(define (problem roverprob4621) (: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 waypoint11 waypoint12 waypoint13 waypoint14 waypoint15 waypoint16 waypoint17 waypoint18 waypoint19 - Waypoint
	camera0 camera1 camera2 camera3 camera4 - Camera
	objective0 objective1 objective2 objective3 objective4 objective5 objective6 - Objective
	)
(:init
	(cansoc rover0)
	(visible waypoint0 waypoint1)
	(visible waypoint1 waypoint0)
	(visible waypoint0 waypoint2)
	(visible waypoint2 waypoint0)
	(visible waypoint0 waypoint12)
	(visible waypoint12 waypoint0)
	(visible waypoint0 waypoint13)
	(visible waypoint13 waypoint0)
	(visible waypoint1 waypoint2)
	(visible waypoint2 waypoint1)
	(visible waypoint1 waypoint6)
	(visible waypoint6 waypoint1)
	(visible waypoint1 waypoint11)
	(visible waypoint11 waypoint1)
	(visible waypoint1 waypoint15)
	(visible waypoint15 waypoint1)
	(visible waypoint2 waypoint6)
	(visible waypoint6 waypoint2)
	(visible waypoint2 waypoint9)
	(visible waypoint9 waypoint2)
	(visible waypoint2 waypoint14)
	(visible waypoint14 waypoint2)
	(visible waypoint2 waypoint16)
	(visible waypoint16 waypoint2)
	(visible waypoint2 waypoint18)
	(visible waypoint18 waypoint2)
	(visible waypoint3 waypoint7)
	(visible waypoint7 waypoint3)
	(visible waypoint3 waypoint11)
	(visible waypoint11 waypoint3)
	(visible waypoint3 waypoint13)
	(visible waypoint13 waypoint3)
	(visible waypoint3 waypoint15)
	(visible waypoint15 waypoint3)
	(visible waypoint4 waypoint5)
	(visible waypoint5 waypoint4)
	(visible waypoint4 waypoint9)
	(visible waypoint9 waypoint4)
	(visible waypoint4 waypoint12)
	(visible waypoint12 waypoint4)
	(visible waypoint4 waypoint18)
	(visible waypoint18 waypoint4)
	(visible waypoint5 waypoint6)
	(visible waypoint6 waypoint5)
	(visible waypoint5 waypoint10)
	(visible waypoint10 waypoint5)
	(visible waypoint5 waypoint12)
	(visible waypoint12 waypoint5)
	(visible waypoint5 waypoint14)
	(visible waypoint14 waypoint5)
	(visible waypoint6 waypoint3)
	(visible waypoint3 waypoint6)
	(visible waypoint6 waypoint12)
	(visible waypoint12 waypoint6)
	(visible waypoint6 waypoint13)
	(visible waypoint13 waypoint6)
	(visible waypoint6 waypoint14)
	(visible waypoint14 waypoint6)
	(visible waypoint6 waypoint19)
	(visible waypoint19 waypoint6)
	(visible waypoint7 waypoint1)
	(visible waypoint1 waypoint7)
	(visible waypoint7 waypoint2)
	(visible waypoint2 waypoint7)
	(visible waypoint7 waypoint5)
	(visible waypoint5 waypoint7)
	(visible waypoint7 waypoint9)
	(visible waypoint9 waypoint7)
	(visible waypoint8 waypoint14)
	(visible waypoint14 waypoint8)
	(visible waypoint9 waypoint0)
	(visible waypoint0 waypoint9)
	(visible waypoint9 waypoint3)
	(visible waypoint3 waypoint9)
	(visible waypoint9 waypoint5)
	(visible waypoint5 waypoint9)
	(visible waypoint9 waypoint6)
	(visible waypoint6 waypoint9)
	(visible waypoint9 waypoint8)
	(visible waypoint8 waypoint9)
	(visible waypoint9 waypoint12)
	(visible waypoint12 waypoint9)
	(visible waypoint10 waypoint3)
	(visible waypoint3 waypoint10)
	(visible waypoint10 waypoint7)
	(visible waypoint7 waypoint10)
	(visible waypoint10 waypoint8)
	(visible waypoint8 waypoint10)
	(visible waypoint10 waypoint9)
	(visible waypoint9 waypoint10)
	(visible waypoint10 waypoint16)
	(visible waypoint16 waypoint10)
	(visible waypoint11 waypoint4)
	(visible waypoint4 waypoint11)
	(visible waypoint11 waypoint5)
	(visible waypoint5 waypoint11)
	(visible waypoint11 waypoint7)
	(visible waypoint7 waypoint11)
	(visible waypoint11 waypoint12)
	(visible waypoint12 waypoint11)
	(visible waypoint11 waypoint16)
	(visible waypoint16 waypoint11)
	(visible waypoint12 waypoint1)
	(visible waypoint1 waypoint12)
	(visible waypoint12 waypoint8)
	(visible waypoint8 waypoint12)
	(visible waypoint12 waypoint14)
	(visible waypoint14 waypoint12)
	(visible waypoint12 waypoint19)
	(visible waypoint19 waypoint12)
	(visible waypoint13 waypoint4)
	(visible waypoint4 waypoint13)
	(visible waypoint13 waypoint19)
	(visible waypoint19 waypoint13)
	(visible waypoint14 waypoint9)
	(visible waypoint9 waypoint14)
	(visible waypoint14 waypoint15)
	(visible waypoint15 waypoint14)
	(visible waypoint15 waypoint6)
	(visible waypoint6 waypoint15)
	(visible waypoint16 waypoint0)
	(visible waypoint0 waypoint16)
	(visible waypoint16 waypoint12)
	(visible waypoint12 waypoint16)
	(visible waypoint16 waypoint13)
	(visible waypoint13 waypoint16)
	(visible waypoint17 waypoint0)
	(visible waypoint0 waypoint17)
	(visible waypoint17 waypoint11)
	(visible waypoint11 waypoint17)
	(visible waypoint18 waypoint0)
	(visible waypoint0 waypoint18)
	(visible waypoint18 waypoint9)
	(visible waypoint9 waypoint18)
	(visible waypoint18 waypoint11)
	(visible waypoint11 waypoint18)
	(visible waypoint19 waypoint9)
	(visible waypoint9 waypoint19)
	(visible waypoint19 waypoint14)
	(visible waypoint14 waypoint19)
	(visible waypoint19 waypoint15)
	(visible waypoint15 waypoint19)
	(visible waypoint19 waypoint16)
	(visible waypoint16 waypoint19)
	(visible waypoint19 waypoint17)
	(visible waypoint17 waypoint19)
	(in_sun waypoint1)
	(at_soil_sample waypoint2)
	(at_rock_sample waypoint2)
	(at_soil_sample waypoint4)
	(at_rock_sample waypoint8)
	(in_sun waypoint8)
	(at_rock_sample waypoint9)
	(at_soil_sample waypoint10)
	(at_rock_sample waypoint10)
	(at_soil_sample waypoint11)
	(at_rock_sample waypoint12)
	(in_sun waypoint13)
	(at_soil_sample waypoint14)
	(in_sun waypoint15)
	(in_sun waypoint16)
	(at_soil_sample waypoint17)
	(at_soil_sample waypoint18)
	(at_rock_sample waypoint18)
	(at_soil_sample waypoint19)
	(at_rock_sample waypoint19)
	(at_lander general waypoint17)
	(channel_free general)
	(= (energy rover0) 50)
	(= (recharge-rate rover0) 11)
	(at rover0 waypoint2)
	(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 waypoint2 waypoint0)
	(can_traverse rover0 waypoint0 waypoint2)
	(can_traverse rover0 waypoint2 waypoint6)
	(can_traverse rover0 waypoint6 waypoint2)
	(can_traverse rover0 waypoint2 waypoint7)
	(can_traverse rover0 waypoint7 waypoint2)
	(can_traverse rover0 waypoint2 waypoint9)
	(can_traverse rover0 waypoint9 waypoint2)
	(can_traverse rover0 waypoint2 waypoint14)
	(can_traverse rover0 waypoint14 waypoint2)
	(can_traverse rover0 waypoint2 waypoint18)
	(can_traverse rover0 waypoint18 waypoint2)
	(can_traverse rover0 waypoint0 waypoint12)
	(can_traverse rover0 waypoint12 waypoint0)
	(can_traverse rover0 waypoint0 waypoint13)
	(can_traverse rover0 waypoint13 waypoint0)
	(can_traverse rover0 waypoint6 waypoint1)
	(can_traverse rover0 waypoint1 waypoint6)
	(can_traverse rover0 waypoint6 waypoint15)
	(can_traverse rover0 waypoint15 waypoint6)
	(can_traverse rover0 waypoint6 waypoint19)
	(can_traverse rover0 waypoint19 waypoint6)
	(can_traverse rover0 waypoint7 waypoint3)
	(can_traverse rover0 waypoint3 waypoint7)
	(can_traverse rover0 waypoint7 waypoint11)
	(can_traverse rover0 waypoint11 waypoint7)
	(can_traverse rover0 waypoint9 waypoint4)
	(can_traverse rover0 waypoint4 waypoint9)
	(can_traverse rover0 waypoint9 waypoint5)
	(can_traverse rover0 waypoint5 waypoint9)
	(can_traverse rover0 waypoint9 waypoint8)
	(can_traverse rover0 waypoint8 waypoint9)
	(can_traverse rover0 waypoint13 waypoint16)
	(can_traverse rover0 waypoint16 waypoint13)
	(can_traverse rover0 waypoint5 waypoint10)
	(can_traverse rover0 waypoint10 waypoint5)
	(on_board camera0 rover0)
	(calibration_target camera0 objective3)
	(supports camera0 high_res)
	(supports camera0 low_res)
	(on_board camera1 rover0)
	(calibration_target camera1 objective1)
	(supports camera1 high_res)
	(supports camera1 low_res)
	(on_board camera2 rover0)
	(calibration_target camera2 objective4)
	(supports camera2 high_res)
	(supports camera2 low_res)
	(on_board camera3 rover0)
	(calibration_target camera3 objective1)
	(supports camera3 high_res)
	(supports camera3 low_res)
	(on_board camera4 rover0)
	(calibration_target camera4 objective6)
	(supports camera4 colour)
	(supports camera4 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 objective0 waypoint9)
	(visible_from objective0 waypoint10)
	(visible_from objective0 waypoint11)
	(visible_from objective0 waypoint12)
	(visible_from objective0 waypoint13)
	(visible_from objective0 waypoint14)
	(visible_from objective0 waypoint15)
	(visible_from objective0 waypoint16)
	(visible_from objective0 waypoint17)
	(visible_from objective1 waypoint0)
	(visible_from objective1 waypoint1)
	(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 objective2 waypoint8)
	(visible_from objective2 waypoint9)
	(visible_from objective2 waypoint10)
	(visible_from objective2 waypoint11)
	(visible_from objective2 waypoint12)
	(visible_from objective2 waypoint13)
	(visible_from objective2 waypoint14)
	(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 objective4 waypoint0)
	(visible_from objective4 waypoint1)
	(visible_from objective4 waypoint2)
	(visible_from objective4 waypoint3)
	(visible_from objective5 waypoint0)
	(visible_from objective5 waypoint1)
	(visible_from objective5 waypoint2)
	(visible_from objective5 waypoint3)
	(visible_from objective5 waypoint4)
	(visible_from objective5 waypoint5)
	(visible_from objective5 waypoint6)
	(visible_from objective6 waypoint0)
	(visible_from objective6 waypoint1)
	(visible_from objective6 waypoint2)
	(visible_from objective6 waypoint3)
	(visible_from objective6 waypoint4)
	(visible_from objective6 waypoint5)
)

(:goal (and
(communicated_soil_data waypoint10)
(communicated_soil_data waypoint18)
(communicated_soil_data waypoint2)
(communicated_soil_data waypoint19)
(communicated_soil_data waypoint14)
(communicated_rock_data waypoint8)
(communicated_rock_data waypoint18)
(communicated_rock_data waypoint19)
(communicated_rock_data waypoint10)
(communicated_rock_data waypoint9)
(communicated_image_data objective0 low_res)
(communicated_image_data objective6 low_res)
(communicated_image_data objective4 high_res)
(communicated_image_data objective2 low_res)
	)
)

(:metric minimize (total-time))
)
