(define (problem roverprob3726) (:domain Rover)
(:objects
	general - Lander
	colour high_res low_res - Mode
	rover0 - Rover
	rover0store - Store
	waypoint0 waypoint1 waypoint2 waypoint3 - Waypoint
	camera0 camera1 - Camera
	objective0 objective1 - Objective
	)
(:init
	(cansoc rover0)
	(visible waypoint0 waypoint1)
	(visible waypoint1 waypoint0)
	(visible waypoint0 waypoint3)
	(visible waypoint3 waypoint0)
	(visible waypoint1 waypoint2)
	(visible waypoint2 waypoint1)
	(visible waypoint1 waypoint3)
	(visible waypoint3 waypoint1)
	(visible waypoint2 waypoint0)
	(visible waypoint0 waypoint2)
	(visible waypoint3 waypoint2)
	(visible waypoint2 waypoint3)
	(at_soil_sample waypoint0)
	(in_sun waypoint0)
	(at_rock_sample waypoint1)
	(at_rock_sample waypoint3)
	(in_sun waypoint3)
	(at_lander general waypoint0)
	(channel_free general)
	(= (energy rover0) 50)
	(= (recharge-rate rover0) 15)
	(at rover0 waypoint1)
	(available rover0)
	(store_of rover0store rover0)
	(empty rover0store)
	(equipped_for_soil_analysis rover0)
	(equipped_for_rock_analysis rover0)
	(equipped_for_imaging rover0)
	(can_traverse rover0 waypoint1 waypoint0)
	(can_traverse rover0 waypoint0 waypoint1)
	(can_traverse rover0 waypoint1 waypoint3)
	(can_traverse rover0 waypoint3 waypoint1)
	(on_board camera0 rover0)
	(calibration_target camera0 objective1)
	(supports camera0 colour)
	(supports camera0 high_res)
	(supports camera0 low_res)
	(on_board camera1 rover0)
	(calibration_target camera1 objective1)
	(supports camera1 colour)
	(supports camera1 high_res)
	(supports camera1 low_res)
	(visible_from objective0 waypoint0)
	(visible_from objective0 waypoint1)
	(visible_from objective1 waypoint0)
)

(:goal (and
(communicated_soil_data waypoint0)
(communicated_rock_data waypoint1)
(communicated_rock_data waypoint3)
	)
)

(:metric minimize (total-time))
)
