(trajectory

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

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

(:action (communicate-soil-data rover0 general waypoint3 waypoint1 waypoint0))

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

(:action (calibrate rover0 camera0 objective1 waypoint1))

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

(:action (takeimage rover0 waypoint1 objective1 camera0 high-res))

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

(:action (communicate-image-data rover0 general objective1 colour waypoint1 waypoint0))

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

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

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

(:action (drop rover0 rover0store))

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(:action (calibrate rover0 camera0 objective1 waypoint1))

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(:action (navigate rover0 waypoint1 waypoint3))

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(:action (takeimage rover0 waypoint3 objective0 camera0 colour))

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(:action (communicate-rock-data rover0 general waypoint1 waypoint3 waypoint0))

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