(define (problem roverprob1511) (:domain Rover)
(:objects
	general - Lander
	colour high_res low_res - Mode
	rover0 rover1 - Rover
	rover0store rover1store - Store
	waypoint0 waypoint1 waypoint2 waypoint3 waypoint4 - Waypoint
	camera0 - Camera
	objective0 objective1 objective2 - Objective
	)
(:init
	(visible waypoint1 waypoint0)
	(visible waypoint0 waypoint1)
	(visible waypoint1 waypoint3)
	(visible waypoint3 waypoint1)
	(visible waypoint1 waypoint4)
	(visible waypoint4 waypoint1)
	(visible waypoint2 waypoint0)
	(visible waypoint0 waypoint2)
	(visible waypoint2 waypoint1)
	(visible waypoint1 waypoint2)
	(visible waypoint3 waypoint0)
	(visible waypoint0 waypoint3)
	(visible waypoint4 waypoint0)
	(visible waypoint0 waypoint4)
	(visible waypoint4 waypoint2)
	(visible waypoint2 waypoint4)
	(visible waypoint4 waypoint3)
	(visible waypoint3 waypoint4)
	(at_soil_sample waypoint0)
	(at_rock_sample waypoint1)
	(at_soil_sample waypoint2)
	(at_rock_sample waypoint2)
	(at_soil_sample waypoint3)
	(at_rock_sample waypoint3)
	(at_soil_sample waypoint4)
	(at_rock_sample waypoint4)
	(at_lander general waypoint2)
	(channel_free general)
	(at rover0 waypoint0)
	(available rover0)
	(store_of rover0store rover0)
	(empty rover0store)
	(equipped_for_rock_analysis rover0)
	(can_traverse rover0 waypoint0 waypoint1)
	(can_traverse rover0 waypoint1 waypoint0)
	(can_traverse rover0 waypoint0 waypoint2)
	(can_traverse rover0 waypoint2 waypoint0)
	(can_traverse rover0 waypoint0 waypoint3)
	(can_traverse rover0 waypoint3 waypoint0)
	(can_traverse rover0 waypoint0 waypoint4)
	(can_traverse rover0 waypoint4 waypoint0)
	(at rover1 waypoint4)
	(available rover1)
	(store_of rover1store rover1)
	(empty rover1store)
	(equipped_for_rock_analysis rover1)
	(equipped_for_imaging rover1)
	(can_traverse rover1 waypoint4 waypoint0)
	(can_traverse rover1 waypoint0 waypoint4)
	(can_traverse rover1 waypoint4 waypoint1)
	(can_traverse rover1 waypoint1 waypoint4)
	(can_traverse rover1 waypoint4 waypoint2)
	(can_traverse rover1 waypoint2 waypoint4)
	(can_traverse rover1 waypoint4 waypoint3)
	(can_traverse rover1 waypoint3 waypoint4)
	(on_board camera0 rover1)
	(calibration_target camera0 objective1)
	(supports camera0 low_res)
	(visible_from objective0 waypoint0)
	(visible_from objective0 waypoint3)
	(visible_from objective0 waypoint4)
	(visible_from objective1 waypoint3)
	(visible_from objective1 waypoint4)
	(visible_from objective2 waypoint1)
	(visible_from objective2 waypoint2)
	(visible_from objective2 waypoint3)
)

(:goal (and
(communicated_rock_data waypoint2)
(communicated_rock_data waypoint4)
(communicated_rock_data waypoint1)
(communicated_image_data objective0 low_res)
(communicated_image_data objective1 low_res)
	)
)
)
