(define (problem roverprob7182) (: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 waypoint20 waypoint21 waypoint22 waypoint23 waypoint24 - Waypoint
	camera0 camera1 camera2 camera3 camera4 - Camera
	objective0 objective1 objective2 objective3 objective4 objective5 objective6 objective7 - Objective
	)
(:init
	(cansoc rover0)
	(visible waypoint0 waypoint5)
	(visible waypoint5 waypoint0)
	(visible waypoint0 waypoint15)
	(visible waypoint15 waypoint0)
	(visible waypoint0 waypoint23)
	(visible waypoint23 waypoint0)
	(visible waypoint1 waypoint23)
	(visible waypoint23 waypoint1)
	(visible waypoint2 waypoint1)
	(visible waypoint1 waypoint2)
	(visible waypoint2 waypoint5)
	(visible waypoint5 waypoint2)
	(visible waypoint2 waypoint6)
	(visible waypoint6 waypoint2)
	(visible waypoint2 waypoint14)
	(visible waypoint14 waypoint2)
	(visible waypoint2 waypoint16)
	(visible waypoint16 waypoint2)
	(visible waypoint2 waypoint23)
	(visible waypoint23 waypoint2)
	(visible waypoint3 waypoint1)
	(visible waypoint1 waypoint3)
	(visible waypoint3 waypoint13)
	(visible waypoint13 waypoint3)
	(visible waypoint3 waypoint15)
	(visible waypoint15 waypoint3)
	(visible waypoint3 waypoint18)
	(visible waypoint18 waypoint3)
	(visible waypoint3 waypoint20)
	(visible waypoint20 waypoint3)
	(visible waypoint4 waypoint1)
	(visible waypoint1 waypoint4)
	(visible waypoint4 waypoint6)
	(visible waypoint6 waypoint4)
	(visible waypoint4 waypoint13)
	(visible waypoint13 waypoint4)
	(visible waypoint4 waypoint16)
	(visible waypoint16 waypoint4)
	(visible waypoint4 waypoint19)
	(visible waypoint19 waypoint4)
	(visible waypoint4 waypoint20)
	(visible waypoint20 waypoint4)
	(visible waypoint5 waypoint1)
	(visible waypoint1 waypoint5)
	(visible waypoint5 waypoint4)
	(visible waypoint4 waypoint5)
	(visible waypoint5 waypoint8)
	(visible waypoint8 waypoint5)
	(visible waypoint5 waypoint16)
	(visible waypoint16 waypoint5)
	(visible waypoint6 waypoint5)
	(visible waypoint5 waypoint6)
	(visible waypoint6 waypoint8)
	(visible waypoint8 waypoint6)
	(visible waypoint6 waypoint9)
	(visible waypoint9 waypoint6)
	(visible waypoint6 waypoint11)
	(visible waypoint11 waypoint6)
	(visible waypoint6 waypoint21)
	(visible waypoint21 waypoint6)
	(visible waypoint7 waypoint0)
	(visible waypoint0 waypoint7)
	(visible waypoint7 waypoint4)
	(visible waypoint4 waypoint7)
	(visible waypoint7 waypoint8)
	(visible waypoint8 waypoint7)
	(visible waypoint7 waypoint16)
	(visible waypoint16 waypoint7)
	(visible waypoint7 waypoint17)
	(visible waypoint17 waypoint7)
	(visible waypoint8 waypoint4)
	(visible waypoint4 waypoint8)
	(visible waypoint8 waypoint16)
	(visible waypoint16 waypoint8)
	(visible waypoint8 waypoint17)
	(visible waypoint17 waypoint8)
	(visible waypoint9 waypoint2)
	(visible waypoint2 waypoint9)
	(visible waypoint9 waypoint5)
	(visible waypoint5 waypoint9)
	(visible waypoint9 waypoint7)
	(visible waypoint7 waypoint9)
	(visible waypoint9 waypoint14)
	(visible waypoint14 waypoint9)
	(visible waypoint9 waypoint17)
	(visible waypoint17 waypoint9)
	(visible waypoint10 waypoint11)
	(visible waypoint11 waypoint10)
	(visible waypoint10 waypoint15)
	(visible waypoint15 waypoint10)
	(visible waypoint11 waypoint8)
	(visible waypoint8 waypoint11)
	(visible waypoint11 waypoint19)
	(visible waypoint19 waypoint11)
	(visible waypoint12 waypoint3)
	(visible waypoint3 waypoint12)
	(visible waypoint12 waypoint6)
	(visible waypoint6 waypoint12)
	(visible waypoint12 waypoint11)
	(visible waypoint11 waypoint12)
	(visible waypoint12 waypoint13)
	(visible waypoint13 waypoint12)
	(visible waypoint12 waypoint19)
	(visible waypoint19 waypoint12)
	(visible waypoint12 waypoint22)
	(visible waypoint22 waypoint12)
	(visible waypoint12 waypoint23)
	(visible waypoint23 waypoint12)
	(visible waypoint12 waypoint24)
	(visible waypoint24 waypoint12)
	(visible waypoint13 waypoint14)
	(visible waypoint14 waypoint13)
	(visible waypoint13 waypoint15)
	(visible waypoint15 waypoint13)
	(visible waypoint13 waypoint20)
	(visible waypoint20 waypoint13)
	(visible waypoint14 waypoint0)
	(visible waypoint0 waypoint14)
	(visible waypoint14 waypoint1)
	(visible waypoint1 waypoint14)
	(visible waypoint14 waypoint5)
	(visible waypoint5 waypoint14)
	(visible waypoint14 waypoint6)
	(visible waypoint6 waypoint14)
	(visible waypoint14 waypoint8)
	(visible waypoint8 waypoint14)
	(visible waypoint14 waypoint12)
	(visible waypoint12 waypoint14)
	(visible waypoint14 waypoint20)
	(visible waypoint20 waypoint14)
	(visible waypoint15 waypoint1)
	(visible waypoint1 waypoint15)
	(visible waypoint15 waypoint6)
	(visible waypoint6 waypoint15)
	(visible waypoint15 waypoint12)
	(visible waypoint12 waypoint15)
	(visible waypoint15 waypoint16)
	(visible waypoint16 waypoint15)
	(visible waypoint16 waypoint10)
	(visible waypoint10 waypoint16)
	(visible waypoint16 waypoint20)
	(visible waypoint20 waypoint16)
	(visible waypoint17 waypoint11)
	(visible waypoint11 waypoint17)
	(visible waypoint17 waypoint14)
	(visible waypoint14 waypoint17)
	(visible waypoint17 waypoint15)
	(visible waypoint15 waypoint17)
	(visible waypoint17 waypoint18)
	(visible waypoint18 waypoint17)
	(visible waypoint17 waypoint20)
	(visible waypoint20 waypoint17)
	(visible waypoint18 waypoint0)
	(visible waypoint0 waypoint18)
	(visible waypoint18 waypoint1)
	(visible waypoint1 waypoint18)
	(visible waypoint18 waypoint6)
	(visible waypoint6 waypoint18)
	(visible waypoint18 waypoint8)
	(visible waypoint8 waypoint18)
	(visible waypoint18 waypoint9)
	(visible waypoint9 waypoint18)
	(visible waypoint18 waypoint10)
	(visible waypoint10 waypoint18)
	(visible waypoint19 waypoint6)
	(visible waypoint6 waypoint19)
	(visible waypoint19 waypoint21)
	(visible waypoint21 waypoint19)
	(visible waypoint20 waypoint19)
	(visible waypoint19 waypoint20)
	(visible waypoint21 waypoint4)
	(visible waypoint4 waypoint21)
	(visible waypoint21 waypoint5)
	(visible waypoint5 waypoint21)
	(visible waypoint21 waypoint8)
	(visible waypoint8 waypoint21)
	(visible waypoint21 waypoint11)
	(visible waypoint11 waypoint21)
	(visible waypoint21 waypoint13)
	(visible waypoint13 waypoint21)
	(visible waypoint21 waypoint17)
	(visible waypoint17 waypoint21)
	(visible waypoint21 waypoint18)
	(visible waypoint18 waypoint21)
	(visible waypoint22 waypoint11)
	(visible waypoint11 waypoint22)
	(visible waypoint22 waypoint16)
	(visible waypoint16 waypoint22)
	(visible waypoint22 waypoint21)
	(visible waypoint21 waypoint22)
	(visible waypoint23 waypoint10)
	(visible waypoint10 waypoint23)
	(visible waypoint23 waypoint18)
	(visible waypoint18 waypoint23)
	(visible waypoint23 waypoint20)
	(visible waypoint20 waypoint23)
	(visible waypoint24 waypoint5)
	(visible waypoint5 waypoint24)
	(visible waypoint24 waypoint7)
	(visible waypoint7 waypoint24)
	(visible waypoint24 waypoint18)
	(visible waypoint18 waypoint24)
	(visible waypoint24 waypoint20)
	(visible waypoint20 waypoint24)
	(visible waypoint24 waypoint23)
	(visible waypoint23 waypoint24)
	(at_rock_sample waypoint0)
	(at_rock_sample waypoint1)
	(in_sun waypoint1)
	(at_soil_sample waypoint2)
	(at_rock_sample waypoint2)
	(at_soil_sample waypoint5)
	(at_rock_sample waypoint5)
	(in_sun waypoint5)
	(at_soil_sample waypoint6)
	(in_sun waypoint6)
	(at_soil_sample waypoint7)
	(at_rock_sample waypoint7)
	(at_soil_sample waypoint8)
	(at_rock_sample waypoint8)
	(at_soil_sample waypoint9)
	(in_sun waypoint9)
	(at_soil_sample waypoint10)
	(at_rock_sample waypoint11)
	(in_sun waypoint11)
	(at_soil_sample waypoint12)
	(in_sun waypoint13)
	(at_rock_sample waypoint14)
	(at_soil_sample waypoint16)
	(at_rock_sample waypoint16)
	(at_soil_sample waypoint17)
	(in_sun waypoint17)
	(at_soil_sample waypoint19)
	(at_rock_sample waypoint19)
	(in_sun waypoint19)
	(at_soil_sample waypoint20)
	(at_rock_sample waypoint20)
	(at_soil_sample waypoint21)
	(in_sun waypoint22)
	(at_soil_sample waypoint23)
	(at_rock_sample waypoint23)
	(at_soil_sample waypoint24)
	(at_rock_sample waypoint24)
	(in_sun waypoint24)
	(at_lander general waypoint1)
	(channel_free general)
	(= (energy rover0) 50)
	(= (recharge-rate rover0) 17)
	(at rover0 waypoint22)
	(available rover0)
	(store_of rover0store rover0)
	(empty rover0store)
	(equipped_for_soil_analysis rover0)
	(equipped_for_imaging rover0)
	(can_traverse rover0 waypoint22 waypoint11)
	(can_traverse rover0 waypoint11 waypoint22)
	(can_traverse rover0 waypoint22 waypoint12)
	(can_traverse rover0 waypoint12 waypoint22)
	(can_traverse rover0 waypoint22 waypoint21)
	(can_traverse rover0 waypoint21 waypoint22)
	(can_traverse rover0 waypoint11 waypoint6)
	(can_traverse rover0 waypoint6 waypoint11)
	(can_traverse rover0 waypoint11 waypoint8)
	(can_traverse rover0 waypoint8 waypoint11)
	(can_traverse rover0 waypoint11 waypoint10)
	(can_traverse rover0 waypoint10 waypoint11)
	(can_traverse rover0 waypoint11 waypoint17)
	(can_traverse rover0 waypoint17 waypoint11)
	(can_traverse rover0 waypoint11 waypoint19)
	(can_traverse rover0 waypoint19 waypoint11)
	(can_traverse rover0 waypoint12 waypoint13)
	(can_traverse rover0 waypoint13 waypoint12)
	(can_traverse rover0 waypoint12 waypoint15)
	(can_traverse rover0 waypoint15 waypoint12)
	(can_traverse rover0 waypoint12 waypoint24)
	(can_traverse rover0 waypoint24 waypoint12)
	(can_traverse rover0 waypoint21 waypoint4)
	(can_traverse rover0 waypoint4 waypoint21)
	(can_traverse rover0 waypoint21 waypoint5)
	(can_traverse rover0 waypoint5 waypoint21)
	(can_traverse rover0 waypoint21 waypoint18)
	(can_traverse rover0 waypoint18 waypoint21)
	(can_traverse rover0 waypoint6 waypoint2)
	(can_traverse rover0 waypoint2 waypoint6)
	(can_traverse rover0 waypoint6 waypoint9)
	(can_traverse rover0 waypoint9 waypoint6)
	(can_traverse rover0 waypoint6 waypoint14)
	(can_traverse rover0 waypoint14 waypoint6)
	(can_traverse rover0 waypoint8 waypoint7)
	(can_traverse rover0 waypoint7 waypoint8)
	(can_traverse rover0 waypoint17 waypoint20)
	(can_traverse rover0 waypoint20 waypoint17)
	(can_traverse rover0 waypoint13 waypoint3)
	(can_traverse rover0 waypoint3 waypoint13)
	(can_traverse rover0 waypoint15 waypoint1)
	(can_traverse rover0 waypoint1 waypoint15)
	(can_traverse rover0 waypoint15 waypoint16)
	(can_traverse rover0 waypoint16 waypoint15)
	(can_traverse rover0 waypoint24 waypoint23)
	(can_traverse rover0 waypoint23 waypoint24)
	(can_traverse rover0 waypoint5 waypoint0)
	(can_traverse rover0 waypoint0 waypoint5)
	(on_board camera0 rover0)
	(calibration_target camera0 objective1)
	(supports camera0 low_res)
	(on_board camera1 rover0)
	(calibration_target camera1 objective7)
	(supports camera1 colour)
	(on_board camera2 rover0)
	(calibration_target camera2 objective5)
	(supports camera2 high_res)
	(supports camera2 low_res)
	(on_board camera3 rover0)
	(calibration_target camera3 objective2)
	(supports camera3 colour)
	(on_board camera4 rover0)
	(calibration_target camera4 objective3)
	(supports camera4 high_res)
	(supports camera4 low_res)
	(visible_from objective0 waypoint0)
	(visible_from objective0 waypoint1)
	(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 objective1 waypoint10)
	(visible_from objective1 waypoint11)
	(visible_from objective1 waypoint12)
	(visible_from objective1 waypoint13)
	(visible_from objective1 waypoint14)
	(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 objective3 waypoint0)
	(visible_from objective3 waypoint1)
	(visible_from objective3 waypoint2)
	(visible_from objective3 waypoint3)
	(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 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 objective5 waypoint7)
	(visible_from objective5 waypoint8)
	(visible_from objective6 waypoint0)
	(visible_from objective6 waypoint1)
	(visible_from objective6 waypoint2)
	(visible_from objective6 waypoint3)
	(visible_from objective7 waypoint0)
	(visible_from objective7 waypoint1)
	(visible_from objective7 waypoint2)
	(visible_from objective7 waypoint3)
	(visible_from objective7 waypoint4)
	(visible_from objective7 waypoint5)
	(visible_from objective7 waypoint6)
	(visible_from objective7 waypoint7)
	(visible_from objective7 waypoint8)
	(visible_from objective7 waypoint9)
	(visible_from objective7 waypoint10)
	(visible_from objective7 waypoint11)
)

(:goal (and
(communicated_soil_data waypoint17)
(communicated_soil_data waypoint2)
(communicated_soil_data waypoint24)
(communicated_soil_data waypoint10)
(communicated_soil_data waypoint6)
(communicated_soil_data waypoint9)
(communicated_soil_data waypoint16)
(communicated_soil_data waypoint23)
(communicated_image_data objective5 low_res)
(communicated_image_data objective2 colour)
(communicated_image_data objective2 high_res)
(communicated_image_data objective2 low_res)
(communicated_image_data objective7 high_res)
(communicated_image_data objective1 colour)
	)
)

(:metric minimize (total-time))
)
