(define (problem roverprob1866) (:domain Rover)
(:objects
	general - Lander
	colour high_res low_res - Mode
	rover0 - Rover
	rover0store - Store
	waypoint0 waypoint1 waypoint2 waypoint3 waypoint4 waypoint5 waypoint6 - Waypoint
	camera0 camera1 camera2 - Camera
	objective0 objective1 objective2 objective3 - Objective
	)
(:init
	(visible waypoint0 waypoint2)
	(visible waypoint2 waypoint0)
	(visible waypoint0 waypoint3)
	(visible waypoint3 waypoint0)
	(visible waypoint1 waypoint3)
	(visible waypoint3 waypoint1)
	(visible waypoint1 waypoint5)
	(visible waypoint5 waypoint1)
	(visible waypoint2 waypoint3)
	(visible waypoint3 waypoint2)
	(visible waypoint2 waypoint4)
	(visible waypoint4 waypoint2)
	(visible waypoint2 waypoint5)
	(visible waypoint5 waypoint2)
	(visible waypoint2 waypoint6)
	(visible waypoint6 waypoint2)
	(visible waypoint4 waypoint1)
	(visible waypoint1 waypoint4)
	(visible waypoint4 waypoint6)
	(visible waypoint6 waypoint4)
	(visible waypoint5 waypoint4)
	(visible waypoint4 waypoint5)
	(visible waypoint6 waypoint0)
	(visible waypoint0 waypoint6)
	(visible waypoint6 waypoint3)
	(visible waypoint3 waypoint6)
	(at_rock_sample waypoint0)
	(at_soil_sample waypoint2)
	(at_soil_sample waypoint3)
	(at_rock_sample waypoint3)
	(at_rock_sample waypoint4)
	(at_rock_sample waypoint6)
	(at_lander general waypoint1)
	(channel_free general)
	(at rover0 waypoint6)
	(available rover0)
	(store_of rover0store rover0)
	(empty rover0store)
	(equipped_for_soil_analysis rover0)
	(equipped_for_imaging rover0)
	(can_traverse rover0 waypoint6 waypoint0)
	(can_traverse rover0 waypoint0 waypoint6)
	(on_board camera0 rover0)
	(calibration_target camera0 objective2)
	(supports camera0 colour)
	(on_board camera1 rover0)
	(calibration_target camera1 objective0)
	(supports camera1 low_res)
	(on_board camera2 rover0)
	(calibration_target camera2 objective2)
	(supports camera2 colour)
	(supports camera2 high_res)
	(visible_from objective0 waypoint3)
	(visible_from objective0 waypoint4)
	(visible_from objective0 waypoint6)
	(visible_from objective1 waypoint4)
	(visible_from objective1 waypoint6)
	(visible_from objective2 waypoint3)
	(visible_from objective2 waypoint5)
	(visible_from objective2 waypoint6)
	(visible_from objective3 waypoint0)
	(visible_from objective3 waypoint3)
)

(:goal (and
(communicated_image_data objective2 low_res)
	)
)
)
