(:trajectory

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

(:action (calibrate rover0 camera0 objective1 waypoint1))

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(:action (take_image rover0 waypoint1 objective0 camera0 high_res))

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(:action (calibrate rover0 camera0 objective1 waypoint1))

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(:action (take_image rover0 waypoint1 objective1 camera0 high_res))

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(:action (communicate_image_data rover0 general objective1 high_res waypoint1 waypoint0))

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(:action (navigate rover0 waypoint1 waypoint3))

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(:action (communicate_image_data rover0 general objective0 high_res waypoint3 waypoint0))

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(:action (sample_rock rover0 rover0store waypoint3))

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(:action (communicate_rock_data rover0 general waypoint3 waypoint3 waypoint0))

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(:action (navigate rover0 waypoint3 waypoint1))

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(:action (navigate rover0 waypoint1 waypoint2))

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(:action (drop rover0 rover0store))

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(:action (sample_rock rover0 rover0store waypoint2))

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

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)