(:trajectory

(:state (at rover0 waypoint9) (at rover1 waypoint8) (at rover2 waypoint5) (at rover3 waypoint9) (at rover4 waypoint2) (at_lander general waypoint1) (at_rock_sample waypoint10) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint8) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint10) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint4) (at_soil_sample waypoint5) (at_soil_sample waypoint6) (available rover0) (available rover1) (available rover2) (available rover3) (available rover4) (calibration_target camera0 objective0) (calibration_target camera1 objective4) (calibration_target camera2 objective3) (calibration_target camera3 objective3) (calibration_target camera4 objective0) (calibration_target camera5 objective3) (calibration_target camera6 objective1) (calibration_target camera7 objective1) (can_traverse rover0 waypoint0 waypoint7) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint10) (can_traverse rover0 waypoint1 waypoint4) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint1 waypoint9) (can_traverse rover0 waypoint10 waypoint1) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint9) (can_traverse rover0 waypoint3 waypoint9) (can_traverse rover0 waypoint4 waypoint1) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint0) (can_traverse rover0 waypoint8 waypoint9) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover0 waypoint9 waypoint1) (can_traverse rover0 waypoint9 waypoint2) (can_traverse rover0 waypoint9 waypoint3) (can_traverse rover0 waypoint9 waypoint8) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint1 waypoint10) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint1 waypoint7) (can_traverse rover1 waypoint1 waypoint8) (can_traverse rover1 waypoint10 waypoint1) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint2 waypoint4) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint2) (can_traverse rover1 waypoint4 waypoint9) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint1) (can_traverse rover1 waypoint8 waypoint1) (can_traverse rover1 waypoint9 waypoint4) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint1 waypoint2) (can_traverse rover2 waypoint10 waypoint5) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint1) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint2 waypoint5) (can_traverse rover2 waypoint2 waypoint8) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint10) (can_traverse rover2 waypoint5 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint5 waypoint7) (can_traverse rover2 waypoint5 waypoint9) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint5) (can_traverse rover2 waypoint8 waypoint2) (can_traverse rover2 waypoint9 waypoint5) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint0 waypoint7) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint10 waypoint3) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint2 waypoint6) (can_traverse rover3 waypoint3 waypoint10) (can_traverse rover3 waypoint3 waypoint5) (can_traverse rover3 waypoint3 waypoint9) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint4 waypoint9) (can_traverse rover3 waypoint5 waypoint3) (can_traverse rover3 waypoint6 waypoint2) (can_traverse rover3 waypoint7 waypoint0) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint3) (can_traverse rover3 waypoint9 waypoint4) (can_traverse rover3 waypoint9 waypoint8) (can_traverse rover4 waypoint0 waypoint2) (can_traverse rover4 waypoint0 waypoint7) (can_traverse rover4 waypoint1 waypoint2) (can_traverse rover4 waypoint10 waypoint2) (can_traverse rover4 waypoint2 waypoint0) (can_traverse rover4 waypoint2 waypoint1) (can_traverse rover4 waypoint2 waypoint10) (can_traverse rover4 waypoint2 waypoint3) (can_traverse rover4 waypoint2 waypoint4) (can_traverse rover4 waypoint2 waypoint6) (can_traverse rover4 waypoint2 waypoint8) (can_traverse rover4 waypoint2 waypoint9) (can_traverse rover4 waypoint3 waypoint2) (can_traverse rover4 waypoint4 waypoint2) (can_traverse rover4 waypoint6 waypoint2) (can_traverse rover4 waypoint7 waypoint0) (can_traverse rover4 waypoint8 waypoint2) (can_traverse rover4 waypoint9 waypoint2) (channel_free general) (empty rover0store) (empty rover1store) (empty rover2store) (empty rover3store) (empty rover4store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_imaging rover4) (equipped_for_rock_analysis rover4) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover3) (equipped_for_soil_analysis rover4) (on_board camera0 rover4) (on_board camera1 rover2) (on_board camera2 rover4) (on_board camera3 rover1) (on_board camera4 rover2) (on_board camera5 rover4) (on_board camera6 rover0) (on_board camera7 rover3) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (store_of rover4store rover4) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 high_res) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 low_res) (supports camera5 low_res) (supports camera6 high_res) (supports camera7 colour) (supports camera7 high_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint6) (visible waypoint0 waypoint7) (visible waypoint0 waypoint9) (visible waypoint1 waypoint10) (visible waypoint1 waypoint2) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint1 waypoint8) (visible waypoint1 waypoint9) (visible waypoint10 waypoint1) (visible waypoint10 waypoint2) (visible waypoint10 waypoint3) (visible waypoint10 waypoint4) (visible waypoint10 waypoint5) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint10) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint10) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint8) (visible waypoint3 waypoint9) (visible waypoint4 waypoint1) (visible waypoint4 waypoint10) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint6) (visible waypoint4 waypoint9) (visible waypoint5 waypoint10) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint4) (visible waypoint6 waypoint5) (visible waypoint6 waypoint8) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint5) (visible waypoint8 waypoint1) (visible waypoint8 waypoint2) (visible waypoint8 waypoint3) (visible waypoint8 waypoint6) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint8) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint6) (visible_from objective0 waypoint7) (visible_from objective0 waypoint8) (visible_from objective0 waypoint9) (visible_from objective1 waypoint1) (visible_from objective1 waypoint6) (visible_from objective1 waypoint7) (visible_from objective1 waypoint8) (visible_from objective1 waypoint9) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint3) (visible_from objective2 waypoint4) (visible_from objective2 waypoint5) (visible_from objective3 waypoint0) (visible_from objective3 waypoint7) (visible_from objective4 waypoint1) (visible_from objective4 waypoint10) (visible_from objective4 waypoint2) (visible_from objective4 waypoint4) (visible_from objective4 waypoint6) (visible_from objective4 waypoint7) (visible_from objective4 waypoint8))

(:action (navigate rover0 waypoint9 waypoint0))

(:state (at rover0 waypoint0) (at rover1 waypoint8) (at rover2 waypoint5) (at rover3 waypoint9) (at rover4 waypoint2) (at_lander general waypoint1) (at_rock_sample waypoint10) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint8) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint10) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint4) (at_soil_sample waypoint5) (at_soil_sample waypoint6) (available rover0) (available rover1) (available rover2) (available rover3) (available rover4) (calibration_target camera0 objective0) (calibration_target camera1 objective4) (calibration_target camera2 objective3) (calibration_target camera3 objective3) (calibration_target camera4 objective0) (calibration_target camera5 objective3) (calibration_target camera6 objective1) (calibration_target camera7 objective1) (can_traverse rover0 waypoint0 waypoint7) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint10) (can_traverse rover0 waypoint1 waypoint4) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint1 waypoint9) (can_traverse rover0 waypoint10 waypoint1) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint9) (can_traverse rover0 waypoint3 waypoint9) (can_traverse rover0 waypoint4 waypoint1) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint0) (can_traverse rover0 waypoint8 waypoint9) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover0 waypoint9 waypoint1) (can_traverse rover0 waypoint9 waypoint2) (can_traverse rover0 waypoint9 waypoint3) (can_traverse rover0 waypoint9 waypoint8) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint1 waypoint10) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint1 waypoint7) (can_traverse rover1 waypoint1 waypoint8) (can_traverse rover1 waypoint10 waypoint1) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint2 waypoint4) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint2) (can_traverse rover1 waypoint4 waypoint9) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint1) (can_traverse rover1 waypoint8 waypoint1) (can_traverse rover1 waypoint9 waypoint4) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint1 waypoint2) (can_traverse rover2 waypoint10 waypoint5) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint1) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint2 waypoint5) (can_traverse rover2 waypoint2 waypoint8) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint10) (can_traverse rover2 waypoint5 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint5 waypoint7) (can_traverse rover2 waypoint5 waypoint9) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint5) (can_traverse rover2 waypoint8 waypoint2) (can_traverse rover2 waypoint9 waypoint5) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint0 waypoint7) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint10 waypoint3) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint2 waypoint6) (can_traverse rover3 waypoint3 waypoint10) (can_traverse rover3 waypoint3 waypoint5) (can_traverse rover3 waypoint3 waypoint9) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint4 waypoint9) (can_traverse rover3 waypoint5 waypoint3) (can_traverse rover3 waypoint6 waypoint2) (can_traverse rover3 waypoint7 waypoint0) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint3) (can_traverse rover3 waypoint9 waypoint4) (can_traverse rover3 waypoint9 waypoint8) (can_traverse rover4 waypoint0 waypoint2) (can_traverse rover4 waypoint0 waypoint7) (can_traverse rover4 waypoint1 waypoint2) (can_traverse rover4 waypoint10 waypoint2) (can_traverse rover4 waypoint2 waypoint0) (can_traverse rover4 waypoint2 waypoint1) (can_traverse rover4 waypoint2 waypoint10) (can_traverse rover4 waypoint2 waypoint3) (can_traverse rover4 waypoint2 waypoint4) (can_traverse rover4 waypoint2 waypoint6) (can_traverse rover4 waypoint2 waypoint8) (can_traverse rover4 waypoint2 waypoint9) (can_traverse rover4 waypoint3 waypoint2) (can_traverse rover4 waypoint4 waypoint2) (can_traverse rover4 waypoint6 waypoint2) (can_traverse rover4 waypoint7 waypoint0) (can_traverse rover4 waypoint8 waypoint2) (can_traverse rover4 waypoint9 waypoint2) (channel_free general) (empty rover0store) (empty rover1store) (empty rover2store) (empty rover3store) (empty rover4store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_imaging rover4) (equipped_for_rock_analysis rover4) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover3) (equipped_for_soil_analysis rover4) (on_board camera0 rover4) (on_board camera1 rover2) (on_board camera2 rover4) (on_board camera3 rover1) (on_board camera4 rover2) (on_board camera5 rover4) (on_board camera6 rover0) (on_board camera7 rover3) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (store_of rover4store rover4) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 high_res) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 low_res) (supports camera5 low_res) (supports camera6 high_res) (supports camera7 colour) (supports camera7 high_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint6) (visible waypoint0 waypoint7) (visible waypoint0 waypoint9) (visible waypoint1 waypoint10) (visible waypoint1 waypoint2) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint1 waypoint8) (visible waypoint1 waypoint9) (visible waypoint10 waypoint1) (visible waypoint10 waypoint2) (visible waypoint10 waypoint3) (visible waypoint10 waypoint4) (visible waypoint10 waypoint5) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint10) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint10) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint8) (visible waypoint3 waypoint9) (visible waypoint4 waypoint1) (visible waypoint4 waypoint10) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint6) (visible waypoint4 waypoint9) (visible waypoint5 waypoint10) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint4) (visible waypoint6 waypoint5) (visible waypoint6 waypoint8) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint5) (visible waypoint8 waypoint1) (visible waypoint8 waypoint2) (visible waypoint8 waypoint3) (visible waypoint8 waypoint6) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint8) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint6) (visible_from objective0 waypoint7) (visible_from objective0 waypoint8) (visible_from objective0 waypoint9) (visible_from objective1 waypoint1) (visible_from objective1 waypoint6) (visible_from objective1 waypoint7) (visible_from objective1 waypoint8) (visible_from objective1 waypoint9) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint3) (visible_from objective2 waypoint4) (visible_from objective2 waypoint5) (visible_from objective3 waypoint0) (visible_from objective3 waypoint7) (visible_from objective4 waypoint1) (visible_from objective4 waypoint10) (visible_from objective4 waypoint2) (visible_from objective4 waypoint4) (visible_from objective4 waypoint6) (visible_from objective4 waypoint7) (visible_from objective4 waypoint8))

(:action (navigate rover4 waypoint2 waypoint0))

(:state (at rover0 waypoint0) (at rover1 waypoint8) (at rover2 waypoint5) (at rover3 waypoint9) (at rover4 waypoint0) (at_lander general waypoint1) (at_rock_sample waypoint10) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint8) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint10) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint4) (at_soil_sample waypoint5) (at_soil_sample waypoint6) (available rover0) (available rover1) (available rover2) (available rover3) (available rover4) (calibration_target camera0 objective0) (calibration_target camera1 objective4) (calibration_target camera2 objective3) (calibration_target camera3 objective3) (calibration_target camera4 objective0) (calibration_target camera5 objective3) (calibration_target camera6 objective1) (calibration_target camera7 objective1) (can_traverse rover0 waypoint0 waypoint7) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint10) (can_traverse rover0 waypoint1 waypoint4) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint1 waypoint9) (can_traverse rover0 waypoint10 waypoint1) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint9) (can_traverse rover0 waypoint3 waypoint9) (can_traverse rover0 waypoint4 waypoint1) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint0) (can_traverse rover0 waypoint8 waypoint9) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover0 waypoint9 waypoint1) (can_traverse rover0 waypoint9 waypoint2) (can_traverse rover0 waypoint9 waypoint3) (can_traverse rover0 waypoint9 waypoint8) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint1 waypoint10) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint1 waypoint7) (can_traverse rover1 waypoint1 waypoint8) (can_traverse rover1 waypoint10 waypoint1) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint2 waypoint4) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint2) (can_traverse rover1 waypoint4 waypoint9) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint1) (can_traverse rover1 waypoint8 waypoint1) (can_traverse rover1 waypoint9 waypoint4) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint1 waypoint2) (can_traverse rover2 waypoint10 waypoint5) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint1) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint2 waypoint5) (can_traverse rover2 waypoint2 waypoint8) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint10) (can_traverse rover2 waypoint5 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint5 waypoint7) (can_traverse rover2 waypoint5 waypoint9) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint5) (can_traverse rover2 waypoint8 waypoint2) (can_traverse rover2 waypoint9 waypoint5) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint0 waypoint7) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint10 waypoint3) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint2 waypoint6) (can_traverse rover3 waypoint3 waypoint10) (can_traverse rover3 waypoint3 waypoint5) (can_traverse rover3 waypoint3 waypoint9) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint4 waypoint9) (can_traverse rover3 waypoint5 waypoint3) (can_traverse rover3 waypoint6 waypoint2) (can_traverse rover3 waypoint7 waypoint0) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint3) (can_traverse rover3 waypoint9 waypoint4) (can_traverse rover3 waypoint9 waypoint8) (can_traverse rover4 waypoint0 waypoint2) (can_traverse rover4 waypoint0 waypoint7) (can_traverse rover4 waypoint1 waypoint2) (can_traverse rover4 waypoint10 waypoint2) (can_traverse rover4 waypoint2 waypoint0) (can_traverse rover4 waypoint2 waypoint1) (can_traverse rover4 waypoint2 waypoint10) (can_traverse rover4 waypoint2 waypoint3) (can_traverse rover4 waypoint2 waypoint4) (can_traverse rover4 waypoint2 waypoint6) (can_traverse rover4 waypoint2 waypoint8) (can_traverse rover4 waypoint2 waypoint9) (can_traverse rover4 waypoint3 waypoint2) (can_traverse rover4 waypoint4 waypoint2) (can_traverse rover4 waypoint6 waypoint2) (can_traverse rover4 waypoint7 waypoint0) (can_traverse rover4 waypoint8 waypoint2) (can_traverse rover4 waypoint9 waypoint2) (channel_free general) (empty rover0store) (empty rover1store) (empty rover2store) (empty rover3store) (empty rover4store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_imaging rover4) (equipped_for_rock_analysis rover4) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover3) (equipped_for_soil_analysis rover4) (on_board camera0 rover4) (on_board camera1 rover2) (on_board camera2 rover4) (on_board camera3 rover1) (on_board camera4 rover2) (on_board camera5 rover4) (on_board camera6 rover0) (on_board camera7 rover3) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (store_of rover4store rover4) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 high_res) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 high_res) (supports camera3 low_res) (supports camera4 colour) (supports camera4 low_res) (supports camera5 low_res) (supports camera6 high_res) (supports camera7 colour) (supports camera7 high_res) (visible waypoint0 waypoint2) (visible waypoint0 waypoint6) (visible waypoint0 waypoint7) (visible waypoint0 waypoint9) (visible waypoint1 waypoint10) (visible waypoint1 waypoint2) (visible waypoint1 waypoint4) (visible waypoint1 waypoint6) (visible waypoint1 waypoint7) (visible waypoint1 waypoint8) (visible waypoint1 waypoint9) (visible waypoint10 waypoint1) (visible waypoint10 waypoint2) (visible waypoint10 waypoint3) (visible waypoint10 waypoint4) (visible waypoint10 waypoint5) (visible waypoint2 waypoint0) (visible waypoint2 waypoint1) (visible waypoint2 waypoint10) (visible waypoint2 waypoint3) (visible waypoint2 waypoint4) (visible waypoint2 waypoint5) (visible waypoint2 waypoint6) (visible waypoint2 waypoint7) (visible waypoint2 waypoint8) (visible waypoint2 waypoint9) (visible waypoint3 waypoint10) (visible waypoint3 waypoint2) (visible waypoint3 waypoint4) (visible waypoint3 waypoint5) (visible waypoint3 waypoint8) (visible waypoint3 waypoint9) (visible waypoint4 waypoint1) (visible waypoint4 waypoint10) (visible waypoint4 waypoint2) (visible waypoint4 waypoint3) (visible waypoint4 waypoint5) (visible waypoint4 waypoint6) (visible waypoint4 waypoint9) (visible waypoint5 waypoint10) (visible waypoint5 waypoint2) (visible waypoint5 waypoint3) (visible waypoint5 waypoint4) (visible waypoint5 waypoint6) (visible waypoint5 waypoint7) (visible waypoint5 waypoint9) (visible waypoint6 waypoint0) (visible waypoint6 waypoint1) (visible waypoint6 waypoint2) (visible waypoint6 waypoint4) (visible waypoint6 waypoint5) (visible waypoint6 waypoint8) (visible waypoint7 waypoint0) (visible waypoint7 waypoint1) (visible waypoint7 waypoint2) (visible waypoint7 waypoint5) (visible waypoint8 waypoint1) (visible waypoint8 waypoint2) (visible waypoint8 waypoint3) (visible waypoint8 waypoint6) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint8) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint6) (visible_from objective0 waypoint7) (visible_from objective0 waypoint8) (visible_from objective0 waypoint9) (visible_from objective1 waypoint1) (visible_from objective1 waypoint6) (visible_from objective1 waypoint7) (visible_from objective1 waypoint8) (visible_from objective1 waypoint9) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint3) (visible_from objective2 waypoint4) (visible_from objective2 waypoint5) (visible_from objective3 waypoint0) (visible_from objective3 waypoint7) (visible_from objective4 waypoint1) (visible_from objective4 waypoint10) (visible_from objective4 waypoint2) (visible_from objective4 waypoint4) (visible_from objective4 waypoint6) (visible_from objective4 waypoint7) (visible_from objective4 waypoint8))

(:action (navigate rover4 waypoint0 waypoint7))

(:state (at rover0 waypoint0) (at rover1 waypoint8) (at rover2 waypoint5) (at rover3 waypoint9) (at rover4 waypoint7) (at_lander general waypoint1) (at_rock_sample waypoint10) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint8) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint10) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint4) (at_soil_sample waypoint5) (at_soil_sample waypoint6) (available rover0) (available rover1) (available rover2) (available rover3) (available rover4) (calibration_target camera0 objective0) (calibration_target camera1 objective4) (calibration_target camera2 objective3) (calibration_target camera3 objective3) (calibration_target camera4 objective0) (calibration_target camera5 objective3) (calibration_target camera6 objective1) (calibration_target camera7 objective1) (can_traverse rover0 waypoint0 waypoint7) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 waypoint1 waypoint10) (can_traverse rover0 waypoint1 waypoint4) (can_traverse rover0 waypoint1 waypoint6) (can_traverse rover0 waypoint1 waypoint9) (can_traverse rover0 waypoint10 waypoint1) (can_traverse rover0 waypoint2 waypoint5) (can_traverse rover0 waypoint2 waypoint9) (can_traverse rover0 waypoint3 waypoint9) (can_traverse rover0 waypoint4 waypoint1) (can_traverse rover0 waypoint5 waypoint2) (can_traverse rover0 waypoint6 waypoint1) (can_traverse rover0 waypoint7 waypoint0) (can_traverse rover0 waypoint8 waypoint9) (can_traverse rover0 waypoint9 waypoint0) (can_traverse rover0 waypoint9 waypoint1) (can_traverse rover0 waypoint9 waypoint2) (can_traverse rover0 waypoint9 waypoint3) (can_traverse rover0 waypoint9 waypoint8) (can_traverse rover1 waypoint0 waypoint2) (can_traverse rover1 waypoint1 waypoint10) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint1 waypoint6) (can_traverse rover1 waypoint1 waypoint7) (can_traverse rover1 waypoint1 waypoint8) (can_traverse rover1 waypoint10 waypoint1) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint2 waypoint4) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint2) (can_traverse rover1 waypoint4 waypoint9) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint1) (can_traverse rover1 waypoint8 waypoint1) (can_traverse rover1 waypoint9 waypoint4) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint1 waypoint2) (can_traverse rover2 waypoint10 waypoint5) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint1) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint2 waypoint5) (can_traverse rover2 waypoint2 waypoint8) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint10) (can_traverse rover2 waypoint5 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint5 waypoint7) (can_traverse rover2 waypoint5 waypoint9) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint5) (can_traverse rover2 waypoint8 waypoint2) (can_traverse rover2 waypoint9 waypoint5) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint0 waypoint7) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint10 waypoint3) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint2 waypoint6) (can_traverse rover3 waypoint3 waypoint10) (can_traverse rover3 waypoint3 waypoint5) (can_traverse rover3 waypoint3 waypoint9) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint4 waypoint9) (can_traverse rover3 waypoint5 waypoint3) (can_traverse rover3 waypoint6 waypoint2) (can_traverse rover3 waypoint7 waypoint0) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint3) (can_traverse rover3 waypoint9 waypoint4) (can_traverse rover3 waypoint9 waypoint8) (can_traverse rover4 waypoint0 waypoint2) (can_traverse rover4 waypoint0 waypoint7) (can_traverse rover4 waypoint1 waypoint2) (can_traverse rover4 waypoint10 waypoint2) (can_traverse rover4 waypoint2 waypoint0) (can_traverse rover4 waypoint2 waypoint1) (can_traverse rover4 waypoint2 waypoint10) (can_traverse rover4 waypoint2 waypoint3) (can_traverse rover4 waypoint2 waypoint4) (can_traverse rover4 waypoint2 waypoint6) (can_traverse rover4 waypoint2 waypoint8) (can_traverse rover4 waypoint2 waypoint9) (can_traverse rover4 waypoint3 waypoint2) (can_traverse rover4 waypoint4 waypoint2) (can_traverse rover4 waypoint6 waypoint2) (can_traverse rover4 waypoint7 waypoint0) (can_traverse rover4 waypoint8 waypoint2) (can_traverse rover4 waypoint9 waypoint2) (channel_free general) (empty rover0store) (empty rover1store) (empty rover2store) (empty rover3store) (empty rover4store) (equipped_for_imaging rover0) (equipped_for_imaging rover1) (equipped_for_imaging rover2) (equipped_for_imaging rover3) (equipped_for_imaging rover4) (equipped_for_rock_analysis rover4) (equipped_for_soil_analysis rover1) (equipped_for_soil_analysis rover3) (equipped_for_soil_analysis rover4) (on_board camera0 rover4) (on_board camera1 rover2) (on_board camera2 rover4) (on_board camera3 rover1) (on_board camera4 rover2) (on_board camera5 rover4) (on_board camera6 rover0) (on_board camera7 rover3) (store_of rover0store rover0) (store_of rover1store rover1) (store_of rover2store rover2) (store_of rover3store rover3) (store_of rover4store rover4) (supports camera0 colour) (supports camera0 high_res) (supports camera0 low_res) (supports camera1 high_res) (supports camera1 low_res) (supports camera2 low_res) (supports camera3 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waypoint8 waypoint6) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint8) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint6) (visible_from objective0 waypoint7) (visible_from objective0 waypoint8) (visible_from objective0 waypoint9) (visible_from objective1 waypoint1) (visible_from objective1 waypoint6) (visible_from objective1 waypoint7) (visible_from objective1 waypoint8) (visible_from objective1 waypoint9) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint3) (visible_from objective2 waypoint4) (visible_from objective2 waypoint5) (visible_from objective3 waypoint0) (visible_from objective3 waypoint7) (visible_from objective4 waypoint1) (visible_from objective4 waypoint10) (visible_from objective4 waypoint2) (visible_from objective4 waypoint4) (visible_from objective4 waypoint6) (visible_from objective4 waypoint7) (visible_from objective4 waypoint8))

(:action (navigate rover2 waypoint5 waypoint3))

(:state (at rover0 waypoint0) (at rover1 waypoint8) (at rover2 waypoint3) (at rover3 waypoint9) (at rover4 waypoint7) (at_lander general waypoint1) (at_rock_sample waypoint10) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint8) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint10) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint4) (at_soil_sample waypoint5) (at_soil_sample waypoint6) (available rover0) (available rover1) (available rover2) (available rover3) (available rover4) (calibration_target camera0 objective0) (calibration_target camera1 objective4) (calibration_target camera2 objective3) (calibration_target camera3 objective3) (calibration_target camera4 objective0) (calibration_target camera5 objective3) (calibration_target camera6 objective1) (calibration_target camera7 objective1) (can_traverse rover0 waypoint0 waypoint7) (can_traverse rover0 waypoint0 waypoint9) (can_traverse rover0 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(can_traverse rover1 waypoint10 waypoint1) (can_traverse rover1 waypoint2 waypoint0) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint2 waypoint4) (can_traverse rover1 waypoint2 waypoint5) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint4 waypoint2) (can_traverse rover1 waypoint4 waypoint9) (can_traverse rover1 waypoint5 waypoint2) (can_traverse rover1 waypoint6 waypoint1) (can_traverse rover1 waypoint7 waypoint1) (can_traverse rover1 waypoint8 waypoint1) (can_traverse rover1 waypoint9 waypoint4) (can_traverse rover2 waypoint0 waypoint2) (can_traverse rover2 waypoint1 waypoint2) (can_traverse rover2 waypoint10 waypoint5) (can_traverse rover2 waypoint2 waypoint0) (can_traverse rover2 waypoint2 waypoint1) (can_traverse rover2 waypoint2 waypoint4) (can_traverse rover2 waypoint2 waypoint5) (can_traverse rover2 waypoint2 waypoint8) (can_traverse rover2 waypoint3 waypoint5) (can_traverse rover2 waypoint4 waypoint2) (can_traverse rover2 waypoint5 waypoint10) (can_traverse rover2 waypoint5 waypoint2) (can_traverse rover2 waypoint5 waypoint3) (can_traverse rover2 waypoint5 waypoint6) (can_traverse rover2 waypoint5 waypoint7) (can_traverse rover2 waypoint5 waypoint9) (can_traverse rover2 waypoint6 waypoint5) (can_traverse rover2 waypoint7 waypoint5) (can_traverse rover2 waypoint8 waypoint2) (can_traverse rover2 waypoint9 waypoint5) (can_traverse rover3 waypoint0 waypoint2) (can_traverse rover3 waypoint0 waypoint7) (can_traverse rover3 waypoint0 waypoint9) (can_traverse rover3 waypoint1 waypoint4) (can_traverse rover3 waypoint10 waypoint3) (can_traverse rover3 waypoint2 waypoint0) (can_traverse rover3 waypoint2 waypoint6) (can_traverse rover3 waypoint3 waypoint10) (can_traverse rover3 waypoint3 waypoint5) (can_traverse rover3 waypoint3 waypoint9) (can_traverse rover3 waypoint4 waypoint1) (can_traverse rover3 waypoint4 waypoint9) (can_traverse rover3 waypoint5 waypoint3) (can_traverse rover3 waypoint6 waypoint2) (can_traverse rover3 waypoint7 waypoint0) (can_traverse rover3 waypoint8 waypoint9) (can_traverse rover3 waypoint9 waypoint0) (can_traverse rover3 waypoint9 waypoint3) (can_traverse rover3 waypoint9 waypoint4) (can_traverse rover3 waypoint9 waypoint8) (can_traverse rover4 waypoint0 waypoint2) (can_traverse rover4 waypoint0 waypoint7) (can_traverse rover4 waypoint1 waypoint2) (can_traverse rover4 waypoint10 waypoint2) (can_traverse rover4 waypoint2 waypoint0) (can_traverse rover4 waypoint2 waypoint1) (can_traverse rover4 waypoint2 waypoint10) (can_traverse rover4 waypoint2 waypoint3) (can_traverse rover4 waypoint2 waypoint4) (can_traverse rover4 waypoint2 waypoint6) (can_traverse rover4 waypoint2 waypoint8) (can_traverse rover4 waypoint2 waypoint9) (can_traverse rover4 waypoint3 waypoint2) (can_traverse rover4 waypoint4 waypoint2) (can_traverse rover4 waypoint6 waypoint2) (can_traverse rover4 waypoint7 waypoint0) (can_traverse rover4 waypoint8 waypoint2) 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waypoint8 waypoint6) (visible waypoint8 waypoint9) (visible waypoint9 waypoint0) (visible waypoint9 waypoint1) (visible waypoint9 waypoint2) (visible waypoint9 waypoint3) (visible waypoint9 waypoint4) (visible waypoint9 waypoint5) (visible waypoint9 waypoint8) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint6) (visible_from objective0 waypoint7) (visible_from objective0 waypoint8) (visible_from objective0 waypoint9) (visible_from objective1 waypoint1) (visible_from objective1 waypoint6) (visible_from objective1 waypoint7) (visible_from objective1 waypoint8) (visible_from objective1 waypoint9) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint3) (visible_from objective2 waypoint4) (visible_from objective2 waypoint5) (visible_from objective3 waypoint0) (visible_from objective3 waypoint7) (visible_from objective4 waypoint1) (visible_from objective4 waypoint10) (visible_from objective4 waypoint2) (visible_from objective4 waypoint4) (visible_from objective4 waypoint6) (visible_from objective4 waypoint7) (visible_from objective4 waypoint8))

(:action (calibrate rover4 camera0 objective0 waypoint7))

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(visible_from objective4 waypoint2) (visible_from objective4 waypoint4) (visible_from objective4 waypoint6) (visible_from objective4 waypoint7) (visible_from objective4 waypoint8))

(:action (navigate rover3 waypoint9 waypoint3))

(:state (at rover0 waypoint0) (at rover1 waypoint8) (at rover2 waypoint3) (at rover3 waypoint3) (at rover4 waypoint7) (at_lander general waypoint1) (at_rock_sample waypoint10) (at_rock_sample waypoint2) (at_rock_sample waypoint4) (at_rock_sample waypoint8) (at_rock_sample waypoint9) (at_soil_sample waypoint0) (at_soil_sample waypoint10) (at_soil_sample waypoint2) (at_soil_sample waypoint3) (at_soil_sample waypoint4) (at_soil_sample waypoint5) (at_soil_sample waypoint6) (available rover0) (available rover1) (available rover2) (available rover3) (available rover4) (calibrated camera0 rover4) (calibration_target camera0 objective0) (calibration_target camera1 objective4) (calibration_target camera2 objective3) (calibration_target camera3 objective3) (calibration_target camera4 objective0) (calibration_target camera5 objective3) (calibration_target camera6 objective1) (calibration_target camera7 objective1) (can_traverse rover0 waypoint0 waypoint7) (can_traverse rover0 waypoint0 waypoint9) 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(visible_from objective4 waypoint2) (visible_from objective4 waypoint4) (visible_from objective4 waypoint6) (visible_from objective4 waypoint7) (visible_from objective4 waypoint8))

(:action (navigate rover3 waypoint3 waypoint5))

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(:action (navigate rover4 waypoint7 waypoint0))

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(:action (navigate rover4 waypoint0 waypoint2))

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)