(:trajectory

(:state (at rover0 waypoint1) (at_lander general waypoint3) (at_rock_sample waypoint0) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (available rover0) (calibration_target camera0 objective0) (calibration_target camera1 objective0) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint3) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint0) (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 camera1 colour) (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 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint3) (visible_from objective1 waypoint1) (visible_from objective1 waypoint3))

(:action (calibrate rover0 camera0 objective0 waypoint1))

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(:action (navigate rover0 waypoint1 waypoint0))

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(:action (sample_rock rover0 rover0store waypoint0))

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

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(:action (take_image rover0 waypoint0 objective0 camera0 colour))

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(:action (navigate rover0 waypoint0 waypoint2))

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(:action (communicate_image_data rover0 general objective0 colour waypoint2 waypoint3))

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(:action (navigate rover0 waypoint2 waypoint0))

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(:action (calibrate rover0 camera1 objective0 waypoint0))

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(:action (navigate rover0 waypoint0 waypoint3))

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(:action (take_image rover0 waypoint3 objective1 camera1 colour))

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(:action (navigate rover0 waypoint3 waypoint0))

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(:action (communicate_image_data rover0 general objective1 colour waypoint0 waypoint3))

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)