(trajectory

(:objects high-res - mode colour - mode low-res - mode rover0 - rover rover0store - store waypoint0 - waypoint general - lander waypoint2 - waypoint waypoint1 - waypoint waypoint3 - waypoint camera0 - camera objective0 - objective objective1 - objective )

(:init (at-soil-sample waypoint2) (visible-from objective0 waypoint2) (at-soil-sample waypoint0) (at rover0 waypoint3) (can-traverse rover0 waypoint3 waypoint0) (can-traverse rover0 waypoint3 waypoint1) (empty rover0store) (equipped-for-rock-analysis rover0) (visible waypoint0 waypoint1) (supports camera0 high-res) (at-soil-sample waypoint3) (visible waypoint3 waypoint2) (visible waypoint2 waypoint0) (visible waypoint0 waypoint3) (visible-from objective1 waypoint3) (at-rock-sample waypoint3) (onboard camera0 rover0) (can-traverse rover0 waypoint0 waypoint3) (visible waypoint1 waypoint2) (visible-from objective1 waypoint2) (at-rock-sample waypoint1) (visible waypoint3 waypoint0) (calibrationtarget camera0 objective1) (visible waypoint1 waypoint3) (equipped-for-imaging rover0) (visible-from objective1 waypoint1) (visible waypoint3 waypoint1) (visible-from objective1 waypoint0) (channel-free general) (available rover0) (can-traverse rover0 waypoint1 waypoint3) (visible waypoint1 waypoint0) (visible waypoint0 waypoint2) (can-traverse rover0 waypoint1 waypoint2) (visible-from objective0 waypoint3) (store-of rover0store rover0) (visible waypoint2 waypoint1) (equipped-for-soil-analysis rover0) (visible-from objective0 waypoint0) (at-lander general waypoint0) (supports camera0 colour) (can-traverse rover0 waypoint2 waypoint1) (visible-from objective0 waypoint1) (visible waypoint2 waypoint3) (at-rock-sample waypoint2))

(:action (sample-rock rover0 rover0store waypoint3))

(:state (at-soil-sample waypoint2) (visible-from objective0 waypoint2) (at-soil-sample waypoint0) (at rover0 waypoint3) (can-traverse rover0 waypoint3 waypoint0) (can-traverse rover0 waypoint3 waypoint1) (equipped-for-rock-analysis rover0) (visible waypoint0 waypoint1) (supports camera0 high-res) (at-soil-sample waypoint3) (visible waypoint3 waypoint2) (visible waypoint2 waypoint0) (visible waypoint0 waypoint3) (visible-from objective1 waypoint3) (onboard camera0 rover0) (can-traverse rover0 waypoint0 waypoint3) (visible waypoint1 waypoint2) (visible-from objective1 waypoint2) (at-rock-sample waypoint1) (visible waypoint3 waypoint0) (calibrationtarget camera0 objective1) (visible waypoint1 waypoint3) (equipped-for-imaging rover0) (visible-from objective1 waypoint1) (visible waypoint3 waypoint1) (visible-from objective1 waypoint0) (channel-free general) (available rover0) (can-traverse rover0 waypoint1 waypoint3) (visible waypoint1 waypoint0) (visible waypoint0 waypoint2) (can-traverse rover0 waypoint1 waypoint2) (visible-from objective0 waypoint3) (store-of rover0store rover0) (visible waypoint2 waypoint1) (equipped-for-soil-analysis rover0) (visible-from objective0 waypoint0) (at-lander general waypoint0) (supports camera0 colour) (can-traverse rover0 waypoint2 waypoint1) (visible-from objective0 waypoint1) (visible waypoint2 waypoint3) (at-rock-sample waypoint2) (full rover0store) (have-rock-analysis rover0 waypoint3))

(:action (communicate-rock-data rover0 general waypoint3 waypoint3 waypoint0))

(:state (at-soil-sample waypoint2) (visible-from objective0 waypoint2) (at-soil-sample waypoint0) (at rover0 waypoint3) (can-traverse rover0 waypoint3 waypoint0) (can-traverse rover0 waypoint3 waypoint1) (equipped-for-rock-analysis rover0) (visible waypoint0 waypoint1) (supports camera0 high-res) (at-soil-sample waypoint3) (visible waypoint3 waypoint2) (visible waypoint2 waypoint0) (visible waypoint0 waypoint3) (visible-from objective1 waypoint3) (onboard camera0 rover0) (can-traverse rover0 waypoint0 waypoint3) (visible waypoint1 waypoint2) (visible-from objective1 waypoint2) (at-rock-sample waypoint1) (visible waypoint3 waypoint0) (calibrationtarget camera0 objective1) (visible waypoint1 waypoint3) (equipped-for-imaging rover0) (visible-from objective1 waypoint1) (visible waypoint3 waypoint1) (visible-from objective1 waypoint0) (can-traverse rover0 waypoint1 waypoint3) (visible waypoint1 waypoint0) (visible waypoint0 waypoint2) (can-traverse rover0 waypoint1 waypoint2) (visible-from objective0 waypoint3) (store-of rover0store rover0) (visible waypoint2 waypoint1) (equipped-for-soil-analysis rover0) (visible-from objective0 waypoint0) (at-lander general waypoint0) (supports camera0 colour) (can-traverse rover0 waypoint2 waypoint1) (visible-from objective0 waypoint1) (visible waypoint2 waypoint3) (at-rock-sample waypoint2) (full rover0store) (have-rock-analysis rover0 waypoint3) (channel-free general) (communicated-rock-data waypoint3) (available rover0))

(:action (drop rover0 rover0store))

(:state (at-soil-sample waypoint2) (visible-from objective0 waypoint2) (at-soil-sample waypoint0) (at rover0 waypoint3) (can-traverse rover0 waypoint3 waypoint0) (can-traverse rover0 waypoint3 waypoint1) (equipped-for-rock-analysis rover0) (visible waypoint0 waypoint1) (supports camera0 high-res) (at-soil-sample waypoint3) (visible waypoint3 waypoint2) (visible waypoint2 waypoint0) (visible waypoint0 waypoint3) (visible-from objective1 waypoint3) (onboard camera0 rover0) (can-traverse rover0 waypoint0 waypoint3) (visible waypoint1 waypoint2) (visible-from objective1 waypoint2) (at-rock-sample waypoint1) (visible waypoint3 waypoint0) (calibrationtarget camera0 objective1) (visible waypoint1 waypoint3) (equipped-for-imaging rover0) (visible-from objective1 waypoint1) (visible waypoint3 waypoint1) (visible-from objective1 waypoint0) (can-traverse rover0 waypoint1 waypoint3) (visible waypoint1 waypoint0) (visible waypoint0 waypoint2) (can-traverse rover0 waypoint1 waypoint2) (visible-from objective0 waypoint3) (store-of rover0store rover0) (visible waypoint2 waypoint1) (equipped-for-soil-analysis rover0) (visible-from objective0 waypoint0) (at-lander general waypoint0) (supports camera0 colour) (can-traverse rover0 waypoint2 waypoint1) (visible-from objective0 waypoint1) (visible waypoint2 waypoint3) (at-rock-sample waypoint2) (have-rock-analysis rover0 waypoint3) (channel-free general) (communicated-rock-data waypoint3) (available rover0) (empty rover0store))

(:action (sample-soil rover0 rover0store waypoint3))

(:state (at-soil-sample waypoint2) (visible-from objective0 waypoint2) (at-soil-sample waypoint0) (at rover0 waypoint3) (can-traverse rover0 waypoint3 waypoint0) (can-traverse rover0 waypoint3 waypoint1) (equipped-for-rock-analysis rover0) (visible waypoint0 waypoint1) (supports camera0 high-res) (visible waypoint3 waypoint2) (visible waypoint2 waypoint0) (visible waypoint0 waypoint3) (visible-from objective1 waypoint3) (onboard camera0 rover0) (can-traverse rover0 waypoint0 waypoint3) (visible waypoint1 waypoint2) (visible-from objective1 waypoint2) (at-rock-sample waypoint1) (visible waypoint3 waypoint0) (calibrationtarget camera0 objective1) (visible waypoint1 waypoint3) (equipped-for-imaging rover0) (visible-from objective1 waypoint1) (visible waypoint3 waypoint1) (visible-from objective1 waypoint0) (can-traverse rover0 waypoint1 waypoint3) (visible waypoint1 waypoint0) (visible waypoint0 waypoint2) (can-traverse rover0 waypoint1 waypoint2) (visible-from objective0 waypoint3) (store-of rover0store rover0) (visible waypoint2 waypoint1) (equipped-for-soil-analysis rover0) (visible-from objective0 waypoint0) (at-lander general waypoint0) (supports camera0 colour) (can-traverse rover0 waypoint2 waypoint1) (visible-from objective0 waypoint1) (visible waypoint2 waypoint3) (at-rock-sample waypoint2) (have-rock-analysis rover0 waypoint3) (channel-free general) (communicated-rock-data waypoint3) (available rover0) (full rover0store) (have-soil-analysis rover0 waypoint3))

(:action (calibrate rover0 camera0 objective1 waypoint3))

(:state (at-soil-sample waypoint2) (visible-from objective0 waypoint2) (at-soil-sample waypoint0) (at rover0 waypoint3) (can-traverse rover0 waypoint3 waypoint0) (can-traverse rover0 waypoint3 waypoint1) (equipped-for-rock-analysis rover0) (visible waypoint0 waypoint1) (supports camera0 high-res) (visible waypoint3 waypoint2) (visible waypoint2 waypoint0) (visible waypoint0 waypoint3) (visible-from objective1 waypoint3) (onboard camera0 rover0) (can-traverse rover0 waypoint0 waypoint3) (visible waypoint1 waypoint2) (visible-from objective1 waypoint2) (at-rock-sample waypoint1) (visible waypoint3 waypoint0) (calibrationtarget camera0 objective1) (visible waypoint1 waypoint3) (equipped-for-imaging rover0) (visible-from objective1 waypoint1) (visible waypoint3 waypoint1) (visible-from objective1 waypoint0) (can-traverse rover0 waypoint1 waypoint3) (visible waypoint1 waypoint0) (visible waypoint0 waypoint2) (can-traverse rover0 waypoint1 waypoint2) (visible-from objective0 waypoint3) (store-of rover0store rover0) (visible waypoint2 waypoint1) (equipped-for-soil-analysis rover0) (visible-from objective0 waypoint0) (at-lander general waypoint0) (supports camera0 colour) (can-traverse rover0 waypoint2 waypoint1) (visible-from objective0 waypoint1) (visible waypoint2 waypoint3) (at-rock-sample waypoint2) (have-rock-analysis rover0 waypoint3) (channel-free general) (communicated-rock-data waypoint3) (available rover0) (full rover0store) (have-soil-analysis rover0 waypoint3) (calibrated camera0 rover0))

(:action (communicate-soil-data rover0 general waypoint3 waypoint3 waypoint0))

(:state (at-soil-sample waypoint2) (visible-from objective0 waypoint2) (at-soil-sample waypoint0) (at rover0 waypoint3) (can-traverse rover0 waypoint3 waypoint0) (can-traverse rover0 waypoint3 waypoint1) (equipped-for-rock-analysis rover0) (visible waypoint0 waypoint1) (supports camera0 high-res) (visible waypoint3 waypoint2) (visible waypoint2 waypoint0) (visible waypoint0 waypoint3) (visible-from objective1 waypoint3) (onboard camera0 rover0) (can-traverse rover0 waypoint0 waypoint3) (visible waypoint1 waypoint2) (visible-from objective1 waypoint2) (at-rock-sample waypoint1) (visible waypoint3 waypoint0) (calibrationtarget camera0 objective1) (visible waypoint1 waypoint3) (equipped-for-imaging rover0) (visible-from objective1 waypoint1) (visible waypoint3 waypoint1) (visible-from objective1 waypoint0) (can-traverse rover0 waypoint1 waypoint3) (visible waypoint1 waypoint0) (visible waypoint0 waypoint2) (can-traverse rover0 waypoint1 waypoint2) (visible-from objective0 waypoint3) (store-of rover0store rover0) (visible waypoint2 waypoint1) (equipped-for-soil-analysis rover0) (visible-from objective0 waypoint0) (at-lander general waypoint0) (supports camera0 colour) (can-traverse rover0 waypoint2 waypoint1) (visible-from objective0 waypoint1) (visible waypoint2 waypoint3) (at-rock-sample waypoint2) (have-rock-analysis rover0 waypoint3) (communicated-rock-data waypoint3) (full rover0store) (have-soil-analysis rover0 waypoint3) (calibrated camera0 rover0) (channel-free general) (communicated-soil-data waypoint3) (available rover0))

(:action (drop rover0 rover0store))

(:state (at-soil-sample waypoint2) (visible-from objective0 waypoint2) (at-soil-sample waypoint0) (at rover0 waypoint3) (can-traverse rover0 waypoint3 waypoint0) (can-traverse rover0 waypoint3 waypoint1) (equipped-for-rock-analysis rover0) (visible waypoint0 waypoint1) (supports camera0 high-res) (visible waypoint3 waypoint2) (visible waypoint2 waypoint0) (visible waypoint0 waypoint3) (visible-from objective1 waypoint3) (onboard camera0 rover0) (can-traverse rover0 waypoint0 waypoint3) (visible waypoint1 waypoint2) (visible-from objective1 waypoint2) (at-rock-sample waypoint1) (visible waypoint3 waypoint0) (calibrationtarget camera0 objective1) (visible waypoint1 waypoint3) (equipped-for-imaging rover0) (visible-from objective1 waypoint1) (visible waypoint3 waypoint1) (visible-from objective1 waypoint0) (can-traverse rover0 waypoint1 waypoint3) (visible waypoint1 waypoint0) (visible waypoint0 waypoint2) (can-traverse rover0 waypoint1 waypoint2) (visible-from objective0 waypoint3) (store-of rover0store rover0) (visible waypoint2 waypoint1) (equipped-for-soil-analysis rover0) (visible-from objective0 waypoint0) (at-lander general waypoint0) (supports camera0 colour) (can-traverse rover0 waypoint2 waypoint1) (visible-from objective0 waypoint1) (visible waypoint2 waypoint3) (at-rock-sample waypoint2) (have-rock-analysis rover0 waypoint3) (communicated-rock-data waypoint3) (have-soil-analysis rover0 waypoint3) (calibrated camera0 rover0) (channel-free general) (communicated-soil-data waypoint3) (available rover0) (empty rover0store))

(:action (takeimage rover0 waypoint3 objective1 camera0 high-res))

(:state (at-soil-sample waypoint2) (visible-from objective0 waypoint2) (at-soil-sample waypoint0) (at rover0 waypoint3) (can-traverse rover0 waypoint3 waypoint0) (can-traverse rover0 waypoint3 waypoint1) (equipped-for-rock-analysis rover0) (visible waypoint0 waypoint1) (supports camera0 high-res) (visible waypoint3 waypoint2) (visible waypoint2 waypoint0) (visible waypoint0 waypoint3) (visible-from objective1 waypoint3) (onboard camera0 rover0) (can-traverse rover0 waypoint0 waypoint3) (visible waypoint1 waypoint2) (visible-from objective1 waypoint2) (at-rock-sample waypoint1) (visible waypoint3 waypoint0) (calibrationtarget camera0 objective1) (visible waypoint1 waypoint3) (equipped-for-imaging rover0) (visible-from objective1 waypoint1) (visible waypoint3 waypoint1) (visible-from objective1 waypoint0) (can-traverse rover0 waypoint1 waypoint3) (visible waypoint1 waypoint0) (visible waypoint0 waypoint2) (can-traverse rover0 waypoint1 waypoint2) (visible-from objective0 waypoint3) (store-of rover0store rover0) (visible waypoint2 waypoint1) (equipped-for-soil-analysis rover0) (visible-from objective0 waypoint0) (at-lander general waypoint0) (supports camera0 colour) (can-traverse rover0 waypoint2 waypoint1) (visible-from objective0 waypoint1) (visible waypoint2 waypoint3) (at-rock-sample waypoint2) (have-rock-analysis rover0 waypoint3) (communicated-rock-data waypoint3) (have-soil-analysis rover0 waypoint3) (channel-free general) (communicated-soil-data waypoint3) (available rover0) (empty rover0store) (haveimage rover0 objective1 high-res))

(:action (calibrate rover0 camera0 objective1 waypoint3))

(:state (at-soil-sample waypoint2) (visible-from objective0 waypoint2) (at-soil-sample waypoint0) (at rover0 waypoint3) (can-traverse rover0 waypoint3 waypoint0) (can-traverse rover0 waypoint3 waypoint1) (equipped-for-rock-analysis rover0) (visible waypoint0 waypoint1) (supports camera0 high-res) (visible waypoint3 waypoint2) (visible waypoint2 waypoint0) (visible waypoint0 waypoint3) (visible-from objective1 waypoint3) (onboard camera0 rover0) (can-traverse rover0 waypoint0 waypoint3) (visible waypoint1 waypoint2) (visible-from objective1 waypoint2) (at-rock-sample waypoint1) (visible waypoint3 waypoint0) (calibrationtarget camera0 objective1) (visible waypoint1 waypoint3) (equipped-for-imaging rover0) (visible-from objective1 waypoint1) (visible waypoint3 waypoint1) (visible-from objective1 waypoint0) (can-traverse rover0 waypoint1 waypoint3) (visible waypoint1 waypoint0) (visible waypoint0 waypoint2) (can-traverse rover0 waypoint1 waypoint2) (visible-from objective0 waypoint3) (store-of rover0store rover0) (visible waypoint2 waypoint1) (equipped-for-soil-analysis rover0) (visible-from objective0 waypoint0) (at-lander general waypoint0) (supports camera0 colour) (can-traverse rover0 waypoint2 waypoint1) (visible-from objective0 waypoint1) (visible waypoint2 waypoint3) (at-rock-sample waypoint2) (have-rock-analysis rover0 waypoint3) (communicated-rock-data waypoint3) (have-soil-analysis rover0 waypoint3) (channel-free general) (communicated-soil-data waypoint3) (available rover0) (empty rover0store) (haveimage rover0 objective1 high-res) (calibrated camera0 rover0))

(:action (communicate-image-data rover0 general objective1 high-res waypoint3 waypoint0))

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