(:trajectory

(:state (at rover0 waypoint2) (at rover1 waypoint0) (at rover2 waypoint6) (at_lander general waypoint5) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint5) (at_rock_sample waypoint6) (at_soil_sample waypoint1) (at_soil_sample waypoint3) (at_soil_sample waypoint4) (at_soil_sample waypoint6) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective2) (calibration_target camera1 objective0) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (calibration_target camera4 objective0) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint6) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint4) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint4 waypoint1) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint6 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint4 waypoint5) (can_traverse rover1 waypoint5 waypoint4) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint2) (can_traverse rover2 waypoint2 waypoint1) (can_traverse rover2 waypoint2 waypoint6) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint2) (can_traverse rover2 waypoint6 waypoint5) (channel_free general) (empty rover0store) (empty rover1store) (empty rover2store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover2) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera1 colour) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint5) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective1 waypoint6) (visible_from objective2 waypoint2) (visible_from objective2 waypoint3) (visible_from objective2 waypoint4) (visible_from objective2 waypoint5))

(:action (calibrate rover2 camera2 objective0 waypoint6))

(:state (at rover0 waypoint2) (at rover1 waypoint0) (at rover2 waypoint6) (at_lander general waypoint5) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint5) (at_rock_sample waypoint6) (at_soil_sample waypoint1) (at_soil_sample waypoint3) (at_soil_sample waypoint4) (at_soil_sample waypoint6) (available rover0) (available rover1) (available rover2) (calibrated camera2 rover2) (calibration_target camera0 objective2) (calibration_target camera1 objective0) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (calibration_target camera4 objective0) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint6) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint4) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint4 waypoint1) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint6 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint4 waypoint5) (can_traverse rover1 waypoint5 waypoint4) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint2) (can_traverse rover2 waypoint2 waypoint1) (can_traverse rover2 waypoint2 waypoint6) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint2) (can_traverse rover2 waypoint6 waypoint5) (channel_free general) (empty rover0store) (empty rover1store) (empty rover2store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover2) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera1 colour) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint5) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective1 waypoint6) (visible_from objective2 waypoint2) (visible_from objective2 waypoint3) (visible_from objective2 waypoint4) (visible_from objective2 waypoint5))

(:action (take_image rover2 waypoint6 objective1 camera2 low_res))

(:state (at rover0 waypoint2) (at rover1 waypoint0) (at rover2 waypoint6) (at_lander general waypoint5) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint5) (at_rock_sample waypoint6) (at_soil_sample waypoint1) (at_soil_sample waypoint3) (at_soil_sample waypoint4) (at_soil_sample waypoint6) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective2) (calibration_target camera1 objective0) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (calibration_target camera4 objective0) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint6) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint4) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint4 waypoint1) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint6 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint4 waypoint5) (can_traverse rover1 waypoint5 waypoint4) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint2) (can_traverse rover2 waypoint2 waypoint1) (can_traverse rover2 waypoint2 waypoint6) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint2) (can_traverse rover2 waypoint6 waypoint5) (channel_free general) (empty rover0store) (empty rover1store) (empty rover2store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (have_image rover2 objective1 low_res) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover2) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera1 colour) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint5) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective1 waypoint6) (visible_from objective2 waypoint2) (visible_from objective2 waypoint3) (visible_from objective2 waypoint4) (visible_from objective2 waypoint5))

(:action (communicate_image_data rover2 general objective1 low_res waypoint6 waypoint5))

(:state (at rover0 waypoint2) (at rover1 waypoint0) (at rover2 waypoint6) (at_lander general waypoint5) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint5) (at_rock_sample waypoint6) (at_soil_sample waypoint1) (at_soil_sample waypoint3) (at_soil_sample waypoint4) (at_soil_sample waypoint6) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective2) (calibration_target camera1 objective0) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (calibration_target camera4 objective0) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint6) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint4) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint4 waypoint1) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint6 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint4 waypoint5) (can_traverse rover1 waypoint5 waypoint4) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint2) (can_traverse rover2 waypoint2 waypoint1) (can_traverse rover2 waypoint2 waypoint6) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint2) (can_traverse rover2 waypoint6 waypoint5) (channel_free general) (communicated_image_data objective1 low_res) (empty rover0store) (empty rover1store) (empty rover2store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (have_image rover2 objective1 low_res) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover2) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera1 colour) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint5) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective1 waypoint6) (visible_from objective2 waypoint2) (visible_from objective2 waypoint3) (visible_from objective2 waypoint4) (visible_from objective2 waypoint5))

(:action (sample_soil rover2 rover2store waypoint6))

(:state (at rover0 waypoint2) (at rover1 waypoint0) (at rover2 waypoint6) (at_lander general waypoint5) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint5) (at_rock_sample waypoint6) (at_soil_sample waypoint1) (at_soil_sample waypoint3) (at_soil_sample waypoint4) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective2) (calibration_target camera1 objective0) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (calibration_target camera4 objective0) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint6) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint4) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint4 waypoint1) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint6 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint4 waypoint5) (can_traverse rover1 waypoint5 waypoint4) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint2) (can_traverse rover2 waypoint2 waypoint1) (can_traverse rover2 waypoint2 waypoint6) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint2) (can_traverse rover2 waypoint6 waypoint5) (channel_free general) (communicated_image_data objective1 low_res) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (full rover2store) (have_image rover2 objective1 low_res) (have_soil_analysis rover2 waypoint6) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover2) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera1 colour) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint5) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective1 waypoint6) (visible_from objective2 waypoint2) (visible_from objective2 waypoint3) (visible_from objective2 waypoint4) (visible_from objective2 waypoint5))

(:action (calibrate rover0 camera3 objective0 waypoint2))

(:state (at rover0 waypoint2) (at rover1 waypoint0) (at rover2 waypoint6) (at_lander general waypoint5) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint5) (at_rock_sample waypoint6) (at_soil_sample waypoint1) (at_soil_sample waypoint3) (at_soil_sample waypoint4) (available rover0) (available rover1) (available rover2) (calibrated camera3 rover0) (calibration_target camera0 objective2) (calibration_target camera1 objective0) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (calibration_target camera4 objective0) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint6) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint4) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint4 waypoint1) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint6 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint4 waypoint5) (can_traverse rover1 waypoint5 waypoint4) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint2) (can_traverse rover2 waypoint2 waypoint1) (can_traverse rover2 waypoint2 waypoint6) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint2) (can_traverse rover2 waypoint6 waypoint5) (channel_free general) (communicated_image_data objective1 low_res) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (full rover2store) (have_image rover2 objective1 low_res) (have_soil_analysis rover2 waypoint6) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover2) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera1 colour) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint5) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective1 waypoint6) (visible_from objective2 waypoint2) (visible_from objective2 waypoint3) (visible_from objective2 waypoint4) (visible_from objective2 waypoint5))

(:action (communicate_soil_data rover2 general waypoint6 waypoint6 waypoint5))

(:state (at rover0 waypoint2) (at rover1 waypoint0) (at rover2 waypoint6) (at_lander general waypoint5) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint5) (at_rock_sample waypoint6) (at_soil_sample waypoint1) (at_soil_sample waypoint3) (at_soil_sample waypoint4) (available rover0) (available rover1) (available rover2) (calibrated camera3 rover0) (calibration_target camera0 objective2) (calibration_target camera1 objective0) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (calibration_target camera4 objective0) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint6) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint4) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint4 waypoint1) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint6 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint4 waypoint5) (can_traverse rover1 waypoint5 waypoint4) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint2) (can_traverse rover2 waypoint2 waypoint1) (can_traverse rover2 waypoint2 waypoint6) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint2) (can_traverse rover2 waypoint6 waypoint5) (channel_free general) (communicated_image_data objective1 low_res) (communicated_soil_data waypoint6) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (full rover2store) (have_image rover2 objective1 low_res) (have_soil_analysis rover2 waypoint6) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover2) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera1 colour) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint5) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective1 waypoint6) (visible_from objective2 waypoint2) (visible_from objective2 waypoint3) (visible_from objective2 waypoint4) (visible_from objective2 waypoint5))

(:action (calibrate rover0 camera0 objective2 waypoint2))

(:state (at rover0 waypoint2) (at rover1 waypoint0) (at rover2 waypoint6) (at_lander general waypoint5) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint5) (at_rock_sample waypoint6) (at_soil_sample waypoint1) (at_soil_sample waypoint3) (at_soil_sample waypoint4) (available rover0) (available rover1) (available rover2) (calibrated camera0 rover0) (calibrated camera3 rover0) (calibration_target camera0 objective2) (calibration_target camera1 objective0) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (calibration_target camera4 objective0) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint6) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint4) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint4 waypoint1) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint6 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint4 waypoint5) (can_traverse rover1 waypoint5 waypoint4) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint2) (can_traverse rover2 waypoint2 waypoint1) (can_traverse rover2 waypoint2 waypoint6) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint2) (can_traverse rover2 waypoint6 waypoint5) (channel_free general) (communicated_image_data objective1 low_res) (communicated_soil_data waypoint6) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (full rover2store) (have_image rover2 objective1 low_res) (have_soil_analysis rover2 waypoint6) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover2) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera1 colour) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint5) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective1 waypoint6) (visible_from objective2 waypoint2) (visible_from objective2 waypoint3) (visible_from objective2 waypoint4) (visible_from objective2 waypoint5))

(:action (navigate rover0 waypoint2 waypoint3))

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(:action (take_image rover0 waypoint3 objective2 camera3 low_res))

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(:action (communicate_image_data rover0 general objective2 low_res waypoint3 waypoint5))

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(:action (take_image rover0 waypoint3 objective1 camera0 colour))

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(:action (communicate_image_data rover0 general objective1 colour waypoint3 waypoint5))

(:state (at rover0 waypoint3) (at rover1 waypoint0) (at rover2 waypoint6) (at_lander general waypoint5) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint5) (at_rock_sample waypoint6) (at_soil_sample waypoint1) (at_soil_sample waypoint3) (at_soil_sample waypoint4) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective2) (calibration_target camera1 objective0) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (calibration_target camera4 objective0) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint6) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint4) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint4 waypoint1) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint6 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint4 waypoint5) (can_traverse rover1 waypoint5 waypoint4) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint2) (can_traverse rover2 waypoint2 waypoint1) (can_traverse rover2 waypoint2 waypoint6) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint2) (can_traverse rover2 waypoint6 waypoint5) (channel_free general) (communicated_image_data objective1 colour) (communicated_image_data objective1 low_res) (communicated_image_data objective2 low_res) (communicated_soil_data waypoint6) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (full rover2store) (have_image rover0 objective1 colour) (have_image rover0 objective2 low_res) (have_image rover2 objective1 low_res) (have_soil_analysis rover2 waypoint6) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover2) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera1 colour) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint5) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective1 waypoint6) (visible_from objective2 waypoint2) (visible_from objective2 waypoint3) (visible_from objective2 waypoint4) (visible_from objective2 waypoint5))

(:action (sample_soil rover0 rover0store waypoint3))

(:state (at rover0 waypoint3) (at rover1 waypoint0) (at rover2 waypoint6) (at_lander general waypoint5) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint5) (at_rock_sample waypoint6) (at_soil_sample waypoint1) (at_soil_sample waypoint4) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective2) (calibration_target camera1 objective0) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (calibration_target camera4 objective0) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint6) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint4) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint4 waypoint1) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint6 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint4 waypoint5) (can_traverse rover1 waypoint5 waypoint4) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint2) (can_traverse rover2 waypoint2 waypoint1) (can_traverse rover2 waypoint2 waypoint6) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint2) (can_traverse rover2 waypoint6 waypoint5) (channel_free general) (communicated_image_data objective1 colour) (communicated_image_data objective1 low_res) (communicated_image_data objective2 low_res) (communicated_soil_data waypoint6) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (full rover0store) (full rover2store) (have_image rover0 objective1 colour) (have_image rover0 objective2 low_res) (have_image rover2 objective1 low_res) (have_soil_analysis rover0 waypoint3) (have_soil_analysis rover2 waypoint6) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover2) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera1 colour) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint5) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective1 waypoint6) (visible_from objective2 waypoint2) (visible_from objective2 waypoint3) (visible_from objective2 waypoint4) (visible_from objective2 waypoint5))

(:action (drop rover2 rover2store))

(:state (at rover0 waypoint3) (at rover1 waypoint0) (at rover2 waypoint6) (at_lander general waypoint5) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint5) (at_rock_sample waypoint6) (at_soil_sample waypoint1) (at_soil_sample waypoint4) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective2) (calibration_target camera1 objective0) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (calibration_target camera4 objective0) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint6) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint4) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint4 waypoint1) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint6 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint4 waypoint5) (can_traverse rover1 waypoint5 waypoint4) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint2) (can_traverse rover2 waypoint2 waypoint1) (can_traverse rover2 waypoint2 waypoint6) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint2) (can_traverse rover2 waypoint6 waypoint5) (channel_free general) (communicated_image_data objective1 colour) (communicated_image_data objective1 low_res) (communicated_image_data objective2 low_res) (communicated_soil_data waypoint6) (empty rover1store) (empty rover2store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (full rover0store) (have_image rover0 objective1 colour) (have_image rover0 objective2 low_res) (have_image rover2 objective1 low_res) (have_soil_analysis rover0 waypoint3) (have_soil_analysis rover2 waypoint6) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover2) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera1 colour) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint5) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective1 waypoint6) (visible_from objective2 waypoint2) (visible_from objective2 waypoint3) (visible_from objective2 waypoint4) (visible_from objective2 waypoint5))

(:action (navigate rover1 waypoint0 waypoint4))

(:state (at rover0 waypoint3) (at rover1 waypoint4) (at rover2 waypoint6) (at_lander general waypoint5) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint5) (at_rock_sample waypoint6) (at_soil_sample waypoint1) (at_soil_sample waypoint4) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective2) (calibration_target camera1 objective0) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (calibration_target camera4 objective0) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint6) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint4) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint4 waypoint1) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint6 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint4 waypoint5) (can_traverse rover1 waypoint5 waypoint4) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint2) (can_traverse rover2 waypoint2 waypoint1) (can_traverse rover2 waypoint2 waypoint6) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint2) (can_traverse rover2 waypoint6 waypoint5) (channel_free general) (communicated_image_data objective1 colour) (communicated_image_data objective1 low_res) (communicated_image_data objective2 low_res) (communicated_soil_data waypoint6) (empty rover1store) (empty rover2store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (full rover0store) (have_image rover0 objective1 colour) (have_image rover0 objective2 low_res) (have_image rover2 objective1 low_res) (have_soil_analysis rover0 waypoint3) (have_soil_analysis rover2 waypoint6) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover2) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera1 colour) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint5) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective1 waypoint6) (visible_from objective2 waypoint2) (visible_from objective2 waypoint3) (visible_from objective2 waypoint4) (visible_from objective2 waypoint5))

(:action (sample_soil rover1 rover1store waypoint4))

(:state (at rover0 waypoint3) (at rover1 waypoint4) (at rover2 waypoint6) (at_lander general waypoint5) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint5) (at_rock_sample waypoint6) (at_soil_sample waypoint1) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective2) (calibration_target camera1 objective0) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (calibration_target camera4 objective0) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint6) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint4) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint4 waypoint1) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint6 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint4 waypoint5) (can_traverse rover1 waypoint5 waypoint4) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint2) (can_traverse rover2 waypoint2 waypoint1) (can_traverse rover2 waypoint2 waypoint6) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint2) (can_traverse rover2 waypoint6 waypoint5) (channel_free general) (communicated_image_data objective1 colour) (communicated_image_data objective1 low_res) (communicated_image_data objective2 low_res) (communicated_soil_data waypoint6) (empty rover2store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (full rover0store) (full rover1store) (have_image rover0 objective1 colour) (have_image rover0 objective2 low_res) (have_image rover2 objective1 low_res) (have_soil_analysis rover0 waypoint3) (have_soil_analysis rover1 waypoint4) (have_soil_analysis rover2 waypoint6) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover2) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera1 colour) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint5) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective1 waypoint6) (visible_from objective2 waypoint2) (visible_from objective2 waypoint3) (visible_from objective2 waypoint4) (visible_from objective2 waypoint5))

(:action (drop rover0 rover0store))

(:state (at rover0 waypoint3) (at rover1 waypoint4) (at rover2 waypoint6) (at_lander general waypoint5) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint5) (at_rock_sample waypoint6) (at_soil_sample waypoint1) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective2) (calibration_target camera1 objective0) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (calibration_target camera4 objective0) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint6) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint4) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint4 waypoint1) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint6 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint4 waypoint5) (can_traverse rover1 waypoint5 waypoint4) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint2) (can_traverse rover2 waypoint2 waypoint1) (can_traverse rover2 waypoint2 waypoint6) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint2) (can_traverse rover2 waypoint6 waypoint5) (channel_free general) (communicated_image_data objective1 colour) (communicated_image_data objective1 low_res) (communicated_image_data objective2 low_res) (communicated_soil_data waypoint6) (empty rover0store) (empty rover2store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (full rover1store) (have_image rover0 objective1 colour) (have_image rover0 objective2 low_res) (have_image rover2 objective1 low_res) (have_soil_analysis rover0 waypoint3) (have_soil_analysis rover1 waypoint4) (have_soil_analysis rover2 waypoint6) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover2) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera1 colour) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint5) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective1 waypoint6) (visible_from objective2 waypoint2) (visible_from objective2 waypoint3) (visible_from objective2 waypoint4) (visible_from objective2 waypoint5))

(:action (communicate_soil_data rover1 general waypoint4 waypoint4 waypoint5))

(:state (at rover0 waypoint3) (at rover1 waypoint4) (at rover2 waypoint6) (at_lander general waypoint5) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint5) (at_rock_sample waypoint6) (at_soil_sample waypoint1) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective2) (calibration_target camera1 objective0) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (calibration_target camera4 objective0) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint6) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint4) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint4 waypoint1) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint6 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint4 waypoint5) (can_traverse rover1 waypoint5 waypoint4) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint2) (can_traverse rover2 waypoint2 waypoint1) (can_traverse rover2 waypoint2 waypoint6) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint2) (can_traverse rover2 waypoint6 waypoint5) (channel_free general) (communicated_image_data objective1 colour) (communicated_image_data objective1 low_res) (communicated_image_data objective2 low_res) (communicated_soil_data waypoint4) (communicated_soil_data waypoint6) (empty rover0store) (empty rover2store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (full rover1store) (have_image rover0 objective1 colour) (have_image rover0 objective2 low_res) (have_image rover2 objective1 low_res) (have_soil_analysis rover0 waypoint3) (have_soil_analysis rover1 waypoint4) (have_soil_analysis rover2 waypoint6) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover2) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera1 colour) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint5) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective1 waypoint6) (visible_from objective2 waypoint2) (visible_from objective2 waypoint3) (visible_from objective2 waypoint4) (visible_from objective2 waypoint5))

(:action (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint5))

(:state (at rover0 waypoint3) (at rover1 waypoint4) (at rover2 waypoint6) (at_lander general waypoint5) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint5) (at_rock_sample waypoint6) (at_soil_sample waypoint1) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective2) (calibration_target camera1 objective0) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (calibration_target camera4 objective0) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint6) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint4) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint4 waypoint1) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint6 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint4 waypoint5) (can_traverse rover1 waypoint5 waypoint4) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint2) (can_traverse rover2 waypoint2 waypoint1) (can_traverse rover2 waypoint2 waypoint6) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint2) (can_traverse rover2 waypoint6 waypoint5) (channel_free general) (communicated_image_data objective1 colour) (communicated_image_data objective1 low_res) (communicated_image_data objective2 low_res) (communicated_soil_data waypoint3) (communicated_soil_data waypoint4) (communicated_soil_data waypoint6) (empty rover0store) (empty rover2store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (full rover1store) (have_image rover0 objective1 colour) (have_image rover0 objective2 low_res) (have_image rover2 objective1 low_res) (have_soil_analysis rover0 waypoint3) (have_soil_analysis rover1 waypoint4) (have_soil_analysis rover2 waypoint6) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover2) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera1 colour) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint5) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective1 waypoint6) (visible_from objective2 waypoint2) (visible_from objective2 waypoint3) (visible_from objective2 waypoint4) (visible_from objective2 waypoint5))

(:action (navigate rover2 waypoint6 waypoint2))

(:state (at rover0 waypoint3) (at rover1 waypoint4) (at rover2 waypoint2) (at_lander general waypoint5) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint5) (at_rock_sample waypoint6) (at_soil_sample waypoint1) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective2) (calibration_target camera1 objective0) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (calibration_target camera4 objective0) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint6) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint4) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint4 waypoint1) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint6 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint4 waypoint5) (can_traverse rover1 waypoint5 waypoint4) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint2) (can_traverse rover2 waypoint2 waypoint1) (can_traverse rover2 waypoint2 waypoint6) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint2) (can_traverse rover2 waypoint6 waypoint5) (channel_free general) (communicated_image_data objective1 colour) (communicated_image_data objective1 low_res) (communicated_image_data objective2 low_res) (communicated_soil_data waypoint3) (communicated_soil_data waypoint4) (communicated_soil_data waypoint6) (empty rover0store) (empty rover2store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (full rover1store) (have_image rover0 objective1 colour) (have_image rover0 objective2 low_res) (have_image rover2 objective1 low_res) (have_soil_analysis rover0 waypoint3) (have_soil_analysis rover1 waypoint4) (have_soil_analysis rover2 waypoint6) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover2) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera1 colour) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint5) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective1 waypoint6) (visible_from objective2 waypoint2) (visible_from objective2 waypoint3) (visible_from objective2 waypoint4) (visible_from objective2 waypoint5))

(:action (navigate rover2 waypoint2 waypoint1))

(:state (at rover0 waypoint3) (at rover1 waypoint4) (at rover2 waypoint1) (at_lander general waypoint5) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint5) (at_rock_sample waypoint6) (at_soil_sample waypoint1) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective2) (calibration_target camera1 objective0) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (calibration_target camera4 objective0) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint6) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint4) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint4 waypoint1) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint6 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint4 waypoint5) (can_traverse rover1 waypoint5 waypoint4) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint2) (can_traverse rover2 waypoint2 waypoint1) (can_traverse rover2 waypoint2 waypoint6) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint2) (can_traverse rover2 waypoint6 waypoint5) (channel_free general) (communicated_image_data objective1 colour) (communicated_image_data objective1 low_res) (communicated_image_data objective2 low_res) (communicated_soil_data waypoint3) (communicated_soil_data waypoint4) (communicated_soil_data waypoint6) (empty rover0store) (empty rover2store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (full rover1store) (have_image rover0 objective1 colour) (have_image rover0 objective2 low_res) (have_image rover2 objective1 low_res) (have_soil_analysis rover0 waypoint3) (have_soil_analysis rover1 waypoint4) (have_soil_analysis rover2 waypoint6) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover2) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera1 colour) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint5) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective1 waypoint6) (visible_from objective2 waypoint2) (visible_from objective2 waypoint3) (visible_from objective2 waypoint4) (visible_from objective2 waypoint5))

(:action (sample_rock rover2 rover2store waypoint1))

(:state (at rover0 waypoint3) (at rover1 waypoint4) (at rover2 waypoint1) (at_lander general waypoint5) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint5) (at_rock_sample waypoint6) (at_soil_sample waypoint1) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective2) (calibration_target camera1 objective0) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (calibration_target camera4 objective0) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint6) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint4) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint4 waypoint1) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint6 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint4 waypoint5) (can_traverse rover1 waypoint5 waypoint4) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint2) (can_traverse rover2 waypoint2 waypoint1) (can_traverse rover2 waypoint2 waypoint6) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint2) (can_traverse rover2 waypoint6 waypoint5) (channel_free general) (communicated_image_data objective1 colour) (communicated_image_data objective1 low_res) (communicated_image_data objective2 low_res) (communicated_soil_data waypoint3) (communicated_soil_data waypoint4) (communicated_soil_data waypoint6) (empty rover0store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (full rover1store) (full rover2store) (have_image rover0 objective1 colour) (have_image rover0 objective2 low_res) (have_image rover2 objective1 low_res) (have_rock_analysis rover2 waypoint1) (have_soil_analysis rover0 waypoint3) (have_soil_analysis rover1 waypoint4) (have_soil_analysis rover2 waypoint6) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover2) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera1 colour) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint5) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective1 waypoint6) (visible_from objective2 waypoint2) (visible_from objective2 waypoint3) (visible_from objective2 waypoint4) (visible_from objective2 waypoint5))

(:action (communicate_rock_data rover2 general waypoint1 waypoint1 waypoint5))

(:state (at rover0 waypoint3) (at rover1 waypoint4) (at rover2 waypoint1) (at_lander general waypoint5) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint5) (at_rock_sample waypoint6) (at_soil_sample waypoint1) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective2) (calibration_target camera1 objective0) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (calibration_target camera4 objective0) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint6) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint4) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint4 waypoint1) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint6 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint4 waypoint5) (can_traverse rover1 waypoint5 waypoint4) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint2) (can_traverse rover2 waypoint2 waypoint1) (can_traverse rover2 waypoint2 waypoint6) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint2) (can_traverse rover2 waypoint6 waypoint5) (channel_free general) (communicated_image_data objective1 colour) (communicated_image_data objective1 low_res) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint1) (communicated_soil_data waypoint3) (communicated_soil_data waypoint4) (communicated_soil_data waypoint6) (empty rover0store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (full rover1store) (full rover2store) (have_image rover0 objective1 colour) (have_image rover0 objective2 low_res) (have_image rover2 objective1 low_res) (have_rock_analysis rover2 waypoint1) (have_soil_analysis rover0 waypoint3) (have_soil_analysis rover1 waypoint4) (have_soil_analysis rover2 waypoint6) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover2) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera1 colour) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint5) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective1 waypoint6) (visible_from objective2 waypoint2) (visible_from objective2 waypoint3) (visible_from objective2 waypoint4) (visible_from objective2 waypoint5))

(:action (drop rover2 rover2store))

(:state (at rover0 waypoint3) (at rover1 waypoint4) (at rover2 waypoint1) (at_lander general waypoint5) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint5) (at_rock_sample waypoint6) (at_soil_sample waypoint1) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective2) (calibration_target camera1 objective0) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (calibration_target camera4 objective0) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint6) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint4) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint4 waypoint1) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint6 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint4 waypoint5) (can_traverse rover1 waypoint5 waypoint4) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint2) (can_traverse rover2 waypoint2 waypoint1) (can_traverse rover2 waypoint2 waypoint6) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint2) (can_traverse rover2 waypoint6 waypoint5) (channel_free general) (communicated_image_data objective1 colour) (communicated_image_data objective1 low_res) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint1) (communicated_soil_data waypoint3) (communicated_soil_data waypoint4) (communicated_soil_data waypoint6) (empty rover0store) (empty rover2store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (full rover1store) (have_image rover0 objective1 colour) (have_image rover0 objective2 low_res) (have_image rover2 objective1 low_res) (have_rock_analysis rover2 waypoint1) (have_soil_analysis rover0 waypoint3) (have_soil_analysis rover1 waypoint4) (have_soil_analysis rover2 waypoint6) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover2) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera1 colour) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint5) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective1 waypoint6) (visible_from objective2 waypoint2) (visible_from objective2 waypoint3) (visible_from objective2 waypoint4) (visible_from objective2 waypoint5))

(:action (sample_soil rover2 rover2store waypoint1))

(:state (at rover0 waypoint3) (at rover1 waypoint4) (at rover2 waypoint1) (at_lander general waypoint5) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint5) (at_rock_sample waypoint6) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective2) (calibration_target camera1 objective0) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (calibration_target camera4 objective0) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint6) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint4) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint4 waypoint1) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint6 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint4 waypoint5) (can_traverse rover1 waypoint5 waypoint4) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint2) (can_traverse rover2 waypoint2 waypoint1) (can_traverse rover2 waypoint2 waypoint6) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint2) (can_traverse rover2 waypoint6 waypoint5) (channel_free general) (communicated_image_data objective1 colour) (communicated_image_data objective1 low_res) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint1) (communicated_soil_data waypoint3) (communicated_soil_data waypoint4) (communicated_soil_data waypoint6) (empty rover0store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (full rover1store) (full rover2store) (have_image rover0 objective1 colour) (have_image rover0 objective2 low_res) (have_image rover2 objective1 low_res) (have_rock_analysis rover2 waypoint1) (have_soil_analysis rover0 waypoint3) (have_soil_analysis rover1 waypoint4) (have_soil_analysis rover2 waypoint1) (have_soil_analysis rover2 waypoint6) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover2) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera1 colour) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint5) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective1 waypoint6) (visible_from objective2 waypoint2) (visible_from objective2 waypoint3) (visible_from objective2 waypoint4) (visible_from objective2 waypoint5))

(:action (communicate_soil_data rover2 general waypoint1 waypoint1 waypoint5))

(:state (at rover0 waypoint3) (at rover1 waypoint4) (at rover2 waypoint1) (at_lander general waypoint5) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint5) (at_rock_sample waypoint6) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective2) (calibration_target camera1 objective0) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (calibration_target camera4 objective0) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint6) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint4) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint4 waypoint1) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint6 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint4 waypoint5) (can_traverse rover1 waypoint5 waypoint4) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint2) (can_traverse rover2 waypoint2 waypoint1) (can_traverse rover2 waypoint2 waypoint6) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint2) (can_traverse rover2 waypoint6 waypoint5) (channel_free general) (communicated_image_data objective1 colour) (communicated_image_data objective1 low_res) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint1) (communicated_soil_data waypoint1) (communicated_soil_data waypoint3) (communicated_soil_data waypoint4) (communicated_soil_data waypoint6) (empty rover0store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (full rover1store) (full rover2store) (have_image rover0 objective1 colour) (have_image rover0 objective2 low_res) (have_image rover2 objective1 low_res) (have_rock_analysis rover2 waypoint1) (have_soil_analysis rover0 waypoint3) (have_soil_analysis rover1 waypoint4) (have_soil_analysis rover2 waypoint1) (have_soil_analysis rover2 waypoint6) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover2) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera1 colour) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint5) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective1 waypoint6) (visible_from objective2 waypoint2) (visible_from objective2 waypoint3) (visible_from objective2 waypoint4) (visible_from objective2 waypoint5))

(:action (drop rover2 rover2store))

(:state (at rover0 waypoint3) (at rover1 waypoint4) (at rover2 waypoint1) (at_lander general waypoint5) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint5) (at_rock_sample waypoint6) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective2) (calibration_target camera1 objective0) (calibration_target camera2 objective0) (calibration_target camera3 objective0) (calibration_target camera4 objective0) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint6) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint4) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint4 waypoint1) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint6 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint3) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint3 waypoint1) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint4 waypoint5) (can_traverse rover1 waypoint5 waypoint4) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint2) (can_traverse rover2 waypoint2 waypoint1) (can_traverse rover2 waypoint2 waypoint6) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint2) (can_traverse rover2 waypoint6 waypoint5) (channel_free general) (communicated_image_data objective1 colour) (communicated_image_data objective1 low_res) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint1) (communicated_soil_data waypoint1) (communicated_soil_data waypoint3) (communicated_soil_data waypoint4) (communicated_soil_data waypoint6) (empty rover0store) (empty rover2store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (full rover1store) (have_image rover0 objective1 colour) (have_image rover0 objective2 low_res) (have_image rover2 objective1 low_res) (have_rock_analysis rover2 waypoint1) (have_soil_analysis rover0 waypoint3) (have_soil_analysis rover1 waypoint4) (have_soil_analysis rover2 waypoint1) (have_soil_analysis rover2 waypoint6) (on_board camera0 rover0) (on_board camera1 rover0) (on_board camera2 rover2) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera1 colour) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint5) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective1 waypoint6) (visible_from objective2 waypoint2) (visible_from objective2 waypoint3) (visible_from objective2 waypoint4) (visible_from objective2 waypoint5))

(:action (communicate_image_data rover0 general objective1 colour waypoint3 waypoint5))

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(:action (navigate rover2 waypoint1 waypoint2))

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)