(define (problem roverprob4605) (:domain Rover)
(:objects
	general - Lander
	colour high_res low_res - Mode
	rover0 - Rover
	rover0store - Store
	waypoint0 waypoint1 waypoint2 waypoint3 waypoint4 waypoint5 waypoint6 waypoint7 - Waypoint
	camera0 camera1 camera2 camera3 - Camera
	objective0 objective1 objective2 - Objective
	)
(:init
	(visible waypoint0 waypoint2)
	(visible waypoint2 waypoint0)
	(visible waypoint1 waypoint3)
	(visible waypoint3 waypoint1)
	(visible waypoint1 waypoint6)
	(visible waypoint6 waypoint1)
	(visible waypoint2 waypoint3)
	(visible waypoint3 waypoint2)
	(visible waypoint2 waypoint4)
	(visible waypoint4 waypoint2)
	(visible waypoint2 waypoint7)
	(visible waypoint7 waypoint2)
	(visible waypoint3 waypoint5)
	(visible waypoint5 waypoint3)
	(visible waypoint3 waypoint7)
	(visible waypoint7 waypoint3)
	(visible waypoint4 waypoint1)
	(visible waypoint1 waypoint4)
	(visible waypoint4 waypoint3)
	(visible waypoint3 waypoint4)
	(visible waypoint4 waypoint6)
	(visible waypoint6 waypoint4)
	(visible waypoint4 waypoint7)
	(visible waypoint7 waypoint4)
	(visible waypoint5 waypoint0)
	(visible waypoint0 waypoint5)
	(visible waypoint5 waypoint1)
	(visible waypoint1 waypoint5)
	(visible waypoint5 waypoint4)
	(visible waypoint4 waypoint5)
	(visible waypoint6 waypoint0)
	(visible waypoint0 waypoint6)
	(visible waypoint6 waypoint2)
	(visible waypoint2 waypoint6)
	(visible waypoint6 waypoint5)
	(visible waypoint5 waypoint6)
	(visible waypoint7 waypoint0)
	(visible waypoint0 waypoint7)
	(visible waypoint7 waypoint5)
	(visible waypoint5 waypoint7)
	(visible waypoint7 waypoint6)
	(visible waypoint6 waypoint7)
	(at_rock_sample waypoint0)
	(at_soil_sample waypoint1)
	(at_rock_sample waypoint2)
	(at_soil_sample waypoint3)
	(at_rock_sample waypoint3)
	(at_soil_sample waypoint4)
	(at_rock_sample waypoint6)
	(at_soil_sample waypoint7)
	(at_lander general waypoint4)
	(channel_free general)
	(at rover0 waypoint5)
	(available rover0)
	(store_of rover0store rover0)
	(empty rover0store)
	(equipped_for_soil_analysis rover0)
	(equipped_for_imaging rover0)
	(can_traverse rover0 waypoint5 waypoint0)
	(can_traverse rover0 waypoint0 waypoint5)
	(can_traverse rover0 waypoint5 waypoint3)
	(can_traverse rover0 waypoint3 waypoint5)
	(can_traverse rover0 waypoint5 waypoint4)
	(can_traverse rover0 waypoint4 waypoint5)
	(can_traverse rover0 waypoint5 waypoint6)
	(can_traverse rover0 waypoint6 waypoint5)
	(can_traverse rover0 waypoint5 waypoint7)
	(can_traverse rover0 waypoint7 waypoint5)
	(can_traverse rover0 waypoint0 waypoint2)
	(can_traverse rover0 waypoint2 waypoint0)
	(can_traverse rover0 waypoint3 waypoint1)
	(can_traverse rover0 waypoint1 waypoint3)
	(on_board camera0 rover0)
	(calibration_target camera0 objective2)
	(supports camera0 colour)
	(supports camera0 high_res)
	(on_board camera1 rover0)
	(calibration_target camera1 objective2)
	(supports camera1 colour)
	(supports camera1 low_res)
	(on_board camera2 rover0)
	(calibration_target camera2 objective1)
	(supports camera2 colour)
	(supports camera2 low_res)
	(on_board camera3 rover0)
	(calibration_target camera3 objective1)
	(supports camera3 high_res)
	(supports camera3 low_res)
	(visible_from objective0 waypoint2)
	(visible_from objective0 waypoint3)
	(visible_from objective0 waypoint4)
	(visible_from objective0 waypoint6)
	(visible_from objective1 waypoint1)
	(visible_from objective1 waypoint2)
	(visible_from objective1 waypoint5)
	(visible_from objective2 waypoint0)
	(visible_from objective2 waypoint2)
	(visible_from objective2 waypoint7)
)

(:goal (and
(communicated_soil_data waypoint4)
(communicated_soil_data waypoint3)
(communicated_soil_data waypoint7)
(communicated_soil_data waypoint1)
(communicated_image_data objective1 low_res)
(communicated_image_data objective0 low_res)
(communicated_image_data objective2 low_res)
(communicated_image_data objective2 colour)
	)
)
)
