(:trajectory

(:state (at rover0 waypoint0) (at rover1 waypoint1) (at rover2 waypoint3) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint4) (at_rock_sample waypoint5) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (empty rover0store) (empty rover1store) (empty rover2store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (sample_rock rover2 rover2store waypoint3))

(:state (at rover0 waypoint0) (at rover1 waypoint1) (at rover2 waypoint3) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint5) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_rock_analysis rover2 waypoint3) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (navigate rover1 waypoint1 waypoint2))

(:state (at rover0 waypoint0) (at rover1 waypoint2) (at rover2 waypoint3) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint5) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_rock_analysis rover2 waypoint3) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (navigate rover0 waypoint0 waypoint1))

(:state (at rover0 waypoint1) (at rover1 waypoint2) (at rover2 waypoint3) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint5) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_rock_analysis rover2 waypoint3) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (calibrate rover2 camera1 objective0 waypoint3))

(:state (at rover0 waypoint1) (at rover1 waypoint2) (at rover2 waypoint3) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint5) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibrated camera1 rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_rock_analysis rover2 waypoint3) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (communicate_rock_data rover2 general waypoint3 waypoint3 waypoint2))

(:state (at rover0 waypoint1) (at rover1 waypoint2) (at rover2 waypoint3) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint5) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibrated camera1 rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_rock_data waypoint3) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_rock_analysis rover2 waypoint3) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (navigate rover2 waypoint3 waypoint1))

(:state (at rover0 waypoint1) (at rover1 waypoint2) (at rover2 waypoint1) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint5) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibrated camera1 rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_rock_data waypoint3) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_rock_analysis rover2 waypoint3) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (take_image rover2 waypoint1 objective2 camera1 low_res))

(:state (at rover0 waypoint1) (at rover1 waypoint2) (at rover2 waypoint1) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint5) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_rock_data waypoint3) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (communicate_image_data rover2 general objective2 low_res waypoint1 waypoint2))

(:state (at rover0 waypoint1) (at rover1 waypoint2) (at rover2 waypoint1) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint5) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint3) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (calibrate rover1 camera3 objective3 waypoint2))

(:state (at rover0 waypoint1) (at rover1 waypoint2) (at rover2 waypoint1) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint5) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibrated camera3 rover1) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint3) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (navigate rover1 waypoint2 waypoint3))

(:state (at rover0 waypoint1) (at rover1 waypoint3) (at rover2 waypoint1) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint5) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibrated camera3 rover1) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint3) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (take_image rover1 waypoint3 objective0 camera3 colour))

(:state (at rover0 waypoint1) (at rover1 waypoint3) (at rover2 waypoint1) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint5) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint3) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_image rover1 objective0 colour) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (calibrate rover1 camera0 objective3 waypoint3))

(:state (at rover0 waypoint1) (at rover1 waypoint3) (at rover2 waypoint1) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint5) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibrated camera0 rover1) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint3) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_image rover1 objective0 colour) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (communicate_image_data rover1 general objective0 colour waypoint3 waypoint2))

(:state (at rover0 waypoint1) (at rover1 waypoint3) (at rover2 waypoint1) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint5) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibrated camera0 rover1) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_image_data objective0 colour) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint3) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_image rover1 objective0 colour) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (take_image rover1 waypoint3 objective1 camera0 colour))

(:state (at rover0 waypoint1) (at rover1 waypoint3) (at rover2 waypoint1) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint5) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_image_data objective0 colour) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint3) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_image rover1 objective0 colour) (have_image rover1 objective1 colour) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (calibrate rover1 camera0 objective3 waypoint3))

(:state (at rover0 waypoint1) (at rover1 waypoint3) (at rover2 waypoint1) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint5) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibrated camera0 rover1) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_image_data objective0 colour) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint3) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_image rover1 objective0 colour) (have_image rover1 objective1 colour) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (take_image rover1 waypoint3 objective1 camera0 high_res))

(:state (at rover0 waypoint1) (at rover1 waypoint3) (at rover2 waypoint1) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint5) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_image_data objective0 colour) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint3) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_image rover1 objective0 colour) (have_image rover1 objective1 colour) (have_image rover1 objective1 high_res) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (communicate_image_data rover1 general objective1 high_res waypoint3 waypoint2))

(:state (at rover0 waypoint1) (at rover1 waypoint3) (at rover2 waypoint1) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint5) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_image_data objective0 colour) (communicated_image_data objective1 high_res) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint3) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_image rover1 objective0 colour) (have_image rover1 objective1 colour) (have_image rover1 objective1 high_res) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (communicate_image_data rover1 general objective1 colour waypoint3 waypoint2))

(:state (at rover0 waypoint1) (at rover1 waypoint3) (at rover2 waypoint1) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint5) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_image_data objective0 colour) (communicated_image_data objective1 colour) (communicated_image_data objective1 high_res) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint3) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_image rover1 objective0 colour) (have_image rover1 objective1 colour) (have_image rover1 objective1 high_res) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (sample_soil rover0 rover0store waypoint1))

(:state (at rover0 waypoint1) (at rover1 waypoint3) (at rover2 waypoint1) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint5) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_image_data objective0 colour) (communicated_image_data objective1 colour) (communicated_image_data objective1 high_res) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint3) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover0store) (full rover2store) (have_image rover1 objective0 colour) (have_image rover1 objective1 colour) (have_image rover1 objective1 high_res) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (have_soil_analysis rover0 waypoint1) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (drop rover0 rover0store))

(:state (at rover0 waypoint1) (at rover1 waypoint3) (at rover2 waypoint1) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint5) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_image_data objective0 colour) (communicated_image_data objective1 colour) (communicated_image_data objective1 high_res) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint3) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_image rover1 objective0 colour) (have_image rover1 objective1 colour) (have_image rover1 objective1 high_res) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (have_soil_analysis rover0 waypoint1) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (navigate rover2 waypoint1 waypoint3))

(:state (at rover0 waypoint1) (at rover1 waypoint3) (at rover2 waypoint3) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint5) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_image_data objective0 colour) (communicated_image_data objective1 colour) (communicated_image_data objective1 high_res) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint3) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_image rover1 objective0 colour) (have_image rover1 objective1 colour) (have_image rover1 objective1 high_res) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (have_soil_analysis rover0 waypoint1) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

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

(:state (at rover0 waypoint1) (at rover1 waypoint3) (at rover2 waypoint3) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint5) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_image_data objective0 colour) (communicated_image_data objective1 colour) (communicated_image_data objective1 high_res) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint3) (communicated_soil_data waypoint1) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_image rover1 objective0 colour) (have_image rover1 objective1 colour) (have_image rover1 objective1 high_res) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (have_soil_analysis rover0 waypoint1) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (navigate rover0 waypoint1 waypoint0))

(:state (at rover0 waypoint0) (at rover1 waypoint3) (at rover2 waypoint3) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint5) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_image_data objective0 colour) (communicated_image_data objective1 colour) (communicated_image_data objective1 high_res) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint3) (communicated_soil_data waypoint1) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_image rover1 objective0 colour) (have_image rover1 objective1 colour) (have_image rover1 objective1 high_res) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (have_soil_analysis rover0 waypoint1) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (navigate rover0 waypoint0 waypoint2))

(:state (at rover0 waypoint2) (at rover1 waypoint3) (at rover2 waypoint3) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint5) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_image_data objective0 colour) (communicated_image_data objective1 colour) (communicated_image_data objective1 high_res) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint3) (communicated_soil_data waypoint1) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_image rover1 objective0 colour) (have_image rover1 objective1 colour) (have_image rover1 objective1 high_res) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (have_soil_analysis rover0 waypoint1) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (navigate rover2 waypoint3 waypoint4))

(:state (at rover0 waypoint2) (at rover1 waypoint3) (at rover2 waypoint4) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint5) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_image_data objective0 colour) (communicated_image_data objective1 colour) (communicated_image_data objective1 high_res) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint3) (communicated_soil_data waypoint1) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_image rover1 objective0 colour) (have_image rover1 objective1 colour) (have_image rover1 objective1 high_res) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (have_soil_analysis rover0 waypoint1) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (calibrate rover1 camera0 objective3 waypoint3))

(:state (at rover0 waypoint2) (at rover1 waypoint3) (at rover2 waypoint4) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint5) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibrated camera0 rover1) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_image_data objective0 colour) (communicated_image_data objective1 colour) (communicated_image_data objective1 high_res) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint3) (communicated_soil_data waypoint1) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_image rover1 objective0 colour) (have_image rover1 objective1 colour) (have_image rover1 objective1 high_res) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (have_soil_analysis rover0 waypoint1) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (navigate rover0 waypoint2 waypoint0))

(:state (at rover0 waypoint0) (at rover1 waypoint3) (at rover2 waypoint4) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint5) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibrated camera0 rover1) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_image_data objective0 colour) (communicated_image_data objective1 colour) (communicated_image_data objective1 high_res) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint3) (communicated_soil_data waypoint1) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_image rover1 objective0 colour) (have_image rover1 objective1 colour) (have_image rover1 objective1 high_res) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (have_soil_analysis rover0 waypoint1) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (drop rover2 rover2store))

(:state (at rover0 waypoint0) (at rover1 waypoint3) (at rover2 waypoint4) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint5) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibrated camera0 rover1) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_image_data objective0 colour) (communicated_image_data objective1 colour) (communicated_image_data objective1 high_res) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint3) (communicated_soil_data waypoint1) (empty rover0store) (empty rover1store) (empty rover2store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (have_image rover1 objective0 colour) (have_image rover1 objective1 colour) (have_image rover1 objective1 high_res) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (have_soil_analysis rover0 waypoint1) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (sample_rock rover2 rover2store waypoint4))

(:state (at rover0 waypoint0) (at rover1 waypoint3) (at rover2 waypoint4) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint5) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibrated camera0 rover1) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_image_data objective0 colour) (communicated_image_data objective1 colour) (communicated_image_data objective1 high_res) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint3) (communicated_soil_data waypoint1) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_image rover1 objective0 colour) (have_image rover1 objective1 colour) (have_image rover1 objective1 high_res) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (have_rock_analysis rover2 waypoint4) (have_soil_analysis rover0 waypoint1) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (communicate_rock_data rover2 general waypoint4 waypoint4 waypoint2))

(:state (at rover0 waypoint0) (at rover1 waypoint3) (at rover2 waypoint4) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint5) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibrated camera0 rover1) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_image_data objective0 colour) (communicated_image_data objective1 colour) (communicated_image_data objective1 high_res) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint3) (communicated_rock_data waypoint4) (communicated_soil_data waypoint1) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_image rover1 objective0 colour) (have_image rover1 objective1 colour) (have_image rover1 objective1 high_res) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (have_rock_analysis rover2 waypoint4) (have_soil_analysis rover0 waypoint1) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (navigate rover0 waypoint0 waypoint2))

(:state (at rover0 waypoint2) (at rover1 waypoint3) (at rover2 waypoint4) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint5) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibrated camera0 rover1) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_image_data objective0 colour) (communicated_image_data objective1 colour) (communicated_image_data objective1 high_res) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint3) (communicated_rock_data waypoint4) (communicated_soil_data waypoint1) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_image rover1 objective0 colour) (have_image rover1 objective1 colour) (have_image rover1 objective1 high_res) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (have_rock_analysis rover2 waypoint4) (have_soil_analysis rover0 waypoint1) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (sample_soil rover0 rover0store waypoint2))

(:state (at rover0 waypoint2) (at rover1 waypoint3) (at rover2 waypoint4) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint5) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibrated camera0 rover1) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_image_data objective0 colour) (communicated_image_data objective1 colour) (communicated_image_data objective1 high_res) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint3) (communicated_rock_data waypoint4) (communicated_soil_data waypoint1) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover0store) (full rover2store) (have_image rover1 objective0 colour) (have_image rover1 objective1 colour) (have_image rover1 objective1 high_res) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (have_rock_analysis rover2 waypoint4) (have_soil_analysis rover0 waypoint1) (have_soil_analysis rover0 waypoint2) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (navigate rover2 waypoint4 waypoint3))

(:state (at rover0 waypoint2) (at rover1 waypoint3) (at rover2 waypoint3) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint5) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibrated camera0 rover1) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_image_data objective0 colour) (communicated_image_data objective1 colour) (communicated_image_data objective1 high_res) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint3) (communicated_rock_data waypoint4) (communicated_soil_data waypoint1) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover0store) (full rover2store) (have_image rover1 objective0 colour) (have_image rover1 objective1 colour) (have_image rover1 objective1 high_res) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (have_rock_analysis rover2 waypoint4) (have_soil_analysis rover0 waypoint1) (have_soil_analysis rover0 waypoint2) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (navigate rover2 waypoint3 waypoint6))

(:state (at rover0 waypoint2) (at rover1 waypoint3) (at rover2 waypoint6) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint5) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibrated camera0 rover1) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_image_data objective0 colour) (communicated_image_data objective1 colour) (communicated_image_data objective1 high_res) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint3) (communicated_rock_data waypoint4) (communicated_soil_data waypoint1) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover0store) (full rover2store) (have_image rover1 objective0 colour) (have_image rover1 objective1 colour) (have_image rover1 objective1 high_res) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (have_rock_analysis rover2 waypoint4) (have_soil_analysis rover0 waypoint1) (have_soil_analysis rover0 waypoint2) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (drop rover0 rover0store))

(:state (at rover0 waypoint2) (at rover1 waypoint3) (at rover2 waypoint6) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint5) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibrated camera0 rover1) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_image_data objective0 colour) (communicated_image_data objective1 colour) (communicated_image_data objective1 high_res) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint3) (communicated_rock_data waypoint4) (communicated_soil_data waypoint1) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_image rover1 objective0 colour) (have_image rover1 objective1 colour) (have_image rover1 objective1 high_res) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (have_rock_analysis rover2 waypoint4) (have_soil_analysis rover0 waypoint1) (have_soil_analysis rover0 waypoint2) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

(:action (take_image rover1 waypoint3 objective3 camera0 low_res))

(:state (at rover0 waypoint2) (at rover1 waypoint3) (at rover2 waypoint6) (at_lander general waypoint2) (at_rock_sample waypoint2) (at_rock_sample waypoint5) (at_soil_sample waypoint3) (at_soil_sample waypoint5) (available rover0) (available rover1) (available rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective0) (calibration_target camera2 objective2) (calibration_target camera3 objective3) (can_traverse rover0 waypoint0 waypoint1) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint4) (can_traverse rover0 waypoint1 waypoint0) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint4 waypoint0) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint4 waypoint7) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint4) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint7) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint5) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint1) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint0) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint3 waypoint4) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint3 waypoint7) (can_traverse rover2 waypoint4 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint3) (channel_free general) (communicated_image_data objective0 colour) (communicated_image_data objective1 colour) (communicated_image_data objective1 high_res) (communicated_image_data objective2 low_res) (communicated_rock_data waypoint3) (communicated_rock_data waypoint4) (communicated_soil_data waypoint1) (empty rover0store) (empty rover1store) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover0) (full rover2store) (have_image rover1 objective0 colour) (have_image rover1 objective1 colour) (have_image rover1 objective1 high_res) (have_image rover1 objective3 low_res) (have_image rover2 objective2 low_res) (have_rock_analysis rover2 waypoint3) (have_rock_analysis rover2 waypoint4) (have_soil_analysis rover0 waypoint1) (have_soil_analysis rover0 waypoint2) (on_board camera0 rover1) (on_board camera1 rover2) (on_board camera2 rover1) (on_board camera3 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint7) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint1) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint5) (visible waypoint6 waypoint7) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint3) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint6) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint2) (visible_from objective1 waypoint3) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective3 waypoint1) (visible_from objective3 waypoint2) (visible_from objective3 waypoint3) (visible_from objective3 waypoint6))

)