(:trajectory

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

(:action (calibrate rover1 camera1 objective0 waypoint1))

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

(:action (take_image rover1 waypoint1 objective1 camera1 colour))

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

(:action (communicate_image_data rover1 general objective1 colour waypoint1 waypoint2))

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

(:action (calibrate rover0 camera0 objective1 waypoint1))

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

(:action (navigate rover0 waypoint1 waypoint2))

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

(:action (navigate rover1 waypoint1 waypoint4))

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

(:action (calibrate rover1 camera1 objective0 waypoint4))

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

(:action (navigate rover1 waypoint4 waypoint1))

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(:action (calibrate rover1 camera1 objective0 waypoint1))

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(:action (navigate rover0 waypoint2 waypoint1))

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

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

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(:action (sample_rock rover0 rover0store waypoint1))

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

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(:action (sample_soil rover1 rover1store waypoint1))

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(:action (navigate rover1 waypoint1 waypoint0))

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(:action (communicate_soil_data rover1 general waypoint1 waypoint0 waypoint2))

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(:action (drop rover1 rover1store))

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(:action (navigate rover1 waypoint0 waypoint3))

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(:action (navigate rover1 waypoint3 waypoint0))

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(:action (sample_soil rover1 rover1store waypoint0))

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(:action (communicate_soil_data rover1 general waypoint0 waypoint0 waypoint2))

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)