#base.

% Domain: Rover, Problem: roverprob8327
% 
% 
% OBJECTS  >>>>>
typedobject( camera( camera3 ) ).
typedobject( store( rover3store ) ).
typedobject( store( rover0store ) ).
typedobject( lander( general ) ).
typedobject( objective( objective6 ) ).
typedobject( camera( camera6 ) ).
typedobject( camera( camera2 ) ).
typedobject( store( rover4store ) ).
typedobject( objective( objective2 ) ).
typedobject( mode( high_res ) ).
typedobject( store( rover2store ) ).
typedobject( objective( objective5 ) ).
typedobject( waypoint( waypoint4 ) ).
typedobject( objective( objective0 ) ).
typedobject( objective( objective1 ) ).
typedobject( camera( camera4 ) ).
typedobject( waypoint( waypoint8 ) ).
typedobject( waypoint( waypoint9 ) ).
typedobject( waypoint( waypoint6 ) ).
typedobject( waypoint( waypoint7 ) ).
typedobject( mode( low_res ) ).
typedobject( waypoint( waypoint5 ) ).
typedobject( waypoint( waypoint2 ) ).
typedobject( waypoint( waypoint3 ) ).
typedobject( waypoint( waypoint0 ) ).
typedobject( waypoint( waypoint1 ) ).
typedobject( objective( objective3 ) ).
typedobject( objective( objective4 ) ).
typedobject( rover( rover2 ) ).
typedobject( rover( rover3 ) ).
typedobject( rover( rover0 ) ).
typedobject( rover( rover1 ) ).
typedobject( rover( rover4 ) ).
typedobject( rover( rover5 ) ).
typedobject( waypoint( waypoint18 ) ).
typedobject( waypoint( waypoint19 ) ).
typedobject( camera( camera5 ) ).
typedobject( store( rover5store ) ).
typedobject( waypoint( waypoint10 ) ).
typedobject( waypoint( waypoint11 ) ).
typedobject( mode( colour ) ).
typedobject( waypoint( waypoint13 ) ).
typedobject( waypoint( waypoint14 ) ).
typedobject( waypoint( waypoint15 ) ).
typedobject( waypoint( waypoint16 ) ).
typedobject( waypoint( waypoint17 ) ).
typedobject( camera( camera0 ) ).
typedobject( objective( objective7 ) ).
typedobject( camera( camera1 ) ).
typedobject( store( rover1store ) ).
typedobject( waypoint( waypoint12 ) ).
% <<<<<  OBJECTS
% 

% 
% 
% DOMAIN PREDICATES  >>>>>
holds( on_board( camera5,rover3 ) ).
holds( can_traverse( rover0,waypoint11,waypoint5 ) ).
holds( can_traverse( rover1,waypoint12,waypoint15 ) ).
holds( visible_from( objective6,waypoint3 ) ).
holds( can_traverse( rover1,waypoint2,waypoint9 ) ).
holds( can_traverse( rover5,waypoint4,waypoint17 ) ).
holds( visible( waypoint17,waypoint3 ) ).
holds( can_traverse( rover3,waypoint16,waypoint11 ) ).
holds( visible_from( objective4,waypoint16 ) ).
holds( can_traverse( rover1,waypoint2,waypoint0 ) ).
holds( visible_from( objective0,waypoint4 ) ).
holds( can_traverse( rover0,waypoint0,waypoint6 ) ).
holds( visible( waypoint9,waypoint0 ) ).
holds( can_traverse( rover0,waypoint4,waypoint12 ) ).
holds( visible( waypoint3,waypoint7 ) ).
holds( visible( waypoint3,waypoint17 ) ).
holds( visible_from( objective6,waypoint4 ) ).
holds( can_traverse( rover4,waypoint6,waypoint1 ) ).
holds( can_traverse( rover5,waypoint12,waypoint1 ) ).
holds( equipped_for_imaging( rover5 ) ).
holds( can_traverse( rover1,waypoint1,waypoint16 ) ).
holds( visible( waypoint13,waypoint5 ) ).
holds( can_traverse( rover2,waypoint13,waypoint16 ) ).
holds( visible_from( objective3,waypoint3 ) ).
holds( supports( camera0,high_res ) ).
holds( can_traverse( rover2,waypoint9,waypoint0 ) ).
holds( can_traverse( rover0,waypoint2,waypoint9 ) ).
holds( visible_from( objective7,waypoint14 ) ).
holds( visible( waypoint12,waypoint19 ) ).
holds( can_traverse( rover5,waypoint17,waypoint4 ) ).
holds( visible( waypoint2,waypoint10 ) ).
holds( visible_from( objective3,waypoint6 ) ).
holds( visible( waypoint4,waypoint3 ) ).
holds( visible_from( objective7,waypoint7 ) ).
holds( can_traverse( rover5,waypoint12,waypoint16 ) ).
holds( can_traverse( rover1,waypoint6,waypoint8 ) ).
holds( visible( waypoint10,waypoint4 ) ).
holds( visible_from( objective3,waypoint0 ) ).
holds( visible_from( objective0,waypoint7 ) ).
holds( can_traverse( rover3,waypoint7,waypoint13 ) ).
holds( equipped_for_imaging( rover3 ) ).
holds( can_traverse( rover0,waypoint8,waypoint18 ) ).
holds( can_traverse( rover1,waypoint2,waypoint4 ) ).
holds( store_of( rover4store,rover4 ) ).
holds( visible_from( objective4,waypoint17 ) ).
holds( visible_from( objective4,waypoint1 ) ).
holds( calibration_target( camera0,objective0 ) ).
holds( on_board( camera4,rover4 ) ).
holds( visible_from( objective5,waypoint0 ) ).
holds( can_traverse( rover5,waypoint5,waypoint13 ) ).
holds( can_traverse( rover2,waypoint6,waypoint8 ) ).
holds( visible( waypoint13,waypoint16 ) ).
holds( visible( waypoint17,waypoint11 ) ).
holds( can_traverse( rover0,waypoint4,waypoint3 ) ).
holds( can_traverse( rover2,waypoint17,waypoint18 ) ).
holds( can_traverse( rover4,waypoint3,waypoint4 ) ).
holds( visible_from( objective0,waypoint5 ) ).
holds( visible( waypoint19,waypoint13 ) ).
holds( can_traverse( rover2,waypoint16,waypoint11 ) ).
holds( can_traverse( rover3,waypoint7,waypoint3 ) ).
holds( can_traverse( rover0,waypoint18,waypoint2 ) ).
holds( can_traverse( rover2,waypoint13,waypoint0 ) ).
holds( visible( waypoint9,waypoint7 ) ).
holds( visible( waypoint18,waypoint16 ) ).
holds( visible_from( objective2,waypoint4 ) ).
holds( visible( waypoint8,waypoint11 ) ).
holds( supports( camera6,colour ) ).
holds( equipped_for_soil_analysis( rover3 ) ).
holds( visible( waypoint5,waypoint16 ) ).
holds( visible( waypoint1,waypoint16 ) ).
holds( can_traverse( rover5,waypoint7,waypoint12 ) ).
holds( visible( waypoint12,waypoint1 ) ).
holds( visible_from( objective0,waypoint15 ) ).
holds( can_traverse( rover3,waypoint11,waypoint1 ) ).
holds( can_traverse( rover2,waypoint12,waypoint7 ) ).
holds( visible( waypoint2,waypoint3 ) ).
holds( can_traverse( rover0,waypoint19,waypoint0 ) ).
holds( visible_from( objective6,waypoint1 ) ).
holds( visible_from( objective5,waypoint9 ) ).
holds( can_traverse( rover5,waypoint11,waypoint1 ) ).
holds( visible_from( objective2,waypoint8 ) ).
holds( visible( waypoint9,waypoint2 ) ).
holds( visible( waypoint4,waypoint17 ) ).
holds( visible_from( objective4,waypoint12 ) ).
holds( visible_from( objective6,waypoint5 ) ).
holds( can_traverse( rover3,waypoint7,waypoint2 ) ).
holds( visible_from( objective4,waypoint3 ) ).
holds( visible_from( objective5,waypoint11 ) ).
holds( can_traverse( rover4,waypoint1,waypoint6 ) ).
holds( can_traverse( rover5,waypoint12,waypoint5 ) ).
holds( visible_from( objective0,waypoint10 ) ).
holds( supports( camera5,colour ) ).
holds( visible( waypoint16,waypoint11 ) ).
holds( can_traverse( rover5,waypoint1,waypoint12 ) ).
holds( can_traverse( rover0,waypoint17,waypoint4 ) ).
holds( visible( waypoint13,waypoint7 ) ).
holds( can_traverse( rover5,waypoint8,waypoint7 ) ).
holds( can_traverse( rover5,waypoint12,waypoint14 ) ).
holds( supports( camera6,low_res ) ).
holds( visible( waypoint5,waypoint11 ) ).
holds( can_traverse( rover3,waypoint6,waypoint16 ) ).
holds( can_traverse( rover0,waypoint0,waypoint19 ) ).
holds( can_traverse( rover5,waypoint3,waypoint4 ) ).
holds( visible_from( objective0,waypoint9 ) ).
holds( equipped_for_imaging( rover0 ) ).
holds( can_traverse( rover2,waypoint0,waypoint9 ) ).
holds( visible( waypoint18,waypoint10 ) ).
holds( visible( waypoint12,waypoint14 ) ).
holds( can_traverse( rover3,waypoint5,waypoint16 ) ).
holds( visible_from( objective7,waypoint13 ) ).
holds( visible_from( objective3,waypoint5 ) ).
holds( visible_from( objective2,waypoint10 ) ).
holds( can_traverse( rover3,waypoint9,waypoint11 ) ).
holds( visible_from( objective4,waypoint0 ) ).
holds( can_traverse( rover3,waypoint11,waypoint14 ) ).
holds( calibration_target( camera3,objective5 ) ).
holds( can_traverse( rover0,waypoint18,waypoint8 ) ).
holds( visible( waypoint11,waypoint8 ) ).
holds( visible( waypoint16,waypoint6 ) ).
holds( can_traverse( rover3,waypoint14,waypoint11 ) ).
holds( can_traverse( rover2,waypoint5,waypoint3 ) ).
holds( visible_from( objective6,waypoint0 ) ).
holds( visible_from( objective4,waypoint11 ) ).
holds( can_traverse( rover3,waypoint11,waypoint9 ) ).
holds( visible( waypoint11,waypoint17 ) ).
holds( can_traverse( rover5,waypoint10,waypoint12 ) ).
holds( can_traverse( rover3,waypoint16,waypoint6 ) ).
holds( visible( waypoint8,waypoint2 ) ).
holds( visible_from( objective3,waypoint4 ) ).
holds( can_traverse( rover0,waypoint2,waypoint18 ) ).
holds( visible( waypoint14,waypoint17 ) ).
holds( store_of( rover0store,rover0 ) ).
holds( visible( waypoint12,waypoint4 ) ).
holds( can_traverse( rover0,waypoint2,waypoint7 ) ).
holds( visible( waypoint5,waypoint13 ) ).
holds( can_traverse( rover3,waypoint8,waypoint14 ) ).
holds( visible( waypoint10,waypoint12 ) ).
holds( can_traverse( rover2,waypoint1,waypoint16 ) ).
holds( visible_from( objective5,waypoint2 ) ).
holds( can_traverse( rover2,waypoint7,waypoint4 ) ).
holds( can_traverse( rover0,waypoint2,waypoint0 ) ).
holds( visible( waypoint16,waypoint1 ) ).
holds( calibration_target( camera5,objective0 ) ).
holds( visible( waypoint3,waypoint10 ) ).
holds( can_traverse( rover0,waypoint6,waypoint16 ) ).
holds( can_traverse( rover0,waypoint5,waypoint11 ) ).
holds( can_traverse( rover4,waypoint2,waypoint19 ) ).
holds( can_traverse( rover0,waypoint15,waypoint5 ) ).
holds( visible( waypoint16,waypoint13 ) ).
holds( can_traverse( rover5,waypoint5,waypoint0 ) ).
holds( can_traverse( rover1,waypoint6,waypoint19 ) ).
holds( visible_from( objective2,waypoint6 ) ).
holds( visible( waypoint9,waypoint12 ) ).
holds( visible( waypoint19,waypoint12 ) ).
holds( visible_from( objective3,waypoint7 ) ).
holds( visible( waypoint17,waypoint4 ) ).
holds( visible( waypoint17,waypoint18 ) ).
holds( visible_from( objective7,waypoint3 ) ).
holds( can_traverse( rover4,waypoint2,waypoint3 ) ).
holds( on_board( camera2,rover1 ) ).
holds( visible( waypoint17,waypoint5 ) ).
holds( visible( waypoint13,waypoint6 ) ).
holds( can_traverse( rover2,waypoint7,waypoint13 ) ).
holds( can_traverse( rover3,waypoint11,waypoint17 ) ).
holds( visible_from( objective5,waypoint3 ) ).
holds( visible_from( objective7,waypoint8 ) ).
holds( can_traverse( rover2,waypoint9,waypoint10 ) ).
holds( visible( waypoint12,waypoint10 ) ).
holds( can_traverse( rover5,waypoint16,waypoint12 ) ).
holds( visible_from( objective4,waypoint14 ) ).
holds( can_traverse( rover0,waypoint9,waypoint10 ) ).
holds( equipped_for_soil_analysis( rover4 ) ).
holds( can_traverse( rover2,waypoint16,waypoint1 ) ).
holds( store_of( rover3store,rover3 ) ).
holds( visible( waypoint11,waypoint14 ) ).
holds( can_traverse( rover3,waypoint3,waypoint7 ) ).
holds( can_traverse( rover1,waypoint16,waypoint6 ) ).
holds( visible( waypoint11,waypoint15 ) ).
holds( visible( waypoint7,waypoint11 ) ).
holds( visible( waypoint4,waypoint12 ) ).
holds( visible( waypoint5,waypoint12 ) ).
holds( supports( camera0,colour ) ).
holds( visible( waypoint4,waypoint7 ) ).
holds( visible_from( objective5,waypoint6 ) ).
holds( visible( waypoint11,waypoint7 ) ).
holds( visible( waypoint6,waypoint0 ) ).
holds( visible_from( objective6,waypoint7 ) ).
holds( visible( waypoint19,waypoint5 ) ).
holds( can_traverse( rover0,waypoint10,waypoint9 ) ).
holds( visible( waypoint7,waypoint2 ) ).
holds( visible_from( objective3,waypoint1 ) ).
holds( visible( waypoint12,waypoint16 ) ).
holds( can_traverse( rover1,waypoint0,waypoint18 ) ).
holds( calibration_target( camera6,objective6 ) ).
holds( can_traverse( rover2,waypoint16,waypoint13 ) ).
holds( visible( waypoint19,waypoint6 ) ).
holds( can_traverse( rover1,waypoint7,waypoint13 ) ).
holds( visible_from( objective7,waypoint4 ) ).
holds( visible( waypoint4,waypoint2 ) ).
holds( can_traverse( rover4,waypoint19,waypoint2 ) ).
holds( can_traverse( rover5,waypoint5,waypoint19 ) ).
holds( equipped_for_imaging( rover1 ) ).
holds( can_traverse( rover4,waypoint2,waypoint7 ) ).
holds( visible( waypoint14,waypoint19 ) ).
holds( can_traverse( rover0,waypoint5,waypoint15 ) ).
holds( can_traverse( rover2,waypoint18,waypoint17 ) ).
holds( visible( waypoint18,waypoint8 ) ).
holds( visible_from( objective4,waypoint5 ) ).
holds( can_traverse( rover1,waypoint11,waypoint8 ) ).
holds( can_traverse( rover2,waypoint13,waypoint7 ) ).
holds( visible_from( objective7,waypoint6 ) ).
holds( visible( waypoint5,waypoint15 ) ).
holds( can_traverse( rover4,waypoint16,waypoint5 ) ).
holds( visible_from( objective0,waypoint2 ) ).
holds( visible( waypoint0,waypoint2 ) ).
holds( can_traverse( rover0,waypoint16,waypoint6 ) ).
holds( visible_from( objective4,waypoint18 ) ).
holds( can_traverse( rover5,waypoint0,waypoint5 ) ).
holds( can_traverse( rover1,waypoint4,waypoint2 ) ).
holds( can_traverse( rover3,waypoint9,waypoint0 ) ).
holds( visible_from( objective2,waypoint7 ) ).
holds( visible_from( objective4,waypoint2 ) ).
holds( visible( waypoint11,waypoint16 ) ).
holds( visible( waypoint1,waypoint6 ) ).
holds( visible( waypoint19,waypoint2 ) ).
holds( can_traverse( rover3,waypoint12,waypoint7 ) ).
holds( visible_from( objective3,waypoint8 ) ).
holds( visible( waypoint13,waypoint19 ) ).
holds( visible_from( objective5,waypoint13 ) ).
holds( visible_from( objective4,waypoint10 ) ).
holds( can_traverse( rover5,waypoint12,waypoint10 ) ).
holds( visible( waypoint11,waypoint1 ) ).
holds( visible( waypoint11,waypoint19 ) ).
holds( visible_from( objective5,waypoint1 ) ).
holds( can_traverse( rover4,waypoint17,waypoint2 ) ).
holds( visible( waypoint3,waypoint9 ) ).
holds( can_traverse( rover4,waypoint18,waypoint0 ) ).
holds( can_traverse( rover1,waypoint16,waypoint1 ) ).
holds( visible( waypoint10,waypoint3 ) ).
holds( visible( waypoint14,waypoint3 ) ).
holds( can_traverse( rover5,waypoint13,waypoint5 ) ).
holds( can_traverse( rover4,waypoint3,waypoint2 ) ).
holds( can_traverse( rover2,waypoint10,waypoint9 ) ).
holds( visible( waypoint2,waypoint17 ) ).
holds( visible_from( objective4,waypoint9 ) ).
holds( can_traverse( rover4,waypoint0,waypoint18 ) ).
holds( can_traverse( rover4,waypoint11,waypoint5 ) ).
holds( can_traverse( rover4,waypoint5,waypoint12 ) ).
holds( can_traverse( rover4,waypoint0,waypoint5 ) ).
holds( can_traverse( rover4,waypoint12,waypoint5 ) ).
holds( can_traverse( rover2,waypoint2,waypoint7 ) ).
holds( equipped_for_rock_analysis( rover4 ) ).
holds( visible( waypoint15,waypoint12 ) ).
holds( can_traverse( rover4,waypoint5,waypoint0 ) ).
holds( visible( waypoint13,waypoint0 ) ).
holds( visible( waypoint4,waypoint1 ) ).
holds( can_traverse( rover4,waypoint5,waypoint15 ) ).
holds( equipped_for_soil_analysis( rover5 ) ).
holds( visible( waypoint7,waypoint9 ) ).
holds( can_traverse( rover2,waypoint0,waypoint5 ) ).
holds( visible( waypoint4,waypoint9 ) ).
holds( can_traverse( rover1,waypoint5,waypoint17 ) ).
holds( can_traverse( rover0,waypoint1,waypoint4 ) ).
holds( can_traverse( rover2,waypoint8,waypoint6 ) ).
holds( equipped_for_soil_analysis( rover2 ) ).
holds( visible_from( objective0,waypoint13 ) ).
holds( visible_from( objective7,waypoint11 ) ).
holds( can_traverse( rover3,waypoint11,waypoint7 ) ).
holds( visible_from( objective5,waypoint4 ) ).
holds( visible( waypoint5,waypoint2 ) ).
holds( visible( waypoint14,waypoint8 ) ).
holds( can_traverse( rover3,waypoint11,waypoint16 ) ).
holds( can_traverse( rover4,waypoint8,waypoint2 ) ).
holds( can_traverse( rover3,waypoint4,waypoint1 ) ).
holds( can_traverse( rover4,waypoint0,waypoint6 ) ).
holds( visible_from( objective7,waypoint9 ) ).
holds( visible( waypoint3,waypoint2 ) ).
holds( can_traverse( rover1,waypoint8,waypoint11 ) ).
holds( visible( waypoint2,waypoint4 ) ).
holds( can_traverse( rover1,waypoint5,waypoint0 ) ).
holds( visible( waypoint8,waypoint6 ) ).
holds( calibration_target( camera1,objective1 ) ).
holds( can_traverse( rover5,waypoint1,waypoint6 ) ).
holds( visible( waypoint9,waypoint3 ) ).
holds( can_traverse( rover4,waypoint4,waypoint3 ) ).
holds( supports( camera5,low_res ) ).
holds( can_traverse( rover1,waypoint0,waypoint6 ) ).
holds( can_traverse( rover2,waypoint11,waypoint16 ) ).
holds( visible( waypoint5,waypoint19 ) ).
holds( visible( waypoint9,waypoint4 ) ).
holds( can_traverse( rover4,waypoint15,waypoint5 ) ).
holds( visible_from( objective0,waypoint0 ) ).
holds( visible_from( objective0,waypoint3 ) ).
holds( visible( waypoint2,waypoint7 ) ).
holds( equipped_for_rock_analysis( rover3 ) ).
holds( can_traverse( rover5,waypoint7,waypoint2 ) ).
holds( visible( waypoint15,waypoint6 ) ).
holds( can_traverse( rover3,waypoint15,waypoint12 ) ).
holds( can_traverse( rover0,waypoint4,waypoint1 ) ).
holds( can_traverse( rover1,waypoint15,waypoint12 ) ).
holds( visible( waypoint10,waypoint2 ) ).
holds( visible( waypoint16,waypoint18 ) ).
holds( can_traverse( rover2,waypoint13,waypoint6 ) ).
holds( visible( waypoint2,waypoint9 ) ).
holds( can_traverse( rover4,waypoint13,waypoint6 ) ).
holds( visible_from( objective7,waypoint0 ) ).
holds( can_traverse( rover2,waypoint0,waypoint18 ) ).
holds( can_traverse( rover2,waypoint15,waypoint6 ) ).
holds( supports( camera1,high_res ) ).
holds( can_traverse( rover1,waypoint15,waypoint6 ) ).
holds( calibration_target( camera4,objective2 ) ).
holds( can_traverse( rover1,waypoint3,waypoint2 ) ).
holds( can_traverse( rover1,waypoint6,waypoint16 ) ).
holds( can_traverse( rover1,waypoint6,waypoint15 ) ).
holds( can_traverse( rover5,waypoint15,waypoint12 ) ).
holds( visible( waypoint6,waypoint1 ) ).
holds( visible( waypoint1,waypoint11 ) ).
holds( can_traverse( rover1,waypoint6,waypoint0 ) ).
holds( supports( camera2,high_res ) ).
holds( can_traverse( rover5,waypoint12,waypoint7 ) ).
holds( visible_from( objective0,waypoint14 ) ).
holds( visible( waypoint18,waypoint17 ) ).
holds( visible_from( objective5,waypoint8 ) ).
holds( equipped_for_rock_analysis( rover5 ) ).
holds( can_traverse( rover1,waypoint2,waypoint3 ) ).
holds( can_traverse( rover3,waypoint18,waypoint7 ) ).
holds( can_traverse( rover5,waypoint7,waypoint8 ) ).
holds( visible_from( objective7,waypoint12 ) ).
holds( can_traverse( rover3,waypoint0,waypoint9 ) ).
holds( can_traverse( rover0,waypoint0,waypoint2 ) ).
holds( visible( waypoint12,waypoint5 ) ).
holds( can_traverse( rover0,waypoint6,waypoint0 ) ).
holds( can_traverse( rover1,waypoint11,waypoint14 ) ).
holds( visible_from( objective2,waypoint5 ) ).
holds( visible( waypoint17,waypoint14 ) ).
holds( visible( waypoint3,waypoint5 ) ).
holds( can_traverse( rover0,waypoint9,waypoint2 ) ).
holds( can_traverse( rover3,waypoint16,waypoint5 ) ).
holds( on_board( camera1,rover1 ) ).
holds( visible( waypoint6,waypoint8 ) ).
holds( visible( waypoint14,waypoint12 ) ).
holds( visible( waypoint14,waypoint11 ) ).
holds( visible_from( objective5,waypoint5 ) ).
holds( visible( waypoint2,waypoint18 ) ).
holds( visible( waypoint0,waypoint6 ) ).
holds( visible( waypoint2,waypoint0 ) ).
holds( supports( camera2,low_res ) ).
holds( visible( waypoint8,waypoint7 ) ).
holds( store_of( rover2store,rover2 ) ).
holds( visible( waypoint8,waypoint18 ) ).
holds( on_board( camera3,rover0 ) ).
holds( can_traverse( rover3,waypoint1,waypoint11 ) ).
holds( can_traverse( rover5,waypoint9,waypoint12 ) ).
holds( visible( waypoint8,waypoint14 ) ).
holds( can_traverse( rover4,waypoint2,waypoint17 ) ).
holds( visible( waypoint19,waypoint11 ) ).
holds( visible( waypoint17,waypoint2 ) ).
holds( can_traverse( rover1,waypoint10,waypoint2 ) ).
holds( visible_from( objective4,waypoint8 ) ).
holds( can_traverse( rover4,waypoint6,waypoint0 ) ).
holds( can_traverse( rover4,waypoint2,waypoint0 ) ).
holds( visible( waypoint14,waypoint10 ) ).
holds( visible_from( objective0,waypoint12 ) ).
holds( visible_from( objective7,waypoint10 ) ).
holds( visible( waypoint18,waypoint7 ) ).
holds( can_traverse( rover4,waypoint2,waypoint8 ) ).
holds( can_traverse( rover1,waypoint14,waypoint11 ) ).
holds( visible( waypoint0,waypoint18 ) ).
holds( can_traverse( rover2,waypoint19,waypoint13 ) ).
holds( visible( waypoint19,waypoint14 ) ).
holds( visible( waypoint15,waypoint11 ) ).
holds( visible( waypoint6,waypoint19 ) ).
holds( visible_from( objective6,waypoint9 ) ).
holds( can_traverse( rover3,waypoint7,waypoint18 ) ).
holds( visible( waypoint0,waypoint5 ) ).
holds( can_traverse( rover2,waypoint18,waypoint0 ) ).
holds( visible_from( objective5,waypoint7 ) ).
holds( can_traverse( rover3,waypoint14,waypoint10 ) ).
holds( visible( waypoint2,waypoint8 ) ).
holds( visible( waypoint3,waypoint14 ) ).
holds( visible( waypoint6,waypoint16 ) ).
holds( visible( waypoint5,waypoint0 ) ).
holds( supports( camera0,low_res ) ).
holds( visible( waypoint12,waypoint15 ) ).
holds( can_traverse( rover5,waypoint12,waypoint9 ) ).
holds( visible( waypoint7,waypoint8 ) ).
holds( visible( waypoint0,waypoint13 ) ).
holds( visible_from( objective6,waypoint8 ) ).
holds( at_lander( general,waypoint6 ) ).
holds( visible( waypoint18,waypoint0 ) ).
holds( supports( camera4,low_res ) ).
holds( visible_from( objective1,waypoint0 ) ).
holds( visible_from( objective2,waypoint0 ) ).
holds( can_traverse( rover3,waypoint14,waypoint8 ) ).
holds( visible_from( objective2,waypoint1 ) ).
holds( can_traverse( rover2,waypoint13,waypoint19 ) ).
holds( can_traverse( rover1,waypoint19,waypoint6 ) ).
holds( visible( waypoint7,waypoint18 ) ).
holds( store_of( rover5store,rover5 ) ).
holds( can_traverse( rover0,waypoint2,waypoint4 ) ).
holds( visible_from( objective2,waypoint2 ) ).
holds( visible( waypoint2,waypoint5 ) ).
holds( can_traverse( rover5,waypoint6,waypoint1 ) ).
holds( can_traverse( rover3,waypoint13,waypoint7 ) ).
holds( on_board( camera6,rover5 ) ).
holds( visible( waypoint6,waypoint13 ) ).
holds( can_traverse( rover3,waypoint7,waypoint12 ) ).
holds( can_traverse( rover1,waypoint0,waypoint5 ) ).
holds( can_traverse( rover0,waypoint12,waypoint4 ) ).
holds( store_of( rover1store,rover1 ) ).
holds( can_traverse( rover0,waypoint7,waypoint2 ) ).
holds( visible( waypoint10,waypoint9 ) ).
holds( visible_from( objective0,waypoint6 ) ).
holds( visible( waypoint7,waypoint3 ) ).
holds( can_traverse( rover1,waypoint17,waypoint5 ) ).
holds( visible( waypoint1,waypoint9 ) ).
holds( can_traverse( rover4,waypoint3,waypoint9 ) ).
holds( visible( waypoint11,waypoint9 ) ).
holds( visible_from( objective6,waypoint2 ) ).
holds( can_traverse( rover1,waypoint9,waypoint2 ) ).
holds( visible_from( objective4,waypoint15 ) ).
holds( visible( waypoint4,waypoint10 ) ).
holds( can_traverse( rover4,waypoint14,waypoint8 ) ).
holds( visible_from( objective3,waypoint2 ) ).
holds( visible( waypoint12,waypoint7 ) ).
holds( can_traverse( rover0,waypoint4,waypoint17 ) ).
holds( visible_from( objective0,waypoint1 ) ).
holds( can_traverse( rover4,waypoint10,waypoint18 ) ).
holds( can_traverse( rover1,waypoint6,waypoint13 ) ).
holds( visible( waypoint7,waypoint12 ) ).
holds( visible_from( objective2,waypoint3 ) ).
holds( visible( waypoint12,waypoint9 ) ).
holds( can_traverse( rover5,waypoint1,waypoint11 ) ).
holds( visible_from( objective5,waypoint10 ) ).
holds( can_traverse( rover5,waypoint4,waypoint12 ) ).
holds( supports( camera6,high_res ) ).
holds( supports( camera4,colour ) ).
holds( can_traverse( rover5,waypoint4,waypoint3 ) ).
holds( can_traverse( rover2,waypoint19,waypoint14 ) ).
holds( can_traverse( rover2,waypoint0,waypoint13 ) ).
holds( visible_from( objective2,waypoint9 ) ).
holds( visible( waypoint0,waypoint19 ) ).
holds( supports( camera3,high_res ) ).
holds( can_traverse( rover1,waypoint8,waypoint6 ) ).
holds( can_traverse( rover2,waypoint14,waypoint19 ) ).
holds( can_traverse( rover3,waypoint7,waypoint11 ) ).
holds( can_traverse( rover2,waypoint5,waypoint0 ) ).
holds( visible( waypoint3,waypoint4 ) ).
holds( visible( waypoint16,waypoint12 ) ).
holds( visible_from( objective7,waypoint2 ) ).
holds( visible( waypoint11,waypoint5 ) ).
holds( visible_from( objective4,waypoint13 ) ).
holds( can_traverse( rover2,waypoint3,waypoint5 ) ).
holds( can_traverse( rover2,waypoint6,waypoint15 ) ).
holds( equipped_for_imaging( rover2 ) ).
holds( visible( waypoint15,waypoint5 ) ).
holds( visible( waypoint2,waypoint19 ) ).
holds( visible( waypoint1,waypoint4 ) ).
holds( visible_from( objective6,waypoint6 ) ).
holds( can_traverse( rover0,waypoint14,waypoint3 ) ).
holds( can_traverse( rover3,waypoint1,waypoint4 ) ).
holds( visible_from( objective4,waypoint4 ) ).
holds( visible_from( objective7,waypoint5 ) ).
holds( visible( waypoint0,waypoint7 ) ).
holds( can_traverse( rover4,waypoint5,waypoint16 ) ).
holds( can_traverse( rover0,waypoint3,waypoint14 ) ).
holds( can_traverse( rover1,waypoint18,waypoint0 ) ).
holds( visible_from( objective5,waypoint12 ) ).
holds( equipped_for_imaging( rover4 ) ).
holds( visible( waypoint7,waypoint4 ) ).
holds( can_traverse( rover4,waypoint5,waypoint11 ) ).
holds( can_traverse( rover0,waypoint5,waypoint2 ) ).
holds( can_traverse( rover2,waypoint4,waypoint7 ) ).
holds( can_traverse( rover5,waypoint18,waypoint7 ) ).
holds( can_traverse( rover5,waypoint19,waypoint5 ) ).
holds( can_traverse( rover3,waypoint12,waypoint15 ) ).
holds( visible( waypoint9,waypoint10 ) ).
holds( can_traverse( rover4,waypoint6,waypoint13 ) ).
holds( can_traverse( rover5,waypoint12,waypoint15 ) ).
holds( can_traverse( rover5,waypoint5,waypoint12 ) ).
holds( can_traverse( rover5,waypoint2,waypoint7 ) ).
holds( can_traverse( rover2,waypoint6,waypoint13 ) ).
holds( visible_from( objective0,waypoint8 ) ).
holds( visible( waypoint9,waypoint11 ) ).
holds( visible( waypoint1,waypoint12 ) ).
holds( visible( waypoint7,waypoint13 ) ).
holds( calibration_target( camera2,objective0 ) ).
holds( visible_from( objective4,waypoint7 ) ).
holds( can_traverse( rover4,waypoint0,waypoint2 ) ).
holds( visible_from( objective0,waypoint11 ) ).
holds( can_traverse( rover4,waypoint7,waypoint2 ) ).
holds( can_traverse( rover2,waypoint7,waypoint12 ) ).
holds( can_traverse( rover2,waypoint7,waypoint2 ) ).
holds( visible( waypoint19,waypoint0 ) ).
holds( on_board( camera0,rover2 ) ).
holds( can_traverse( rover0,waypoint2,waypoint5 ) ).
holds( visible( waypoint6,waypoint15 ) ).
holds( visible( waypoint10,waypoint14 ) ).
holds( visible( waypoint18,waypoint2 ) ).
holds( can_traverse( rover3,waypoint10,waypoint14 ) ).
holds( visible( waypoint16,waypoint5 ) ).
holds( visible( waypoint10,waypoint18 ) ).
holds( can_traverse( rover0,waypoint13,waypoint0 ) ).
holds( can_traverse( rover1,waypoint13,waypoint6 ) ).
holds( visible( waypoint5,waypoint17 ) ).
holds( can_traverse( rover4,waypoint8,waypoint14 ) ).
holds( can_traverse( rover4,waypoint18,waypoint10 ) ).
holds( visible( waypoint0,waypoint9 ) ).
holds( can_traverse( rover5,waypoint12,waypoint4 ) ).
holds( can_traverse( rover1,waypoint13,waypoint7 ) ).
holds( can_traverse( rover3,waypoint17,waypoint11 ) ).
holds( visible( waypoint9,waypoint1 ) ).
holds( visible_from( objective7,waypoint1 ) ).
holds( can_traverse( rover0,waypoint0,waypoint13 ) ).
holds( can_traverse( rover3,waypoint2,waypoint7 ) ).
holds( can_traverse( rover5,waypoint7,waypoint18 ) ).
holds( can_traverse( rover3,waypoint19,waypoint2 ) ).
holds( can_traverse( rover5,waypoint14,waypoint12 ) ).
holds( can_traverse( rover0,waypoint4,waypoint2 ) ).
holds( visible_from( objective4,waypoint6 ) ).
holds( can_traverse( rover1,waypoint2,waypoint10 ) ).
holds( visible( waypoint5,waypoint3 ) ).
holds( visible( waypoint7,waypoint0 ) ).
holds( can_traverse( rover0,waypoint3,waypoint4 ) ).
holds( can_traverse( rover4,waypoint9,waypoint3 ) ).
holds( can_traverse( rover3,waypoint2,waypoint19 ) ).
holds( can_traverse( rover1,waypoint0,waypoint2 ) ).
% <<<<<  DOMAIN PREDICATES
% 

% 
% 
% INIT  >>>>>
init( empty( rover5store ) ).
init( empty( rover2store ) ).
init( at_soil_sample( waypoint15 ) ).
init( at_rock_sample( waypoint9 ) ).
init( at_soil_sample( waypoint3 ) ).
init( available( rover3 ) ).
init( at_soil_sample( waypoint5 ) ).
init( at_soil_sample( waypoint18 ) ).
init( available( rover5 ) ).
init( channel_free( general ) ).
init( at_rock_sample( waypoint6 ) ).
init( at_rock_sample( waypoint3 ) ).
init( at_soil_sample( waypoint17 ) ).
init( at_soil_sample( waypoint11 ) ).
init( at_rock_sample( waypoint4 ) ).
init( at_rock_sample( waypoint19 ) ).
init( at_soil_sample( waypoint14 ) ).
init( at( rover5,waypoint12 ) ).
init( at_soil_sample( waypoint16 ) ).
init( available( rover0 ) ).
init( at_rock_sample( waypoint17 ) ).
init( available( rover1 ) ).
init( empty( rover0store ) ).
init( empty( rover3store ) ).
init( at( rover3,waypoint11 ) ).
init( at( rover4,waypoint0 ) ).
init( at_soil_sample( waypoint8 ) ).
init( empty( rover1store ) ).
init( available( rover2 ) ).
init( empty( rover4store ) ).
init( at_soil_sample( waypoint12 ) ).
init( at( rover0,waypoint2 ) ).
init( available( rover4 ) ).
init( at( rover1,waypoint6 ) ).
init( at( rover2,waypoint13 ) ).
% <<<<<  INIT
% 

% 
% 
% GOAL  >>>>>
goal( communicated_soil_data( waypoint18 ),true ).
goal( communicated_soil_data( waypoint8 ),true ).
goal( communicated_soil_data( waypoint5 ),true ).
goal( communicated_rock_data( waypoint17 ),true ).
goal( communicated_rock_data( waypoint6 ),true ).
goal( communicated_rock_data( waypoint9 ),true ).
goal( communicated_rock_data( waypoint19 ),true ).
goal( communicated_rock_data( waypoint3 ),true ).
goal( communicated_rock_data( waypoint4 ),true ).
goal( communicated_image_data( objective7,low_res ),true ).
goal( communicated_image_data( objective4,high_res ),true ).
goal( communicated_image_data( objective0,colour ),true ).
goal( communicated_image_data( objective6,low_res ),true ).
goal( communicated_image_data( objective7,colour ),true ).
goal( communicated_image_data( objective2,low_res ),true ).
goal( communicated_image_data( objective0,high_res ),true ).
goal( communicated_image_data( objective5,colour ),true ).
% <<<<<  GOAL
% 

