint2))

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(:action (navigate rover0 waypoint2 waypoint3))

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(:action (communicate_image_data rover0 general objective1 high_res waypoint3 waypoint2))

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)