(:trajectory

(:state (at rover0 waypoint2) (at rover1 waypoint8) (at rover2 waypoint6) (at rover3 waypoint7) (at_lander general waypoint9) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint8) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint9) (available rover0) (available rover1) (available rover2) (available rover3) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (empty rover0store) (empty rover1store) (empty rover2store) (empty rover3store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

(:action (navigate rover3 waypoint7 waypoint9))

(:state (at rover0 waypoint2) (at rover1 waypoint8) (at rover2 waypoint6) (at rover3 waypoint9) (at_lander general waypoint9) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint8) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint9) (available rover0) (available rover1) (available rover2) (available rover3) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (empty rover0store) (empty rover1store) (empty rover2store) (empty rover3store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

(:action (sample_soil rover3 rover3store waypoint9))

(:state (at rover0 waypoint2) (at rover1 waypoint8) (at rover2 waypoint6) (at rover3 waypoint9) (at_lander general waypoint9) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint8) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (available rover0) (available rover1) (available rover2) (available rover3) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (empty rover0store) (empty rover1store) (empty rover2store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (full rover3store) (have_soil_analysis rover3 waypoint9) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

(:action (navigate rover3 waypoint9 waypoint8))

(:state (at rover0 waypoint2) (at rover1 waypoint8) (at rover2 waypoint6) (at rover3 waypoint8) (at_lander general waypoint9) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint8) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (available rover0) (available rover1) (available rover2) (available rover3) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (empty rover0store) (empty rover1store) (empty rover2store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (full rover3store) (have_soil_analysis rover3 waypoint9) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

(:action (communicate_soil_data rover3 general waypoint9 waypoint8 waypoint9))

(:state (at rover0 waypoint2) (at rover1 waypoint8) (at rover2 waypoint6) (at rover3 waypoint8) (at_lander general waypoint9) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint8) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (available rover0) (available rover1) (available rover2) (available rover3) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (communicated_soil_data waypoint9) (empty rover0store) (empty rover1store) (empty rover2store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (full rover3store) (have_soil_analysis rover3 waypoint9) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

(:action (calibrate rover2 camera2 objective1 waypoint6))

(:state (at rover0 waypoint2) (at rover1 waypoint8) (at rover2 waypoint6) (at rover3 waypoint8) (at_lander general waypoint9) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint8) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera2 rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (communicated_soil_data waypoint9) (empty rover0store) (empty rover1store) (empty rover2store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (full rover3store) (have_soil_analysis rover3 waypoint9) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

(:action (navigate rover2 waypoint6 waypoint3))

(:state (at rover0 waypoint2) (at rover1 waypoint8) (at rover2 waypoint3) (at rover3 waypoint8) (at_lander general waypoint9) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint8) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera2 rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (communicated_soil_data waypoint9) (empty rover0store) (empty rover1store) (empty rover2store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (full rover3store) (have_soil_analysis rover3 waypoint9) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

(:action (sample_soil rover2 rover2store waypoint3))

(:state (at rover0 waypoint2) (at rover1 waypoint8) (at rover2 waypoint3) (at rover3 waypoint8) (at_lander general waypoint9) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint8) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera2 rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (communicated_soil_data waypoint9) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (full rover2store) (full rover3store) (have_soil_analysis rover2 waypoint3) (have_soil_analysis rover3 waypoint9) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

(:action (communicate_soil_data rover2 general waypoint3 waypoint3 waypoint9))

(:state (at rover0 waypoint2) (at rover1 waypoint8) (at rover2 waypoint3) (at rover3 waypoint8) (at_lander general waypoint9) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint8) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera2 rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (communicated_soil_data waypoint3) (communicated_soil_data waypoint9) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (full rover2store) (full rover3store) (have_soil_analysis rover2 waypoint3) (have_soil_analysis rover3 waypoint9) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

(:action (navigate rover2 waypoint3 waypoint6))

(:state (at rover0 waypoint2) (at rover1 waypoint8) (at rover2 waypoint6) (at rover3 waypoint8) (at_lander general waypoint9) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint8) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera2 rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (communicated_soil_data waypoint3) (communicated_soil_data waypoint9) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (full rover2store) (full rover3store) (have_soil_analysis rover2 waypoint3) (have_soil_analysis rover3 waypoint9) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

(:action (navigate rover1 waypoint8 waypoint2))

(:state (at rover0 waypoint2) (at rover1 waypoint2) (at rover2 waypoint6) (at rover3 waypoint8) (at_lander general waypoint9) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint8) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera2 rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (communicated_soil_data waypoint3) (communicated_soil_data waypoint9) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (full rover2store) (full rover3store) (have_soil_analysis rover2 waypoint3) (have_soil_analysis rover3 waypoint9) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

(:action (drop rover3 rover3store))

(:state (at rover0 waypoint2) (at rover1 waypoint2) (at rover2 waypoint6) (at rover3 waypoint8) (at_lander general waypoint9) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint8) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera2 rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (communicated_soil_data waypoint3) (communicated_soil_data waypoint9) (empty rover0store) (empty rover1store) (empty rover3store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (full rover2store) (have_soil_analysis rover2 waypoint3) (have_soil_analysis rover3 waypoint9) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

(:action (sample_rock rover3 rover3store waypoint8))

(:state (at rover0 waypoint2) (at rover1 waypoint2) (at rover2 waypoint6) (at rover3 waypoint8) (at_lander general waypoint9) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera2 rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (communicated_soil_data waypoint3) (communicated_soil_data waypoint9) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (full rover2store) (full rover3store) (have_rock_analysis rover3 waypoint8) (have_soil_analysis rover2 waypoint3) (have_soil_analysis rover3 waypoint9) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

(:action (communicate_rock_data rover3 general waypoint8 waypoint8 waypoint9))

(:state (at rover0 waypoint2) (at rover1 waypoint2) (at rover2 waypoint6) (at rover3 waypoint8) (at_lander general waypoint9) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera2 rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (communicated_rock_data waypoint8) (communicated_soil_data waypoint3) (communicated_soil_data waypoint9) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (full rover2store) (full rover3store) (have_rock_analysis rover3 waypoint8) (have_soil_analysis rover2 waypoint3) (have_soil_analysis rover3 waypoint9) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

(:action (sample_rock rover1 rover1store waypoint2))

(:state (at rover0 waypoint2) (at rover1 waypoint2) (at rover2 waypoint6) (at rover3 waypoint8) (at_lander general waypoint9) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera2 rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (communicated_rock_data waypoint8) (communicated_soil_data waypoint3) (communicated_soil_data waypoint9) (empty rover0store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (full rover1store) (full rover2store) (full rover3store) (have_rock_analysis rover1 waypoint2) (have_rock_analysis rover3 waypoint8) (have_soil_analysis rover2 waypoint3) (have_soil_analysis rover3 waypoint9) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

(:action (navigate rover0 waypoint2 waypoint0))

(:state (at rover0 waypoint0) (at rover1 waypoint2) (at rover2 waypoint6) (at rover3 waypoint8) (at_lander general waypoint9) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera2 rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (communicated_rock_data waypoint8) (communicated_soil_data waypoint3) (communicated_soil_data waypoint9) (empty rover0store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (full rover1store) (full rover2store) (full rover3store) (have_rock_analysis rover1 waypoint2) (have_rock_analysis rover3 waypoint8) (have_soil_analysis rover2 waypoint3) (have_soil_analysis rover3 waypoint9) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

(:action (navigate rover1 waypoint2 waypoint8))

(:state (at rover0 waypoint0) (at rover1 waypoint8) (at rover2 waypoint6) (at rover3 waypoint8) (at_lander general waypoint9) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera2 rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (communicated_rock_data waypoint8) (communicated_soil_data waypoint3) (communicated_soil_data waypoint9) (empty rover0store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (full rover1store) (full rover2store) (full rover3store) (have_rock_analysis rover1 waypoint2) (have_rock_analysis rover3 waypoint8) (have_soil_analysis rover2 waypoint3) (have_soil_analysis rover3 waypoint9) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

(:action (communicate_rock_data rover1 general waypoint2 waypoint8 waypoint9))

(:state (at rover0 waypoint0) (at rover1 waypoint8) (at rover2 waypoint6) (at rover3 waypoint8) (at_lander general waypoint9) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera2 rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (communicated_rock_data waypoint2) (communicated_rock_data waypoint8) (communicated_soil_data waypoint3) (communicated_soil_data waypoint9) (empty rover0store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (full rover1store) (full rover2store) (full rover3store) (have_rock_analysis rover1 waypoint2) (have_rock_analysis rover3 waypoint8) (have_soil_analysis rover2 waypoint3) (have_soil_analysis rover3 waypoint9) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

(:action (drop rover1 rover1store))

(:state (at rover0 waypoint0) (at rover1 waypoint8) (at rover2 waypoint6) (at rover3 waypoint8) (at_lander general waypoint9) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera2 rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (communicated_rock_data waypoint2) (communicated_rock_data waypoint8) (communicated_soil_data waypoint3) (communicated_soil_data waypoint9) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (full rover2store) (full rover3store) (have_rock_analysis rover1 waypoint2) (have_rock_analysis rover3 waypoint8) (have_soil_analysis rover2 waypoint3) (have_soil_analysis rover3 waypoint9) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

(:action (take_image rover2 waypoint6 objective0 camera2 low_res))

(:state (at rover0 waypoint0) (at rover1 waypoint8) (at rover2 waypoint6) (at rover3 waypoint8) (at_lander general waypoint9) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (available rover0) (available rover1) (available rover2) (available rover3) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (communicated_rock_data waypoint2) (communicated_rock_data waypoint8) (communicated_soil_data waypoint3) (communicated_soil_data waypoint9) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (full rover2store) (full rover3store) (have_image rover2 objective0 low_res) (have_rock_analysis rover1 waypoint2) (have_rock_analysis rover3 waypoint8) (have_soil_analysis rover2 waypoint3) (have_soil_analysis rover3 waypoint9) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

(:action (calibrate rover2 camera2 objective1 waypoint6))

(:state (at rover0 waypoint0) (at rover1 waypoint8) (at rover2 waypoint6) (at rover3 waypoint8) (at_lander general waypoint9) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera2 rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (communicated_rock_data waypoint2) (communicated_rock_data waypoint8) (communicated_soil_data waypoint3) (communicated_soil_data waypoint9) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (full rover2store) (full rover3store) (have_image rover2 objective0 low_res) (have_rock_analysis rover1 waypoint2) (have_rock_analysis rover3 waypoint8) (have_soil_analysis rover2 waypoint3) (have_soil_analysis rover3 waypoint9) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

(:action (communicate_image_data rover2 general objective0 low_res waypoint6 waypoint9))

(:state (at rover0 waypoint0) (at rover1 waypoint8) (at rover2 waypoint6) (at rover3 waypoint8) (at_lander general waypoint9) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera2 rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (communicated_image_data objective0 low_res) (communicated_rock_data waypoint2) (communicated_rock_data waypoint8) (communicated_soil_data waypoint3) (communicated_soil_data waypoint9) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (full rover2store) (full rover3store) (have_image rover2 objective0 low_res) (have_rock_analysis rover1 waypoint2) (have_rock_analysis rover3 waypoint8) (have_soil_analysis rover2 waypoint3) (have_soil_analysis rover3 waypoint9) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

(:action (take_image rover2 waypoint6 objective2 camera2 high_res))

(:state (at rover0 waypoint0) (at rover1 waypoint8) (at rover2 waypoint6) (at rover3 waypoint8) (at_lander general waypoint9) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (available rover0) (available rover1) (available rover2) (available rover3) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (communicated_image_data objective0 low_res) (communicated_rock_data waypoint2) (communicated_rock_data waypoint8) (communicated_soil_data waypoint3) (communicated_soil_data waypoint9) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (full rover2store) (full rover3store) (have_image rover2 objective0 low_res) (have_image rover2 objective2 high_res) (have_rock_analysis rover1 waypoint2) (have_rock_analysis rover3 waypoint8) (have_soil_analysis rover2 waypoint3) (have_soil_analysis rover3 waypoint9) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

(:action (calibrate rover2 camera2 objective1 waypoint6))

(:state (at rover0 waypoint0) (at rover1 waypoint8) (at rover2 waypoint6) (at rover3 waypoint8) (at_lander general waypoint9) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera2 rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (communicated_image_data objective0 low_res) (communicated_rock_data waypoint2) (communicated_rock_data waypoint8) (communicated_soil_data waypoint3) (communicated_soil_data waypoint9) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (full rover2store) (full rover3store) (have_image rover2 objective0 low_res) (have_image rover2 objective2 high_res) (have_rock_analysis rover1 waypoint2) (have_rock_analysis rover3 waypoint8) (have_soil_analysis rover2 waypoint3) (have_soil_analysis rover3 waypoint9) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

(:action (communicate_image_data rover2 general objective2 high_res waypoint6 waypoint9))

(:state (at rover0 waypoint0) (at rover1 waypoint8) (at rover2 waypoint6) (at rover3 waypoint8) (at_lander general waypoint9) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera2 rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (communicated_image_data objective0 low_res) (communicated_image_data objective2 high_res) (communicated_rock_data waypoint2) (communicated_rock_data waypoint8) (communicated_soil_data waypoint3) (communicated_soil_data waypoint9) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (full rover2store) (full rover3store) (have_image rover2 objective0 low_res) (have_image rover2 objective2 high_res) (have_rock_analysis rover1 waypoint2) (have_rock_analysis rover3 waypoint8) (have_soil_analysis rover2 waypoint3) (have_soil_analysis rover3 waypoint9) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

(:action (take_image rover2 waypoint6 objective2 camera2 low_res))

(:state (at rover0 waypoint0) (at rover1 waypoint8) (at rover2 waypoint6) (at rover3 waypoint8) (at_lander general waypoint9) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (available rover0) (available rover1) (available rover2) (available rover3) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (communicated_image_data objective0 low_res) (communicated_image_data objective2 high_res) (communicated_rock_data waypoint2) (communicated_rock_data waypoint8) (communicated_soil_data waypoint3) (communicated_soil_data waypoint9) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (full rover2store) (full rover3store) (have_image rover2 objective0 low_res) (have_image rover2 objective2 high_res) (have_image rover2 objective2 low_res) (have_rock_analysis rover1 waypoint2) (have_rock_analysis rover3 waypoint8) (have_soil_analysis rover2 waypoint3) (have_soil_analysis rover3 waypoint9) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

(:action (calibrate rover2 camera2 objective1 waypoint6))

(:state (at rover0 waypoint0) (at rover1 waypoint8) (at rover2 waypoint6) (at rover3 waypoint8) (at_lander general waypoint9) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera2 rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (communicated_image_data objective0 low_res) (communicated_image_data objective2 high_res) (communicated_rock_data waypoint2) (communicated_rock_data waypoint8) (communicated_soil_data waypoint3) (communicated_soil_data waypoint9) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (full rover2store) (full rover3store) (have_image rover2 objective0 low_res) (have_image rover2 objective2 high_res) (have_image rover2 objective2 low_res) (have_rock_analysis rover1 waypoint2) (have_rock_analysis rover3 waypoint8) (have_soil_analysis rover2 waypoint3) (have_soil_analysis rover3 waypoint9) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

(:action (navigate rover2 waypoint6 waypoint3))

(:state (at rover0 waypoint0) (at rover1 waypoint8) (at rover2 waypoint3) (at rover3 waypoint8) (at_lander general waypoint9) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (available rover0) (available rover1) (available rover2) (available rover3) (calibrated camera2 rover2) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (communicated_image_data objective0 low_res) (communicated_image_data objective2 high_res) (communicated_rock_data waypoint2) (communicated_rock_data waypoint8) (communicated_soil_data waypoint3) (communicated_soil_data waypoint9) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (full rover2store) (full rover3store) (have_image rover2 objective0 low_res) (have_image rover2 objective2 high_res) (have_image rover2 objective2 low_res) (have_rock_analysis rover1 waypoint2) (have_rock_analysis rover3 waypoint8) (have_soil_analysis rover2 waypoint3) (have_soil_analysis rover3 waypoint9) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

(:action (take_image rover2 waypoint3 objective4 camera2 colour))

(:state (at rover0 waypoint0) (at rover1 waypoint8) (at rover2 waypoint3) (at rover3 waypoint8) (at_lander general waypoint9) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (available rover0) (available rover1) (available rover2) (available rover3) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (communicated_image_data objective0 low_res) (communicated_image_data objective2 high_res) (communicated_rock_data waypoint2) (communicated_rock_data waypoint8) (communicated_soil_data waypoint3) (communicated_soil_data waypoint9) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (full rover2store) (full rover3store) (have_image rover2 objective0 low_res) (have_image rover2 objective2 high_res) (have_image rover2 objective2 low_res) (have_image rover2 objective4 colour) (have_rock_analysis rover1 waypoint2) (have_rock_analysis rover3 waypoint8) (have_soil_analysis rover2 waypoint3) (have_soil_analysis rover3 waypoint9) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

(:action (drop rover2 rover2store))

(:state (at rover0 waypoint0) (at rover1 waypoint8) (at rover2 waypoint3) (at rover3 waypoint8) (at_lander general waypoint9) (at_rock_sample waypoint4) (at_rock_sample waypoint7) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint1) (at_soil_sample waypoint2) (available rover0) (available rover1) (available rover2) (available rover3) (calibration_target camera0 objective3) (calibration_target camera1 objective1) (calibration_target camera2 objective1) (calibration_target camera3 objective1) (calibration_target camera4 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint1 waypoint3) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint4) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint7) (can_traverse rover0 waypoint2 waypoint8) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint4 waypoint2) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint2) (can_traverse rover0 waypoint8 waypoint2) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover1 waypoint0 waypoint4) (can_traverse rover1 waypoint0 waypoint8) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint2 waypoint8) (can_traverse rover1 waypoint3 waypoint9) (can_traverse rover1 waypoint4 waypoint0) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint8) (can_traverse rover1 waypoint8 waypoint0) (can_traverse rover1 waypoint8 waypoint2) (can_traverse rover1 waypoint8 waypoint7) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint3) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint1 waypoint3) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint3 waypoint1) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint3 waypoint6) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint3) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint8) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint8 waypoint7) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint7) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint6 waypoint9) (can_traverse rover3 waypoint7 waypoint2) (can_traverse rover3 waypoint7 waypoint9) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint6) (can_traverse rover3 waypoint9 waypoint7) (can_traverse rover3 waypoint9 waypoint8) (channel_free general) (communicated_image_data objective0 low_res) (communicated_image_data objective2 high_res) (communicated_rock_data waypoint2) (communicated_rock_data waypoint8) (communicated_soil_data waypoint3) (communicated_soil_data waypoint9) (empty rover0store) (empty rover1store) (empty rover2store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_rock_analysis rover1) (equipped_for_rock_analysis rover3) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover2) (equipped_for_soil_analysis rover3) (full rover3store) (have_image rover2 objective0 low_res) (have_image rover2 objective2 high_res) (have_image rover2 objective2 low_res) (have_image rover2 objective4 colour) (have_rock_analysis rover1 waypoint2) (have_rock_analysis rover3 waypoint8) (have_soil_analysis rover2 waypoint3) (have_soil_analysis rover3 waypoint9) (on_board camera0 rover3) (on_board camera1 rover1) (on_board camera2 rover2) (on_board camera3 rover1) (on_board camera4 rover0) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (supports camera0 colour) (supports camera0 high_res) (supports camera1 low_res) (supports camera2 colour) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint5) (visible waypoint0 waypoint6) (visible waypoint0 waypoint8) (visible waypoint0 waypoint9) (visible waypoint1 waypoint2) (visible waypoint1 waypoint3) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint9) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint1) (visible waypoint3 waypoint2) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint3 waypoint9) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint2) (visible waypoint4 waypoint9) (visible waypoint5 waypoint0) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint2) (visible waypoint7 waypoint8) (visible waypoint7 waypoint9) (visible waypoint8 waypoint0) (visible waypoint8 waypoint2) (visible waypoint8 waypoint6) (visible waypoint8 waypoint7) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint6) (visible_from objective0 waypoint8) (visible_from objective1 waypoint5) (visible_from objective1 waypoint6) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) (visible_from objective2 waypoint4) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint6) (visible_from objective3 waypoint7) (visible_from objective4 waypoint0) (visible_from objective4 waypoint1) (visible_from objective4 waypoint2) (visible_from objective4 waypoint3) (visible_from objective4 waypoint7))

)