(define (problem roverprob4135) (: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 waypoint10 - Waypoint
	camera0 camera1 camera2 camera3 - Camera
	objective0 objective1 objective2 objective3 objective4 - Objective
	)
(:init
	(cansoc rover0)
	(visible waypoint0 waypoint3)
	(visible waypoint3 waypoint0)
	(visible waypoint0 waypoint4)
	(visible waypoint4 waypoint0)
	(visible waypoint1 waypoint0)
	(visible waypoint0 waypoint1)
	(visible waypoint1 waypoint5)
	(visible waypoint5 waypoint1)
	(visible waypoint1 waypoint6)
	(visible waypoint6 waypoint1)
	(visible waypoint1 waypoint7)
	(visible waypoint7 waypoint1)
	(visible waypoint1 waypoint8)
	(visible waypoint8 waypoint1)
	(visible waypoint1 waypoint10)
	(visible waypoint10 waypoint1)
	(visible waypoint2 waypoint0)
	(visible waypoint0 waypoint2)
	(visible waypoint2 waypoint1)
	(visible waypoint1 waypoint2)
	(visible waypoint2 waypoint6)
	(visible waypoint6 waypoint2)
	(visible waypoint3 waypoint1)
	(visible waypoint1 waypoint3)
	(visible waypoint3 waypoint6)
	(visible waypoint6 waypoint3)
	(visible waypoint3 waypoint9)
	(visible waypoint9 waypoint3)
	(visible waypoint3 waypoint10)
	(visible waypoint10 waypoint3)
	(visible waypoint4 waypoint1)
	(visible waypoint1 waypoint4)
	(visible waypoint4 waypoint2)
	(visible waypoint2 waypoint4)
	(visible waypoint4 waypoint5)
	(visible waypoint5 waypoint4)
	(visible waypoint4 waypoint6)
	(visible waypoint6 waypoint4)
	(visible waypoint4 waypoint8)
	(visible waypoint8 waypoint4)
	(visible waypoint5 waypoint2)
	(visible waypoint2 waypoint5)
	(visible waypoint5 waypoint6)
	(visible waypoint6 waypoint5)
	(visible waypoint7 waypoint0)
	(visible waypoint0 waypoint7)
	(visible waypoint7 waypoint3)
	(visible waypoint3 waypoint7)
	(visible waypoint7 waypoint5)
	(visible waypoint5 waypoint7)
	(visible waypoint7 waypoint9)
	(visible waypoint9 waypoint7)
	(visible waypoint7 waypoint10)
	(visible waypoint10 waypoint7)
	(visible waypoint8 waypoint0)
	(visible waypoint0 waypoint8)
	(visible waypoint8 waypoint3)
	(visible waypoint3 waypoint8)
	(visible waypoint9 waypoint4)
	(visible waypoint4 waypoint9)
	(visible waypoint9 waypoint6)
	(visible waypoint6 waypoint9)
	(visible waypoint9 waypoint8)
	(visible waypoint8 waypoint9)
	(visible waypoint10 waypoint4)
	(visible waypoint4 waypoint10)
	(visible waypoint10 waypoint5)
	(visible waypoint5 waypoint10)
	(visible waypoint10 waypoint6)
	(visible waypoint6 waypoint10)
	(visible waypoint10 waypoint8)
	(visible waypoint8 waypoint10)
	(at_soil_sample waypoint0)
	(in_sun waypoint0)
	(at_rock_sample waypoint1)
	(at_soil_sample waypoint2)
	(at_rock_sample waypoint2)
	(at_soil_sample waypoint4)
	(in_sun waypoint4)
	(at_soil_sample waypoint5)
	(at_rock_sample waypoint5)
	(in_sun waypoint5)
	(in_sun waypoint6)
	(at_soil_sample waypoint8)
	(at_rock_sample waypoint8)
	(in_sun waypoint9)
	(at_rock_sample waypoint10)
	(at_lander general waypoint9)
	(channel_free general)
	(= (energy rover0) 50)
	(= (recharge-rate rover0) 14)
	(at rover0 waypoint4)
	(available rover0)
	(store_of rover0store rover0)
	(empty rover0store)
	(equipped_for_soil_analysis rover0)
	(equipped_for_imaging rover0)
	(can_traverse rover0 waypoint4 waypoint0)
	(can_traverse rover0 waypoint0 waypoint4)
	(can_traverse rover0 waypoint4 waypoint1)
	(can_traverse rover0 waypoint1 waypoint4)
	(can_traverse rover0 waypoint4 waypoint2)
	(can_traverse rover0 waypoint2 waypoint4)
	(can_traverse rover0 waypoint4 waypoint5)
	(can_traverse rover0 waypoint5 waypoint4)
	(can_traverse rover0 waypoint4 waypoint8)
	(can_traverse rover0 waypoint8 waypoint4)
	(can_traverse rover0 waypoint4 waypoint9)
	(can_traverse rover0 waypoint9 waypoint4)
	(can_traverse rover0 waypoint4 waypoint10)
	(can_traverse rover0 waypoint10 waypoint4)
	(can_traverse rover0 waypoint0 waypoint3)
	(can_traverse rover0 waypoint3 waypoint0)
	(can_traverse rover0 waypoint0 waypoint7)
	(can_traverse rover0 waypoint7 waypoint0)
	(can_traverse rover0 waypoint1 waypoint6)
	(can_traverse rover0 waypoint6 waypoint1)
	(on_board camera0 rover0)
	(calibration_target camera0 objective2)
	(supports camera0 low_res)
	(on_board camera1 rover0)
	(calibration_target camera1 objective2)
	(supports camera1 high_res)
	(on_board camera2 rover0)
	(calibration_target camera2 objective2)
	(supports camera2 colour)
	(on_board camera3 rover0)
	(calibration_target camera3 objective0)
	(supports camera3 low_res)
	(visible_from objective0 waypoint0)
	(visible_from objective0 waypoint1)
	(visible_from objective0 waypoint2)
	(visible_from objective0 waypoint3)
	(visible_from objective0 waypoint4)
	(visible_from objective0 waypoint5)
	(visible_from objective0 waypoint6)
	(visible_from objective0 waypoint7)
	(visible_from objective0 waypoint8)
	(visible_from objective1 waypoint0)
	(visible_from objective1 waypoint1)
	(visible_from objective1 waypoint2)
	(visible_from objective1 waypoint3)
	(visible_from objective1 waypoint4)
	(visible_from objective1 waypoint5)
	(visible_from objective1 waypoint6)
	(visible_from objective1 waypoint7)
	(visible_from objective1 waypoint8)
	(visible_from objective1 waypoint9)
	(visible_from objective2 waypoint0)
	(visible_from objective2 waypoint1)
	(visible_from objective2 waypoint2)
	(visible_from objective2 waypoint3)
	(visible_from objective2 waypoint4)
	(visible_from objective2 waypoint5)
	(visible_from objective2 waypoint6)
	(visible_from objective2 waypoint7)
	(visible_from objective3 waypoint0)
	(visible_from objective3 waypoint1)
	(visible_from objective3 waypoint2)
	(visible_from objective3 waypoint3)
	(visible_from objective3 waypoint4)
	(visible_from objective3 waypoint5)
	(visible_from objective3 waypoint6)
	(visible_from objective3 waypoint7)
	(visible_from objective3 waypoint8)
	(visible_from objective3 waypoint9)
	(visible_from objective3 waypoint10)
	(visible_from objective4 waypoint0)
	(visible_from objective4 waypoint1)
	(visible_from objective4 waypoint2)
	(visible_from objective4 waypoint3)
	(visible_from objective4 waypoint4)
	(visible_from objective4 waypoint5)
	(visible_from objective4 waypoint6)
	(visible_from objective4 waypoint7)
	(visible_from objective4 waypoint8)
	(visible_from objective4 waypoint9)
	(visible_from objective4 waypoint10)
)

(:goal (and
(communicated_soil_data waypoint8)
(communicated_soil_data waypoint2)
(communicated_image_data objective3 high_res)
(communicated_image_data objective4 low_res)
(communicated_image_data objective1 low_res)
	)
)

(:metric minimize (total-time))
)
