(:trajectory

(:state (at rover0 waypoint5) (at rover1 waypoint2) (at rover2 waypoint3) (at rover3 waypoint8) (at_lander general waypoint1) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint6) (at_rock_sample waypoint8) (at_soil_sample waypoint0) (at_soil_sample waypoint4) (at_soil_sample waypoint6) (at_soil_sample waypoint7) (available rover0) (available rover1) (available rover2) (available rover3) (calibration_target camera0 objective1) (calibration_target camera1 objective3) (calibration_target camera2 objective3) (calibration_target camera3 objective1) (calibration_target camera4 objective2) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint3) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint7) (can_traverse rover0 waypoint0 waypoint8) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint0) (can_traverse rover0 waypoint4 waypoint5) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint4) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint0) (can_traverse rover0 waypoint8 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint5) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint2 waypoint4) (can_traverse rover1 waypoint2 waypoint7) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint3 waypoint6) (can_traverse rover1 waypoint3 waypoint8) (can_traverse rover1 waypoint4 waypoint2) (can_traverse rover1 waypoint5 waypoint0) (can_traverse rover1 waypoint6 waypoint3) (can_traverse rover1 waypoint7 waypoint2) (can_traverse rover1 waypoint8 waypoint3) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint5) (can_traverse rover2 waypoint0 waypoint7) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint5 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint7 waypoint0) (can_traverse rover3 waypoint0 waypoint1) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint0 waypoint4) (can_traverse rover3 waypoint0 waypoint8) (can_traverse rover3 waypoint1 waypoint0) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint3 waypoint8) (can_traverse rover3 waypoint4 waypoint0) (can_traverse rover3 waypoint5 waypoint8) (can_traverse rover3 waypoint6 waypoint8) (can_traverse rover3 waypoint7 waypoint8) (can_traverse rover3 waypoint8 waypoint0) (can_traverse rover3 waypoint8 waypoint3) (can_traverse rover3 waypoint8 waypoint5) (can_traverse rover3 waypoint8 waypoint6) (can_traverse rover3 waypoint8 waypoint7) (channel_free general) (empty rover0store) (empty rover1store) (empty rover2store) (empty rover3store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover3) (on_board camera0 rover0) (on_board camera1 rover3) (on_board camera2 rover3) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 high_res) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint7) (visible waypoint0 waypoint8) (visible waypoint1 waypoint0) (visible waypoint1 waypoint3) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint6) (visible waypoint3 waypoint8) (visible waypoint4 waypoint0) (visible waypoint4 waypoint2) (visible waypoint4 waypoint5) (visible waypoint4 waypoint6) (visible waypoint4 waypoint7) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint8) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint4) (visible waypoint6 waypoint5) (visible waypoint6 waypoint8) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint4) (visible waypoint7 waypoint8) (visible waypoint8 waypoint0) (visible waypoint8 waypoint3) (visible waypoint8 waypoint5) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible_from objective0 waypoint1) (visible_from objective0 waypoint5) (visible_from objective0 waypoint6) (visible_from objective0 waypoint7) (visible_from objective0 waypoint8) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint3) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective1 waypoint7) (visible_from objective1 waypoint8) (visible_from objective2 waypoint8) (visible_from objective3 waypoint4) (visible_from objective3 waypoint8))

(:action (navigate rover1 waypoint2 waypoint3))

(:state (at rover0 waypoint5) (at rover1 waypoint3) (at rover2 waypoint3) (at rover3 waypoint8) (at_lander general waypoint1) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint6) (at_rock_sample waypoint8) (at_soil_sample waypoint0) (at_soil_sample waypoint4) (at_soil_sample waypoint6) (at_soil_sample waypoint7) (available rover0) (available rover1) (available rover2) (available rover3) (calibration_target camera0 objective1) (calibration_target camera1 objective3) (calibration_target camera2 objective3) (calibration_target camera3 objective1) (calibration_target camera4 objective2) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint3) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint7) (can_traverse rover0 waypoint0 waypoint8) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint0) (can_traverse rover0 waypoint4 waypoint5) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint4) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint0) (can_traverse rover0 waypoint8 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint5) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint2 waypoint4) (can_traverse rover1 waypoint2 waypoint7) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint3 waypoint6) (can_traverse rover1 waypoint3 waypoint8) (can_traverse rover1 waypoint4 waypoint2) (can_traverse rover1 waypoint5 waypoint0) (can_traverse rover1 waypoint6 waypoint3) (can_traverse rover1 waypoint7 waypoint2) (can_traverse rover1 waypoint8 waypoint3) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint5) (can_traverse rover2 waypoint0 waypoint7) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint5 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint7 waypoint0) (can_traverse rover3 waypoint0 waypoint1) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint0 waypoint4) (can_traverse rover3 waypoint0 waypoint8) (can_traverse rover3 waypoint1 waypoint0) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint3 waypoint8) (can_traverse rover3 waypoint4 waypoint0) (can_traverse rover3 waypoint5 waypoint8) (can_traverse rover3 waypoint6 waypoint8) (can_traverse rover3 waypoint7 waypoint8) (can_traverse rover3 waypoint8 waypoint0) (can_traverse rover3 waypoint8 waypoint3) (can_traverse rover3 waypoint8 waypoint5) (can_traverse rover3 waypoint8 waypoint6) (can_traverse rover3 waypoint8 waypoint7) (channel_free general) (empty rover0store) (empty rover1store) (empty rover2store) (empty rover3store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover3) (on_board camera0 rover0) (on_board camera1 rover3) (on_board camera2 rover3) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 high_res) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint7) (visible waypoint0 waypoint8) (visible waypoint1 waypoint0) (visible waypoint1 waypoint3) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint6) (visible waypoint3 waypoint8) (visible waypoint4 waypoint0) (visible waypoint4 waypoint2) (visible waypoint4 waypoint5) (visible waypoint4 waypoint6) (visible waypoint4 waypoint7) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint8) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint4) (visible waypoint6 waypoint5) (visible waypoint6 waypoint8) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint4) (visible waypoint7 waypoint8) (visible waypoint8 waypoint0) (visible waypoint8 waypoint3) (visible waypoint8 waypoint5) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible_from objective0 waypoint1) (visible_from objective0 waypoint5) (visible_from objective0 waypoint6) (visible_from objective0 waypoint7) (visible_from objective0 waypoint8) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint3) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective1 waypoint7) (visible_from objective1 waypoint8) (visible_from objective2 waypoint8) (visible_from objective3 waypoint4) (visible_from objective3 waypoint8))

(:action (calibrate rover3 camera1 objective3 waypoint8))

(:state (at rover0 waypoint5) (at rover1 waypoint3) (at rover2 waypoint3) (at rover3 waypoint8) (at_lander general waypoint1) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint6) (at_rock_sample waypoint8) (at_soil_sample waypoint0) (at_soil_sample waypoint4) (at_soil_sample waypoint6) (at_soil_sample waypoint7) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera1 rover3) (calibration_target camera0 objective1) (calibration_target camera1 objective3) (calibration_target camera2 objective3) (calibration_target camera3 objective1) (calibration_target camera4 objective2) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint3) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint7) (can_traverse rover0 waypoint0 waypoint8) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint0) (can_traverse rover0 waypoint4 waypoint5) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint4) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint0) (can_traverse rover0 waypoint8 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint5) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint2 waypoint4) (can_traverse rover1 waypoint2 waypoint7) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint3 waypoint6) (can_traverse rover1 waypoint3 waypoint8) (can_traverse rover1 waypoint4 waypoint2) (can_traverse rover1 waypoint5 waypoint0) (can_traverse rover1 waypoint6 waypoint3) (can_traverse rover1 waypoint7 waypoint2) (can_traverse rover1 waypoint8 waypoint3) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint5) (can_traverse rover2 waypoint0 waypoint7) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint5 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint7 waypoint0) (can_traverse rover3 waypoint0 waypoint1) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint0 waypoint4) (can_traverse rover3 waypoint0 waypoint8) (can_traverse rover3 waypoint1 waypoint0) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint3 waypoint8) (can_traverse rover3 waypoint4 waypoint0) (can_traverse rover3 waypoint5 waypoint8) (can_traverse rover3 waypoint6 waypoint8) (can_traverse rover3 waypoint7 waypoint8) (can_traverse rover3 waypoint8 waypoint0) (can_traverse rover3 waypoint8 waypoint3) (can_traverse rover3 waypoint8 waypoint5) (can_traverse rover3 waypoint8 waypoint6) (can_traverse rover3 waypoint8 waypoint7) (channel_free general) (empty rover0store) (empty rover1store) (empty rover2store) (empty rover3store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover3) (on_board camera0 rover0) (on_board camera1 rover3) (on_board camera2 rover3) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 high_res) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint7) (visible waypoint0 waypoint8) (visible waypoint1 waypoint0) (visible waypoint1 waypoint3) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint6) (visible waypoint3 waypoint8) (visible waypoint4 waypoint0) (visible waypoint4 waypoint2) (visible waypoint4 waypoint5) (visible waypoint4 waypoint6) (visible waypoint4 waypoint7) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint8) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint4) (visible waypoint6 waypoint5) (visible waypoint6 waypoint8) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint4) (visible waypoint7 waypoint8) (visible waypoint8 waypoint0) (visible waypoint8 waypoint3) (visible waypoint8 waypoint5) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible_from objective0 waypoint1) (visible_from objective0 waypoint5) (visible_from objective0 waypoint6) (visible_from objective0 waypoint7) (visible_from objective0 waypoint8) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint3) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective1 waypoint7) (visible_from objective1 waypoint8) (visible_from objective2 waypoint8) (visible_from objective3 waypoint4) (visible_from objective3 waypoint8))

(:action (navigate rover3 waypoint8 waypoint0))

(:state (at rover0 waypoint5) (at rover1 waypoint3) (at rover2 waypoint3) (at rover3 waypoint0) (at_lander general waypoint1) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint6) (at_rock_sample waypoint8) (at_soil_sample waypoint0) (at_soil_sample waypoint4) (at_soil_sample waypoint6) (at_soil_sample waypoint7) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera1 rover3) (calibration_target camera0 objective1) (calibration_target camera1 objective3) (calibration_target camera2 objective3) (calibration_target camera3 objective1) (calibration_target camera4 objective2) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint3) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint7) (can_traverse rover0 waypoint0 waypoint8) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint0) (can_traverse rover0 waypoint4 waypoint5) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint4) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint0) (can_traverse rover0 waypoint8 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint5) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint2 waypoint4) (can_traverse rover1 waypoint2 waypoint7) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint3 waypoint6) (can_traverse rover1 waypoint3 waypoint8) (can_traverse rover1 waypoint4 waypoint2) (can_traverse rover1 waypoint5 waypoint0) (can_traverse rover1 waypoint6 waypoint3) (can_traverse rover1 waypoint7 waypoint2) (can_traverse rover1 waypoint8 waypoint3) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint5) (can_traverse rover2 waypoint0 waypoint7) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint5 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint7 waypoint0) (can_traverse rover3 waypoint0 waypoint1) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint0 waypoint4) (can_traverse rover3 waypoint0 waypoint8) (can_traverse rover3 waypoint1 waypoint0) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint3 waypoint8) (can_traverse rover3 waypoint4 waypoint0) (can_traverse rover3 waypoint5 waypoint8) (can_traverse rover3 waypoint6 waypoint8) (can_traverse rover3 waypoint7 waypoint8) (can_traverse rover3 waypoint8 waypoint0) (can_traverse rover3 waypoint8 waypoint3) (can_traverse rover3 waypoint8 waypoint5) (can_traverse rover3 waypoint8 waypoint6) (can_traverse rover3 waypoint8 waypoint7) (channel_free general) (empty rover0store) (empty rover1store) (empty rover2store) (empty rover3store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover3) (on_board camera0 rover0) (on_board camera1 rover3) (on_board camera2 rover3) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 high_res) (supports camera4 high_res) (visible 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(:action (navigate rover2 waypoint3 waypoint6))

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(:action (sample_rock rover2 rover2store waypoint6))

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(:action (communicate_rock_data rover2 general waypoint6 waypoint6 waypoint1))

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(:action (navigate rover0 waypoint5 waypoint1))

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waypoint6 waypoint3) (visible waypoint6 waypoint4) (visible waypoint6 waypoint5) (visible waypoint6 waypoint8) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint4) (visible waypoint7 waypoint8) (visible waypoint8 waypoint0) (visible waypoint8 waypoint3) (visible waypoint8 waypoint5) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible_from objective0 waypoint1) (visible_from objective0 waypoint5) (visible_from objective0 waypoint6) (visible_from objective0 waypoint7) (visible_from objective0 waypoint8) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint3) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective1 waypoint7) (visible_from objective1 waypoint8) (visible_from objective2 waypoint8) (visible_from objective3 waypoint4) (visible_from objective3 waypoint8))

(:action (sample_soil rover3 rover3store waypoint0))

(:state (at rover0 waypoint1) (at rover1 waypoint3) (at rover2 waypoint6) (at rover3 waypoint0) (at_lander general waypoint1) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint8) (at_soil_sample waypoint4) (at_soil_sample waypoint6) (at_soil_sample waypoint7) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera1 rover3) (calibration_target camera0 objective1) (calibration_target camera1 objective3) (calibration_target camera2 objective3) (calibration_target camera3 objective1) (calibration_target camera4 objective2) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint3) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint7) (can_traverse rover0 waypoint0 waypoint8) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint0) (can_traverse rover0 waypoint4 waypoint5) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint4) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint0) (can_traverse rover0 waypoint8 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint5) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint2 waypoint4) (can_traverse rover1 waypoint2 waypoint7) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint3 waypoint6) (can_traverse rover1 waypoint3 waypoint8) (can_traverse rover1 waypoint4 waypoint2) (can_traverse rover1 waypoint5 waypoint0) (can_traverse rover1 waypoint6 waypoint3) (can_traverse rover1 waypoint7 waypoint2) (can_traverse rover1 waypoint8 waypoint3) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint5) (can_traverse rover2 waypoint0 waypoint7) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint5 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint7 waypoint0) (can_traverse rover3 waypoint0 waypoint1) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint0 waypoint4) (can_traverse rover3 waypoint0 waypoint8) (can_traverse rover3 waypoint1 waypoint0) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint3 waypoint8) (can_traverse rover3 waypoint4 waypoint0) (can_traverse rover3 waypoint5 waypoint8) (can_traverse rover3 waypoint6 waypoint8) (can_traverse rover3 waypoint7 waypoint8) (can_traverse rover3 waypoint8 waypoint0) (can_traverse rover3 waypoint8 waypoint3) (can_traverse rover3 waypoint8 waypoint5) (can_traverse rover3 waypoint8 waypoint6) (can_traverse rover3 waypoint8 waypoint7) (channel_free general) (communicated_rock_data waypoint6) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover3) (full rover2store) (full rover3store) (have_rock_analysis rover2 waypoint6) (have_soil_analysis rover3 waypoint0) (on_board camera0 rover0) (on_board camera1 rover3) (on_board camera2 rover3) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 high_res) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint7) (visible waypoint0 waypoint8) (visible waypoint1 waypoint0) (visible waypoint1 waypoint3) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint6) (visible waypoint3 waypoint8) (visible waypoint4 waypoint0) (visible waypoint4 waypoint2) (visible waypoint4 waypoint5) (visible waypoint4 waypoint6) (visible waypoint4 waypoint7) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint8) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint4) (visible waypoint6 waypoint5) (visible waypoint6 waypoint8) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint4) (visible waypoint7 waypoint8) (visible waypoint8 waypoint0) (visible waypoint8 waypoint3) (visible waypoint8 waypoint5) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible_from objective0 waypoint1) (visible_from objective0 waypoint5) (visible_from objective0 waypoint6) (visible_from objective0 waypoint7) (visible_from objective0 waypoint8) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint3) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective1 waypoint7) (visible_from objective1 waypoint8) (visible_from objective2 waypoint8) (visible_from objective3 waypoint4) (visible_from objective3 waypoint8))

(:action (communicate_soil_data rover3 general waypoint0 waypoint0 waypoint1))

(:state (at rover0 waypoint1) (at rover1 waypoint3) (at rover2 waypoint6) (at rover3 waypoint0) (at_lander general waypoint1) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint8) (at_soil_sample waypoint4) (at_soil_sample waypoint6) (at_soil_sample waypoint7) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera1 rover3) (calibration_target camera0 objective1) (calibration_target camera1 objective3) (calibration_target camera2 objective3) (calibration_target camera3 objective1) (calibration_target camera4 objective2) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint3) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint7) (can_traverse rover0 waypoint0 waypoint8) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint0) (can_traverse rover0 waypoint4 waypoint5) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint4) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint0) (can_traverse rover0 waypoint8 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint5) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint2 waypoint4) (can_traverse rover1 waypoint2 waypoint7) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint3 waypoint6) (can_traverse rover1 waypoint3 waypoint8) (can_traverse rover1 waypoint4 waypoint2) (can_traverse rover1 waypoint5 waypoint0) (can_traverse rover1 waypoint6 waypoint3) (can_traverse rover1 waypoint7 waypoint2) (can_traverse rover1 waypoint8 waypoint3) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint5) (can_traverse rover2 waypoint0 waypoint7) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint5 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint7 waypoint0) (can_traverse rover3 waypoint0 waypoint1) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint0 waypoint4) (can_traverse rover3 waypoint0 waypoint8) (can_traverse rover3 waypoint1 waypoint0) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint3 waypoint8) (can_traverse rover3 waypoint4 waypoint0) (can_traverse rover3 waypoint5 waypoint8) (can_traverse rover3 waypoint6 waypoint8) (can_traverse rover3 waypoint7 waypoint8) (can_traverse rover3 waypoint8 waypoint0) (can_traverse rover3 waypoint8 waypoint3) (can_traverse rover3 waypoint8 waypoint5) (can_traverse rover3 waypoint8 waypoint6) (can_traverse rover3 waypoint8 waypoint7) (channel_free general) (communicated_rock_data waypoint6) (communicated_soil_data waypoint0) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover3) (full rover2store) (full rover3store) (have_rock_analysis rover2 waypoint6) (have_soil_analysis rover3 waypoint0) (on_board camera0 rover0) (on_board camera1 rover3) (on_board camera2 rover3) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 high_res) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint7) (visible waypoint0 waypoint8) (visible waypoint1 waypoint0) (visible waypoint1 waypoint3) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint6) (visible waypoint3 waypoint8) (visible waypoint4 waypoint0) (visible waypoint4 waypoint2) (visible waypoint4 waypoint5) (visible waypoint4 waypoint6) (visible waypoint4 waypoint7) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint8) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint4) (visible waypoint6 waypoint5) (visible waypoint6 waypoint8) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint4) (visible waypoint7 waypoint8) (visible waypoint8 waypoint0) (visible waypoint8 waypoint3) (visible waypoint8 waypoint5) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible_from objective0 waypoint1) (visible_from objective0 waypoint5) (visible_from objective0 waypoint6) (visible_from objective0 waypoint7) (visible_from objective0 waypoint8) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint3) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective1 waypoint7) (visible_from objective1 waypoint8) (visible_from objective2 waypoint8) (visible_from objective3 waypoint4) (visible_from objective3 waypoint8))

(:action (calibrate rover0 camera0 objective1 waypoint1))

(:state (at rover0 waypoint1) (at rover1 waypoint3) (at rover2 waypoint6) (at rover3 waypoint0) (at_lander general waypoint1) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint8) (at_soil_sample waypoint4) (at_soil_sample waypoint6) (at_soil_sample waypoint7) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera0 rover0) (calibrated camera1 rover3) (calibration_target camera0 objective1) (calibration_target camera1 objective3) (calibration_target camera2 objective3) (calibration_target camera3 objective1) (calibration_target camera4 objective2) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint3) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint7) (can_traverse rover0 waypoint0 waypoint8) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint0) (can_traverse rover0 waypoint4 waypoint5) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint4) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint0) (can_traverse rover0 waypoint8 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint5) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint2 waypoint4) (can_traverse rover1 waypoint2 waypoint7) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint3 waypoint6) (can_traverse rover1 waypoint3 waypoint8) (can_traverse rover1 waypoint4 waypoint2) (can_traverse rover1 waypoint5 waypoint0) (can_traverse rover1 waypoint6 waypoint3) (can_traverse rover1 waypoint7 waypoint2) (can_traverse rover1 waypoint8 waypoint3) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint5) (can_traverse rover2 waypoint0 waypoint7) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint5 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint7 waypoint0) (can_traverse rover3 waypoint0 waypoint1) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint0 waypoint4) (can_traverse rover3 waypoint0 waypoint8) (can_traverse rover3 waypoint1 waypoint0) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint3 waypoint8) (can_traverse rover3 waypoint4 waypoint0) (can_traverse rover3 waypoint5 waypoint8) (can_traverse rover3 waypoint6 waypoint8) (can_traverse rover3 waypoint7 waypoint8) (can_traverse rover3 waypoint8 waypoint0) (can_traverse rover3 waypoint8 waypoint3) (can_traverse rover3 waypoint8 waypoint5) (can_traverse rover3 waypoint8 waypoint6) (can_traverse rover3 waypoint8 waypoint7) (channel_free general) (communicated_rock_data waypoint6) (communicated_soil_data waypoint0) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover3) (full rover2store) (full rover3store) (have_rock_analysis rover2 waypoint6) (have_soil_analysis rover3 waypoint0) (on_board camera0 rover0) (on_board camera1 rover3) (on_board camera2 rover3) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 high_res) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint7) (visible waypoint0 waypoint8) (visible waypoint1 waypoint0) (visible waypoint1 waypoint3) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint6) (visible waypoint3 waypoint8) (visible waypoint4 waypoint0) (visible waypoint4 waypoint2) (visible waypoint4 waypoint5) (visible waypoint4 waypoint6) (visible waypoint4 waypoint7) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint8) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint4) (visible waypoint6 waypoint5) (visible waypoint6 waypoint8) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint4) (visible waypoint7 waypoint8) (visible waypoint8 waypoint0) (visible waypoint8 waypoint3) (visible waypoint8 waypoint5) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible_from objective0 waypoint1) (visible_from objective0 waypoint5) (visible_from objective0 waypoint6) (visible_from objective0 waypoint7) (visible_from objective0 waypoint8) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint3) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective1 waypoint7) (visible_from objective1 waypoint8) (visible_from objective2 waypoint8) (visible_from objective3 waypoint4) (visible_from objective3 waypoint8))

(:action (navigate rover1 waypoint3 waypoint8))

(:state (at rover0 waypoint1) (at rover1 waypoint8) (at rover2 waypoint6) (at rover3 waypoint0) (at_lander general waypoint1) (at_rock_sample waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint8) (at_soil_sample waypoint4) (at_soil_sample waypoint6) (at_soil_sample waypoint7) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera0 rover0) (calibrated camera1 rover3) (calibration_target camera0 objective1) (calibration_target camera1 objective3) (calibration_target camera2 objective3) (calibration_target camera3 objective1) (calibration_target camera4 objective2) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint3) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint7) (can_traverse rover0 waypoint0 waypoint8) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 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(:action (navigate rover3 waypoint0 waypoint8))

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(:action (navigate rover3 waypoint8 waypoint0))

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objective3 waypoint8))

(:action (navigate rover1 waypoint8 waypoint3))

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(:action (navigate rover0 waypoint1 waypoint5))

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(:action (navigate rover0 waypoint5 waypoint0))

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(:action (take_image rover3 waypoint0 objective1 camera1 low_res))

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(:action (communicate_image_data rover3 general objective1 low_res waypoint0 waypoint1))

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objective2 waypoint8) (visible_from objective3 waypoint4) (visible_from objective3 waypoint8))

(:action (sample_rock rover0 rover0store waypoint0))

(:state (at rover0 waypoint0) (at rover1 waypoint3) (at rover2 waypoint6) (at rover3 waypoint0) (at_lander general waypoint1) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint8) (at_soil_sample waypoint4) (at_soil_sample waypoint6) (at_soil_sample waypoint7) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera0 rover0) (calibration_target camera0 objective1) (calibration_target camera1 objective3) (calibration_target camera2 objective3) (calibration_target camera3 objective1) (calibration_target camera4 objective2) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint3) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint7) (can_traverse rover0 waypoint0 waypoint8) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint0) (can_traverse rover0 waypoint4 waypoint5) 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waypoint8 waypoint6) (can_traverse rover3 waypoint8 waypoint7) (channel_free general) (communicated_image_data objective1 low_res) (communicated_rock_data waypoint6) (communicated_soil_data waypoint0) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover2) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover3) (full rover0store) (full rover2store) (full rover3store) (have_image rover3 objective1 low_res) (have_rock_analysis rover0 waypoint0) (have_rock_analysis rover2 waypoint6) (have_soil_analysis rover3 waypoint0) (on_board camera0 rover0) (on_board camera1 rover3) (on_board camera2 rover3) (on_board camera3 rover0) (on_board camera4 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 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waypoint5 waypoint1) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint8) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint4) (visible waypoint6 waypoint5) (visible waypoint6 waypoint8) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint4) (visible waypoint7 waypoint8) (visible waypoint8 waypoint0) (visible waypoint8 waypoint3) (visible waypoint8 waypoint5) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible_from objective0 waypoint1) (visible_from objective0 waypoint5) (visible_from objective0 waypoint6) (visible_from objective0 waypoint7) (visible_from objective0 waypoint8) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint3) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective1 waypoint7) (visible_from objective1 waypoint8) (visible_from objective2 waypoint8) (visible_from objective3 waypoint4) (visible_from objective3 waypoint8))

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

(:state (at rover0 waypoint0) (at rover1 waypoint3) (at rover2 waypoint6) (at rover3 waypoint0) (at_lander general waypoint1) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint8) (at_soil_sample waypoint4) (at_soil_sample waypoint6) (at_soil_sample waypoint7) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera0 rover0) (calibration_target camera0 objective1) (calibration_target camera1 objective3) (calibration_target camera2 objective3) (calibration_target camera3 objective1) (calibration_target camera4 objective2) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint3) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint7) (can_traverse rover0 waypoint0 waypoint8) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint0) (can_traverse rover0 waypoint4 waypoint5) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint4) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint0) (can_traverse rover0 waypoint8 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint5) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint2 waypoint4) (can_traverse rover1 waypoint2 waypoint7) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint3 waypoint6) (can_traverse rover1 waypoint3 waypoint8) (can_traverse rover1 waypoint4 waypoint2) (can_traverse rover1 waypoint5 waypoint0) (can_traverse rover1 waypoint6 waypoint3) (can_traverse rover1 waypoint7 waypoint2) (can_traverse rover1 waypoint8 waypoint3) (can_traverse rover2 waypoint0 waypoint3) (can_traverse rover2 waypoint0 waypoint5) (can_traverse rover2 waypoint0 waypoint7) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint3 waypoint0) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint5 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint7 waypoint0) (can_traverse rover3 waypoint0 waypoint1) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint0 waypoint4) (can_traverse rover3 waypoint0 waypoint8) (can_traverse rover3 waypoint1 waypoint0) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint3 waypoint8) (can_traverse rover3 waypoint4 waypoint0) (can_traverse rover3 waypoint5 waypoint8) (can_traverse rover3 waypoint6 waypoint8) (can_traverse rover3 waypoint7 waypoint8) (can_traverse rover3 waypoint8 waypoint0) (can_traverse rover3 waypoint8 waypoint3) (can_traverse rover3 waypoint8 waypoint5) (can_traverse rover3 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waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint8) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint4) (visible waypoint6 waypoint5) (visible waypoint6 waypoint8) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint4) (visible waypoint7 waypoint8) (visible waypoint8 waypoint0) (visible waypoint8 waypoint3) (visible waypoint8 waypoint5) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible_from objective0 waypoint1) (visible_from objective0 waypoint5) (visible_from objective0 waypoint6) (visible_from objective0 waypoint7) (visible_from objective0 waypoint8) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint3) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective1 waypoint7) (visible_from objective1 waypoint8) (visible_from objective2 waypoint8) (visible_from objective3 waypoint4) (visible_from objective3 waypoint8))

(:action (navigate rover1 waypoint3 waypoint6))

(:state (at rover0 waypoint0) (at rover1 waypoint6) (at rover2 waypoint6) (at rover3 waypoint0) (at_lander general waypoint1) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint8) (at_soil_sample waypoint4) (at_soil_sample waypoint6) (at_soil_sample waypoint7) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera0 rover0) (calibration_target camera0 objective1) (calibration_target camera1 objective3) (calibration_target camera2 objective3) (calibration_target camera3 objective1) (calibration_target camera4 objective2) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint3) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint7) (can_traverse rover0 waypoint0 waypoint8) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint0) (can_traverse rover0 waypoint4 waypoint5) (can_traverse rover0 waypoint5 waypoint0) (can_traverse rover0 waypoint5 waypoint1) (can_traverse rover0 waypoint5 waypoint4) (can_traverse rover0 waypoint5 waypoint6) (can_traverse rover0 waypoint6 waypoint5) (can_traverse rover0 waypoint7 waypoint0) (can_traverse rover0 waypoint8 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint0 waypoint5) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint2 waypoint4) (can_traverse rover1 waypoint2 waypoint7) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint3 waypoint6) (can_traverse rover1 waypoint3 waypoint8) (can_traverse rover1 waypoint4 waypoint2) (can_traverse rover1 waypoint5 waypoint0) (can_traverse rover1 waypoint6 waypoint3) (can_traverse rover1 waypoint7 waypoint2) (can_traverse rover1 waypoint8 waypoint3) (can_traverse rover2 waypoint0 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objective1 waypoint8) (visible_from objective2 waypoint8) (visible_from objective3 waypoint4) (visible_from objective3 waypoint8))

(:action (sample_soil rover1 rover1store waypoint6))

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(:action (communicate_soil_data rover1 general waypoint6 waypoint6 waypoint1))

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(visible_from objective1 waypoint7) (visible_from objective1 waypoint8) (visible_from objective2 waypoint8) (visible_from objective3 waypoint4) (visible_from objective3 waypoint8))

(:action (drop rover3 rover3store))

(:state (at rover0 waypoint0) (at rover1 waypoint6) (at rover2 waypoint6) (at rover3 waypoint0) (at_lander general waypoint1) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint8) (at_soil_sample waypoint4) (at_soil_sample waypoint7) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera0 rover0) (calibration_target camera0 objective1) (calibration_target camera1 objective3) (calibration_target camera2 objective3) (calibration_target camera3 objective1) (calibration_target camera4 objective2) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint3) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint7) (can_traverse rover0 waypoint0 waypoint8) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint0) (can_traverse rover0 waypoint4 waypoint5) (can_traverse rover0 waypoint5 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(visible waypoint4 waypoint7) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint8) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint4) (visible waypoint6 waypoint5) (visible waypoint6 waypoint8) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint4) (visible waypoint7 waypoint8) (visible waypoint8 waypoint0) (visible waypoint8 waypoint3) (visible waypoint8 waypoint5) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible_from objective0 waypoint1) (visible_from objective0 waypoint5) (visible_from objective0 waypoint6) (visible_from objective0 waypoint7) (visible_from objective0 waypoint8) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint3) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective1 waypoint7) (visible_from objective1 waypoint8) (visible_from objective2 waypoint8) (visible_from objective3 waypoint4) (visible_from objective3 waypoint8))

(:action (calibrate rover0 camera0 objective1 waypoint0))

(:state (at rover0 waypoint0) (at rover1 waypoint6) (at rover2 waypoint6) (at rover3 waypoint0) (at_lander general waypoint1) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint3) (at_rock_sample waypoint8) (at_soil_sample waypoint4) (at_soil_sample waypoint7) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera0 rover0) (calibration_target camera0 objective1) (calibration_target camera1 objective3) (calibration_target camera2 objective3) (calibration_target camera3 objective1) (calibration_target camera4 objective2) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint3) (can_traverse rover0 waypoint0 waypoint5) (can_traverse rover0 waypoint0 waypoint7) (can_traverse rover0 waypoint0 waypoint8) (can_traverse rover0 waypoint1 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint3 waypoint0) (can_traverse rover0 waypoint4 waypoint5) (can_traverse rover0 waypoint5 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(visible_from objective1 waypoint7) (visible_from objective1 waypoint8) (visible_from objective2 waypoint8) (visible_from objective3 waypoint4) (visible_from objective3 waypoint8))

(:action (drop rover0 rover0store))

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(visible_from objective1 waypoint7) (visible_from objective1 waypoint8) (visible_from objective2 waypoint8) (visible_from objective3 waypoint4) (visible_from objective3 waypoint8))

(:action (navigate rover3 waypoint0 waypoint8))

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(:action (navigate rover3 waypoint8 waypoint7))

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(:action (take_image rover0 waypoint0 objective1 camera0 low_res))

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rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 high_res) (supports camera4 high_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint3) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint7) (visible waypoint0 waypoint8) (visible waypoint1 waypoint0) (visible waypoint1 waypoint3) (visible waypoint1 waypoint5) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint2 waypoint0) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint7) (visible waypoint3 waypoint0) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint6) (visible waypoint3 waypoint8) (visible waypoint4 waypoint0) (visible waypoint4 waypoint2) (visible waypoint4 waypoint5) (visible waypoint4 waypoint6) (visible waypoint4 waypoint7) (visible waypoint5 waypoint0) (visible waypoint5 waypoint1) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint8) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint4) (visible waypoint6 waypoint5) (visible waypoint6 waypoint8) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint4) (visible waypoint7 waypoint8) (visible waypoint8 waypoint0) (visible waypoint8 waypoint3) (visible waypoint8 waypoint5) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible_from objective0 waypoint1) (visible_from objective0 waypoint5) (visible_from objective0 waypoint6) (visible_from objective0 waypoint7) (visible_from objective0 waypoint8) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective1 waypoint3) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective1 waypoint7) (visible_from objective1 waypoint8) (visible_from objective2 waypoint8) (visible_from objective3 waypoint4) (visible_from objective3 waypoint8))

)