(define (problem roverprob8327) (: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 objective7 - Objective
	)
(:init
	(cansoc rover0)
	(visible waypoint0 waypoint6)
	(visible waypoint6 waypoint0)
	(visible waypoint0 waypoint7)
	(visible waypoint7 waypoint0)
	(visible waypoint0 waypoint18)
	(visible waypoint18 waypoint0)
	(visible waypoint1 waypoint11)
	(visible waypoint11 waypoint1)
	(visible waypoint2 waypoint0)
	(visible waypoint0 waypoint2)
	(visible waypoint2 waypoint5)
	(visible waypoint5 waypoint2)
	(visible waypoint2 waypoint7)
	(visible waypoint7 waypoint2)
	(visible waypoint2 waypoint10)
	(visible waypoint10 waypoint2)
	(visible waypoint2 waypoint18)
	(visible waypoint18 waypoint2)
	(visible waypoint2 waypoint19)
	(visible waypoint19 waypoint2)
	(visible waypoint3 waypoint2)
	(visible waypoint2 waypoint3)
	(visible waypoint3 waypoint9)
	(visible waypoint9 waypoint3)
	(visible waypoint3 waypoint10)
	(visible waypoint10 waypoint3)
	(visible waypoint3 waypoint14)
	(visible waypoint14 waypoint3)
	(visible waypoint4 waypoint1)
	(visible waypoint1 waypoint4)
	(visible waypoint4 waypoint2)
	(visible waypoint2 waypoint4)
	(visible waypoint4 waypoint3)
	(visible waypoint3 waypoint4)
	(visible waypoint4 waypoint9)
	(visible waypoint9 waypoint4)
	(visible waypoint4 waypoint12)
	(visible waypoint12 waypoint4)
	(visible waypoint4 waypoint17)
	(visible waypoint17 waypoint4)
	(visible waypoint5 waypoint0)
	(visible waypoint0 waypoint5)
	(visible waypoint5 waypoint3)
	(visible waypoint3 waypoint5)
	(visible waypoint5 waypoint13)
	(visible waypoint13 waypoint5)
	(visible waypoint5 waypoint15)
	(visible waypoint15 waypoint5)
	(visible waypoint5 waypoint16)
	(visible waypoint16 waypoint5)
	(visible waypoint5 waypoint17)
	(visible waypoint17 waypoint5)
	(visible waypoint5 waypoint19)
	(visible waypoint19 waypoint5)
	(visible waypoint6 waypoint1)
	(visible waypoint1 waypoint6)
	(visible waypoint6 waypoint8)
	(visible waypoint8 waypoint6)
	(visible waypoint6 waypoint16)
	(visible waypoint16 waypoint6)
	(visible waypoint6 waypoint19)
	(visible waypoint19 waypoint6)
	(visible waypoint7 waypoint3)
	(visible waypoint3 waypoint7)
	(visible waypoint7 waypoint4)
	(visible waypoint4 waypoint7)
	(visible waypoint7 waypoint8)
	(visible waypoint8 waypoint7)
	(visible waypoint7 waypoint9)
	(visible waypoint9 waypoint7)
	(visible waypoint7 waypoint13)
	(visible waypoint13 waypoint7)
	(visible waypoint8 waypoint2)
	(visible waypoint2 waypoint8)
	(visible waypoint8 waypoint14)
	(visible waypoint14 waypoint8)
	(visible waypoint8 waypoint18)
	(visible waypoint18 waypoint8)
	(visible waypoint9 waypoint0)
	(visible waypoint0 waypoint9)
	(visible waypoint9 waypoint1)
	(visible waypoint1 waypoint9)
	(visible waypoint9 waypoint2)
	(visible waypoint2 waypoint9)
	(visible waypoint9 waypoint10)
	(visible waypoint10 waypoint9)
	(visible waypoint10 waypoint4)
	(visible waypoint4 waypoint10)
	(visible waypoint10 waypoint12)
	(visible waypoint12 waypoint10)
	(visible waypoint10 waypoint14)
	(visible waypoint14 waypoint10)
	(visible waypoint11 waypoint5)
	(visible waypoint5 waypoint11)
	(visible waypoint11 waypoint7)
	(visible waypoint7 waypoint11)
	(visible waypoint11 waypoint8)
	(visible waypoint8 waypoint11)
	(visible waypoint11 waypoint9)
	(visible waypoint9 waypoint11)
	(visible waypoint11 waypoint17)
	(visible waypoint17 waypoint11)
	(visible waypoint11 waypoint19)
	(visible waypoint19 waypoint11)
	(visible waypoint12 waypoint1)
	(visible waypoint1 waypoint12)
	(visible waypoint12 waypoint5)
	(visible waypoint5 waypoint12)
	(visible waypoint12 waypoint7)
	(visible waypoint7 waypoint12)
	(visible waypoint12 waypoint9)
	(visible waypoint9 waypoint12)
	(visible waypoint12 waypoint15)
	(visible waypoint15 waypoint12)
	(visible waypoint12 waypoint16)
	(visible waypoint16 waypoint12)
	(visible waypoint13 waypoint0)
	(visible waypoint0 waypoint13)
	(visible waypoint13 waypoint6)
	(visible waypoint6 waypoint13)
	(visible waypoint14 waypoint11)
	(visible waypoint11 waypoint14)
	(visible waypoint14 waypoint12)
	(visible waypoint12 waypoint14)
	(visible waypoint14 waypoint19)
	(visible waypoint19 waypoint14)
	(visible waypoint15 waypoint6)
	(visible waypoint6 waypoint15)
	(visible waypoint15 waypoint11)
	(visible waypoint11 waypoint15)
	(visible waypoint16 waypoint1)
	(visible waypoint1 waypoint16)
	(visible waypoint16 waypoint11)
	(visible waypoint11 waypoint16)
	(visible waypoint16 waypoint13)
	(visible waypoint13 waypoint16)
	(visible waypoint16 waypoint18)
	(visible waypoint18 waypoint16)
	(visible waypoint17 waypoint2)
	(visible waypoint2 waypoint17)
	(visible waypoint17 waypoint3)
	(visible waypoint3 waypoint17)
	(visible waypoint17 waypoint14)
	(visible waypoint14 waypoint17)
	(visible waypoint18 waypoint7)
	(visible waypoint7 waypoint18)
	(visible waypoint18 waypoint10)
	(visible waypoint10 waypoint18)
	(visible waypoint18 waypoint17)
	(visible waypoint17 waypoint18)
	(visible waypoint19 waypoint0)
	(visible waypoint0 waypoint19)
	(visible waypoint19 waypoint12)
	(visible waypoint12 waypoint19)
	(visible waypoint19 waypoint13)
	(visible waypoint13 waypoint19)
	(in_sun waypoint1)
	(in_sun waypoint2)
	(at_soil_sample waypoint4)
	(at_soil_sample waypoint5)
	(at_rock_sample waypoint6)
	(at_soil_sample waypoint7)
	(at_rock_sample waypoint9)
	(in_sun waypoint9)
	(at_rock_sample waypoint10)
	(in_sun waypoint10)
	(in_sun waypoint12)
	(at_rock_sample waypoint13)
	(at_soil_sample waypoint14)
	(at_rock_sample waypoint14)
	(at_soil_sample waypoint16)
	(at_rock_sample waypoint16)
	(at_soil_sample waypoint17)
	(at_rock_sample waypoint17)
	(at_rock_sample waypoint18)
	(at_soil_sample waypoint19)
	(at_lander general waypoint6)
	(channel_free general)
	(= (energy rover0) 50)
	(= (recharge-rate rover0) 14)
	(at rover0 waypoint2)
	(available rover0)
	(store_of rover0store rover0)
	(empty rover0store)
	(equipped_for_imaging rover0)
	(can_traverse rover0 waypoint2 waypoint0)
	(can_traverse rover0 waypoint0 waypoint2)
	(can_traverse rover0 waypoint2 waypoint4)
	(can_traverse rover0 waypoint4 waypoint2)
	(can_traverse rover0 waypoint2 waypoint5)
	(can_traverse rover0 waypoint5 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 waypoint18)
	(can_traverse rover0 waypoint18 waypoint2)
	(can_traverse rover0 waypoint0 waypoint6)
	(can_traverse rover0 waypoint6 waypoint0)
	(can_traverse rover0 waypoint0 waypoint13)
	(can_traverse rover0 waypoint13 waypoint0)
	(can_traverse rover0 waypoint0 waypoint19)
	(can_traverse rover0 waypoint19 waypoint0)
	(can_traverse rover0 waypoint4 waypoint1)
	(can_traverse rover0 waypoint1 waypoint4)
	(can_traverse rover0 waypoint4 waypoint3)
	(can_traverse rover0 waypoint3 waypoint4)
	(can_traverse rover0 waypoint4 waypoint12)
	(can_traverse rover0 waypoint12 waypoint4)
	(can_traverse rover0 waypoint4 waypoint17)
	(can_traverse rover0 waypoint17 waypoint4)
	(can_traverse rover0 waypoint5 waypoint11)
	(can_traverse rover0 waypoint11 waypoint5)
	(can_traverse rover0 waypoint5 waypoint15)
	(can_traverse rover0 waypoint15 waypoint5)
	(can_traverse rover0 waypoint9 waypoint10)
	(can_traverse rover0 waypoint10 waypoint9)
	(can_traverse rover0 waypoint18 waypoint8)
	(can_traverse rover0 waypoint8 waypoint18)
	(can_traverse rover0 waypoint6 waypoint16)
	(can_traverse rover0 waypoint16 waypoint6)
	(can_traverse rover0 waypoint3 waypoint14)
	(can_traverse rover0 waypoint14 waypoint3)
	(on_board camera0 rover0)
	(calibration_target camera0 objective2)
	(supports camera0 low_res)
	(on_board camera1 rover0)
	(calibration_target camera1 objective3)
	(supports camera1 high_res)
	(supports camera1 low_res)
	(on_board camera2 rover0)
	(calibration_target camera2 objective2)
	(supports camera2 colour)
	(supports camera2 high_res)
	(on_board camera3 rover0)
	(calibration_target camera3 objective3)
	(supports camera3 colour)
	(supports camera3 low_res)
	(on_board camera4 rover0)
	(calibration_target camera4 objective4)
	(supports camera4 colour)
	(supports camera4 high_res)
	(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 objective0 waypoint18)
	(visible_from objective0 waypoint19)
	(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 objective2 waypoint0)
	(visible_from objective2 waypoint1)
	(visible_from objective2 waypoint2)
	(visible_from objective2 waypoint3)
	(visible_from objective2 waypoint4)
	(visible_from objective3 waypoint0)
	(visible_from objective3 waypoint1)
	(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 objective5 waypoint0)
	(visible_from objective6 waypoint0)
	(visible_from objective6 waypoint1)
	(visible_from objective7 waypoint0)
	(visible_from objective7 waypoint1)
	(visible_from objective7 waypoint2)
	(visible_from objective7 waypoint3)
)

(:goal (and
(communicated_image_data objective3 high_res)
(communicated_image_data objective0 high_res)
(communicated_image_data objective4 low_res)
(communicated_image_data objective2 low_res)
	)
)

(:metric minimize (total-time))
)
