(:trajectory

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(:action (calibrate rover0 camera0 objective0 waypoint2))

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(:action (take_image rover0 waypoint2 objective0 camera0 low_res))

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(:action (calibrate rover0 camera1 objective0 waypoint2))

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

(:action (take_image rover0 waypoint2 objective1 camera1 low_res))

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

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

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(:action (communicate_image_data rover0 general objective0 low_res waypoint2 waypoint1))

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

(:action (navigate rover0 waypoint2 waypoint0))

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

(:action (sample_rock rover0 rover0store waypoint0))

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(:action (navigate rover0 waypoint0 waypoint2))

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(:action (communicate_rock_data rover0 general waypoint0 waypoint2 waypoint1))

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)