(define (problem roverprob1482) (:domain Rover)
(:objects
	general - Lander
	colour high_res low_res - Mode
	rover0 - Rover
	rover0store - Store
	waypoint0 waypoint1 waypoint2 waypoint3 waypoint4 waypoint5 waypoint6 waypoint7 waypoint8 waypoint9 - Waypoint
	camera0 camera1 camera2 camera3 - Camera
	objective0 objective1 - Objective
	)
(:init
	(visible waypoint0 waypoint3)
	(visible waypoint3 waypoint0)
	(visible waypoint0 waypoint4)
	(visible waypoint4 waypoint0)
	(visible waypoint0 waypoint5)
	(visible waypoint5 waypoint0)
	(visible waypoint0 waypoint6)
	(visible waypoint6 waypoint0)
	(visible waypoint1 waypoint2)
	(visible waypoint2 waypoint1)
	(visible waypoint1 waypoint3)
	(visible waypoint3 waypoint1)
	(visible waypoint1 waypoint4)
	(visible waypoint4 waypoint1)
	(visible waypoint1 waypoint8)
	(visible waypoint8 waypoint1)
	(visible waypoint1 waypoint9)
	(visible waypoint9 waypoint1)
	(visible waypoint2 waypoint0)
	(visible waypoint0 waypoint2)
	(visible waypoint2 waypoint4)
	(visible waypoint4 waypoint2)
	(visible waypoint3 waypoint4)
	(visible waypoint4 waypoint3)
	(visible waypoint3 waypoint7)
	(visible waypoint7 waypoint3)
	(visible waypoint3 waypoint9)
	(visible waypoint9 waypoint3)
	(visible waypoint4 waypoint7)
	(visible waypoint7 waypoint4)
	(visible waypoint4 waypoint8)
	(visible waypoint8 waypoint4)
	(visible waypoint5 waypoint1)
	(visible waypoint1 waypoint5)
	(visible waypoint5 waypoint6)
	(visible waypoint6 waypoint5)
	(visible waypoint5 waypoint8)
	(visible waypoint8 waypoint5)
	(visible waypoint6 waypoint8)
	(visible waypoint8 waypoint6)
	(visible waypoint7 waypoint1)
	(visible waypoint1 waypoint7)
	(visible waypoint7 waypoint5)
	(visible waypoint5 waypoint7)
	(visible waypoint7 waypoint9)
	(visible waypoint9 waypoint7)
	(visible waypoint8 waypoint0)
	(visible waypoint0 waypoint8)
	(visible waypoint8 waypoint3)
	(visible waypoint3 waypoint8)
	(visible waypoint9 waypoint4)
	(visible waypoint4 waypoint9)
	(at_soil_sample waypoint0)
	(at_rock_sample waypoint0)
	(at_soil_sample waypoint1)
	(at_soil_sample waypoint2)
	(at_rock_sample waypoint2)
	(at_soil_sample waypoint4)
	(at_soil_sample waypoint6)
	(at_soil_sample waypoint7)
	(at_rock_sample waypoint7)
	(at_soil_sample waypoint8)
	(at_soil_sample waypoint9)
	(at_lander general waypoint4)
	(channel_free general)
	(at rover0 waypoint2)
	(available rover0)
	(store_of rover0store rover0)
	(empty rover0store)
	(equipped_for_soil_analysis rover0)
	(equipped_for_imaging rover0)
	(can_traverse rover0 waypoint2 waypoint0)
	(can_traverse rover0 waypoint0 waypoint2)
	(can_traverse rover0 waypoint2 waypoint1)
	(can_traverse rover0 waypoint1 waypoint2)
	(can_traverse rover0 waypoint2 waypoint4)
	(can_traverse rover0 waypoint4 waypoint2)
	(can_traverse rover0 waypoint0 waypoint3)
	(can_traverse rover0 waypoint3 waypoint0)
	(can_traverse rover0 waypoint0 waypoint6)
	(can_traverse rover0 waypoint6 waypoint0)
	(can_traverse rover0 waypoint0 waypoint8)
	(can_traverse rover0 waypoint8 waypoint0)
	(can_traverse rover0 waypoint1 waypoint5)
	(can_traverse rover0 waypoint5 waypoint1)
	(can_traverse rover0 waypoint1 waypoint7)
	(can_traverse rover0 waypoint7 waypoint1)
	(can_traverse rover0 waypoint4 waypoint9)
	(can_traverse rover0 waypoint9 waypoint4)
	(on_board camera0 rover0)
	(calibration_target camera0 objective0)
	(supports camera0 colour)
	(supports camera0 low_res)
	(on_board camera1 rover0)
	(calibration_target camera1 objective0)
	(supports camera1 colour)
	(on_board camera2 rover0)
	(calibration_target camera2 objective0)
	(supports camera2 colour)
	(on_board camera3 rover0)
	(calibration_target camera3 objective1)
	(supports camera3 colour)
	(visible_from objective0 waypoint0)
	(visible_from objective0 waypoint1)
	(visible_from objective0 waypoint2)
	(visible_from objective0 waypoint3)
	(visible_from objective0 waypoint4)
	(visible_from objective0 waypoint6)
	(visible_from objective0 waypoint9)
	(visible_from objective1 waypoint1)
	(visible_from objective1 waypoint3)
	(visible_from objective1 waypoint4)
	(visible_from objective1 waypoint5)
	(visible_from objective1 waypoint6)
	(visible_from objective1 waypoint8)
	(visible_from objective1 waypoint9)
)

(:goal (and
(communicated_soil_data waypoint8)
(communicated_soil_data waypoint4)
(communicated_soil_data waypoint0)
(communicated_soil_data waypoint6)
(communicated_image_data objective0 colour)
(communicated_image_data objective0 low_res)
(communicated_image_data objective1 colour)
	)
)
)
