(:trajectory

(:state (at rover0 waypoint1) (at rover1 waypoint0) (at_lander general waypoint3) (at_rock_sample waypoint1) (at_rock_sample waypoint3) (at_rock_sample waypoint4) (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) (calibration_target camera3 objective0) (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 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (channel_free general) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover1) (equipped_for_soil_analysis rover1) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover0) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (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 waypoint2) (visible_from objective0 waypoint3) (visible_from objective1 waypoint4))

(:action (navigate rover1 waypoint0 waypoint2))

(:state (at rover0 waypoint1) (at rover1 waypoint2) (at_lander general waypoint3) (at_rock_sample waypoint1) (at_rock_sample waypoint3) (at_rock_sample waypoint4) (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) (calibration_target camera3 objective0) (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 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (channel_free general) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover1) (equipped_for_soil_analysis rover1) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover0) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (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 waypoint2) (visible_from objective0 waypoint3) (visible_from objective1 waypoint4))

(:action (calibrate rover1 camera3 objective0 waypoint2))

(:state (at rover0 waypoint1) (at rover1 waypoint2) (at_lander general waypoint3) (at_rock_sample waypoint1) (at_rock_sample waypoint3) (at_rock_sample waypoint4) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint4) (available rover0) (available rover1) (calibrated camera3 rover1) (calibration_target camera0 objective0) (calibration_target camera1 objective1) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (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 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (channel_free general) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover1) (equipped_for_soil_analysis rover1) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover0) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (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 waypoint2) (visible_from objective0 waypoint3) (visible_from objective1 waypoint4))

(:action (navigate rover0 waypoint1 waypoint2))

(:state (at rover0 waypoint2) (at rover1 waypoint2) (at_lander general waypoint3) (at_rock_sample waypoint1) (at_rock_sample waypoint3) (at_rock_sample waypoint4) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint4) (available rover0) (available rover1) (calibrated camera3 rover1) (calibration_target camera0 objective0) (calibration_target camera1 objective1) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (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 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (channel_free general) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover1) (equipped_for_soil_analysis rover1) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover0) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (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 waypoint2) (visible_from objective0 waypoint3) (visible_from objective1 waypoint4))

(:action (calibrate rover1 camera3 objective0 waypoint2))

(:state (at rover0 waypoint2) (at rover1 waypoint2) (at_lander general waypoint3) (at_rock_sample waypoint1) (at_rock_sample waypoint3) (at_rock_sample waypoint4) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint4) (available rover0) (available rover1) (calibrated camera3 rover1) (calibration_target camera0 objective0) (calibration_target camera1 objective1) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (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 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (channel_free general) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover1) (equipped_for_soil_analysis rover1) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover0) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (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 waypoint2) (visible_from objective0 waypoint3) (visible_from objective1 waypoint4))

(:action (navigate rover0 waypoint2 waypoint1))

(:state (at rover0 waypoint1) (at rover1 waypoint2) (at_lander general waypoint3) (at_rock_sample waypoint1) (at_rock_sample waypoint3) (at_rock_sample waypoint4) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint4) (available rover0) (available rover1) (calibrated camera3 rover1) (calibration_target camera0 objective0) (calibration_target camera1 objective1) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (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 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (channel_free general) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover1) (equipped_for_soil_analysis rover1) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover0) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (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 waypoint2) (visible_from objective0 waypoint3) (visible_from objective1 waypoint4))

(:action (sample_rock rover0 rover0store waypoint1))

(:state (at rover0 waypoint1) (at rover1 waypoint2) (at_lander general waypoint3) (at_rock_sample waypoint3) (at_rock_sample waypoint4) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint4) (available rover0) (available rover1) (calibrated camera3 rover1) (calibration_target camera0 objective0) (calibration_target camera1 objective1) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (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 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (channel_free general) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover1) (equipped_for_soil_analysis rover1) (full rover0store) (have_rock_analysis rover0 waypoint1) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover0) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (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 waypoint2) (visible_from objective0 waypoint3) (visible_from objective1 waypoint4))

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

(:state (at rover0 waypoint1) (at rover1 waypoint2) (at_lander general waypoint3) (at_rock_sample waypoint3) (at_rock_sample waypoint4) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint4) (available rover0) (available rover1) (calibrated camera3 rover1) (calibration_target camera0 objective0) (calibration_target camera1 objective1) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (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 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (channel_free general) (communicated_rock_data waypoint1) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover1) (equipped_for_soil_analysis rover1) (full rover0store) (have_rock_analysis rover0 waypoint1) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover0) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (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 waypoint2) (visible_from objective0 waypoint3) (visible_from objective1 waypoint4))

(:action (navigate rover0 waypoint1 waypoint3))

(:state (at rover0 waypoint3) (at rover1 waypoint2) (at_lander general waypoint3) (at_rock_sample waypoint3) (at_rock_sample waypoint4) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint4) (available rover0) (available rover1) (calibrated camera3 rover1) (calibration_target camera0 objective0) (calibration_target camera1 objective1) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (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 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (channel_free general) (communicated_rock_data waypoint1) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover1) (equipped_for_soil_analysis rover1) (full rover0store) (have_rock_analysis rover0 waypoint1) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover0) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (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 waypoint2) (visible_from objective0 waypoint3) (visible_from objective1 waypoint4))

(:action (take_image rover1 waypoint2 objective0 camera3 high_res))

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(:action (navigate rover1 waypoint2 waypoint0))

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(:action (communicate_image_data rover1 general objective0 high_res waypoint0 waypoint3))

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(:action (navigate rover1 waypoint0 waypoint2))

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(:action (calibrate rover1 camera3 objective0 waypoint2))

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(:action (navigate rover1 waypoint2 waypoint0))

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(:action (navigate rover1 waypoint0 waypoint4))

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(:action (calibrate rover0 camera0 objective0 waypoint3))

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(:action (take_image rover1 waypoint4 objective1 camera3 high_res))

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(:action (sample_rock rover1 rover1store waypoint4))

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(:action (communicate_image_data rover1 general objective0 high_res waypoint4 waypoint3))

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

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

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(:action (take_image rover0 waypoint3 objective0 camera0 low_res))

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(:action (drop rover0 rover0store))

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(:action (sample_rock rover0 rover0store waypoint3))

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(:action (navigate rover0 waypoint3 waypoint1))

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(:action (communicate_image_data rover0 general objective0 low_res waypoint1 waypoint3))

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

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(:action (drop rover1 rover1store))

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(:action (sample_soil rover1 rover1store waypoint4))

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(:action (navigate rover1 waypoint4 waypoint0))

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(:action (navigate rover1 waypoint0 waypoint2))

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(:action (communicate_soil_data rover1 general waypoint4 waypoint2 waypoint3))

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(:action (navigate rover0 waypoint1 waypoint3))

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)