(trajectory

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

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

(:action (communicate-rock-data rover0 general waypoint2 waypoint2 waypoint0))

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

(:action (drop rover0 rover0store))

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

(:action (navigate rover0 waypoint2 waypoint1))

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

(:action (calibrate rover0 camera0 objective1 waypoint1))

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

(:action (sample-rock rover0 rover0store waypoint1))

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

(:action (navigate rover0 waypoint1 waypoint3))

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

(:action (navigate rover0 waypoint3 waypoint0))

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

(:action (takeimage rover0 waypoint0 objective0 camera0 colour))

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

(:action (drop rover0 rover0store))

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

(:action (sample-soil rover0 rover0store waypoint0))

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