(:trajectory

(:state (at rover0 waypoint3) (at rover1 waypoint8) (at rover2 waypoint0) (at rover3 waypoint2) (at rover4 waypoint11) (at_lander general waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_soil_sample waypoint1) (at_soil_sample waypoint10) (at_soil_sample waypoint3) (at_soil_sample waypoint8) (available rover0) (available rover1) (available rover2) (available rover3) (available rover4) (calibration_target camera0 objective0) (calibration_target camera1 objective3) (calibration_target camera2 objective4) (calibration_target camera3 objective4) (calibration_target camera4 objective2) (calibration_target camera5 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint10 waypoint3) (can_traverse rover0 waypoint11 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint10) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint3 waypoint5) (can_traverse rover0 waypoint3 waypoint6) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint5 waypoint11) (can_traverse rover0 waypoint5 waypoint3) (can_traverse rover0 waypoint5 waypoint7) (can_traverse rover0 waypoint6 waypoint3) (can_traverse rover0 waypoint7 waypoint5) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint9) (can_traverse rover1 waypoint10 waypoint9) (can_traverse rover1 waypoint11 waypoint8) (can_traverse rover1 waypoint3 waypoint6) (can_traverse rover1 waypoint5 waypoint9) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover1 waypoint6 waypoint3) (can_traverse rover1 waypoint6 waypoint8) (can_traverse rover1 waypoint7 waypoint9) (can_traverse rover1 waypoint8 waypoint11) (can_traverse rover1 waypoint8 waypoint6) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint1) (can_traverse rover1 waypoint9 waypoint10) (can_traverse rover1 waypoint9 waypoint5) (can_traverse rover1 waypoint9 waypoint7) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint1) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint0 waypoint7) (can_traverse rover2 waypoint1 waypoint0) (can_traverse rover2 waypoint1 waypoint10) (can_traverse rover2 waypoint10 waypoint1) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint2 waypoint5) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint2) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint0) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint1 waypoint10) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint10 waypoint1) (can_traverse rover3 waypoint11 waypoint5) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint4) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint6) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint2) (can_traverse rover3 waypoint4 waypoint7) (can_traverse rover3 waypoint5 waypoint11) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint5 waypoint9) (can_traverse rover3 waypoint6 waypoint2) (can_traverse rover3 waypoint6 waypoint8) (can_traverse rover3 waypoint7 waypoint4) (can_traverse rover3 waypoint8 waypoint6) (can_traverse rover3 waypoint9 waypoint5) (can_traverse rover4 waypoint0 waypoint7) (can_traverse rover4 waypoint1 waypoint7) (can_traverse rover4 waypoint10 waypoint3) (can_traverse rover4 waypoint11 waypoint3) (can_traverse rover4 waypoint11 waypoint5) (can_traverse rover4 waypoint11 waypoint7) (can_traverse rover4 waypoint11 waypoint8) (can_traverse rover4 waypoint2 waypoint5) (can_traverse rover4 waypoint3 waypoint10) (can_traverse rover4 waypoint3 waypoint11) (can_traverse rover4 waypoint3 waypoint6) (can_traverse rover4 waypoint4 waypoint5) (can_traverse rover4 waypoint5 waypoint11) (can_traverse rover4 waypoint5 waypoint2) (can_traverse rover4 waypoint5 waypoint4) (can_traverse rover4 waypoint5 waypoint9) (can_traverse rover4 waypoint6 waypoint3) (can_traverse rover4 waypoint7 waypoint0) (can_traverse rover4 waypoint7 waypoint1) (can_traverse rover4 waypoint7 waypoint11) (can_traverse rover4 waypoint8 waypoint11) (can_traverse rover4 waypoint9 waypoint5) (channel_free general) (empty rover0store) (empty rover1store) (empty rover2store) (empty rover3store) (empty rover4store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover3) (equipped_for_imaging rover4) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_rock_analysis rover3) (equipped_for_rock_analysis rover4) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover4) (on_board camera0 rover0) (on_board camera1 rover3) (on_board camera2 rover4) (on_board camera3 rover3) (on_board camera4 rover1) (on_board camera5 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (store_of rover4store rover4) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (supports camera5 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint6) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint10) (visible waypoint1 waypoint2) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint1 waypoint9) (visible waypoint10 waypoint1) (visible waypoint10 waypoint3) (visible waypoint10 waypoint4) (visible waypoint10 waypoint8) (visible waypoint10 waypoint9) (visible waypoint11 waypoint3) (visible waypoint11 waypoint5) (visible waypoint11 waypoint7) (visible waypoint11 waypoint8) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint6) (visible waypoint3 waypoint10) (visible waypoint3 waypoint11) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint10) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint11) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint7) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint11) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint9) (visible waypoint8 waypoint10) (visible waypoint8 waypoint11) (visible waypoint8 waypoint6) (visible waypoint8 waypoint9) (visible waypoint9 waypoint1) (visible waypoint9 waypoint10) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint0) (visible_from objective0 waypoint10) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective0 waypoint9) (visible_from objective1 waypoint10) (visible_from objective1 waypoint11) (visible_from objective2 waypoint0) (visible_from objective2 waypoint11) (visible_from objective2 waypoint3) (visible_from objective2 waypoint5) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint10) (visible_from objective3 waypoint11) (visible_from objective3 waypoint8) (visible_from objective3 waypoint9) (visible_from objective4 waypoint10) (visible_from objective4 waypoint4) (visible_from objective4 waypoint8) (visible_from objective4 waypoint9) (visible_from objective5 waypoint4) (visible_from objective5 waypoint6))

(:action (navigate rover4 waypoint11 waypoint3))

(:state (at rover0 waypoint3) (at rover1 waypoint8) (at rover2 waypoint0) (at rover3 waypoint2) (at rover4 waypoint3) (at_lander general waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_soil_sample waypoint1) (at_soil_sample waypoint10) (at_soil_sample waypoint3) (at_soil_sample waypoint8) (available rover0) (available rover1) (available rover2) (available rover3) (available rover4) (calibration_target camera0 objective0) (calibration_target camera1 objective3) (calibration_target camera2 objective4) (calibration_target camera3 objective4) (calibration_target camera4 objective2) (calibration_target camera5 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint10 waypoint3) (can_traverse rover0 waypoint11 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint10) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint3 waypoint5) (can_traverse rover0 waypoint3 waypoint6) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint5 waypoint11) (can_traverse rover0 waypoint5 waypoint3) (can_traverse rover0 waypoint5 waypoint7) (can_traverse rover0 waypoint6 waypoint3) (can_traverse rover0 waypoint7 waypoint5) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint9) (can_traverse rover1 waypoint10 waypoint9) (can_traverse rover1 waypoint11 waypoint8) (can_traverse rover1 waypoint3 waypoint6) (can_traverse rover1 waypoint5 waypoint9) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover1 waypoint6 waypoint3) (can_traverse rover1 waypoint6 waypoint8) (can_traverse rover1 waypoint7 waypoint9) (can_traverse rover1 waypoint8 waypoint11) (can_traverse rover1 waypoint8 waypoint6) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint1) (can_traverse rover1 waypoint9 waypoint10) (can_traverse rover1 waypoint9 waypoint5) (can_traverse rover1 waypoint9 waypoint7) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint1) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint0 waypoint7) (can_traverse rover2 waypoint1 waypoint0) (can_traverse rover2 waypoint1 waypoint10) (can_traverse rover2 waypoint10 waypoint1) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint2 waypoint5) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint2) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint0) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint1 waypoint10) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint10 waypoint1) (can_traverse rover3 waypoint11 waypoint5) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint4) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint6) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint2) (can_traverse rover3 waypoint4 waypoint7) (can_traverse rover3 waypoint5 waypoint11) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint5 waypoint9) (can_traverse rover3 waypoint6 waypoint2) (can_traverse rover3 waypoint6 waypoint8) (can_traverse rover3 waypoint7 waypoint4) (can_traverse rover3 waypoint8 waypoint6) (can_traverse rover3 waypoint9 waypoint5) (can_traverse rover4 waypoint0 waypoint7) (can_traverse rover4 waypoint1 waypoint7) (can_traverse rover4 waypoint10 waypoint3) (can_traverse rover4 waypoint11 waypoint3) (can_traverse rover4 waypoint11 waypoint5) (can_traverse rover4 waypoint11 waypoint7) (can_traverse rover4 waypoint11 waypoint8) (can_traverse rover4 waypoint2 waypoint5) (can_traverse rover4 waypoint3 waypoint10) (can_traverse rover4 waypoint3 waypoint11) (can_traverse rover4 waypoint3 waypoint6) (can_traverse rover4 waypoint4 waypoint5) (can_traverse rover4 waypoint5 waypoint11) (can_traverse rover4 waypoint5 waypoint2) (can_traverse rover4 waypoint5 waypoint4) (can_traverse rover4 waypoint5 waypoint9) (can_traverse rover4 waypoint6 waypoint3) (can_traverse rover4 waypoint7 waypoint0) (can_traverse rover4 waypoint7 waypoint1) (can_traverse rover4 waypoint7 waypoint11) (can_traverse rover4 waypoint8 waypoint11) (can_traverse rover4 waypoint9 waypoint5) (channel_free general) (empty rover0store) (empty rover1store) (empty rover2store) (empty rover3store) (empty rover4store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover3) (equipped_for_imaging rover4) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_rock_analysis rover3) (equipped_for_rock_analysis rover4) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover4) (on_board camera0 rover0) (on_board camera1 rover3) (on_board camera2 rover4) (on_board camera3 rover3) (on_board camera4 rover1) (on_board camera5 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (store_of rover4store rover4) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (supports camera5 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint6) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint10) (visible waypoint1 waypoint2) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint1 waypoint9) (visible waypoint10 waypoint1) (visible waypoint10 waypoint3) (visible waypoint10 waypoint4) (visible waypoint10 waypoint8) (visible waypoint10 waypoint9) (visible waypoint11 waypoint3) (visible waypoint11 waypoint5) (visible waypoint11 waypoint7) (visible waypoint11 waypoint8) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint6) (visible waypoint3 waypoint10) (visible waypoint3 waypoint11) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint10) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint11) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint7) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint11) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint9) (visible waypoint8 waypoint10) (visible waypoint8 waypoint11) (visible waypoint8 waypoint6) (visible waypoint8 waypoint9) (visible waypoint9 waypoint1) (visible waypoint9 waypoint10) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint0) (visible_from objective0 waypoint10) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective0 waypoint9) (visible_from objective1 waypoint10) (visible_from objective1 waypoint11) (visible_from objective2 waypoint0) (visible_from objective2 waypoint11) (visible_from objective2 waypoint3) (visible_from objective2 waypoint5) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint10) (visible_from objective3 waypoint11) (visible_from objective3 waypoint8) (visible_from objective3 waypoint9) (visible_from objective4 waypoint10) (visible_from objective4 waypoint4) (visible_from objective4 waypoint8) (visible_from objective4 waypoint9) (visible_from objective5 waypoint4) (visible_from objective5 waypoint6))

(:action (navigate rover3 waypoint2 waypoint4))

(:state (at rover0 waypoint3) (at rover1 waypoint8) (at rover2 waypoint0) (at rover3 waypoint4) (at rover4 waypoint3) (at_lander general waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_soil_sample waypoint1) (at_soil_sample waypoint10) (at_soil_sample waypoint3) (at_soil_sample waypoint8) (available rover0) (available rover1) (available rover2) (available rover3) (available rover4) (calibration_target camera0 objective0) (calibration_target camera1 objective3) (calibration_target camera2 objective4) (calibration_target camera3 objective4) (calibration_target camera4 objective2) (calibration_target camera5 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint10 waypoint3) (can_traverse rover0 waypoint11 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint10) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint3 waypoint5) (can_traverse rover0 waypoint3 waypoint6) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint5 waypoint11) (can_traverse rover0 waypoint5 waypoint3) (can_traverse rover0 waypoint5 waypoint7) (can_traverse rover0 waypoint6 waypoint3) (can_traverse rover0 waypoint7 waypoint5) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint9) (can_traverse rover1 waypoint10 waypoint9) (can_traverse rover1 waypoint11 waypoint8) (can_traverse rover1 waypoint3 waypoint6) (can_traverse rover1 waypoint5 waypoint9) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover1 waypoint6 waypoint3) (can_traverse rover1 waypoint6 waypoint8) (can_traverse rover1 waypoint7 waypoint9) (can_traverse rover1 waypoint8 waypoint11) (can_traverse rover1 waypoint8 waypoint6) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint1) (can_traverse rover1 waypoint9 waypoint10) (can_traverse rover1 waypoint9 waypoint5) (can_traverse rover1 waypoint9 waypoint7) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint1) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint0 waypoint7) (can_traverse rover2 waypoint1 waypoint0) (can_traverse rover2 waypoint1 waypoint10) (can_traverse rover2 waypoint10 waypoint1) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint2 waypoint5) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint2) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint0) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint1 waypoint10) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint10 waypoint1) (can_traverse rover3 waypoint11 waypoint5) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint4) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint6) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint2) (can_traverse rover3 waypoint4 waypoint7) (can_traverse rover3 waypoint5 waypoint11) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint5 waypoint9) (can_traverse rover3 waypoint6 waypoint2) (can_traverse rover3 waypoint6 waypoint8) (can_traverse rover3 waypoint7 waypoint4) (can_traverse rover3 waypoint8 waypoint6) (can_traverse rover3 waypoint9 waypoint5) (can_traverse rover4 waypoint0 waypoint7) (can_traverse rover4 waypoint1 waypoint7) (can_traverse rover4 waypoint10 waypoint3) (can_traverse rover4 waypoint11 waypoint3) (can_traverse rover4 waypoint11 waypoint5) (can_traverse rover4 waypoint11 waypoint7) (can_traverse rover4 waypoint11 waypoint8) (can_traverse rover4 waypoint2 waypoint5) (can_traverse rover4 waypoint3 waypoint10) (can_traverse rover4 waypoint3 waypoint11) (can_traverse rover4 waypoint3 waypoint6) (can_traverse rover4 waypoint4 waypoint5) (can_traverse rover4 waypoint5 waypoint11) (can_traverse rover4 waypoint5 waypoint2) (can_traverse rover4 waypoint5 waypoint4) (can_traverse rover4 waypoint5 waypoint9) (can_traverse rover4 waypoint6 waypoint3) (can_traverse rover4 waypoint7 waypoint0) (can_traverse rover4 waypoint7 waypoint1) (can_traverse rover4 waypoint7 waypoint11) (can_traverse rover4 waypoint8 waypoint11) (can_traverse rover4 waypoint9 waypoint5) (channel_free general) (empty rover0store) (empty rover1store) (empty rover2store) (empty rover3store) (empty rover4store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover3) (equipped_for_imaging rover4) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_rock_analysis rover3) (equipped_for_rock_analysis rover4) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover4) (on_board camera0 rover0) (on_board camera1 rover3) (on_board camera2 rover4) (on_board camera3 rover3) (on_board camera4 rover1) (on_board camera5 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (store_of rover4store rover4) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (supports camera5 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint6) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint10) (visible waypoint1 waypoint2) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint1 waypoint9) (visible waypoint10 waypoint1) (visible waypoint10 waypoint3) (visible waypoint10 waypoint4) (visible waypoint10 waypoint8) (visible waypoint10 waypoint9) (visible waypoint11 waypoint3) (visible waypoint11 waypoint5) (visible waypoint11 waypoint7) (visible waypoint11 waypoint8) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint6) (visible waypoint3 waypoint10) (visible waypoint3 waypoint11) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint10) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint11) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint7) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint11) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint9) (visible waypoint8 waypoint10) (visible waypoint8 waypoint11) (visible waypoint8 waypoint6) (visible waypoint8 waypoint9) (visible waypoint9 waypoint1) (visible waypoint9 waypoint10) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint0) (visible_from objective0 waypoint10) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective0 waypoint9) (visible_from objective1 waypoint10) (visible_from objective1 waypoint11) (visible_from objective2 waypoint0) (visible_from objective2 waypoint11) (visible_from objective2 waypoint3) (visible_from objective2 waypoint5) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint10) (visible_from objective3 waypoint11) (visible_from objective3 waypoint8) (visible_from objective3 waypoint9) (visible_from objective4 waypoint10) (visible_from objective4 waypoint4) (visible_from objective4 waypoint8) (visible_from objective4 waypoint9) (visible_from objective5 waypoint4) (visible_from objective5 waypoint6))

(:action (navigate rover2 waypoint0 waypoint1))

(:state (at rover0 waypoint3) (at rover1 waypoint8) (at rover2 waypoint1) (at rover3 waypoint4) (at rover4 waypoint3) (at_lander general waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_soil_sample waypoint1) (at_soil_sample waypoint10) (at_soil_sample waypoint3) (at_soil_sample waypoint8) (available rover0) (available rover1) (available rover2) (available rover3) (available rover4) (calibration_target camera0 objective0) (calibration_target camera1 objective3) (calibration_target camera2 objective4) (calibration_target camera3 objective4) (calibration_target camera4 objective2) (calibration_target camera5 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint10 waypoint3) (can_traverse rover0 waypoint11 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint10) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint3 waypoint5) (can_traverse rover0 waypoint3 waypoint6) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint5 waypoint11) (can_traverse rover0 waypoint5 waypoint3) (can_traverse rover0 waypoint5 waypoint7) (can_traverse rover0 waypoint6 waypoint3) (can_traverse rover0 waypoint7 waypoint5) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint9) (can_traverse rover1 waypoint10 waypoint9) (can_traverse rover1 waypoint11 waypoint8) (can_traverse rover1 waypoint3 waypoint6) (can_traverse rover1 waypoint5 waypoint9) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover1 waypoint6 waypoint3) (can_traverse rover1 waypoint6 waypoint8) (can_traverse rover1 waypoint7 waypoint9) (can_traverse rover1 waypoint8 waypoint11) (can_traverse rover1 waypoint8 waypoint6) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint1) (can_traverse rover1 waypoint9 waypoint10) (can_traverse rover1 waypoint9 waypoint5) (can_traverse rover1 waypoint9 waypoint7) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint1) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint0 waypoint7) (can_traverse rover2 waypoint1 waypoint0) (can_traverse rover2 waypoint1 waypoint10) (can_traverse rover2 waypoint10 waypoint1) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint2 waypoint5) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint2) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint0) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint1 waypoint10) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint10 waypoint1) (can_traverse rover3 waypoint11 waypoint5) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint4) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint6) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint2) (can_traverse rover3 waypoint4 waypoint7) (can_traverse rover3 waypoint5 waypoint11) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint5 waypoint9) (can_traverse rover3 waypoint6 waypoint2) (can_traverse rover3 waypoint6 waypoint8) (can_traverse rover3 waypoint7 waypoint4) (can_traverse rover3 waypoint8 waypoint6) (can_traverse rover3 waypoint9 waypoint5) (can_traverse rover4 waypoint0 waypoint7) (can_traverse rover4 waypoint1 waypoint7) (can_traverse rover4 waypoint10 waypoint3) (can_traverse rover4 waypoint11 waypoint3) (can_traverse rover4 waypoint11 waypoint5) (can_traverse rover4 waypoint11 waypoint7) (can_traverse rover4 waypoint11 waypoint8) (can_traverse rover4 waypoint2 waypoint5) (can_traverse rover4 waypoint3 waypoint10) (can_traverse rover4 waypoint3 waypoint11) (can_traverse rover4 waypoint3 waypoint6) (can_traverse rover4 waypoint4 waypoint5) (can_traverse rover4 waypoint5 waypoint11) (can_traverse rover4 waypoint5 waypoint2) (can_traverse rover4 waypoint5 waypoint4) (can_traverse rover4 waypoint5 waypoint9) (can_traverse rover4 waypoint6 waypoint3) (can_traverse rover4 waypoint7 waypoint0) (can_traverse rover4 waypoint7 waypoint1) (can_traverse rover4 waypoint7 waypoint11) (can_traverse rover4 waypoint8 waypoint11) (can_traverse rover4 waypoint9 waypoint5) (channel_free general) (empty rover0store) (empty rover1store) (empty rover2store) (empty rover3store) (empty rover4store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover3) (equipped_for_imaging rover4) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_rock_analysis rover3) (equipped_for_rock_analysis rover4) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover4) (on_board camera0 rover0) (on_board camera1 rover3) (on_board camera2 rover4) (on_board camera3 rover3) (on_board camera4 rover1) (on_board camera5 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (store_of rover4store rover4) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (supports camera5 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint6) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint10) (visible waypoint1 waypoint2) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint1 waypoint9) (visible waypoint10 waypoint1) (visible waypoint10 waypoint3) (visible waypoint10 waypoint4) (visible waypoint10 waypoint8) (visible waypoint10 waypoint9) (visible waypoint11 waypoint3) (visible waypoint11 waypoint5) (visible waypoint11 waypoint7) (visible waypoint11 waypoint8) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint6) (visible waypoint3 waypoint10) (visible waypoint3 waypoint11) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint10) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint11) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint7) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint11) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint9) (visible waypoint8 waypoint10) (visible waypoint8 waypoint11) (visible waypoint8 waypoint6) (visible waypoint8 waypoint9) (visible waypoint9 waypoint1) (visible waypoint9 waypoint10) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint0) (visible_from objective0 waypoint10) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective0 waypoint9) (visible_from objective1 waypoint10) (visible_from objective1 waypoint11) (visible_from objective2 waypoint0) (visible_from objective2 waypoint11) (visible_from objective2 waypoint3) (visible_from objective2 waypoint5) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint10) (visible_from objective3 waypoint11) (visible_from objective3 waypoint8) (visible_from objective3 waypoint9) (visible_from objective4 waypoint10) (visible_from objective4 waypoint4) (visible_from objective4 waypoint8) (visible_from objective4 waypoint9) (visible_from objective5 waypoint4) (visible_from objective5 waypoint6))

(:action (calibrate rover3 camera3 objective4 waypoint4))

(:state (at rover0 waypoint3) (at rover1 waypoint8) (at rover2 waypoint1) (at rover3 waypoint4) (at rover4 waypoint3) (at_lander general waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_soil_sample waypoint1) (at_soil_sample waypoint10) (at_soil_sample waypoint3) (at_soil_sample waypoint8) (available rover0) (available rover1) (available rover2) (available rover3) (available rover4) (calibrated camera3 rover3) (calibration_target camera0 objective0) (calibration_target camera1 objective3) (calibration_target camera2 objective4) (calibration_target camera3 objective4) (calibration_target camera4 objective2) (calibration_target camera5 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint10 waypoint3) (can_traverse rover0 waypoint11 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint10) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint3 waypoint5) (can_traverse rover0 waypoint3 waypoint6) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint5 waypoint11) (can_traverse rover0 waypoint5 waypoint3) (can_traverse rover0 waypoint5 waypoint7) (can_traverse rover0 waypoint6 waypoint3) (can_traverse rover0 waypoint7 waypoint5) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint9) (can_traverse rover1 waypoint10 waypoint9) (can_traverse rover1 waypoint11 waypoint8) (can_traverse rover1 waypoint3 waypoint6) (can_traverse rover1 waypoint5 waypoint9) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover1 waypoint6 waypoint3) (can_traverse rover1 waypoint6 waypoint8) (can_traverse rover1 waypoint7 waypoint9) (can_traverse rover1 waypoint8 waypoint11) (can_traverse rover1 waypoint8 waypoint6) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint1) (can_traverse rover1 waypoint9 waypoint10) (can_traverse rover1 waypoint9 waypoint5) (can_traverse rover1 waypoint9 waypoint7) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint1) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint0 waypoint7) (can_traverse rover2 waypoint1 waypoint0) (can_traverse rover2 waypoint1 waypoint10) (can_traverse rover2 waypoint10 waypoint1) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint2 waypoint5) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint2) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint0) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint1 waypoint10) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint10 waypoint1) (can_traverse rover3 waypoint11 waypoint5) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint4) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint6) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint2) (can_traverse rover3 waypoint4 waypoint7) (can_traverse rover3 waypoint5 waypoint11) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint5 waypoint9) (can_traverse rover3 waypoint6 waypoint2) (can_traverse rover3 waypoint6 waypoint8) (can_traverse rover3 waypoint7 waypoint4) (can_traverse rover3 waypoint8 waypoint6) (can_traverse rover3 waypoint9 waypoint5) (can_traverse rover4 waypoint0 waypoint7) (can_traverse rover4 waypoint1 waypoint7) (can_traverse rover4 waypoint10 waypoint3) (can_traverse rover4 waypoint11 waypoint3) (can_traverse rover4 waypoint11 waypoint5) (can_traverse rover4 waypoint11 waypoint7) (can_traverse rover4 waypoint11 waypoint8) (can_traverse rover4 waypoint2 waypoint5) (can_traverse rover4 waypoint3 waypoint10) (can_traverse rover4 waypoint3 waypoint11) (can_traverse rover4 waypoint3 waypoint6) (can_traverse rover4 waypoint4 waypoint5) (can_traverse rover4 waypoint5 waypoint11) (can_traverse rover4 waypoint5 waypoint2) (can_traverse rover4 waypoint5 waypoint4) (can_traverse rover4 waypoint5 waypoint9) (can_traverse rover4 waypoint6 waypoint3) (can_traverse rover4 waypoint7 waypoint0) (can_traverse rover4 waypoint7 waypoint1) (can_traverse rover4 waypoint7 waypoint11) (can_traverse rover4 waypoint8 waypoint11) (can_traverse rover4 waypoint9 waypoint5) (channel_free general) (empty rover0store) (empty rover1store) (empty rover2store) (empty rover3store) (empty rover4store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover3) (equipped_for_imaging rover4) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_rock_analysis rover3) (equipped_for_rock_analysis rover4) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover4) (on_board camera0 rover0) (on_board camera1 rover3) (on_board camera2 rover4) (on_board camera3 rover3) (on_board camera4 rover1) (on_board camera5 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (store_of rover4store rover4) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (supports camera5 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint6) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint10) (visible waypoint1 waypoint2) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint1 waypoint9) (visible waypoint10 waypoint1) (visible waypoint10 waypoint3) (visible waypoint10 waypoint4) (visible waypoint10 waypoint8) (visible waypoint10 waypoint9) (visible waypoint11 waypoint3) (visible waypoint11 waypoint5) (visible waypoint11 waypoint7) (visible waypoint11 waypoint8) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint6) (visible waypoint3 waypoint10) (visible waypoint3 waypoint11) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint10) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint11) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint7) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint11) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint9) (visible waypoint8 waypoint10) (visible waypoint8 waypoint11) (visible waypoint8 waypoint6) (visible waypoint8 waypoint9) (visible waypoint9 waypoint1) (visible waypoint9 waypoint10) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint0) (visible_from objective0 waypoint10) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective0 waypoint9) (visible_from objective1 waypoint10) (visible_from objective1 waypoint11) (visible_from objective2 waypoint0) (visible_from objective2 waypoint11) (visible_from objective2 waypoint3) (visible_from objective2 waypoint5) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint10) (visible_from objective3 waypoint11) (visible_from objective3 waypoint8) (visible_from objective3 waypoint9) (visible_from objective4 waypoint10) (visible_from objective4 waypoint4) (visible_from objective4 waypoint8) (visible_from objective4 waypoint9) (visible_from objective5 waypoint4) (visible_from objective5 waypoint6))

(:action (sample_soil rover4 rover4store waypoint3))

(:state (at rover0 waypoint3) (at rover1 waypoint8) (at rover2 waypoint1) (at rover3 waypoint4) (at rover4 waypoint3) (at_lander general waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_soil_sample waypoint1) (at_soil_sample waypoint10) (at_soil_sample waypoint8) (available rover0) (available rover1) (available rover2) (available rover3) (available rover4) (calibrated camera3 rover3) (calibration_target camera0 objective0) (calibration_target camera1 objective3) (calibration_target camera2 objective4) (calibration_target camera3 objective4) (calibration_target camera4 objective2) (calibration_target camera5 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint10 waypoint3) (can_traverse rover0 waypoint11 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 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(can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint1 waypoint10) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint10 waypoint1) (can_traverse rover3 waypoint11 waypoint5) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint4) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint6) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint2) (can_traverse rover3 waypoint4 waypoint7) (can_traverse rover3 waypoint5 waypoint11) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint5 waypoint9) (can_traverse rover3 waypoint6 waypoint2) (can_traverse rover3 waypoint6 waypoint8) (can_traverse rover3 waypoint7 waypoint4) (can_traverse rover3 waypoint8 waypoint6) (can_traverse rover3 waypoint9 waypoint5) (can_traverse rover4 waypoint0 waypoint7) (can_traverse rover4 waypoint1 waypoint7) (can_traverse rover4 waypoint10 waypoint3) (can_traverse rover4 waypoint11 waypoint3) (can_traverse rover4 waypoint11 waypoint5) (can_traverse rover4 waypoint11 waypoint7) (can_traverse rover4 waypoint11 waypoint8) (can_traverse rover4 waypoint2 waypoint5) (can_traverse rover4 waypoint3 waypoint10) (can_traverse rover4 waypoint3 waypoint11) (can_traverse rover4 waypoint3 waypoint6) (can_traverse rover4 waypoint4 waypoint5) (can_traverse rover4 waypoint5 waypoint11) (can_traverse rover4 waypoint5 waypoint2) (can_traverse rover4 waypoint5 waypoint4) (can_traverse rover4 waypoint5 waypoint9) (can_traverse rover4 waypoint6 waypoint3) (can_traverse rover4 waypoint7 waypoint0) (can_traverse rover4 waypoint7 waypoint1) (can_traverse rover4 waypoint7 waypoint11) (can_traverse rover4 waypoint8 waypoint11) (can_traverse rover4 waypoint9 waypoint5) (channel_free general) (empty rover0store) (empty rover1store) (empty rover2store) (empty 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low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint6) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint10) (visible waypoint1 waypoint2) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint1 waypoint9) (visible waypoint10 waypoint1) (visible waypoint10 waypoint3) (visible waypoint10 waypoint4) (visible waypoint10 waypoint8) (visible waypoint10 waypoint9) (visible waypoint11 waypoint3) (visible waypoint11 waypoint5) (visible waypoint11 waypoint7) (visible waypoint11 waypoint8) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint6) (visible waypoint3 waypoint10) (visible waypoint3 waypoint11) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint10) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint11) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint7) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint11) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint9) (visible waypoint8 waypoint10) (visible waypoint8 waypoint11) (visible waypoint8 waypoint6) (visible waypoint8 waypoint9) (visible waypoint9 waypoint1) (visible waypoint9 waypoint10) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint0) (visible_from objective0 waypoint10) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective0 waypoint9) (visible_from objective1 waypoint10) (visible_from objective1 waypoint11) (visible_from objective2 waypoint0) (visible_from objective2 waypoint11) (visible_from objective2 waypoint3) (visible_from objective2 waypoint5) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint10) (visible_from objective3 waypoint11) (visible_from objective3 waypoint8) (visible_from objective3 waypoint9) (visible_from objective4 waypoint10) (visible_from objective4 waypoint4) (visible_from objective4 waypoint8) (visible_from objective4 waypoint9) (visible_from objective5 waypoint4) (visible_from objective5 waypoint6))

(:action (navigate rover4 waypoint3 waypoint10))

(:state (at rover0 waypoint3) (at rover1 waypoint8) (at rover2 waypoint1) (at rover3 waypoint4) (at rover4 waypoint10) (at_lander general waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_soil_sample waypoint1) (at_soil_sample waypoint10) (at_soil_sample waypoint8) (available rover0) (available rover1) (available rover2) (available rover3) (available rover4) (calibrated camera3 rover3) (calibration_target camera0 objective0) (calibration_target camera1 objective3) (calibration_target camera2 objective4) (calibration_target camera3 objective4) (calibration_target camera4 objective2) (calibration_target camera5 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint10 waypoint3) (can_traverse rover0 waypoint11 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint10) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint3 waypoint5) (can_traverse rover0 waypoint3 waypoint6) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint5 waypoint11) (can_traverse rover0 waypoint5 waypoint3) (can_traverse rover0 waypoint5 waypoint7) (can_traverse rover0 waypoint6 waypoint3) (can_traverse rover0 waypoint7 waypoint5) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint9) (can_traverse rover1 waypoint10 waypoint9) (can_traverse rover1 waypoint11 waypoint8) (can_traverse rover1 waypoint3 waypoint6) (can_traverse rover1 waypoint5 waypoint9) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover1 waypoint6 waypoint3) (can_traverse rover1 waypoint6 waypoint8) (can_traverse rover1 waypoint7 waypoint9) (can_traverse rover1 waypoint8 waypoint11) (can_traverse rover1 waypoint8 waypoint6) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint1) (can_traverse rover1 waypoint9 waypoint10) (can_traverse rover1 waypoint9 waypoint5) (can_traverse rover1 waypoint9 waypoint7) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint1) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint0 waypoint7) (can_traverse rover2 waypoint1 waypoint0) (can_traverse rover2 waypoint1 waypoint10) (can_traverse rover2 waypoint10 waypoint1) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint2 waypoint5) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint2) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint0) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint1 waypoint10) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint10 waypoint1) (can_traverse rover3 waypoint11 waypoint5) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint4) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint6) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint2) (can_traverse rover3 waypoint4 waypoint7) (can_traverse rover3 waypoint5 waypoint11) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint5 waypoint9) (can_traverse rover3 waypoint6 waypoint2) (can_traverse rover3 waypoint6 waypoint8) (can_traverse rover3 waypoint7 waypoint4) (can_traverse rover3 waypoint8 waypoint6) (can_traverse rover3 waypoint9 waypoint5) (can_traverse rover4 waypoint0 waypoint7) (can_traverse rover4 waypoint1 waypoint7) (can_traverse rover4 waypoint10 waypoint3) (can_traverse rover4 waypoint11 waypoint3) (can_traverse rover4 waypoint11 waypoint5) (can_traverse rover4 waypoint11 waypoint7) (can_traverse rover4 waypoint11 waypoint8) (can_traverse rover4 waypoint2 waypoint5) (can_traverse rover4 waypoint3 waypoint10) (can_traverse rover4 waypoint3 waypoint11) (can_traverse rover4 waypoint3 waypoint6) (can_traverse rover4 waypoint4 waypoint5) (can_traverse rover4 waypoint5 waypoint11) (can_traverse rover4 waypoint5 waypoint2) (can_traverse rover4 waypoint5 waypoint4) (can_traverse rover4 waypoint5 waypoint9) (can_traverse rover4 waypoint6 waypoint3) (can_traverse rover4 waypoint7 waypoint0) (can_traverse rover4 waypoint7 waypoint1) (can_traverse rover4 waypoint7 waypoint11) (can_traverse rover4 waypoint8 waypoint11) (can_traverse rover4 waypoint9 waypoint5) (channel_free general) (empty rover0store) (empty rover1store) (empty rover2store) (empty rover3store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover3) (equipped_for_imaging rover4) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_rock_analysis rover3) (equipped_for_rock_analysis rover4) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover4) (full rover4store) (have_soil_analysis rover4 waypoint3) (on_board camera0 rover0) (on_board camera1 rover3) (on_board camera2 rover4) (on_board camera3 rover3) (on_board camera4 rover1) (on_board camera5 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (store_of rover4store rover4) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (supports camera5 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint6) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint10) (visible waypoint1 waypoint2) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint1 waypoint9) (visible waypoint10 waypoint1) (visible waypoint10 waypoint3) (visible waypoint10 waypoint4) (visible waypoint10 waypoint8) (visible waypoint10 waypoint9) (visible waypoint11 waypoint3) (visible waypoint11 waypoint5) (visible waypoint11 waypoint7) (visible waypoint11 waypoint8) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint6) (visible waypoint3 waypoint10) (visible waypoint3 waypoint11) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint10) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint11) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint7) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint11) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint9) (visible waypoint8 waypoint10) (visible waypoint8 waypoint11) (visible waypoint8 waypoint6) (visible waypoint8 waypoint9) (visible waypoint9 waypoint1) (visible waypoint9 waypoint10) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint0) (visible_from objective0 waypoint10) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective0 waypoint9) (visible_from objective1 waypoint10) (visible_from objective1 waypoint11) (visible_from objective2 waypoint0) (visible_from objective2 waypoint11) (visible_from objective2 waypoint3) (visible_from objective2 waypoint5) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint10) (visible_from objective3 waypoint11) (visible_from objective3 waypoint8) (visible_from objective3 waypoint9) (visible_from objective4 waypoint10) (visible_from objective4 waypoint4) (visible_from objective4 waypoint8) (visible_from objective4 waypoint9) (visible_from objective5 waypoint4) (visible_from objective5 waypoint6))

(:action (calibrate rover4 camera2 objective4 waypoint10))

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(can_traverse rover0 waypoint3 waypoint10) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint3 waypoint5) (can_traverse rover0 waypoint3 waypoint6) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint5 waypoint11) (can_traverse rover0 waypoint5 waypoint3) (can_traverse rover0 waypoint5 waypoint7) (can_traverse rover0 waypoint6 waypoint3) (can_traverse rover0 waypoint7 waypoint5) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint9) (can_traverse rover1 waypoint10 waypoint9) (can_traverse rover1 waypoint11 waypoint8) (can_traverse rover1 waypoint3 waypoint6) (can_traverse rover1 waypoint5 waypoint9) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover1 waypoint6 waypoint3) (can_traverse rover1 waypoint6 waypoint8) (can_traverse rover1 waypoint7 waypoint9) (can_traverse rover1 waypoint8 waypoint11) (can_traverse rover1 waypoint8 waypoint6) (can_traverse rover1 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(:action (navigate rover4 waypoint10 waypoint3))

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(:action (navigate rover4 waypoint3 waypoint11))

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(:action (take_image rover3 waypoint4 objective5 camera3 low_res))

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waypoint6) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint1 waypoint10) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint10 waypoint1) (can_traverse rover3 waypoint11 waypoint5) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint4) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint6) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint2) (can_traverse rover3 waypoint4 waypoint7) (can_traverse rover3 waypoint5 waypoint11) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint5 waypoint9) (can_traverse rover3 waypoint6 waypoint2) (can_traverse rover3 waypoint6 waypoint8) (can_traverse rover3 waypoint7 waypoint4) (can_traverse rover3 waypoint8 waypoint6) (can_traverse rover3 waypoint9 waypoint5) (can_traverse 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waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint10) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint11) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint7) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint11) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint9) (visible waypoint8 waypoint10) (visible waypoint8 waypoint11) (visible waypoint8 waypoint6) (visible waypoint8 waypoint9) (visible waypoint9 waypoint1) (visible 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objective5 waypoint6))

(:action (navigate rover4 waypoint11 waypoint7))

(:state (at rover0 waypoint3) (at rover1 waypoint8) (at rover2 waypoint1) (at rover3 waypoint4) (at rover4 waypoint7) (at_lander general waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_soil_sample waypoint1) (at_soil_sample waypoint10) (at_soil_sample waypoint8) (available rover0) (available rover1) (available rover2) (available rover3) (available rover4) (calibrated camera2 rover4) (calibration_target camera0 objective0) (calibration_target camera1 objective3) (calibration_target camera2 objective4) (calibration_target camera3 objective4) (calibration_target camera4 objective2) (calibration_target camera5 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint10 waypoint3) (can_traverse rover0 waypoint11 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 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(can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint1 waypoint10) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint10 waypoint1) (can_traverse rover3 waypoint11 waypoint5) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint4) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint6) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint2) (can_traverse rover3 waypoint4 waypoint7) (can_traverse rover3 waypoint5 waypoint11) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint5 waypoint9) (can_traverse rover3 waypoint6 waypoint2) (can_traverse rover3 waypoint6 waypoint8) (can_traverse rover3 waypoint7 waypoint4) (can_traverse rover3 waypoint8 waypoint6) (can_traverse rover3 waypoint9 waypoint5) (can_traverse rover4 waypoint0 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(:action (communicate_soil_data rover4 general waypoint3 waypoint7 waypoint0))

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waypoint7) (can_traverse rover4 waypoint1 waypoint7) (can_traverse rover4 waypoint10 waypoint3) (can_traverse rover4 waypoint11 waypoint3) (can_traverse rover4 waypoint11 waypoint5) (can_traverse rover4 waypoint11 waypoint7) (can_traverse rover4 waypoint11 waypoint8) (can_traverse rover4 waypoint2 waypoint5) (can_traverse rover4 waypoint3 waypoint10) (can_traverse rover4 waypoint3 waypoint11) (can_traverse rover4 waypoint3 waypoint6) (can_traverse rover4 waypoint4 waypoint5) (can_traverse rover4 waypoint5 waypoint11) (can_traverse rover4 waypoint5 waypoint2) (can_traverse rover4 waypoint5 waypoint4) (can_traverse rover4 waypoint5 waypoint9) (can_traverse rover4 waypoint6 waypoint3) (can_traverse rover4 waypoint7 waypoint0) (can_traverse rover4 waypoint7 waypoint1) (can_traverse rover4 waypoint7 waypoint11) (can_traverse rover4 waypoint8 waypoint11) (can_traverse rover4 waypoint9 waypoint5) (channel_free general) (communicated_soil_data waypoint3) (empty rover0store) (empty rover1store) (empty rover2store) (empty rover3store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover3) (equipped_for_imaging rover4) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_rock_analysis rover3) (equipped_for_rock_analysis rover4) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover4) (full rover4store) (have_image rover3 objective5 low_res) (have_soil_analysis rover4 waypoint3) (on_board camera0 rover0) (on_board camera1 rover3) (on_board camera2 rover4) (on_board camera3 rover3) (on_board camera4 rover1) (on_board camera5 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (store_of rover4store rover4) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (supports camera5 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint6) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint10) (visible waypoint1 waypoint2) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint1 waypoint9) (visible waypoint10 waypoint1) (visible waypoint10 waypoint3) (visible waypoint10 waypoint4) (visible waypoint10 waypoint8) (visible waypoint10 waypoint9) (visible waypoint11 waypoint3) (visible waypoint11 waypoint5) (visible waypoint11 waypoint7) (visible waypoint11 waypoint8) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint6) (visible waypoint3 waypoint10) (visible waypoint3 waypoint11) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint10) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint11) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint7) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint11) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint9) (visible waypoint8 waypoint10) (visible waypoint8 waypoint11) (visible waypoint8 waypoint6) (visible waypoint8 waypoint9) (visible waypoint9 waypoint1) (visible waypoint9 waypoint10) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint0) (visible_from objective0 waypoint10) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective0 waypoint9) (visible_from objective1 waypoint10) (visible_from objective1 waypoint11) (visible_from objective2 waypoint0) (visible_from objective2 waypoint11) (visible_from objective2 waypoint3) (visible_from objective2 waypoint5) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint10) (visible_from objective3 waypoint11) (visible_from objective3 waypoint8) (visible_from objective3 waypoint9) (visible_from objective4 waypoint10) (visible_from objective4 waypoint4) (visible_from objective4 waypoint8) (visible_from objective4 waypoint9) (visible_from objective5 waypoint4) (visible_from objective5 waypoint6))

(:action (calibrate rover3 camera3 objective4 waypoint4))

(:state (at rover0 waypoint3) (at rover1 waypoint8) (at rover2 waypoint1) (at rover3 waypoint4) (at rover4 waypoint7) (at_lander general waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_soil_sample waypoint1) (at_soil_sample waypoint10) (at_soil_sample waypoint8) (available rover0) (available rover1) (available rover2) (available rover3) (available rover4) (calibrated camera2 rover4) (calibrated camera3 rover3) (calibration_target camera0 objective0) (calibration_target camera1 objective3) (calibration_target camera2 objective4) (calibration_target camera3 objective4) (calibration_target camera4 objective2) (calibration_target camera5 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint10 waypoint3) (can_traverse rover0 waypoint11 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint10) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint3 waypoint5) (can_traverse rover0 waypoint3 waypoint6) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint5 waypoint11) (can_traverse rover0 waypoint5 waypoint3) (can_traverse rover0 waypoint5 waypoint7) (can_traverse rover0 waypoint6 waypoint3) (can_traverse rover0 waypoint7 waypoint5) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint9) (can_traverse rover1 waypoint10 waypoint9) (can_traverse rover1 waypoint11 waypoint8) (can_traverse rover1 waypoint3 waypoint6) (can_traverse rover1 waypoint5 waypoint9) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover1 waypoint6 waypoint3) (can_traverse rover1 waypoint6 waypoint8) (can_traverse rover1 waypoint7 waypoint9) (can_traverse rover1 waypoint8 waypoint11) (can_traverse rover1 waypoint8 waypoint6) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint1) (can_traverse rover1 waypoint9 waypoint10) (can_traverse rover1 waypoint9 waypoint5) (can_traverse rover1 waypoint9 waypoint7) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint1) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint0 waypoint7) (can_traverse rover2 waypoint1 waypoint0) (can_traverse rover2 waypoint1 waypoint10) (can_traverse rover2 waypoint10 waypoint1) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint2 waypoint5) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint2) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint0) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint1 waypoint10) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint10 waypoint1) (can_traverse rover3 waypoint11 waypoint5) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint4) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint6) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint2) (can_traverse rover3 waypoint4 waypoint7) (can_traverse rover3 waypoint5 waypoint11) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint5 waypoint9) (can_traverse rover3 waypoint6 waypoint2) (can_traverse rover3 waypoint6 waypoint8) (can_traverse rover3 waypoint7 waypoint4) (can_traverse rover3 waypoint8 waypoint6) (can_traverse rover3 waypoint9 waypoint5) (can_traverse rover4 waypoint0 waypoint7) (can_traverse rover4 waypoint1 waypoint7) (can_traverse rover4 waypoint10 waypoint3) (can_traverse rover4 waypoint11 waypoint3) (can_traverse rover4 waypoint11 waypoint5) (can_traverse rover4 waypoint11 waypoint7) (can_traverse rover4 waypoint11 waypoint8) (can_traverse rover4 waypoint2 waypoint5) (can_traverse rover4 waypoint3 waypoint10) (can_traverse rover4 waypoint3 waypoint11) (can_traverse rover4 waypoint3 waypoint6) (can_traverse rover4 waypoint4 waypoint5) (can_traverse rover4 waypoint5 waypoint11) (can_traverse rover4 waypoint5 waypoint2) (can_traverse rover4 waypoint5 waypoint4) (can_traverse rover4 waypoint5 waypoint9) (can_traverse rover4 waypoint6 waypoint3) (can_traverse rover4 waypoint7 waypoint0) (can_traverse rover4 waypoint7 waypoint1) (can_traverse rover4 waypoint7 waypoint11) (can_traverse rover4 waypoint8 waypoint11) (can_traverse rover4 waypoint9 waypoint5) (channel_free general) (communicated_soil_data waypoint3) (empty rover0store) (empty rover1store) (empty rover2store) (empty rover3store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover3) (equipped_for_imaging rover4) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_rock_analysis rover3) (equipped_for_rock_analysis rover4) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover4) (full rover4store) (have_image rover3 objective5 low_res) (have_soil_analysis rover4 waypoint3) (on_board camera0 rover0) (on_board camera1 rover3) (on_board camera2 rover4) (on_board camera3 rover3) (on_board camera4 rover1) (on_board camera5 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (store_of rover4store rover4) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (supports camera5 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint6) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint10) (visible waypoint1 waypoint2) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint1 waypoint9) (visible waypoint10 waypoint1) (visible waypoint10 waypoint3) (visible waypoint10 waypoint4) (visible waypoint10 waypoint8) (visible waypoint10 waypoint9) (visible waypoint11 waypoint3) (visible waypoint11 waypoint5) (visible waypoint11 waypoint7) (visible waypoint11 waypoint8) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint6) (visible waypoint3 waypoint10) (visible waypoint3 waypoint11) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint10) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint11) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint7) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint11) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint9) (visible waypoint8 waypoint10) (visible waypoint8 waypoint11) (visible waypoint8 waypoint6) (visible waypoint8 waypoint9) (visible waypoint9 waypoint1) (visible waypoint9 waypoint10) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint0) (visible_from objective0 waypoint10) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective0 waypoint9) (visible_from objective1 waypoint10) (visible_from objective1 waypoint11) (visible_from objective2 waypoint0) (visible_from objective2 waypoint11) (visible_from objective2 waypoint3) (visible_from objective2 waypoint5) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint10) (visible_from objective3 waypoint11) (visible_from objective3 waypoint8) (visible_from objective3 waypoint9) (visible_from objective4 waypoint10) (visible_from objective4 waypoint4) (visible_from objective4 waypoint8) (visible_from objective4 waypoint9) (visible_from objective5 waypoint4) (visible_from objective5 waypoint6))

(:action (sample_rock rover3 rover3store waypoint4))

(:state (at rover0 waypoint3) (at rover1 waypoint8) (at rover2 waypoint1) (at rover3 waypoint4) (at rover4 waypoint7) (at_lander general waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_soil_sample waypoint1) (at_soil_sample waypoint10) (at_soil_sample waypoint8) (available rover0) (available rover1) (available rover2) (available rover3) (available rover4) (calibrated camera2 rover4) (calibrated camera3 rover3) (calibration_target camera0 objective0) (calibration_target camera1 objective3) (calibration_target camera2 objective4) (calibration_target camera3 objective4) (calibration_target camera4 objective2) (calibration_target camera5 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint10 waypoint3) (can_traverse rover0 waypoint11 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint10) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint3 waypoint5) (can_traverse rover0 waypoint3 waypoint6) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint5 waypoint11) (can_traverse rover0 waypoint5 waypoint3) (can_traverse rover0 waypoint5 waypoint7) (can_traverse rover0 waypoint6 waypoint3) (can_traverse rover0 waypoint7 waypoint5) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint9) (can_traverse rover1 waypoint10 waypoint9) (can_traverse rover1 waypoint11 waypoint8) (can_traverse rover1 waypoint3 waypoint6) (can_traverse rover1 waypoint5 waypoint9) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover1 waypoint6 waypoint3) (can_traverse rover1 waypoint6 waypoint8) (can_traverse rover1 waypoint7 waypoint9) (can_traverse rover1 waypoint8 waypoint11) (can_traverse rover1 waypoint8 waypoint6) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint1) (can_traverse rover1 waypoint9 waypoint10) (can_traverse rover1 waypoint9 waypoint5) (can_traverse rover1 waypoint9 waypoint7) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint1) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint0 waypoint7) (can_traverse rover2 waypoint1 waypoint0) (can_traverse rover2 waypoint1 waypoint10) (can_traverse rover2 waypoint10 waypoint1) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint2 waypoint5) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint2) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint0) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint1 waypoint10) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint10 waypoint1) (can_traverse rover3 waypoint11 waypoint5) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint4) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint6) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint2) (can_traverse rover3 waypoint4 waypoint7) (can_traverse rover3 waypoint5 waypoint11) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint5 waypoint9) (can_traverse rover3 waypoint6 waypoint2) (can_traverse rover3 waypoint6 waypoint8) (can_traverse rover3 waypoint7 waypoint4) (can_traverse rover3 waypoint8 waypoint6) (can_traverse rover3 waypoint9 waypoint5) (can_traverse rover4 waypoint0 waypoint7) (can_traverse rover4 waypoint1 waypoint7) (can_traverse rover4 waypoint10 waypoint3) (can_traverse rover4 waypoint11 waypoint3) (can_traverse rover4 waypoint11 waypoint5) (can_traverse rover4 waypoint11 waypoint7) (can_traverse rover4 waypoint11 waypoint8) (can_traverse rover4 waypoint2 waypoint5) (can_traverse rover4 waypoint3 waypoint10) (can_traverse rover4 waypoint3 waypoint11) (can_traverse rover4 waypoint3 waypoint6) (can_traverse rover4 waypoint4 waypoint5) (can_traverse rover4 waypoint5 waypoint11) (can_traverse rover4 waypoint5 waypoint2) (can_traverse rover4 waypoint5 waypoint4) (can_traverse rover4 waypoint5 waypoint9) (can_traverse rover4 waypoint6 waypoint3) (can_traverse rover4 waypoint7 waypoint0) (can_traverse rover4 waypoint7 waypoint1) (can_traverse rover4 waypoint7 waypoint11) (can_traverse rover4 waypoint8 waypoint11) (can_traverse rover4 waypoint9 waypoint5) (channel_free general) (communicated_soil_data waypoint3) (empty rover0store) (empty rover1store) (empty rover2store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover3) (equipped_for_imaging rover4) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_rock_analysis rover3) (equipped_for_rock_analysis rover4) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover4) (full rover3store) (full rover4store) (have_image rover3 objective5 low_res) (have_rock_analysis rover3 waypoint4) (have_soil_analysis rover4 waypoint3) (on_board camera0 rover0) (on_board camera1 rover3) (on_board camera2 rover4) (on_board camera3 rover3) (on_board camera4 rover1) (on_board camera5 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (store_of rover4store rover4) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (supports camera5 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint6) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint10) (visible waypoint1 waypoint2) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint1 waypoint9) (visible waypoint10 waypoint1) (visible waypoint10 waypoint3) (visible waypoint10 waypoint4) (visible waypoint10 waypoint8) (visible waypoint10 waypoint9) (visible waypoint11 waypoint3) (visible waypoint11 waypoint5) (visible waypoint11 waypoint7) (visible waypoint11 waypoint8) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint6) (visible waypoint3 waypoint10) (visible waypoint3 waypoint11) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint10) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint11) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint7) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint11) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint9) (visible waypoint8 waypoint10) (visible waypoint8 waypoint11) (visible waypoint8 waypoint6) (visible waypoint8 waypoint9) (visible waypoint9 waypoint1) (visible waypoint9 waypoint10) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint0) (visible_from objective0 waypoint10) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective0 waypoint9) (visible_from objective1 waypoint10) (visible_from objective1 waypoint11) (visible_from objective2 waypoint0) (visible_from objective2 waypoint11) (visible_from objective2 waypoint3) (visible_from objective2 waypoint5) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint10) (visible_from objective3 waypoint11) (visible_from objective3 waypoint8) (visible_from objective3 waypoint9) (visible_from objective4 waypoint10) (visible_from objective4 waypoint4) (visible_from objective4 waypoint8) (visible_from objective4 waypoint9) (visible_from objective5 waypoint4) (visible_from objective5 waypoint6))

(:action (communicate_rock_data rover3 general waypoint4 waypoint4 waypoint0))

(:state (at rover0 waypoint3) (at rover1 waypoint8) (at rover2 waypoint1) (at rover3 waypoint4) (at rover4 waypoint7) (at_lander general waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_soil_sample waypoint1) (at_soil_sample waypoint10) (at_soil_sample waypoint8) (available rover0) (available rover1) (available rover2) (available rover3) (available rover4) (calibrated camera2 rover4) (calibrated camera3 rover3) (calibration_target camera0 objective0) (calibration_target camera1 objective3) (calibration_target camera2 objective4) (calibration_target camera3 objective4) (calibration_target camera4 objective2) (calibration_target camera5 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint10 waypoint3) (can_traverse rover0 waypoint11 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint10) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint3 waypoint5) (can_traverse rover0 waypoint3 waypoint6) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint5 waypoint11) (can_traverse rover0 waypoint5 waypoint3) (can_traverse rover0 waypoint5 waypoint7) (can_traverse rover0 waypoint6 waypoint3) (can_traverse rover0 waypoint7 waypoint5) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint9) (can_traverse rover1 waypoint10 waypoint9) (can_traverse rover1 waypoint11 waypoint8) (can_traverse rover1 waypoint3 waypoint6) (can_traverse rover1 waypoint5 waypoint9) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover1 waypoint6 waypoint3) (can_traverse rover1 waypoint6 waypoint8) (can_traverse rover1 waypoint7 waypoint9) (can_traverse rover1 waypoint8 waypoint11) (can_traverse rover1 waypoint8 waypoint6) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint1) (can_traverse rover1 waypoint9 waypoint10) (can_traverse rover1 waypoint9 waypoint5) (can_traverse rover1 waypoint9 waypoint7) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint1) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint0 waypoint7) (can_traverse rover2 waypoint1 waypoint0) (can_traverse rover2 waypoint1 waypoint10) (can_traverse rover2 waypoint10 waypoint1) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint2 waypoint5) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint2) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint0) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint1 waypoint10) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint10 waypoint1) (can_traverse rover3 waypoint11 waypoint5) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint4) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint6) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint2) (can_traverse rover3 waypoint4 waypoint7) (can_traverse rover3 waypoint5 waypoint11) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint5 waypoint9) (can_traverse rover3 waypoint6 waypoint2) (can_traverse rover3 waypoint6 waypoint8) (can_traverse rover3 waypoint7 waypoint4) (can_traverse rover3 waypoint8 waypoint6) (can_traverse rover3 waypoint9 waypoint5) (can_traverse rover4 waypoint0 waypoint7) (can_traverse rover4 waypoint1 waypoint7) (can_traverse rover4 waypoint10 waypoint3) (can_traverse rover4 waypoint11 waypoint3) (can_traverse rover4 waypoint11 waypoint5) (can_traverse rover4 waypoint11 waypoint7) (can_traverse rover4 waypoint11 waypoint8) (can_traverse rover4 waypoint2 waypoint5) (can_traverse rover4 waypoint3 waypoint10) (can_traverse rover4 waypoint3 waypoint11) (can_traverse rover4 waypoint3 waypoint6) (can_traverse rover4 waypoint4 waypoint5) (can_traverse rover4 waypoint5 waypoint11) (can_traverse rover4 waypoint5 waypoint2) (can_traverse rover4 waypoint5 waypoint4) (can_traverse rover4 waypoint5 waypoint9) (can_traverse rover4 waypoint6 waypoint3) (can_traverse rover4 waypoint7 waypoint0) (can_traverse rover4 waypoint7 waypoint1) (can_traverse rover4 waypoint7 waypoint11) (can_traverse rover4 waypoint8 waypoint11) (can_traverse rover4 waypoint9 waypoint5) (channel_free general) (communicated_rock_data waypoint4) (communicated_soil_data waypoint3) (empty rover0store) (empty rover1store) (empty rover2store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover3) (equipped_for_imaging rover4) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_rock_analysis rover3) (equipped_for_rock_analysis rover4) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover4) (full rover3store) (full rover4store) (have_image rover3 objective5 low_res) (have_rock_analysis rover3 waypoint4) (have_soil_analysis rover4 waypoint3) (on_board camera0 rover0) (on_board camera1 rover3) (on_board camera2 rover4) (on_board camera3 rover3) (on_board camera4 rover1) (on_board camera5 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (store_of rover4store rover4) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (supports camera5 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint6) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint10) (visible waypoint1 waypoint2) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint1 waypoint9) (visible waypoint10 waypoint1) (visible waypoint10 waypoint3) (visible waypoint10 waypoint4) (visible waypoint10 waypoint8) (visible waypoint10 waypoint9) (visible waypoint11 waypoint3) (visible waypoint11 waypoint5) (visible waypoint11 waypoint7) (visible waypoint11 waypoint8) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint6) (visible waypoint3 waypoint10) (visible waypoint3 waypoint11) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint10) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint11) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint7) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint11) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint9) (visible waypoint8 waypoint10) (visible waypoint8 waypoint11) (visible waypoint8 waypoint6) (visible waypoint8 waypoint9) (visible waypoint9 waypoint1) (visible waypoint9 waypoint10) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint0) (visible_from objective0 waypoint10) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective0 waypoint9) (visible_from objective1 waypoint10) (visible_from objective1 waypoint11) (visible_from objective2 waypoint0) (visible_from objective2 waypoint11) (visible_from objective2 waypoint3) (visible_from objective2 waypoint5) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint10) (visible_from objective3 waypoint11) (visible_from objective3 waypoint8) (visible_from objective3 waypoint9) (visible_from objective4 waypoint10) (visible_from objective4 waypoint4) (visible_from objective4 waypoint8) (visible_from objective4 waypoint9) (visible_from objective5 waypoint4) (visible_from objective5 waypoint6))

(:action (communicate_soil_data rover4 general waypoint3 waypoint7 waypoint0))

(:state (at rover0 waypoint3) (at rover1 waypoint8) (at rover2 waypoint1) (at rover3 waypoint4) (at rover4 waypoint7) (at_lander general waypoint0) (at_rock_sample waypoint1) (at_rock_sample waypoint2) (at_soil_sample waypoint1) (at_soil_sample waypoint10) (at_soil_sample waypoint8) (available rover0) (available rover1) (available rover2) (available rover3) (available rover4) (calibrated camera2 rover4) (calibrated camera3 rover3) (calibration_target camera0 objective0) (calibration_target camera1 objective3) (calibration_target camera2 objective4) (calibration_target camera3 objective4) (calibration_target camera4 objective2) (calibration_target camera5 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint10 waypoint3) (can_traverse rover0 waypoint11 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint10) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint3 waypoint5) (can_traverse rover0 waypoint3 waypoint6) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint5 waypoint11) (can_traverse rover0 waypoint5 waypoint3) (can_traverse rover0 waypoint5 waypoint7) (can_traverse rover0 waypoint6 waypoint3) (can_traverse rover0 waypoint7 waypoint5) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint9) (can_traverse rover1 waypoint10 waypoint9) (can_traverse rover1 waypoint11 waypoint8) (can_traverse rover1 waypoint3 waypoint6) (can_traverse rover1 waypoint5 waypoint9) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover1 waypoint6 waypoint3) (can_traverse rover1 waypoint6 waypoint8) (can_traverse rover1 waypoint7 waypoint9) (can_traverse rover1 waypoint8 waypoint11) (can_traverse rover1 waypoint8 waypoint6) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint1) (can_traverse rover1 waypoint9 waypoint10) (can_traverse rover1 waypoint9 waypoint5) (can_traverse rover1 waypoint9 waypoint7) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint1) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint0 waypoint7) (can_traverse rover2 waypoint1 waypoint0) (can_traverse rover2 waypoint1 waypoint10) (can_traverse rover2 waypoint10 waypoint1) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint2 waypoint5) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint2) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint0) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint1 waypoint10) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint10 waypoint1) (can_traverse rover3 waypoint11 waypoint5) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint4) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint6) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint2) (can_traverse rover3 waypoint4 waypoint7) (can_traverse rover3 waypoint5 waypoint11) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint5 waypoint9) (can_traverse rover3 waypoint6 waypoint2) (can_traverse rover3 waypoint6 waypoint8) (can_traverse rover3 waypoint7 waypoint4) (can_traverse rover3 waypoint8 waypoint6) (can_traverse rover3 waypoint9 waypoint5) (can_traverse rover4 waypoint0 waypoint7) (can_traverse rover4 waypoint1 waypoint7) (can_traverse rover4 waypoint10 waypoint3) (can_traverse rover4 waypoint11 waypoint3) (can_traverse rover4 waypoint11 waypoint5) (can_traverse rover4 waypoint11 waypoint7) (can_traverse rover4 waypoint11 waypoint8) (can_traverse rover4 waypoint2 waypoint5) (can_traverse rover4 waypoint3 waypoint10) (can_traverse rover4 waypoint3 waypoint11) (can_traverse rover4 waypoint3 waypoint6) (can_traverse rover4 waypoint4 waypoint5) (can_traverse rover4 waypoint5 waypoint11) (can_traverse rover4 waypoint5 waypoint2) (can_traverse rover4 waypoint5 waypoint4) (can_traverse rover4 waypoint5 waypoint9) (can_traverse rover4 waypoint6 waypoint3) (can_traverse rover4 waypoint7 waypoint0) (can_traverse rover4 waypoint7 waypoint1) (can_traverse rover4 waypoint7 waypoint11) (can_traverse rover4 waypoint8 waypoint11) (can_traverse rover4 waypoint9 waypoint5) (channel_free general) (communicated_rock_data waypoint4) (communicated_soil_data waypoint3) (empty rover0store) (empty rover1store) (empty rover2store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover3) (equipped_for_imaging rover4) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_rock_analysis rover3) (equipped_for_rock_analysis rover4) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover4) (full rover3store) (full rover4store) (have_image rover3 objective5 low_res) (have_rock_analysis rover3 waypoint4) (have_soil_analysis rover4 waypoint3) (on_board camera0 rover0) (on_board camera1 rover3) (on_board camera2 rover4) (on_board camera3 rover3) (on_board camera4 rover1) (on_board camera5 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (store_of rover4store rover4) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (supports camera5 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint6) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint10) (visible waypoint1 waypoint2) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint1 waypoint9) (visible waypoint10 waypoint1) (visible waypoint10 waypoint3) (visible waypoint10 waypoint4) (visible waypoint10 waypoint8) (visible waypoint10 waypoint9) (visible waypoint11 waypoint3) (visible waypoint11 waypoint5) (visible waypoint11 waypoint7) (visible waypoint11 waypoint8) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint6) (visible waypoint3 waypoint10) (visible waypoint3 waypoint11) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint10) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint11) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint7) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint11) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint9) (visible waypoint8 waypoint10) (visible waypoint8 waypoint11) (visible waypoint8 waypoint6) (visible waypoint8 waypoint9) (visible waypoint9 waypoint1) (visible waypoint9 waypoint10) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint0) (visible_from objective0 waypoint10) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective0 waypoint9) (visible_from objective1 waypoint10) (visible_from objective1 waypoint11) (visible_from objective2 waypoint0) (visible_from objective2 waypoint11) (visible_from objective2 waypoint3) (visible_from objective2 waypoint5) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint10) (visible_from objective3 waypoint11) (visible_from objective3 waypoint8) (visible_from objective3 waypoint9) (visible_from objective4 waypoint10) (visible_from objective4 waypoint4) (visible_from objective4 waypoint8) (visible_from objective4 waypoint9) (visible_from objective5 waypoint4) (visible_from objective5 waypoint6))

(:action (sample_rock rover2 rover2store waypoint1))

(:state (at rover0 waypoint3) (at rover1 waypoint8) (at rover2 waypoint1) (at rover3 waypoint4) (at rover4 waypoint7) (at_lander general waypoint0) (at_rock_sample waypoint2) (at_soil_sample waypoint1) (at_soil_sample waypoint10) (at_soil_sample waypoint8) (available rover0) (available rover1) (available rover2) (available rover3) (available rover4) (calibrated camera2 rover4) (calibrated camera3 rover3) (calibration_target camera0 objective0) (calibration_target camera1 objective3) (calibration_target camera2 objective4) (calibration_target camera3 objective4) (calibration_target camera4 objective2) (calibration_target camera5 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint10 waypoint3) (can_traverse rover0 waypoint11 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint10) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint3 waypoint5) (can_traverse rover0 waypoint3 waypoint6) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint5 waypoint11) (can_traverse rover0 waypoint5 waypoint3) (can_traverse rover0 waypoint5 waypoint7) (can_traverse rover0 waypoint6 waypoint3) (can_traverse rover0 waypoint7 waypoint5) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint9) (can_traverse rover1 waypoint10 waypoint9) (can_traverse rover1 waypoint11 waypoint8) (can_traverse rover1 waypoint3 waypoint6) (can_traverse rover1 waypoint5 waypoint9) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover1 waypoint6 waypoint3) (can_traverse rover1 waypoint6 waypoint8) (can_traverse rover1 waypoint7 waypoint9) (can_traverse rover1 waypoint8 waypoint11) (can_traverse rover1 waypoint8 waypoint6) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint1) (can_traverse rover1 waypoint9 waypoint10) (can_traverse rover1 waypoint9 waypoint5) (can_traverse rover1 waypoint9 waypoint7) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint1) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint0 waypoint7) (can_traverse rover2 waypoint1 waypoint0) (can_traverse rover2 waypoint1 waypoint10) (can_traverse rover2 waypoint10 waypoint1) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint2 waypoint5) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint2) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint0) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint9 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(visible_from objective4 waypoint9) (visible_from objective5 waypoint4) (visible_from objective5 waypoint6))

(:action (communicate_rock_data rover2 general waypoint1 waypoint1 waypoint0))

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(visible_from objective4 waypoint8) (visible_from objective4 waypoint9) (visible_from objective5 waypoint4) (visible_from objective5 waypoint6))

(:action (take_image rover3 waypoint4 objective0 camera3 high_res))

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(supports camera2 low_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (supports camera5 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint6) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint10) (visible waypoint1 waypoint2) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint1 waypoint9) (visible waypoint10 waypoint1) (visible waypoint10 waypoint3) (visible waypoint10 waypoint4) (visible waypoint10 waypoint8) (visible waypoint10 waypoint9) (visible waypoint11 waypoint3) (visible waypoint11 waypoint5) (visible waypoint11 waypoint7) (visible waypoint11 waypoint8) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 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waypoint4) (visible_from objective4 waypoint8) (visible_from objective4 waypoint9) (visible_from objective5 waypoint4) (visible_from objective5 waypoint6))

(:action (calibrate rover1 camera5 objective3 waypoint8))

(:state (at rover0 waypoint3) (at rover1 waypoint8) (at rover2 waypoint1) (at rover3 waypoint4) (at rover4 waypoint7) (at_lander general waypoint0) (at_rock_sample waypoint2) (at_soil_sample waypoint1) (at_soil_sample waypoint10) (at_soil_sample waypoint8) (available rover0) (available rover1) (available rover2) (available rover3) (available rover4) (calibrated camera2 rover4) (calibrated camera5 rover1) (calibration_target camera0 objective0) (calibration_target camera1 objective3) (calibration_target camera2 objective4) (calibration_target camera3 objective4) (calibration_target camera4 objective2) (calibration_target camera5 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint10 waypoint3) (can_traverse rover0 waypoint11 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint10) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint3 waypoint5) (can_traverse rover0 waypoint3 waypoint6) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint5 waypoint11) (can_traverse rover0 waypoint5 waypoint3) (can_traverse rover0 waypoint5 waypoint7) (can_traverse rover0 waypoint6 waypoint3) (can_traverse rover0 waypoint7 waypoint5) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint9) (can_traverse rover1 waypoint10 waypoint9) (can_traverse rover1 waypoint11 waypoint8) (can_traverse rover1 waypoint3 waypoint6) (can_traverse rover1 waypoint5 waypoint9) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover1 waypoint6 waypoint3) (can_traverse rover1 waypoint6 waypoint8) (can_traverse rover1 waypoint7 waypoint9) (can_traverse rover1 waypoint8 waypoint11) (can_traverse rover1 waypoint8 waypoint6) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint1) (can_traverse rover1 waypoint9 waypoint10) (can_traverse rover1 waypoint9 waypoint5) (can_traverse rover1 waypoint9 waypoint7) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint1) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint0 waypoint7) (can_traverse rover2 waypoint1 waypoint0) (can_traverse rover2 waypoint1 waypoint10) (can_traverse rover2 waypoint10 waypoint1) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint2 waypoint5) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint2) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint0) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint1 waypoint10) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint10 waypoint1) (can_traverse rover3 waypoint11 waypoint5) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint4) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint6) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint2) (can_traverse rover3 waypoint4 waypoint7) (can_traverse rover3 waypoint5 waypoint11) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint5 waypoint9) (can_traverse rover3 waypoint6 waypoint2) (can_traverse rover3 waypoint6 waypoint8) (can_traverse rover3 waypoint7 waypoint4) (can_traverse rover3 waypoint8 waypoint6) (can_traverse rover3 waypoint9 waypoint5) (can_traverse rover4 waypoint0 waypoint7) (can_traverse rover4 waypoint1 waypoint7) (can_traverse rover4 waypoint10 waypoint3) (can_traverse rover4 waypoint11 waypoint3) (can_traverse rover4 waypoint11 waypoint5) (can_traverse rover4 waypoint11 waypoint7) (can_traverse rover4 waypoint11 waypoint8) (can_traverse rover4 waypoint2 waypoint5) (can_traverse rover4 waypoint3 waypoint10) (can_traverse rover4 waypoint3 waypoint11) (can_traverse rover4 waypoint3 waypoint6) (can_traverse rover4 waypoint4 waypoint5) (can_traverse rover4 waypoint5 waypoint11) (can_traverse rover4 waypoint5 waypoint2) (can_traverse rover4 waypoint5 waypoint4) (can_traverse rover4 waypoint5 waypoint9) (can_traverse rover4 waypoint6 waypoint3) (can_traverse rover4 waypoint7 waypoint0) (can_traverse rover4 waypoint7 waypoint1) (can_traverse rover4 waypoint7 waypoint11) (can_traverse rover4 waypoint8 waypoint11) (can_traverse rover4 waypoint9 waypoint5) (channel_free general) (communicated_rock_data waypoint1) (communicated_rock_data waypoint4) (communicated_soil_data 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(supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (supports camera5 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint6) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint10) (visible waypoint1 waypoint2) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint1 waypoint9) (visible waypoint10 waypoint1) (visible waypoint10 waypoint3) (visible waypoint10 waypoint4) (visible waypoint10 waypoint8) (visible waypoint10 waypoint9) (visible waypoint11 waypoint3) (visible waypoint11 waypoint5) (visible waypoint11 waypoint7) (visible waypoint11 waypoint8) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint6) (visible waypoint3 waypoint10) (visible waypoint3 waypoint11) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint10) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint11) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint7) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint11) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint9) (visible waypoint8 waypoint10) (visible waypoint8 waypoint11) (visible waypoint8 waypoint6) (visible waypoint8 waypoint9) (visible waypoint9 waypoint1) (visible waypoint9 waypoint10) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint0) (visible_from objective0 waypoint10) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective0 waypoint9) (visible_from objective1 waypoint10) (visible_from objective1 waypoint11) (visible_from objective2 waypoint0) (visible_from objective2 waypoint11) (visible_from objective2 waypoint3) (visible_from objective2 waypoint5) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint10) (visible_from objective3 waypoint11) (visible_from objective3 waypoint8) (visible_from objective3 waypoint9) (visible_from objective4 waypoint10) (visible_from objective4 waypoint4) (visible_from objective4 waypoint8) (visible_from objective4 waypoint9) (visible_from objective5 waypoint4) (visible_from objective5 waypoint6))

(:action (navigate rover0 waypoint3 waypoint4))

(:state (at rover0 waypoint4) (at rover1 waypoint8) (at rover2 waypoint1) (at rover3 waypoint4) (at rover4 waypoint7) (at_lander general waypoint0) (at_rock_sample waypoint2) (at_soil_sample waypoint1) (at_soil_sample waypoint10) (at_soil_sample waypoint8) (available rover0) (available rover1) (available rover2) (available rover3) (available rover4) (calibrated camera2 rover4) (calibrated camera5 rover1) (calibration_target camera0 objective0) (calibration_target camera1 objective3) (calibration_target camera2 objective4) (calibration_target camera3 objective4) (calibration_target camera4 objective2) (calibration_target camera5 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint10 waypoint3) (can_traverse rover0 waypoint11 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint10) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint3 waypoint5) (can_traverse rover0 waypoint3 waypoint6) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint5 waypoint11) (can_traverse rover0 waypoint5 waypoint3) (can_traverse rover0 waypoint5 waypoint7) (can_traverse rover0 waypoint6 waypoint3) (can_traverse rover0 waypoint7 waypoint5) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint9) (can_traverse rover1 waypoint10 waypoint9) (can_traverse rover1 waypoint11 waypoint8) (can_traverse rover1 waypoint3 waypoint6) (can_traverse rover1 waypoint5 waypoint9) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover1 waypoint6 waypoint3) (can_traverse rover1 waypoint6 waypoint8) (can_traverse rover1 waypoint7 waypoint9) (can_traverse rover1 waypoint8 waypoint11) (can_traverse rover1 waypoint8 waypoint6) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint1) (can_traverse rover1 waypoint9 waypoint10) (can_traverse rover1 waypoint9 waypoint5) (can_traverse rover1 waypoint9 waypoint7) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint1) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint0 waypoint7) (can_traverse rover2 waypoint1 waypoint0) (can_traverse rover2 waypoint1 waypoint10) (can_traverse rover2 waypoint10 waypoint1) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint2 waypoint5) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint2) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint0) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint1 waypoint10) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint10 waypoint1) (can_traverse rover3 waypoint11 waypoint5) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint4) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint6) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint2) (can_traverse rover3 waypoint4 waypoint7) (can_traverse rover3 waypoint5 waypoint11) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint5 waypoint9) (can_traverse rover3 waypoint6 waypoint2) (can_traverse rover3 waypoint6 waypoint8) (can_traverse rover3 waypoint7 waypoint4) (can_traverse rover3 waypoint8 waypoint6) (can_traverse rover3 waypoint9 waypoint5) (can_traverse rover4 waypoint0 waypoint7) (can_traverse rover4 waypoint1 waypoint7) (can_traverse rover4 waypoint10 waypoint3) (can_traverse rover4 waypoint11 waypoint3) (can_traverse rover4 waypoint11 waypoint5) (can_traverse rover4 waypoint11 waypoint7) (can_traverse rover4 waypoint11 waypoint8) (can_traverse rover4 waypoint2 waypoint5) (can_traverse rover4 waypoint3 waypoint10) (can_traverse rover4 waypoint3 waypoint11) (can_traverse rover4 waypoint3 waypoint6) (can_traverse rover4 waypoint4 waypoint5) (can_traverse rover4 waypoint5 waypoint11) (can_traverse rover4 waypoint5 waypoint2) (can_traverse rover4 waypoint5 waypoint4) (can_traverse rover4 waypoint5 waypoint9) (can_traverse rover4 waypoint6 waypoint3) (can_traverse rover4 waypoint7 waypoint0) (can_traverse rover4 waypoint7 waypoint1) (can_traverse rover4 waypoint7 waypoint11) (can_traverse rover4 waypoint8 waypoint11) (can_traverse rover4 waypoint9 waypoint5) (channel_free general) (communicated_rock_data waypoint1) (communicated_rock_data waypoint4) (communicated_soil_data 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(supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (supports camera5 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint6) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint10) (visible waypoint1 waypoint2) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint1 waypoint9) (visible waypoint10 waypoint1) (visible waypoint10 waypoint3) (visible waypoint10 waypoint4) (visible waypoint10 waypoint8) (visible waypoint10 waypoint9) (visible waypoint11 waypoint3) (visible waypoint11 waypoint5) (visible waypoint11 waypoint7) (visible waypoint11 waypoint8) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint6) (visible waypoint3 waypoint10) (visible waypoint3 waypoint11) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint10) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint11) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint7) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint11) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint9) (visible waypoint8 waypoint10) (visible waypoint8 waypoint11) (visible waypoint8 waypoint6) (visible waypoint8 waypoint9) (visible waypoint9 waypoint1) (visible waypoint9 waypoint10) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint0) (visible_from objective0 waypoint10) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective0 waypoint9) (visible_from objective1 waypoint10) (visible_from objective1 waypoint11) (visible_from objective2 waypoint0) (visible_from objective2 waypoint11) (visible_from objective2 waypoint3) (visible_from objective2 waypoint5) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint10) (visible_from objective3 waypoint11) (visible_from objective3 waypoint8) (visible_from objective3 waypoint9) (visible_from objective4 waypoint10) (visible_from objective4 waypoint4) (visible_from objective4 waypoint8) (visible_from objective4 waypoint9) (visible_from objective5 waypoint4) (visible_from objective5 waypoint6))

(:action (navigate rover4 waypoint7 waypoint1))

(:state (at rover0 waypoint4) (at rover1 waypoint8) (at rover2 waypoint1) (at rover3 waypoint4) (at rover4 waypoint1) (at_lander general waypoint0) (at_rock_sample waypoint2) (at_soil_sample waypoint1) (at_soil_sample waypoint10) (at_soil_sample waypoint8) (available rover0) (available rover1) (available rover2) (available rover3) (available rover4) (calibrated camera2 rover4) (calibrated camera5 rover1) (calibration_target camera0 objective0) (calibration_target camera1 objective3) (calibration_target camera2 objective4) (calibration_target camera3 objective4) (calibration_target camera4 objective2) (calibration_target camera5 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint10 waypoint3) (can_traverse rover0 waypoint11 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint10) (can_traverse 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waypoint6) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint1 waypoint10) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint10 waypoint1) (can_traverse rover3 waypoint11 waypoint5) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint4) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint6) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint2) (can_traverse rover3 waypoint4 waypoint7) (can_traverse rover3 waypoint5 waypoint11) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint5 waypoint9) (can_traverse rover3 waypoint6 waypoint2) (can_traverse rover3 waypoint6 waypoint8) (can_traverse rover3 waypoint7 waypoint4) (can_traverse rover3 waypoint8 waypoint6) (can_traverse rover3 waypoint9 waypoint5) (can_traverse rover4 waypoint0 waypoint7) (can_traverse rover4 waypoint1 waypoint7) (can_traverse rover4 waypoint10 waypoint3) (can_traverse rover4 waypoint11 waypoint3) (can_traverse rover4 waypoint11 waypoint5) (can_traverse rover4 waypoint11 waypoint7) (can_traverse rover4 waypoint11 waypoint8) (can_traverse rover4 waypoint2 waypoint5) (can_traverse rover4 waypoint3 waypoint10) (can_traverse rover4 waypoint3 waypoint11) (can_traverse rover4 waypoint3 waypoint6) (can_traverse rover4 waypoint4 waypoint5) (can_traverse rover4 waypoint5 waypoint11) (can_traverse rover4 waypoint5 waypoint2) (can_traverse rover4 waypoint5 waypoint4) (can_traverse rover4 waypoint5 waypoint9) (can_traverse rover4 waypoint6 waypoint3) (can_traverse rover4 waypoint7 waypoint0) (can_traverse rover4 waypoint7 waypoint1) (can_traverse rover4 waypoint7 waypoint11) (can_traverse rover4 waypoint8 waypoint11) (can_traverse rover4 waypoint9 waypoint5) (channel_free general) (communicated_rock_data waypoint1) (communicated_rock_data waypoint4) (communicated_soil_data waypoint3) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover3) (equipped_for_imaging rover4) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_rock_analysis rover3) (equipped_for_rock_analysis rover4) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover4) (full rover2store) (full rover3store) (full rover4store) (have_image rover3 objective0 high_res) (have_image rover3 objective5 low_res) (have_rock_analysis rover2 waypoint1) (have_rock_analysis rover3 waypoint4) (have_soil_analysis rover4 waypoint3) (on_board camera0 rover0) (on_board camera1 rover3) (on_board camera2 rover4) (on_board camera3 rover3) (on_board camera4 rover1) (on_board camera5 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (store_of rover4store rover4) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (supports camera5 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint6) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint10) (visible waypoint1 waypoint2) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint1 waypoint9) (visible waypoint10 waypoint1) (visible waypoint10 waypoint3) (visible waypoint10 waypoint4) (visible waypoint10 waypoint8) (visible waypoint10 waypoint9) (visible waypoint11 waypoint3) (visible waypoint11 waypoint5) (visible waypoint11 waypoint7) (visible waypoint11 waypoint8) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint6) (visible waypoint3 waypoint10) (visible waypoint3 waypoint11) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint10) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint11) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint7) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint11) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint9) (visible waypoint8 waypoint10) (visible waypoint8 waypoint11) (visible waypoint8 waypoint6) (visible waypoint8 waypoint9) (visible waypoint9 waypoint1) (visible waypoint9 waypoint10) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint0) (visible_from objective0 waypoint10) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective0 waypoint9) (visible_from objective1 waypoint10) (visible_from objective1 waypoint11) (visible_from objective2 waypoint0) (visible_from objective2 waypoint11) (visible_from objective2 waypoint3) (visible_from objective2 waypoint5) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint10) (visible_from objective3 waypoint11) (visible_from objective3 waypoint8) (visible_from objective3 waypoint9) (visible_from objective4 waypoint10) (visible_from objective4 waypoint4) (visible_from objective4 waypoint8) (visible_from objective4 waypoint9) (visible_from objective5 waypoint4) (visible_from objective5 waypoint6))

(:action (calibrate rover3 camera3 objective4 waypoint4))

(:state (at rover0 waypoint4) (at rover1 waypoint8) (at rover2 waypoint1) (at rover3 waypoint4) (at rover4 waypoint1) (at_lander general waypoint0) (at_rock_sample waypoint2) (at_soil_sample waypoint1) (at_soil_sample waypoint10) (at_soil_sample waypoint8) (available rover0) (available rover1) (available rover2) (available rover3) (available rover4) (calibrated camera2 rover4) (calibrated camera3 rover3) (calibrated camera5 rover1) (calibration_target camera0 objective0) (calibration_target camera1 objective3) (calibration_target camera2 objective4) (calibration_target camera3 objective4) (calibration_target camera4 objective2) (calibration_target camera5 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint10 waypoint3) (can_traverse rover0 waypoint11 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint10) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint3 waypoint5) (can_traverse rover0 waypoint3 waypoint6) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint5 waypoint11) (can_traverse rover0 waypoint5 waypoint3) (can_traverse rover0 waypoint5 waypoint7) (can_traverse rover0 waypoint6 waypoint3) (can_traverse rover0 waypoint7 waypoint5) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint9) (can_traverse rover1 waypoint10 waypoint9) (can_traverse rover1 waypoint11 waypoint8) (can_traverse rover1 waypoint3 waypoint6) (can_traverse rover1 waypoint5 waypoint9) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover1 waypoint6 waypoint3) (can_traverse rover1 waypoint6 waypoint8) (can_traverse rover1 waypoint7 waypoint9) (can_traverse rover1 waypoint8 waypoint11) (can_traverse rover1 waypoint8 waypoint6) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint1) (can_traverse rover1 waypoint9 waypoint10) (can_traverse rover1 waypoint9 waypoint5) (can_traverse rover1 waypoint9 waypoint7) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint1) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint0 waypoint7) (can_traverse rover2 waypoint1 waypoint0) (can_traverse rover2 waypoint1 waypoint10) (can_traverse rover2 waypoint10 waypoint1) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint2 waypoint5) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint2) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint0) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint1 waypoint10) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint10 waypoint1) (can_traverse rover3 waypoint11 waypoint5) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint4) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint6) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint2) (can_traverse rover3 waypoint4 waypoint7) (can_traverse rover3 waypoint5 waypoint11) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint5 waypoint9) (can_traverse rover3 waypoint6 waypoint2) (can_traverse rover3 waypoint6 waypoint8) (can_traverse rover3 waypoint7 waypoint4) (can_traverse rover3 waypoint8 waypoint6) (can_traverse rover3 waypoint9 waypoint5) (can_traverse rover4 waypoint0 waypoint7) (can_traverse rover4 waypoint1 waypoint7) (can_traverse rover4 waypoint10 waypoint3) (can_traverse rover4 waypoint11 waypoint3) (can_traverse rover4 waypoint11 waypoint5) (can_traverse rover4 waypoint11 waypoint7) (can_traverse rover4 waypoint11 waypoint8) (can_traverse rover4 waypoint2 waypoint5) (can_traverse rover4 waypoint3 waypoint10) (can_traverse rover4 waypoint3 waypoint11) (can_traverse rover4 waypoint3 waypoint6) (can_traverse rover4 waypoint4 waypoint5) (can_traverse rover4 waypoint5 waypoint11) (can_traverse rover4 waypoint5 waypoint2) (can_traverse rover4 waypoint5 waypoint4) (can_traverse rover4 waypoint5 waypoint9) (can_traverse rover4 waypoint6 waypoint3) (can_traverse rover4 waypoint7 waypoint0) (can_traverse rover4 waypoint7 waypoint1) (can_traverse rover4 waypoint7 waypoint11) (can_traverse rover4 waypoint8 waypoint11) (can_traverse rover4 waypoint9 waypoint5) (channel_free general) (communicated_rock_data waypoint1) (communicated_rock_data waypoint4) (communicated_soil_data waypoint3) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover3) (equipped_for_imaging rover4) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_rock_analysis rover3) (equipped_for_rock_analysis rover4) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover4) (full rover2store) (full rover3store) (full rover4store) (have_image rover3 objective0 high_res) (have_image rover3 objective5 low_res) (have_rock_analysis rover2 waypoint1) (have_rock_analysis rover3 waypoint4) (have_soil_analysis rover4 waypoint3) (on_board camera0 rover0) (on_board camera1 rover3) (on_board camera2 rover4) (on_board camera3 rover3) (on_board camera4 rover1) (on_board camera5 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (store_of rover4store rover4) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (supports camera5 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint6) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint10) (visible waypoint1 waypoint2) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint1 waypoint9) (visible waypoint10 waypoint1) (visible waypoint10 waypoint3) (visible waypoint10 waypoint4) (visible waypoint10 waypoint8) (visible waypoint10 waypoint9) (visible waypoint11 waypoint3) (visible waypoint11 waypoint5) (visible waypoint11 waypoint7) (visible waypoint11 waypoint8) (visible waypoint2 waypoint0) (visible waypoint2 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waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint9) (visible waypoint8 waypoint10) (visible waypoint8 waypoint11) (visible waypoint8 waypoint6) (visible waypoint8 waypoint9) (visible waypoint9 waypoint1) (visible waypoint9 waypoint10) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint0) (visible_from objective0 waypoint10) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective0 waypoint9) (visible_from objective1 waypoint10) (visible_from objective1 waypoint11) (visible_from objective2 waypoint0) (visible_from objective2 waypoint11) (visible_from objective2 waypoint3) (visible_from objective2 waypoint5) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint10) (visible_from objective3 waypoint11) (visible_from objective3 waypoint8) (visible_from objective3 waypoint9) (visible_from objective4 waypoint10) (visible_from objective4 waypoint4) (visible_from objective4 waypoint8) (visible_from objective4 waypoint9) (visible_from objective5 waypoint4) (visible_from objective5 waypoint6))

(:action (communicate_image_data rover3 general objective5 low_res waypoint4 waypoint0))

(:state (at rover0 waypoint4) (at rover1 waypoint8) (at rover2 waypoint1) (at rover3 waypoint4) (at rover4 waypoint1) (at_lander general waypoint0) (at_rock_sample waypoint2) (at_soil_sample waypoint1) (at_soil_sample waypoint10) (at_soil_sample waypoint8) (available rover0) (available rover1) (available rover2) (available rover3) (available rover4) (calibrated camera2 rover4) (calibrated camera3 rover3) (calibrated camera5 rover1) (calibration_target camera0 objective0) (calibration_target camera1 objective3) (calibration_target camera2 objective4) (calibration_target camera3 objective4) (calibration_target camera4 objective2) (calibration_target camera5 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint10 waypoint3) (can_traverse rover0 waypoint11 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint10) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint3 waypoint5) (can_traverse rover0 waypoint3 waypoint6) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint5 waypoint11) (can_traverse rover0 waypoint5 waypoint3) (can_traverse rover0 waypoint5 waypoint7) (can_traverse rover0 waypoint6 waypoint3) (can_traverse rover0 waypoint7 waypoint5) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint9) (can_traverse rover1 waypoint10 waypoint9) (can_traverse rover1 waypoint11 waypoint8) (can_traverse rover1 waypoint3 waypoint6) (can_traverse rover1 waypoint5 waypoint9) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover1 waypoint6 waypoint3) (can_traverse rover1 waypoint6 waypoint8) (can_traverse rover1 waypoint7 waypoint9) (can_traverse rover1 waypoint8 waypoint11) (can_traverse rover1 waypoint8 waypoint6) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint1) (can_traverse rover1 waypoint9 waypoint10) (can_traverse rover1 waypoint9 waypoint5) (can_traverse rover1 waypoint9 waypoint7) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint1) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint0 waypoint7) (can_traverse rover2 waypoint1 waypoint0) (can_traverse rover2 waypoint1 waypoint10) (can_traverse rover2 waypoint10 waypoint1) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint2 waypoint5) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint2) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint0) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint1 waypoint10) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint10 waypoint1) (can_traverse rover3 waypoint11 waypoint5) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint4) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint6) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint2) (can_traverse rover3 waypoint4 waypoint7) (can_traverse rover3 waypoint5 waypoint11) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint5 waypoint9) (can_traverse rover3 waypoint6 waypoint2) (can_traverse rover3 waypoint6 waypoint8) (can_traverse rover3 waypoint7 waypoint4) (can_traverse rover3 waypoint8 waypoint6) (can_traverse rover3 waypoint9 waypoint5) (can_traverse rover4 waypoint0 waypoint7) (can_traverse rover4 waypoint1 waypoint7) (can_traverse rover4 waypoint10 waypoint3) (can_traverse rover4 waypoint11 waypoint3) (can_traverse rover4 waypoint11 waypoint5) (can_traverse rover4 waypoint11 waypoint7) (can_traverse rover4 waypoint11 waypoint8) (can_traverse rover4 waypoint2 waypoint5) (can_traverse rover4 waypoint3 waypoint10) (can_traverse rover4 waypoint3 waypoint11) (can_traverse rover4 waypoint3 waypoint6) (can_traverse rover4 waypoint4 waypoint5) (can_traverse rover4 waypoint5 waypoint11) (can_traverse rover4 waypoint5 waypoint2) (can_traverse rover4 waypoint5 waypoint4) (can_traverse rover4 waypoint5 waypoint9) (can_traverse rover4 waypoint6 waypoint3) (can_traverse rover4 waypoint7 waypoint0) (can_traverse rover4 waypoint7 waypoint1) (can_traverse rover4 waypoint7 waypoint11) (can_traverse rover4 waypoint8 waypoint11) (can_traverse rover4 waypoint9 waypoint5) (channel_free general) (communicated_image_data objective5 low_res) (communicated_rock_data waypoint1) (communicated_rock_data waypoint4) (communicated_soil_data waypoint3) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover3) (equipped_for_imaging rover4) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_rock_analysis rover3) (equipped_for_rock_analysis rover4) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover4) (full rover2store) (full rover3store) (full rover4store) (have_image rover3 objective0 high_res) (have_image rover3 objective5 low_res) (have_rock_analysis rover2 waypoint1) (have_rock_analysis rover3 waypoint4) (have_soil_analysis rover4 waypoint3) (on_board camera0 rover0) (on_board camera1 rover3) (on_board camera2 rover4) (on_board camera3 rover3) (on_board camera4 rover1) (on_board camera5 rover1) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (store_of rover4store rover4) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (supports camera5 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint6) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint10) (visible waypoint1 waypoint2) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint1 waypoint9) (visible waypoint10 waypoint1) (visible waypoint10 waypoint3) (visible waypoint10 waypoint4) (visible waypoint10 waypoint8) (visible waypoint10 waypoint9) (visible waypoint11 waypoint3) (visible waypoint11 waypoint5) (visible waypoint11 waypoint7) (visible waypoint11 waypoint8) (visible waypoint2 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(:action (communicate_image_data rover3 general objective0 high_res waypoint4 waypoint0))

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(:action (take_image rover1 waypoint8 objective3 camera5 low_res))

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(:action (take_image rover3 waypoint4 objective4 camera3 high_res))

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(:action (communicate_image_data rover3 general objective4 high_res waypoint4 waypoint0))

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(can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint3 waypoint5) (can_traverse rover0 waypoint3 waypoint6) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint5 waypoint11) (can_traverse rover0 waypoint5 waypoint3) (can_traverse rover0 waypoint5 waypoint7) (can_traverse rover0 waypoint6 waypoint3) (can_traverse rover0 waypoint7 waypoint5) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint9) (can_traverse rover1 waypoint10 waypoint9) (can_traverse rover1 waypoint11 waypoint8) (can_traverse rover1 waypoint3 waypoint6) (can_traverse rover1 waypoint5 waypoint9) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover1 waypoint6 waypoint3) (can_traverse rover1 waypoint6 waypoint8) (can_traverse rover1 waypoint7 waypoint9) (can_traverse rover1 waypoint8 waypoint11) (can_traverse rover1 waypoint8 waypoint6) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint1) (can_traverse rover1 waypoint9 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waypoint0 waypoint2) (can_traverse rover3 waypoint1 waypoint10) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint10 waypoint1) (can_traverse rover3 waypoint11 waypoint5) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint4) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint6) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint2) (can_traverse rover3 waypoint4 waypoint7) (can_traverse rover3 waypoint5 waypoint11) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint5 waypoint9) (can_traverse rover3 waypoint6 waypoint2) (can_traverse rover3 waypoint6 waypoint8) (can_traverse rover3 waypoint7 waypoint4) (can_traverse rover3 waypoint8 waypoint6) (can_traverse rover3 waypoint9 waypoint5) (can_traverse rover4 waypoint0 waypoint7) (can_traverse rover4 waypoint1 waypoint7) (can_traverse rover4 waypoint10 waypoint3) (can_traverse rover4 waypoint11 waypoint3) (can_traverse rover4 waypoint11 waypoint5) (can_traverse rover4 waypoint11 waypoint7) (can_traverse rover4 waypoint11 waypoint8) (can_traverse rover4 waypoint2 waypoint5) (can_traverse rover4 waypoint3 waypoint10) (can_traverse rover4 waypoint3 waypoint11) (can_traverse rover4 waypoint3 waypoint6) (can_traverse rover4 waypoint4 waypoint5) (can_traverse rover4 waypoint5 waypoint11) (can_traverse rover4 waypoint5 waypoint2) (can_traverse rover4 waypoint5 waypoint4) (can_traverse rover4 waypoint5 waypoint9) (can_traverse rover4 waypoint6 waypoint3) (can_traverse rover4 waypoint7 waypoint0) (can_traverse rover4 waypoint7 waypoint1) (can_traverse rover4 waypoint7 waypoint11) (can_traverse rover4 waypoint8 waypoint11) (can_traverse rover4 waypoint9 waypoint5) (channel_free general) (communicated_image_data objective0 high_res) (communicated_image_data objective4 high_res) (communicated_image_data objective5 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(:action (navigate rover1 waypoint8 waypoint6))

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(can_traverse rover4 waypoint10 waypoint3) (can_traverse rover4 waypoint11 waypoint3) (can_traverse rover4 waypoint11 waypoint5) (can_traverse rover4 waypoint11 waypoint7) (can_traverse rover4 waypoint11 waypoint8) (can_traverse rover4 waypoint2 waypoint5) (can_traverse rover4 waypoint3 waypoint10) (can_traverse rover4 waypoint3 waypoint11) (can_traverse rover4 waypoint3 waypoint6) (can_traverse rover4 waypoint4 waypoint5) (can_traverse rover4 waypoint5 waypoint11) (can_traverse rover4 waypoint5 waypoint2) (can_traverse rover4 waypoint5 waypoint4) (can_traverse rover4 waypoint5 waypoint9) (can_traverse rover4 waypoint6 waypoint3) (can_traverse rover4 waypoint7 waypoint0) (can_traverse rover4 waypoint7 waypoint1) (can_traverse rover4 waypoint7 waypoint11) (can_traverse rover4 waypoint8 waypoint11) (can_traverse rover4 waypoint9 waypoint5) (channel_free general) (communicated_image_data objective0 high_res) (communicated_image_data objective4 high_res) (communicated_image_data objective5 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rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (store_of rover4store rover4) (supports camera0 low_res) (supports camera1 low_res) (supports camera2 high_res) (supports camera2 low_res) (supports camera3 colour) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 high_res) (supports camera4 low_res) (supports camera5 low_res) (visible waypoint0 waypoint1) (visible waypoint0 waypoint2) (visible waypoint0 waypoint4) (visible waypoint0 waypoint6) (visible waypoint0 waypoint7) (visible waypoint1 waypoint0) (visible waypoint1 waypoint10) (visible waypoint1 waypoint2) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint1 waypoint9) (visible waypoint10 waypoint1) (visible waypoint10 waypoint3) (visible waypoint10 waypoint4) (visible waypoint10 waypoint8) (visible waypoint10 waypoint9) (visible waypoint11 waypoint3) (visible waypoint11 waypoint5) (visible waypoint11 waypoint7) (visible waypoint11 waypoint8) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint6) (visible waypoint3 waypoint10) (visible waypoint3 waypoint11) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint10) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint11) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint7) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint11) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint9) (visible waypoint8 waypoint10) (visible waypoint8 waypoint11) (visible waypoint8 waypoint6) (visible waypoint8 waypoint9) (visible waypoint9 waypoint1) (visible waypoint9 waypoint10) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint0) (visible_from objective0 waypoint10) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective0 waypoint9) (visible_from objective1 waypoint10) (visible_from objective1 waypoint11) (visible_from objective2 waypoint0) (visible_from objective2 waypoint11) (visible_from objective2 waypoint3) (visible_from objective2 waypoint5) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint10) (visible_from objective3 waypoint11) (visible_from objective3 waypoint8) (visible_from objective3 waypoint9) (visible_from objective4 waypoint10) (visible_from objective4 waypoint4) (visible_from objective4 waypoint8) (visible_from objective4 waypoint9) (visible_from objective5 waypoint4) (visible_from objective5 waypoint6))

(:action (calibrate rover1 camera4 objective2 waypoint6))

(:state (at rover0 waypoint4) (at rover1 waypoint6) (at rover2 waypoint1) (at rover3 waypoint4) (at rover4 waypoint1) (at_lander general waypoint0) (at_rock_sample waypoint2) (at_soil_sample waypoint1) (at_soil_sample waypoint10) (at_soil_sample waypoint8) (available rover0) (available rover1) (available rover2) (available rover3) (available rover4) (calibrated camera2 rover4) (calibrated camera4 rover1) (calibration_target camera0 objective0) (calibration_target camera1 objective3) (calibration_target camera2 objective4) (calibration_target camera3 objective4) (calibration_target camera4 objective2) (calibration_target camera5 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint10 waypoint3) (can_traverse rover0 waypoint11 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint10) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint3 waypoint5) (can_traverse rover0 waypoint3 waypoint6) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint5 waypoint11) (can_traverse rover0 waypoint5 waypoint3) (can_traverse rover0 waypoint5 waypoint7) (can_traverse rover0 waypoint6 waypoint3) (can_traverse rover0 waypoint7 waypoint5) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint9) (can_traverse rover1 waypoint10 waypoint9) (can_traverse rover1 waypoint11 waypoint8) (can_traverse rover1 waypoint3 waypoint6) (can_traverse rover1 waypoint5 waypoint9) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover1 waypoint6 waypoint3) (can_traverse rover1 waypoint6 waypoint8) (can_traverse rover1 waypoint7 waypoint9) (can_traverse rover1 waypoint8 waypoint11) (can_traverse rover1 waypoint8 waypoint6) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint1) (can_traverse rover1 waypoint9 waypoint10) (can_traverse rover1 waypoint9 waypoint5) (can_traverse rover1 waypoint9 waypoint7) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint1) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint0 waypoint7) (can_traverse rover2 waypoint1 waypoint0) (can_traverse rover2 waypoint1 waypoint10) (can_traverse rover2 waypoint10 waypoint1) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint2 waypoint5) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint2) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint0) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint1 waypoint10) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint10 waypoint1) (can_traverse rover3 waypoint11 waypoint5) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint4) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint6) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint2) (can_traverse rover3 waypoint4 waypoint7) (can_traverse rover3 waypoint5 waypoint11) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint5 waypoint9) (can_traverse rover3 waypoint6 waypoint2) (can_traverse rover3 waypoint6 waypoint8) (can_traverse rover3 waypoint7 waypoint4) (can_traverse rover3 waypoint8 waypoint6) (can_traverse rover3 waypoint9 waypoint5) (can_traverse rover4 waypoint0 waypoint7) (can_traverse rover4 waypoint1 waypoint7) (can_traverse rover4 waypoint10 waypoint3) (can_traverse rover4 waypoint11 waypoint3) (can_traverse rover4 waypoint11 waypoint5) (can_traverse rover4 waypoint11 waypoint7) (can_traverse rover4 waypoint11 waypoint8) (can_traverse rover4 waypoint2 waypoint5) (can_traverse rover4 waypoint3 waypoint10) (can_traverse rover4 waypoint3 waypoint11) (can_traverse rover4 waypoint3 waypoint6) (can_traverse rover4 waypoint4 waypoint5) (can_traverse rover4 waypoint5 waypoint11) (can_traverse rover4 waypoint5 waypoint2) (can_traverse rover4 waypoint5 waypoint4) (can_traverse rover4 waypoint5 waypoint9) (can_traverse rover4 waypoint6 waypoint3) (can_traverse rover4 waypoint7 waypoint0) (can_traverse rover4 waypoint7 waypoint1) (can_traverse rover4 waypoint7 waypoint11) (can_traverse rover4 waypoint8 waypoint11) (can_traverse rover4 waypoint9 waypoint5) (channel_free general) (communicated_image_data objective0 high_res) (communicated_image_data objective4 high_res) (communicated_image_data objective5 low_res) (communicated_rock_data waypoint1) (communicated_rock_data waypoint4) (communicated_soil_data waypoint3) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover3) (equipped_for_imaging rover4) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_rock_analysis rover3) (equipped_for_rock_analysis rover4) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover4) (full rover2store) (full rover3store) (full rover4store) (have_image rover1 objective3 low_res) (have_image rover3 objective0 high_res) (have_image rover3 objective4 high_res) (have_image rover3 objective5 low_res) (have_rock_analysis rover2 waypoint1) (have_rock_analysis rover3 waypoint4) (have_soil_analysis rover4 waypoint3) (on_board camera0 rover0) (on_board camera1 rover3) (on_board camera2 rover4) (on_board camera3 rover3) (on_board camera4 rover1) (on_board 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waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint11) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint9) (visible waypoint8 waypoint10) (visible waypoint8 waypoint11) (visible waypoint8 waypoint6) (visible waypoint8 waypoint9) (visible waypoint9 waypoint1) (visible waypoint9 waypoint10) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint0) (visible_from objective0 waypoint10) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective0 waypoint9) (visible_from objective1 waypoint10) (visible_from objective1 waypoint11) (visible_from objective2 waypoint0) (visible_from objective2 waypoint11) (visible_from objective2 waypoint3) (visible_from objective2 waypoint5) (visible_from objective2 waypoint6) (visible_from objective2 waypoint9) (visible_from objective3 waypoint10) (visible_from objective3 waypoint11) (visible_from objective3 waypoint8) (visible_from objective3 waypoint9) (visible_from objective4 waypoint10) (visible_from objective4 waypoint4) (visible_from objective4 waypoint8) (visible_from objective4 waypoint9) (visible_from objective5 waypoint4) (visible_from objective5 waypoint6))

(:action (communicate_image_data rover1 general objective3 low_res waypoint6 waypoint0))

(:state (at rover0 waypoint4) (at rover1 waypoint6) (at rover2 waypoint1) (at rover3 waypoint4) (at rover4 waypoint1) (at_lander general waypoint0) (at_rock_sample waypoint2) (at_soil_sample waypoint1) (at_soil_sample waypoint10) (at_soil_sample waypoint8) (available rover0) (available rover1) (available rover2) (available rover3) (available rover4) (calibrated camera2 rover4) (calibrated camera4 rover1) (calibration_target camera0 objective0) (calibration_target camera1 objective3) (calibration_target camera2 objective4) (calibration_target camera3 objective4) (calibration_target camera4 objective2) (calibration_target camera5 objective3) (can_traverse rover0 waypoint0 waypoint2) (can_traverse rover0 waypoint1 waypoint2) (can_traverse rover0 waypoint10 waypoint3) (can_traverse rover0 waypoint11 waypoint5) (can_traverse rover0 waypoint2 waypoint0) (can_traverse rover0 waypoint2 waypoint1) (can_traverse rover0 waypoint2 waypoint3) (can_traverse rover0 waypoint3 waypoint10) (can_traverse rover0 waypoint3 waypoint2) (can_traverse rover0 waypoint3 waypoint4) (can_traverse rover0 waypoint3 waypoint5) (can_traverse rover0 waypoint3 waypoint6) (can_traverse rover0 waypoint4 waypoint3) (can_traverse rover0 waypoint5 waypoint11) (can_traverse rover0 waypoint5 waypoint3) (can_traverse rover0 waypoint5 waypoint7) (can_traverse rover0 waypoint6 waypoint3) (can_traverse rover0 waypoint7 waypoint5) (can_traverse rover1 waypoint0 waypoint6) (can_traverse rover1 waypoint1 waypoint9) (can_traverse rover1 waypoint10 waypoint9) (can_traverse rover1 waypoint11 waypoint8) (can_traverse rover1 waypoint3 waypoint6) (can_traverse rover1 waypoint5 waypoint9) (can_traverse rover1 waypoint6 waypoint0) (can_traverse rover1 waypoint6 waypoint3) (can_traverse rover1 waypoint6 waypoint8) (can_traverse rover1 waypoint7 waypoint9) (can_traverse rover1 waypoint8 waypoint11) (can_traverse rover1 waypoint8 waypoint6) (can_traverse rover1 waypoint8 waypoint9) (can_traverse rover1 waypoint9 waypoint1) (can_traverse rover1 waypoint9 waypoint10) (can_traverse rover1 waypoint9 waypoint5) (can_traverse rover1 waypoint9 waypoint7) (can_traverse rover1 waypoint9 waypoint8) (can_traverse rover2 waypoint0 waypoint1) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint0 waypoint4) (can_traverse rover2 waypoint0 waypoint6) (can_traverse rover2 waypoint0 waypoint7) (can_traverse rover2 waypoint1 waypoint0) (can_traverse rover2 waypoint1 waypoint10) (can_traverse rover2 waypoint10 waypoint1) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint3) (can_traverse rover2 waypoint2 waypoint5) (can_traverse rover2 waypoint3 waypoint2) (can_traverse rover2 waypoint4 waypoint0) (can_traverse rover2 waypoint5 waypoint2) (can_traverse rover2 waypoint6 waypoint0) (can_traverse rover2 waypoint6 waypoint8) (can_traverse rover2 waypoint6 waypoint9) (can_traverse rover2 waypoint7 waypoint0) (can_traverse rover2 waypoint8 waypoint6) (can_traverse rover2 waypoint9 waypoint6) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint1 waypoint10) (can_traverse rover3 waypoint1 waypoint2) (can_traverse rover3 waypoint10 waypoint1) (can_traverse rover3 waypoint11 waypoint5) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint2 waypoint1) (can_traverse rover3 waypoint2 waypoint3) (can_traverse rover3 waypoint2 waypoint4) (can_traverse rover3 waypoint2 waypoint5) (can_traverse rover3 waypoint2 waypoint6) (can_traverse rover3 waypoint3 waypoint2) (can_traverse rover3 waypoint4 waypoint2) (can_traverse rover3 waypoint4 waypoint7) (can_traverse rover3 waypoint5 waypoint11) (can_traverse rover3 waypoint5 waypoint2) (can_traverse rover3 waypoint5 waypoint9) (can_traverse rover3 waypoint6 waypoint2) (can_traverse rover3 waypoint6 waypoint8) (can_traverse rover3 waypoint7 waypoint4) (can_traverse rover3 waypoint8 waypoint6) (can_traverse rover3 waypoint9 waypoint5) (can_traverse rover4 waypoint0 waypoint7) (can_traverse rover4 waypoint1 waypoint7) (can_traverse rover4 waypoint10 waypoint3) (can_traverse rover4 waypoint11 waypoint3) (can_traverse rover4 waypoint11 waypoint5) (can_traverse rover4 waypoint11 waypoint7) (can_traverse rover4 waypoint11 waypoint8) (can_traverse rover4 waypoint2 waypoint5) (can_traverse rover4 waypoint3 waypoint10) (can_traverse rover4 waypoint3 waypoint11) (can_traverse rover4 waypoint3 waypoint6) (can_traverse rover4 waypoint4 waypoint5) (can_traverse rover4 waypoint5 waypoint11) (can_traverse rover4 waypoint5 waypoint2) (can_traverse rover4 waypoint5 waypoint4) (can_traverse rover4 waypoint5 waypoint9) (can_traverse rover4 waypoint6 waypoint3) (can_traverse rover4 waypoint7 waypoint0) (can_traverse rover4 waypoint7 waypoint1) (can_traverse rover4 waypoint7 waypoint11) (can_traverse rover4 waypoint8 waypoint11) (can_traverse rover4 waypoint9 waypoint5) (channel_free general) (communicated_image_data objective0 high_res) (communicated_image_data objective3 low_res) (communicated_image_data objective4 high_res) (communicated_image_data objective5 low_res) (communicated_rock_data waypoint1) (communicated_rock_data waypoint4) (communicated_soil_data waypoint3) (empty rover0store) (empty rover1store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover3) (equipped_for_imaging rover4) (equipped_for_rock_analysis rover0) (equipped_for_rock_analysis rover2) (equipped_for_rock_analysis rover3) (equipped_for_rock_analysis rover4) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover4) (full rover2store) (full rover3store) (full rover4store) (have_image rover1 objective3 low_res) (have_image rover3 objective0 high_res) (have_image rover3 objective4 high_res) (have_image rover3 objective5 low_res) (have_rock_analysis rover2 waypoint1) (have_rock_analysis rover3 waypoint4) (have_soil_analysis rover4 waypoint3) (on_board camera0 rover0) (on_board camera1 rover3) (on_board camera2 rover4) (on_board camera3 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(visible waypoint10 waypoint9) (visible waypoint11 waypoint3) (visible waypoint11 waypoint5) (visible waypoint11 waypoint7) (visible waypoint11 waypoint8) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint6) (visible waypoint3 waypoint10) (visible waypoint3 waypoint11) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint6) (visible waypoint4 waypoint0) (visible waypoint4 waypoint1) (visible waypoint4 waypoint10) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint7) (visible waypoint5 waypoint11) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint7) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint3) (visible waypoint6 waypoint8) (visible waypoint6 waypoint9) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint11) (visible waypoint7 waypoint4) (visible waypoint7 waypoint5) (visible waypoint7 waypoint9) (visible waypoint8 waypoint10) (visible waypoint8 waypoint11) (visible waypoint8 waypoint6) (visible waypoint8 waypoint9) (visible waypoint9 waypoint1) (visible waypoint9 waypoint10) (visible waypoint9 waypoint5) (visible waypoint9 waypoint6) (visible waypoint9 waypoint7) (visible waypoint9 waypoint8) (visible_from objective0 waypoint0) (visible_from objective0 waypoint10) (visible_from objective0 waypoint2) (visible_from objective0 waypoint4) (visible_from objective0 waypoint5) (visible_from objective0 waypoint9) (visible_from objective1 waypoint10) (visible_from objective1 waypoint11) (visible_from objective2 waypoint0) (visible_from objective2 waypoint11) (visible_from objective2 waypoint3) (visible_from objective2 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(:action (take_image rover1 waypoint6 objective2 camera4 low_res))

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(:action (communicate_image_data rover1 general objective2 low_res waypoint6 waypoint0))

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(:action (calibrate rover0 camera0 objective0 waypoint4))

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)