#base.

% Domain: Rover, Problem: roverprob7182
% 
% 
% OBJECTS  >>>>>
typedobject( camera( camera3 ) ).
typedobject( store( rover7store ) ).
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( rover6store ) ).
typedobject( waypoint( waypoint24 ) ).
typedobject( store( rover2store ) ).
typedobject( waypoint( waypoint21 ) ).
typedobject( waypoint( waypoint20 ) ).
typedobject( waypoint( waypoint23 ) ).
typedobject( waypoint( waypoint22 ) ).
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( rover6 ) ).
typedobject( rover( rover7 ) ).
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( camera4,rover1 ) ).
holds( can_traverse( rover0,waypoint4,waypoint21 ) ).
holds( can_traverse( rover1,waypoint20,waypoint4 ) ).
holds( visible_from( objective4,waypoint13 ) ).
holds( can_traverse( rover1,waypoint12,waypoint6 ) ).
holds( can_traverse( rover4,waypoint1,waypoint4 ) ).
holds( visible( waypoint16,waypoint20 ) ).
holds( can_traverse( rover2,waypoint7,waypoint4 ) ).
holds( visible_from( objective6,waypoint10 ) ).
holds( visible_from( objective3,waypoint13 ) ).
holds( can_traverse( rover7,waypoint0,waypoint14 ) ).
holds( can_traverse( rover1,waypoint8,waypoint5 ) ).
holds( can_traverse( rover6,waypoint10,waypoint16 ) ).
holds( visible_from( objective0,waypoint3 ) ).
holds( can_traverse( rover2,waypoint23,waypoint18 ) ).
holds( visible( waypoint15,waypoint0 ) ).
holds( can_traverse( rover5,waypoint23,waypoint10 ) ).
holds( visible( waypoint4,waypoint20 ) ).
holds( visible_from( objective6,waypoint0 ) ).
holds( visible_from( objective7,waypoint2 ) ).
holds( can_traverse( rover6,waypoint3,waypoint1 ) ).
holds( can_traverse( rover7,waypoint2,waypoint23 ) ).
holds( can_traverse( rover0,waypoint12,waypoint24 ) ).
holds( visible( waypoint17,waypoint18 ) ).
holds( visible( waypoint6,waypoint9 ) ).
holds( visible_from( objective4,waypoint14 ) ).
holds( can_traverse( rover3,waypoint0,waypoint18 ) ).
holds( can_traverse( rover3,waypoint11,waypoint6 ) ).
holds( equipped_for_imaging( rover6 ) ).
holds( can_traverse( rover1,waypoint11,waypoint6 ) ).
holds( visible_from( objective6,waypoint8 ) ).
holds( visible( waypoint11,waypoint8 ) ).
holds( visible_from( objective6,waypoint6 ) ).
holds( can_traverse( rover4,waypoint12,waypoint15 ) ).
holds( visible( waypoint2,waypoint5 ) ).
holds( can_traverse( rover1,waypoint13,waypoint3 ) ).
holds( visible_from( objective2,waypoint9 ) ).
holds( can_traverse( rover6,waypoint17,waypoint8 ) ).
holds( supports( camera0,high_res ) ).
holds( can_traverse( rover0,waypoint22,waypoint21 ) ).
holds( can_traverse( rover0,waypoint1,waypoint15 ) ).
holds( visible_from( objective5,waypoint9 ) ).
holds( visible( waypoint23,waypoint10 ) ).
holds( can_traverse( rover4,waypoint4,waypoint13 ) ).
holds( visible( waypoint2,waypoint14 ) ).
holds( visible_from( objective2,waypoint12 ) ).
holds( can_traverse( rover5,waypoint10,waypoint15 ) ).
holds( visible( waypoint16,waypoint15 ) ).
holds( visible( waypoint7,waypoint17 ) ).
holds( visible_from( objective5,waypoint2 ) ).
holds( can_traverse( rover4,waypoint15,waypoint16 ) ).
holds( can_traverse( rover0,waypoint6,waypoint14 ) ).
holds( visible( waypoint7,waypoint16 ) ).
holds( can_traverse( rover7,waypoint16,waypoint4 ) ).
holds( visible_from( objective2,waypoint6 ) ).
holds( visible_from( objective0,waypoint6 ) ).
holds( can_traverse( rover2,waypoint18,waypoint6 ) ).
holds( equipped_for_rock_analysis( rover7 ) ).
holds( equipped_for_imaging( rover2 ) ).
holds( can_traverse( rover0,waypoint21,waypoint18 ) ).
holds( can_traverse( rover2,waypoint21,waypoint11 ) ).
holds( visible_from( objective7,waypoint0 ) ).
holds( visible_from( objective6,waypoint4 ) ).
holds( store_of( rover5store,rover5 ) ).
holds( visible_from( objective3,waypoint14 ) ).
holds( visible_from( objective2,waypoint16 ) ).
holds( can_traverse( rover6,waypoint4,waypoint8 ) ).
holds( can_traverse( rover7,waypoint7,waypoint8 ) ).
holds( visible_from( objective3,waypoint16 ) ).
holds( visible( waypoint14,waypoint12 ) ).
holds( can_traverse( rover4,waypoint20,waypoint4 ) ).
holds( can_traverse( rover7,waypoint14,waypoint1 ) ).
holds( can_traverse( rover4,waypoint15,waypoint3 ) ).
holds( can_traverse( rover0,waypoint15,waypoint1 ) ).
holds( visible( waypoint23,waypoint18 ) ).
holds( visible( waypoint17,waypoint21 ) ).
holds( can_traverse( rover2,waypoint15,waypoint10 ) ).
holds( can_traverse( rover5,waypoint16,waypoint7 ) ).
holds( can_traverse( rover6,waypoint16,waypoint22 ) ).
holds( can_traverse( rover2,waypoint15,waypoint1 ) ).
holds( can_traverse( rover3,waypoint16,waypoint20 ) ).
holds( visible_from( objective0,waypoint4 ) ).
holds( visible( waypoint18,waypoint1 ) ).
holds( visible( waypoint9,waypoint17 ) ).
holds( can_traverse( rover2,waypoint18,waypoint24 ) ).
holds( can_traverse( rover2,waypoint19,waypoint20 ) ).
holds( can_traverse( rover1,waypoint17,waypoint20 ) ).
holds( can_traverse( rover6,waypoint20,waypoint4 ) ).
holds( can_traverse( rover0,waypoint0,waypoint5 ) ).
holds( visible( waypoint15,waypoint12 ) ).
holds( can_traverse( rover4,waypoint23,waypoint20 ) ).
holds( visible( waypoint6,waypoint18 ) ).
holds( can_traverse( rover6,waypoint6,waypoint2 ) ).
holds( visible_from( objective1,waypoint3 ) ).
holds( can_traverse( rover5,waypoint11,waypoint6 ) ).
holds( visible( waypoint6,waypoint12 ) ).
holds( supports( camera5,high_res ) ).
holds( equipped_for_soil_analysis( rover3 ) ).
holds( can_traverse( rover5,waypoint24,waypoint23 ) ).
holds( can_traverse( rover5,waypoint2,waypoint16 ) ).
holds( can_traverse( rover5,waypoint3,waypoint18 ) ).
holds( visible( waypoint1,waypoint15 ) ).
holds( visible( waypoint2,waypoint16 ) ).
holds( can_traverse( rover7,waypoint10,waypoint11 ) ).
holds( visible( waypoint8,waypoint5 ) ).
holds( visible_from( objective6,waypoint1 ) ).
holds( visible_from( objective7,waypoint3 ) ).
holds( can_traverse( rover4,waypoint16,waypoint5 ) ).
holds( visible( waypoint20,waypoint23 ) ).
holds( visible_from( objective0,waypoint14 ) ).
holds( can_traverse( rover6,waypoint1,waypoint5 ) ).
holds( can_traverse( rover4,waypoint19,waypoint21 ) ).
holds( can_traverse( rover1,waypoint6,waypoint11 ) ).
holds( can_traverse( rover1,waypoint18,waypoint1 ) ).
holds( can_traverse( rover5,waypoint15,waypoint13 ) ).
holds( visible( waypoint3,waypoint12 ) ).
holds( can_traverse( rover0,waypoint19,waypoint11 ) ).
holds( can_traverse( rover5,waypoint22,waypoint11 ) ).
holds( can_traverse( rover7,waypoint23,waypoint2 ) ).
holds( visible_from( objective4,waypoint11 ) ).
holds( can_traverse( rover7,waypoint12,waypoint6 ) ).
holds( visible_from( objective7,waypoint20 ) ).
holds( visible_from( objective4,waypoint5 ) ).
holds( can_traverse( rover4,waypoint2,waypoint14 ) ).
holds( visible_from( objective2,waypoint3 ) ).
holds( visible( waypoint1,waypoint3 ) ).
holds( can_traverse( rover7,waypoint16,waypoint20 ) ).
holds( visible( waypoint3,waypoint18 ) ).
holds( visible( waypoint19,waypoint6 ) ).
holds( visible_from( objective3,waypoint9 ) ).
holds( visible_from( objective4,waypoint15 ) ).
holds( can_traverse( rover0,waypoint7,waypoint8 ) ).
holds( visible_from( objective3,waypoint0 ) ).
holds( visible( waypoint2,waypoint1 ) ).
holds( visible_from( objective4,waypoint7 ) ).
holds( can_traverse( rover3,waypoint18,waypoint9 ) ).
holds( can_traverse( rover4,waypoint2,waypoint16 ) ).
holds( visible_from( objective0,waypoint9 ) ).
holds( can_traverse( rover6,waypoint4,waypoint13 ) ).
holds( supports( camera4,colour ) ).
holds( visible( waypoint9,waypoint2 ) ).
holds( can_traverse( rover3,waypoint16,waypoint10 ) ).
holds( can_traverse( rover0,waypoint18,waypoint21 ) ).
holds( can_traverse( rover7,waypoint5,waypoint2 ) ).
holds( visible( waypoint4,waypoint8 ) ).
holds( can_traverse( rover4,waypoint24,waypoint5 ) ).
holds( can_traverse( rover4,waypoint8,waypoint16 ) ).
holds( supports( camera6,high_res ) ).
holds( visible( waypoint3,waypoint13 ) ).
holds( can_traverse( rover6,waypoint20,waypoint24 ) ).
holds( can_traverse( rover3,waypoint3,waypoint12 ) ).
holds( can_traverse( rover1,waypoint22,waypoint16 ) ).
holds( can_traverse( rover4,waypoint4,waypoint1 ) ).
holds( visible_from( objective0,waypoint8 ) ).
holds( visible_from( objective6,waypoint9 ) ).
holds( equipped_for_imaging( rover1 ) ).
holds( can_traverse( rover2,waypoint18,waypoint23 ) ).
holds( visible( waypoint7,waypoint9 ) ).
holds( visible( waypoint21,waypoint22 ) ).
holds( visible_from( objective6,waypoint7 ) ).
holds( visible( waypoint10,waypoint18 ) ).
holds( can_traverse( rover3,waypoint3,waypoint1 ) ).
holds( visible_from( objective5,waypoint8 ) ).
holds( visible_from( objective2,waypoint11 ) ).
holds( visible_from( objective2,waypoint5 ) ).
holds( can_traverse( rover2,waypoint21,waypoint13 ) ).
holds( visible_from( objective2,waypoint15 ) ).
holds( visible( waypoint14,waypoint20 ) ).
holds( can_traverse( rover2,waypoint12,waypoint14 ) ).
holds( calibration_target( camera2,objective0 ) ).
holds( can_traverse( rover6,waypoint4,waypoint20 ) ).
holds( can_traverse( rover4,waypoint20,waypoint23 ) ).
holds( can_traverse( rover6,waypoint23,waypoint1 ) ).
holds( can_traverse( rover0,waypoint6,waypoint9 ) ).
holds( can_traverse( rover5,waypoint23,waypoint24 ) ).
holds( visible( waypoint13,waypoint14 ) ).
holds( can_traverse( rover7,waypoint18,waypoint8 ) ).
holds( visible( waypoint21,waypoint18 ) ).
holds( can_traverse( rover0,waypoint17,waypoint20 ) ).
holds( can_traverse( rover1,waypoint1,waypoint4 ) ).
holds( visible_from( objective4,waypoint10 ) ).
holds( visible_from( objective7,waypoint19 ) ).
holds( visible_from( objective3,waypoint8 ) ).
holds( can_traverse( rover1,waypoint19,waypoint4 ) ).
holds( visible( waypoint5,waypoint24 ) ).
holds( visible( waypoint12,waypoint13 ) ).
holds( can_traverse( rover7,waypoint2,waypoint5 ) ).
holds( can_traverse( rover4,waypoint16,waypoint8 ) ).
holds( can_traverse( rover3,waypoint1,waypoint3 ) ).
holds( can_traverse( rover6,waypoint16,waypoint10 ) ).
holds( visible( waypoint8,waypoint6 ) ).
holds( visible_from( objective2,waypoint10 ) ).
holds( visible( waypoint17,waypoint20 ) ).
holds( can_traverse( rover6,waypoint1,waypoint23 ) ).
holds( can_traverse( rover7,waypoint8,waypoint18 ) ).
holds( can_traverse( rover1,waypoint18,waypoint10 ) ).
holds( can_traverse( rover6,waypoint7,waypoint16 ) ).
holds( can_traverse( rover7,waypoint17,waypoint8 ) ).
holds( can_traverse( rover6,waypoint16,waypoint7 ) ).
holds( visible( waypoint23,waypoint0 ) ).
holds( store_of( rover0store,rover0 ) ).
holds( visible( waypoint9,waypoint7 ) ).
holds( can_traverse( rover1,waypoint21,waypoint4 ) ).
holds( visible( waypoint6,waypoint21 ) ).
holds( can_traverse( rover1,waypoint5,waypoint0 ) ).
holds( visible( waypoint6,waypoint4 ) ).
holds( can_traverse( rover0,waypoint20,waypoint17 ) ).
holds( visible_from( objective3,waypoint18 ) ).
holds( can_traverse( rover0,waypoint22,waypoint11 ) ).
holds( can_traverse( rover0,waypoint11,waypoint19 ) ).
holds( visible( waypoint19,waypoint21 ) ).
holds( calibration_target( camera3,objective2 ) ).
holds( visible( waypoint22,waypoint16 ) ).
holds( can_traverse( rover0,waypoint8,waypoint11 ) ).
holds( can_traverse( rover6,waypoint6,waypoint9 ) ).
holds( can_traverse( rover0,waypoint21,waypoint5 ) ).
holds( can_traverse( rover3,waypoint6,waypoint12 ) ).
holds( visible_from( objective5,waypoint10 ) ).
holds( can_traverse( rover5,waypoint16,waypoint10 ) ).
holds( can_traverse( rover1,waypoint16,waypoint4 ) ).
holds( visible( waypoint4,waypoint21 ) ).
holds( can_traverse( rover7,waypoint16,waypoint2 ) ).
holds( can_traverse( rover4,waypoint13,waypoint4 ) ).
holds( can_traverse( rover2,waypoint14,waypoint1 ) ).
holds( visible_from( objective2,waypoint1 ) ).
holds( visible( waypoint5,waypoint0 ) ).
holds( visible( waypoint11,waypoint22 ) ).
holds( visible_from( objective2,waypoint13 ) ).
holds( visible( waypoint11,waypoint21 ) ).
holds( visible( waypoint3,waypoint15 ) ).
holds( can_traverse( rover5,waypoint15,waypoint10 ) ).
holds( visible_from( objective4,waypoint22 ) ).
holds( can_traverse( rover3,waypoint5,waypoint1 ) ).
holds( on_board( camera2,rover4 ) ).
holds( visible( waypoint15,waypoint10 ) ).
holds( visible( waypoint12,waypoint23 ) ).
holds( can_traverse( rover0,waypoint13,waypoint3 ) ).
holds( visible( waypoint18,waypoint9 ) ).
holds( can_traverse( rover2,waypoint1,waypoint5 ) ).
holds( visible_from( objective3,waypoint19 ) ).
holds( can_traverse( rover7,waypoint2,waypoint9 ) ).
holds( visible_from( objective5,waypoint3 ) ).
holds( can_traverse( rover0,waypoint6,waypoint2 ) ).
holds( visible( waypoint10,waypoint15 ) ).
holds( can_traverse( rover4,waypoint16,waypoint22 ) ).
holds( can_traverse( rover5,waypoint11,waypoint8 ) ).
holds( visible_from( objective3,waypoint11 ) ).
holds( can_traverse( rover0,waypoint5,waypoint21 ) ).
holds( can_traverse( rover6,waypoint11,waypoint6 ) ).
holds( equipped_for_soil_analysis( rover6 ) ).
holds( can_traverse( rover2,waypoint3,waypoint20 ) ).
holds( store_of( rover3store,rover3 ) ).
holds( visible( waypoint24,waypoint23 ) ).
holds( can_traverse( rover7,waypoint16,waypoint10 ) ).
holds( can_traverse( rover1,waypoint4,waypoint13 ) ).
holds( can_traverse( rover1,waypoint4,waypoint20 ) ).
holds( visible( waypoint24,waypoint18 ) ).
holds( visible( waypoint16,waypoint7 ) ).
holds( visible( waypoint14,waypoint13 ) ).
holds( visible( waypoint5,waypoint9 ) ).
holds( supports( camera0,colour ) ).
holds( visible( waypoint21,waypoint13 ) ).
holds( visible_from( objective4,waypoint2 ) ).
holds( visible( waypoint20,waypoint3 ) ).
holds( visible( waypoint8,waypoint11 ) ).
holds( visible( waypoint15,waypoint16 ) ).
holds( can_traverse( rover2,waypoint9,waypoint18 ) ).
holds( can_traverse( rover7,waypoint4,waypoint16 ) ).
holds( visible_from( objective7,waypoint9 ) ).
holds( visible( waypoint0,waypoint5 ) ).
holds( visible( waypoint6,waypoint2 ) ).
holds( visible_from( objective2,waypoint7 ) ).
holds( visible( waypoint17,waypoint15 ) ).
holds( can_traverse( rover5,waypoint21,waypoint11 ) ).
holds( visible( waypoint13,waypoint3 ) ).
holds( can_traverse( rover1,waypoint24,waypoint5 ) ).
holds( calibration_target( camera4,objective4 ) ).
holds( can_traverse( rover6,waypoint9,waypoint6 ) ).
holds( can_traverse( rover1,waypoint3,waypoint13 ) ).
holds( visible( waypoint19,waypoint20 ) ).
holds( can_traverse( rover2,waypoint6,waypoint18 ) ).
holds( visible_from( objective4,waypoint23 ) ).
holds( visible( waypoint5,waypoint6 ) ).
holds( visible( waypoint20,waypoint19 ) ).
holds( can_traverse( rover3,waypoint12,waypoint19 ) ).
holds( visible( waypoint10,waypoint23 ) ).
holds( visible_from( objective5,waypoint11 ) ).
holds( can_traverse( rover4,waypoint0,waypoint5 ) ).
holds( can_traverse( rover6,waypoint6,waypoint21 ) ).
holds( equipped_for_imaging( rover4 ) ).
holds( visible_from( objective7,waypoint16 ) ).
holds( visible_from( objective7,waypoint6 ) ).
holds( visible_from( objective7,waypoint12 ) ).
holds( can_traverse( rover3,waypoint14,waypoint1 ) ).
holds( visible( waypoint8,waypoint7 ) ).
holds( can_traverse( rover0,waypoint17,waypoint11 ) ).
holds( can_traverse( rover5,waypoint10,waypoint18 ) ).
holds( can_traverse( rover6,waypoint1,waypoint4 ) ).
holds( can_traverse( rover2,waypoint11,waypoint21 ) ).
holds( visible( waypoint13,waypoint12 ) ).
holds( can_traverse( rover5,waypoint6,waypoint19 ) ).
holds( calibration_target( camera6,objective5 ) ).
holds( can_traverse( rover5,waypoint5,waypoint6 ) ).
holds( visible_from( objective3,waypoint2 ) ).
holds( can_traverse( rover0,waypoint24,waypoint23 ) ).
holds( can_traverse( rover0,waypoint15,waypoint12 ) ).
holds( visible_from( objective5,waypoint1 ) ).
holds( visible_from( objective7,waypoint1 ) ).
holds( can_traverse( rover7,waypoint14,waypoint2 ) ).
holds( visible( waypoint22,waypoint21 ) ).
holds( can_traverse( rover3,waypoint18,waypoint0 ) ).
holds( visible_from( objective6,waypoint5 ) ).
holds( visible_from( objective0,waypoint2 ) ).
holds( visible( waypoint20,waypoint4 ) ).
holds( visible( waypoint14,waypoint1 ) ).
holds( can_traverse( rover7,waypoint2,waypoint16 ) ).
holds( can_traverse( rover0,waypoint9,waypoint6 ) ).
holds( visible_from( objective3,waypoint15 ) ).
holds( can_traverse( rover4,waypoint4,waypoint20 ) ).
holds( can_traverse( rover5,waypoint4,waypoint16 ) ).
holds( can_traverse( rover2,waypoint1,waypoint15 ) ).
holds( can_traverse( rover1,waypoint5,waypoint9 ) ).
holds( can_traverse( rover5,waypoint16,waypoint2 ) ).
holds( visible_from( objective2,waypoint2 ) ).
holds( visible( waypoint12,waypoint14 ) ).
holds( visible_from( objective2,waypoint17 ) ).
holds( can_traverse( rover6,waypoint8,waypoint4 ) ).
holds( visible( waypoint13,waypoint15 ) ).
holds( visible( waypoint8,waypoint18 ) ).
holds( visible( waypoint19,waypoint12 ) ).
holds( visible( waypoint6,waypoint5 ) ).
holds( can_traverse( rover2,waypoint13,waypoint21 ) ).
holds( visible_from( objective2,waypoint14 ) ).
holds( can_traverse( rover5,waypoint20,waypoint23 ) ).
holds( visible( waypoint5,waypoint21 ) ).
holds( visible_from( objective4,waypoint9 ) ).
holds( visible_from( objective3,waypoint7 ) ).
holds( can_traverse( rover4,waypoint7,waypoint16 ) ).
holds( visible( waypoint24,waypoint20 ) ).
holds( can_traverse( rover7,waypoint8,waypoint17 ) ).
holds( visible( waypoint2,waypoint9 ) ).
holds( visible_from( objective3,waypoint17 ) ).
holds( can_traverse( rover3,waypoint12,waypoint6 ) ).
holds( can_traverse( rover5,waypoint10,waypoint16 ) ).
holds( visible( waypoint14,waypoint9 ) ).
holds( can_traverse( rover3,waypoint1,waypoint5 ) ).
holds( can_traverse( rover1,waypoint4,waypoint21 ) ).
holds( can_traverse( rover7,waypoint3,waypoint20 ) ).
holds( can_traverse( rover4,waypoint15,waypoint6 ) ).
holds( visible( waypoint8,waypoint4 ) ).
holds( can_traverse( rover5,waypoint11,waypoint21 ) ).
holds( visible( waypoint21,waypoint17 ) ).
holds( visible( waypoint18,waypoint3 ) ).
holds( can_traverse( rover4,waypoint5,waypoint0 ) ).
holds( visible_from( objective7,waypoint15 ) ).
holds( can_traverse( rover3,waypoint1,waypoint14 ) ).
holds( can_traverse( rover7,waypoint1,waypoint14 ) ).
holds( can_traverse( rover1,waypoint4,waypoint19 ) ).
holds( can_traverse( rover5,waypoint17,waypoint15 ) ).
holds( visible( waypoint5,waypoint16 ) ).
holds( visible_from( objective3,waypoint6 ) ).
holds( can_traverse( rover3,waypoint4,waypoint1 ) ).
holds( can_traverse( rover7,waypoint20,waypoint3 ) ).
holds( can_traverse( rover4,waypoint3,waypoint15 ) ).
holds( can_traverse( rover3,waypoint12,waypoint22 ) ).
holds( can_traverse( rover3,waypoint22,waypoint12 ) ).
holds( can_traverse( rover3,waypoint20,waypoint3 ) ).
holds( can_traverse( rover3,waypoint12,waypoint24 ) ).
holds( store_of( rover2store,rover2 ) ).
holds( equipped_for_rock_analysis( rover3 ) ).
holds( visible( waypoint1,waypoint4 ) ).
holds( can_traverse( rover3,waypoint1,waypoint2 ) ).
holds( visible( waypoint19,waypoint4 ) ).
holds( visible( waypoint19,waypoint11 ) ).
holds( can_traverse( rover6,waypoint16,waypoint4 ) ).
holds( visible( waypoint12,waypoint15 ) ).
holds( can_traverse( rover3,waypoint24,waypoint12 ) ).
holds( visible( waypoint4,waypoint7 ) ).
holds( visible( waypoint11,waypoint17 ) ).
holds( can_traverse( rover0,waypoint11,waypoint8 ) ).
holds( visible( waypoint5,waypoint8 ) ).
holds( can_traverse( rover2,waypoint10,waypoint15 ) ).
holds( can_traverse( rover0,waypoint21,waypoint4 ) ).
holds( can_traverse( rover1,waypoint18,waypoint23 ) ).
holds( equipped_for_soil_analysis( rover0 ) ).
holds( can_traverse( rover5,waypoint7,waypoint16 ) ).
holds( visible_from( objective0,waypoint12 ) ).
holds( can_traverse( rover6,waypoint22,waypoint16 ) ).
holds( visible_from( objective5,waypoint6 ) ).
holds( visible( waypoint2,waypoint6 ) ).
holds( visible( waypoint6,waypoint11 ) ).
holds( can_traverse( rover2,waypoint5,waypoint1 ) ).
holds( visible_from( objective4,waypoint0 ) ).
holds( visible( waypoint0,waypoint14 ) ).
holds( visible( waypoint17,waypoint7 ) ).
holds( can_traverse( rover7,waypoint9,waypoint2 ) ).
holds( can_traverse( rover2,waypoint13,waypoint4 ) ).
holds( can_traverse( rover3,waypoint1,waypoint23 ) ).
holds( can_traverse( rover1,waypoint2,waypoint5 ) ).
holds( can_traverse( rover3,waypoint2,waypoint1 ) ).
holds( visible( waypoint14,waypoint17 ) ).
holds( visible_from( objective5,waypoint4 ) ).
holds( visible( waypoint6,waypoint19 ) ).
holds( visible( waypoint1,waypoint18 ) ).
holds( can_traverse( rover0,waypoint13,waypoint12 ) ).
holds( visible( waypoint18,waypoint17 ) ).
holds( can_traverse( rover0,waypoint6,waypoint11 ) ).
holds( visible( waypoint11,waypoint6 ) ).
holds( calibration_target( camera0,objective6 ) ).
holds( can_traverse( rover4,waypoint22,waypoint16 ) ).
holds( visible( waypoint13,waypoint20 ) ).
holds( can_traverse( rover5,waypoint8,waypoint11 ) ).
holds( visible( waypoint8,waypoint16 ) ).
holds( can_traverse( rover3,waypoint4,waypoint7 ) ).
holds( supports( camera4,high_res ) ).
holds( visible_from( objective5,waypoint13 ) ).
holds( visible( waypoint21,waypoint5 ) ).
holds( can_traverse( rover0,waypoint16,waypoint15 ) ).
holds( can_traverse( rover7,waypoint19,waypoint4 ) ).
holds( can_traverse( rover6,waypoint4,waypoint19 ) ).
holds( can_traverse( rover1,waypoint5,waypoint4 ) ).
holds( visible( waypoint7,waypoint24 ) ).
holds( visible( waypoint3,waypoint20 ) ).
holds( can_traverse( rover5,waypoint6,waypoint14 ) ).
holds( can_traverse( rover3,waypoint13,waypoint21 ) ).
holds( visible_from( objective0,waypoint0 ) ).
holds( can_traverse( rover7,waypoint10,waypoint15 ) ).
holds( visible( waypoint9,waypoint14 ) ).
holds( visible( waypoint22,waypoint11 ) ).
holds( visible( waypoint18,waypoint24 ) ).
holds( equipped_for_rock_analysis( rover2 ) ).
holds( can_traverse( rover6,waypoint6,waypoint12 ) ).
holds( can_traverse( rover4,waypoint21,waypoint5 ) ).
holds( visible( waypoint6,waypoint14 ) ).
holds( can_traverse( rover3,waypoint3,waypoint18 ) ).
holds( can_traverse( rover1,waypoint6,waypoint12 ) ).
holds( can_traverse( rover2,waypoint24,waypoint18 ) ).
holds( visible( waypoint15,waypoint1 ) ).
holds( visible( waypoint20,waypoint16 ) ).
holds( can_traverse( rover2,waypoint5,waypoint0 ) ).
holds( visible( waypoint16,waypoint10 ) ).
holds( can_traverse( rover3,waypoint18,waypoint17 ) ).
holds( visible_from( objective4,waypoint19 ) ).
holds( can_traverse( rover0,waypoint12,waypoint15 ) ).
holds( can_traverse( rover2,waypoint20,waypoint3 ) ).
holds( can_traverse( rover7,waypoint20,waypoint24 ) ).
holds( supports( camera1,high_res ) ).
holds( can_traverse( rover2,waypoint4,waypoint7 ) ).
holds( can_traverse( rover6,waypoint1,waypoint3 ) ).
holds( can_traverse( rover0,waypoint3,waypoint13 ) ).
holds( can_traverse( rover4,waypoint15,waypoint12 ) ).
holds( can_traverse( rover6,waypoint8,waypoint17 ) ).
holds( can_traverse( rover0,waypoint10,waypoint11 ) ).
holds( can_traverse( rover0,waypoint11,waypoint22 ) ).
holds( can_traverse( rover4,waypoint16,waypoint15 ) ).
holds( visible( waypoint12,waypoint22 ) ).
holds( visible_from( objective6,waypoint3 ) ).
holds( can_traverse( rover4,waypoint18,waypoint8 ) ).
holds( visible( waypoint21,waypoint11 ) ).
holds( can_traverse( rover2,waypoint20,waypoint19 ) ).
holds( supports( camera2,colour ) ).
holds( can_traverse( rover6,waypoint6,waypoint15 ) ).
holds( can_traverse( rover5,waypoint18,waypoint3 ) ).
holds( can_traverse( rover4,waypoint4,waypoint16 ) ).
holds( visible_from( objective0,waypoint13 ) ).
holds( can_traverse( rover4,waypoint21,waypoint19 ) ).
holds( visible( waypoint14,waypoint6 ) ).
holds( visible_from( objective4,waypoint4 ) ).
holds( can_traverse( rover7,waypoint10,waypoint16 ) ).
holds( equipped_for_rock_analysis( rover4 ) ).
holds( can_traverse( rover1,waypoint1,waypoint14 ) ).
holds( can_traverse( rover1,waypoint10,waypoint18 ) ).
holds( visible_from( objective5,waypoint7 ) ).
holds( calibration_target( camera5,objective4 ) ).
holds( can_traverse( rover2,waypoint14,waypoint12 ) ).
holds( visible( waypoint18,waypoint10 ) ).
holds( can_traverse( rover0,waypoint12,waypoint22 ) ).
holds( visible_from( objective7,waypoint18 ) ).
holds( visible( waypoint20,waypoint14 ) ).
holds( can_traverse( rover6,waypoint18,waypoint1 ) ).
holds( visible( waypoint16,waypoint2 ) ).
holds( can_traverse( rover1,waypoint7,waypoint0 ) ).
holds( can_traverse( rover6,waypoint2,waypoint6 ) ).
holds( can_traverse( rover2,waypoint1,waypoint14 ) ).
holds( visible_from( objective2,waypoint0 ) ).
holds( visible( waypoint12,waypoint3 ) ).
holds( visible( waypoint11,waypoint19 ) ).
holds( can_traverse( rover2,waypoint2,waypoint1 ) ).
holds( can_traverse( rover5,waypoint6,waypoint11 ) ).
holds( can_traverse( rover1,waypoint0,waypoint7 ) ).
holds( on_board( camera1,rover1 ) ).
holds( visible( waypoint22,waypoint12 ) ).
holds( visible( waypoint17,waypoint8 ) ).
holds( visible( waypoint12,waypoint19 ) ).
holds( visible_from( objective4,waypoint1 ) ).
holds( visible_from( objective7,waypoint8 ) ).
holds( visible( waypoint13,waypoint21 ) ).
holds( visible( waypoint0,waypoint23 ) ).
holds( visible( waypoint12,waypoint6 ) ).
holds( can_traverse( rover6,waypoint15,waypoint6 ) ).
holds( visible_from( objective7,waypoint5 ) ).
holds( visible( waypoint14,waypoint5 ) ).
holds( supports( camera2,high_res ) ).
holds( visible( waypoint1,waypoint23 ) ).
holds( can_traverse( rover5,waypoint6,waypoint5 ) ).
holds( can_traverse( rover7,waypoint2,waypoint14 ) ).
holds( store_of( rover1store,rover1 ) ).
holds( visible( waypoint3,waypoint1 ) ).
holds( can_traverse( rover5,waypoint16,waypoint4 ) ).
holds( on_board( camera3,rover2 ) ).
holds( can_traverse( rover2,waypoint4,waypoint13 ) ).
holds( can_traverse( rover5,waypoint23,waypoint20 ) ).
holds( can_traverse( rover4,waypoint16,waypoint7 ) ).
holds( visible( waypoint18,waypoint8 ) ).
holds( can_traverse( rover3,waypoint23,waypoint1 ) ).
holds( visible( waypoint7,waypoint0 ) ).
holds( visible( waypoint6,waypoint15 ) ).
holds( visible_from( objective7,waypoint14 ) ).
holds( can_traverse( rover1,waypoint1,waypoint15 ) ).
holds( visible_from( objective3,waypoint5 ) ).
holds( can_traverse( rover3,waypoint1,waypoint4 ) ).
holds( can_traverse( rover3,waypoint3,waypoint20 ) ).
holds( visible( waypoint17,waypoint11 ) ).
holds( can_traverse( rover6,waypoint4,waypoint16 ) ).
holds( visible( waypoint11,waypoint10 ) ).
holds( visible_from( objective0,waypoint11 ) ).
holds( visible_from( objective5,waypoint5 ) ).
holds( visible( waypoint24,waypoint12 ) ).
holds( can_traverse( rover3,waypoint15,waypoint1 ) ).
holds( visible( waypoint16,waypoint5 ) ).
holds( can_traverse( rover0,waypoint22,waypoint12 ) ).
holds( visible( waypoint8,waypoint21 ) ).
holds( visible( waypoint23,waypoint1 ) ).
holds( can_traverse( rover1,waypoint20,waypoint17 ) ).
holds( visible( waypoint16,waypoint4 ) ).
holds( can_traverse( rover7,waypoint11,waypoint10 ) ).
holds( visible( waypoint24,waypoint5 ) ).
holds( visible( waypoint4,waypoint16 ) ).
holds( visible_from( objective4,waypoint18 ) ).
holds( can_traverse( rover1,waypoint16,waypoint22 ) ).
holds( can_traverse( rover4,waypoint6,waypoint15 ) ).
holds( visible( waypoint21,waypoint6 ) ).
holds( visible_from( objective6,waypoint2 ) ).
holds( can_traverse( rover2,waypoint16,waypoint20 ) ).
holds( visible_from( objective4,waypoint3 ) ).
holds( can_traverse( rover1,waypoint14,waypoint1 ) ).
holds( visible( waypoint20,waypoint24 ) ).
holds( visible( waypoint6,waypoint8 ) ).
holds( visible( waypoint17,waypoint14 ) ).
holds( visible( waypoint23,waypoint2 ) ).
holds( visible_from( objective7,waypoint4 ) ).
holds( supports( camera1,colour ) ).
holds( visible( waypoint14,waypoint0 ) ).
holds( can_traverse( rover4,waypoint5,waypoint16 ) ).
holds( store_of( rover7store,rover7 ) ).
holds( visible( waypoint16,waypoint8 ) ).
holds( visible( waypoint21,waypoint8 ) ).
holds( visible_from( objective4,waypoint17 ) ).
holds( at_lander( general,waypoint1 ) ).
holds( visible( waypoint9,waypoint18 ) ).
holds( supports( camera3,low_res ) ).
holds( visible_from( objective0,waypoint15 ) ).
holds( visible_from( objective0,waypoint16 ) ).
holds( can_traverse( rover1,waypoint5,waypoint8 ) ).
holds( visible_from( objective1,waypoint0 ) ).
holds( can_traverse( rover4,waypoint8,waypoint11 ) ).
holds( can_traverse( rover2,waypoint3,waypoint13 ) ).
holds( can_traverse( rover6,waypoint5,waypoint1 ) ).
holds( can_traverse( rover1,waypoint4,waypoint1 ) ).
holds( visible( waypoint5,waypoint14 ) ).
holds( can_traverse( rover5,waypoint10,waypoint11 ) ).
holds( store_of( rover6store,rover6 ) ).
holds( can_traverse( rover0,waypoint15,waypoint16 ) ).
holds( visible_from( objective1,waypoint1 ) ).
holds( visible( waypoint15,waypoint17 ) ).
holds( can_traverse( rover4,waypoint2,waypoint9 ) ).
holds( can_traverse( rover2,waypoint18,waypoint17 ) ).
holds( on_board( camera5,rover5 ) ).
holds( can_traverse( rover7,waypoint16,waypoint8 ) ).
holds( visible( waypoint20,waypoint13 ) ).
holds( visible_from( objective7,waypoint10 ) ).
holds( visible( waypoint12,waypoint24 ) ).
holds( can_traverse( rover1,waypoint1,waypoint18 ) ).
holds( can_traverse( rover5,waypoint11,waypoint12 ) ).
holds( can_traverse( rover5,waypoint13,waypoint15 ) ).
holds( can_traverse( rover0,waypoint5,waypoint0 ) ).
holds( can_traverse( rover0,waypoint24,waypoint12 ) ).
holds( store_of( rover4store,rover4 ) ).
holds( can_traverse( rover4,waypoint11,waypoint8 ) ).
holds( can_traverse( rover2,waypoint5,waypoint8 ) ).
holds( visible( waypoint21,waypoint19 ) ).
holds( visible_from( objective0,waypoint5 ) ).
holds( visible( waypoint18,waypoint21 ) ).
holds( can_traverse( rover5,waypoint15,waypoint1 ) ).
holds( can_traverse( rover5,waypoint15,waypoint0 ) ).
holds( can_traverse( rover2,waypoint13,waypoint3 ) ).
holds( visible( waypoint4,waypoint1 ) ).
holds( can_traverse( rover7,waypoint4,waypoint13 ) ).
holds( visible( waypoint0,waypoint7 ) ).
holds( can_traverse( rover3,waypoint7,waypoint4 ) ).
holds( can_traverse( rover6,waypoint1,waypoint14 ) ).
holds( visible( waypoint12,waypoint11 ) ).
holds( visible_from( objective4,waypoint12 ) ).
holds( can_traverse( rover1,waypoint15,waypoint1 ) ).
holds( visible_from( objective3,waypoint12 ) ).
holds( can_traverse( rover7,waypoint14,waypoint0 ) ).
holds( can_traverse( rover5,waypoint10,waypoint23 ) ).
holds( visible_from( objective5,waypoint14 ) ).
holds( visible( waypoint24,waypoint7 ) ).
holds( can_traverse( rover3,waypoint6,waypoint11 ) ).
holds( visible( waypoint5,waypoint1 ) ).
holds( visible_from( objective2,waypoint8 ) ).
holds( can_traverse( rover5,waypoint11,waypoint10 ) ).
holds( visible( waypoint9,waypoint5 ) ).
holds( can_traverse( rover0,waypoint11,waypoint6 ) ).
holds( visible_from( objective0,waypoint1 ) ).
holds( can_traverse( rover6,waypoint6,waypoint4 ) ).
holds( can_traverse( rover7,waypoint8,waypoint7 ) ).
holds( can_traverse( rover3,waypoint20,waypoint16 ) ).
holds( can_traverse( rover0,waypoint21,waypoint22 ) ).
holds( visible( waypoint0,waypoint18 ) ).
holds( visible_from( objective1,waypoint2 ) ).
holds( visible( waypoint1,waypoint14 ) ).
holds( can_traverse( rover5,waypoint1,waypoint15 ) ).
holds( can_traverse( rover5,waypoint11,waypoint22 ) ).
holds( can_traverse( rover7,waypoint6,waypoint12 ) ).
holds( can_traverse( rover4,waypoint9,waypoint2 ) ).
holds( visible_from( objective4,waypoint6 ) ).
holds( can_traverse( rover4,waypoint16,waypoint2 ) ).
holds( supports( camera6,colour ) ).
holds( supports( camera3,high_res ) ).
holds( can_traverse( rover4,waypoint14,waypoint2 ) ).
holds( can_traverse( rover2,waypoint17,waypoint18 ) ).
holds( can_traverse( rover2,waypoint22,waypoint21 ) ).
holds( visible_from( objective2,waypoint4 ) ).
holds( can_traverse( rover6,waypoint19,waypoint4 ) ).
holds( visible( waypoint17,waypoint9 ) ).
holds( supports( camera2,low_res ) ).
holds( can_traverse( rover7,waypoint20,waypoint16 ) ).
holds( visible( waypoint7,waypoint4 ) ).
holds( can_traverse( rover1,waypoint6,waypoint4 ) ).
holds( can_traverse( rover0,waypoint14,waypoint6 ) ).
holds( can_traverse( rover1,waypoint9,waypoint5 ) ).
holds( can_traverse( rover0,waypoint12,waypoint13 ) ).
holds( visible( waypoint18,waypoint23 ) ).
holds( visible( waypoint1,waypoint5 ) ).
holds( can_traverse( rover6,waypoint0,waypoint23 ) ).
holds( visible( waypoint10,waypoint11 ) ).
holds( visible_from( objective4,waypoint21 ) ).
holds( can_traverse( rover7,waypoint6,waypoint2 ) ).
holds( visible( waypoint23,waypoint24 ) ).
holds( visible_from( objective3,waypoint10 ) ).
holds( can_traverse( rover6,waypoint6,waypoint11 ) ).
holds( can_traverse( rover2,waypoint18,waypoint3 ) ).
holds( can_traverse( rover7,waypoint8,waypoint16 ) ).
holds( can_traverse( rover0,waypoint11,waypoint10 ) ).
holds( on_board( camera6,rover6 ) ).
holds( equipped_for_imaging( rover0 ) ).
holds( visible( waypoint21,waypoint4 ) ).
holds( visible( waypoint15,waypoint6 ) ).
holds( visible( waypoint13,waypoint4 ) ).
holds( visible_from( objective4,waypoint16 ) ).
holds( can_traverse( rover2,waypoint18,waypoint9 ) ).
holds( can_traverse( rover0,waypoint2,waypoint6 ) ).
holds( visible( waypoint10,waypoint16 ) ).
holds( visible_from( objective7,waypoint11 ) ).
holds( can_traverse( rover6,waypoint4,waypoint1 ) ).
holds( can_traverse( rover5,waypoint14,waypoint6 ) ).
holds( visible_from( objective3,waypoint1 ) ).
holds( visible_from( objective5,waypoint0 ) ).
holds( visible( waypoint0,waypoint15 ) ).
holds( can_traverse( rover3,waypoint21,waypoint13 ) ).
holds( visible( waypoint4,waypoint6 ) ).
holds( can_traverse( rover1,waypoint5,waypoint24 ) ).
holds( can_traverse( rover1,waypoint13,waypoint4 ) ).
holds( visible( waypoint14,waypoint8 ) ).
holds( visible( waypoint15,waypoint13 ) ).
holds( visible_from( objective4,waypoint8 ) ).
holds( can_traverse( rover5,waypoint12,waypoint11 ) ).
holds( equipped_for_imaging( rover5 ) ).
holds( can_traverse( rover5,waypoint15,waypoint17 ) ).
holds( visible( waypoint23,waypoint20 ) ).
holds( can_traverse( rover7,waypoint15,waypoint10 ) ).
holds( can_traverse( rover3,waypoint19,waypoint12 ) ).
holds( visible( waypoint9,waypoint6 ) ).
holds( can_traverse( rover1,waypoint4,waypoint16 ) ).
holds( visible( waypoint20,waypoint17 ) ).
holds( can_traverse( rover0,waypoint23,waypoint24 ) ).
holds( visible( waypoint14,waypoint2 ) ).
holds( can_traverse( rover4,waypoint17,waypoint7 ) ).
holds( visible_from( objective5,waypoint12 ) ).
holds( can_traverse( rover7,waypoint4,waypoint19 ) ).
holds( can_traverse( rover5,waypoint9,waypoint6 ) ).
holds( can_traverse( rover4,waypoint5,waypoint21 ) ).
holds( can_traverse( rover3,waypoint13,waypoint3 ) ).
holds( visible( waypoint5,waypoint4 ) ).
holds( can_traverse( rover3,waypoint9,waypoint18 ) ).
holds( can_traverse( rover6,waypoint21,waypoint6 ) ).
holds( can_traverse( rover4,waypoint10,waypoint16 ) ).
holds( can_traverse( rover4,waypoint8,waypoint18 ) ).
holds( can_traverse( rover6,waypoint12,waypoint6 ) ).
holds( can_traverse( rover4,waypoint16,waypoint4 ) ).
holds( can_traverse( rover4,waypoint5,waypoint24 ) ).
holds( can_traverse( rover2,waypoint8,waypoint5 ) ).
holds( visible_from( objective7,waypoint17 ) ).
holds( visible_from( objective0,waypoint7 ) ).
holds( visible( waypoint11,waypoint12 ) ).
holds( visible( waypoint8,waypoint17 ) ).
holds( visible_from( objective7,waypoint7 ) ).
holds( visible( waypoint4,waypoint5 ) ).
holds( calibration_target( camera1,objective1 ) ).
holds( visible_from( objective7,waypoint13 ) ).
holds( visible_from( objective3,waypoint4 ) ).
holds( can_traverse( rover3,waypoint18,waypoint3 ) ).
holds( can_traverse( rover6,waypoint13,waypoint4 ) ).
holds( visible_from( objective0,waypoint10 ) ).
holds( can_traverse( rover3,waypoint1,waypoint15 ) ).
holds( can_traverse( rover0,waypoint11,waypoint17 ) ).
holds( can_traverse( rover0,waypoint8,waypoint7 ) ).
holds( on_board( camera0,rover0 ) ).
holds( can_traverse( rover2,waypoint20,waypoint16 ) ).
holds( visible( waypoint8,waypoint14 ) ).
holds( visible( waypoint18,waypoint0 ) ).
holds( visible( waypoint23,waypoint12 ) ).
holds( can_traverse( rover2,waypoint1,waypoint3 ) ).
holds( visible( waypoint18,waypoint6 ) ).
holds( visible( waypoint4,waypoint19 ) ).
holds( can_traverse( rover1,waypoint4,waypoint6 ) ).
holds( can_traverse( rover2,waypoint0,waypoint5 ) ).
holds( can_traverse( rover5,waypoint0,waypoint15 ) ).
holds( visible( waypoint15,waypoint3 ) ).
holds( can_traverse( rover5,waypoint18,waypoint10 ) ).
holds( can_traverse( rover3,waypoint8,waypoint4 ) ).
holds( can_traverse( rover6,waypoint4,waypoint6 ) ).
holds( can_traverse( rover3,waypoint17,waypoint18 ) ).
holds( visible( waypoint1,waypoint2 ) ).
holds( can_traverse( rover7,waypoint21,waypoint5 ) ).
holds( can_traverse( rover3,waypoint10,waypoint16 ) ).
holds( can_traverse( rover2,waypoint21,waypoint22 ) ).
holds( can_traverse( rover1,waypoint4,waypoint5 ) ).
holds( visible( waypoint4,waypoint13 ) ).
holds( can_traverse( rover6,waypoint23,waypoint0 ) ).
holds( visible_from( objective4,waypoint20 ) ).
holds( can_traverse( rover7,waypoint2,waypoint6 ) ).
holds( can_traverse( rover2,waypoint3,waypoint18 ) ).
holds( visible( waypoint7,waypoint8 ) ).
holds( can_traverse( rover5,waypoint19,waypoint6 ) ).
holds( visible( waypoint5,waypoint2 ) ).
holds( can_traverse( rover1,waypoint0,waypoint5 ) ).
holds( can_traverse( rover4,waypoint7,waypoint17 ) ).
holds( can_traverse( rover7,waypoint13,waypoint4 ) ).
holds( can_traverse( rover5,waypoint6,waypoint9 ) ).
holds( can_traverse( rover3,waypoint3,waypoint13 ) ).
holds( can_traverse( rover4,waypoint16,waypoint10 ) ).
holds( can_traverse( rover6,waypoint1,waypoint18 ) ).
holds( can_traverse( rover2,waypoint1,waypoint2 ) ).
holds( supports( camera6,low_res ) ).
holds( visible_from( objective3,waypoint3 ) ).
holds( can_traverse( rover1,waypoint5,waypoint2 ) ).
holds( visible( waypoint16,waypoint22 ) ).
holds( visible( waypoint2,waypoint23 ) ).
holds( can_traverse( rover2,waypoint3,waypoint1 ) ).
holds( can_traverse( rover3,waypoint4,waypoint8 ) ).
holds( can_traverse( rover7,waypoint5,waypoint21 ) ).
holds( can_traverse( rover6,waypoint24,waypoint20 ) ).
holds( can_traverse( rover3,waypoint12,waypoint3 ) ).
holds( can_traverse( rover6,waypoint14,waypoint1 ) ).
holds( can_traverse( rover1,waypoint23,waypoint18 ) ).
holds( can_traverse( rover7,waypoint24,waypoint20 ) ).
% <<<<<  DOMAIN PREDICATES
% 

% 
% 
% INIT  >>>>>
init( empty( rover5store ) ).
init( empty( rover0store ) ).
init( at_soil_sample( waypoint13 ) ).
init( empty( rover6store ) ).
init( at_rock_sample( waypoint21 ) ).
init( at( rover7,waypoint16 ) ).
init( at_soil_sample( waypoint24 ) ).
init( at_soil_sample( waypoint15 ) ).
init( available( rover3 ) ).
init( at_soil_sample( waypoint23 ) ).
init( at_soil_sample( waypoint8 ) ).
init( available( rover5 ) ).
init( channel_free( general ) ).
init( at_rock_sample( waypoint9 ) ).
init( at_rock_sample( waypoint22 ) ).
init( at_rock_sample( waypoint18 ) ).
init( at_soil_sample( waypoint22 ) ).
init( at_soil_sample( waypoint0 ) ).
init( at_rock_sample( waypoint14 ) ).
init( at_rock_sample( waypoint7 ) ).
init( at_soil_sample( waypoint11 ) ).
init( at( rover5,waypoint10 ) ).
init( at_soil_sample( waypoint18 ) ).
init( at_rock_sample( waypoint16 ) ).
init( available( rover1 ) ).
init( at_rock_sample( waypoint10 ) ).
init( available( rover0 ) ).
init( at_rock_sample( waypoint12 ) ).
init( empty( rover3store ) ).
init( empty( rover1store ) ).
init( empty( rover7store ) ).
init( at( rover2,waypoint3 ) ).
init( at( rover6,waypoint4 ) ).
init( at( rover4,waypoint16 ) ).
init( at_soil_sample( waypoint1 ) ).
init( at_soil_sample( waypoint9 ) ).
init( empty( rover2store ) ).
init( available( rover6 ) ).
init( available( rover2 ) ).
init( at_soil_sample( waypoint17 ) ).
init( empty( rover4store ) ).
init( available( rover7 ) ).
init( at_soil_sample( waypoint20 ) ).
init( at_soil_sample( waypoint7 ) ).
init( at( rover0,waypoint22 ) ).
init( available( rover4 ) ).
init( at( rover1,waypoint4 ) ).
init( at( rover3,waypoint3 ) ).
% <<<<<  INIT
% 

% 
% 
% GOAL  >>>>>
goal( communicated_soil_data( waypoint8 ),true ).
goal( communicated_soil_data( waypoint23 ),true ).
goal( communicated_soil_data( waypoint7 ),true ).
goal( communicated_soil_data( waypoint11 ),true ).
goal( communicated_soil_data( waypoint13 ),true ).
goal( communicated_soil_data( waypoint20 ),true ).
goal( communicated_rock_data( waypoint7 ),true ).
goal( communicated_rock_data( waypoint14 ),true ).
goal( communicated_rock_data( waypoint22 ),true ).
goal( communicated_rock_data( waypoint16 ),true ).
goal( communicated_rock_data( waypoint12 ),true ).
goal( communicated_rock_data( waypoint10 ),true ).
goal( communicated_rock_data( waypoint9 ),true ).
goal( communicated_rock_data( waypoint21 ),true ).
goal( communicated_rock_data( waypoint18 ),true ).
goal( communicated_image_data( objective2,high_res ),true ).
goal( communicated_image_data( objective0,high_res ),true ).
goal( communicated_image_data( objective3,colour ),true ).
goal( communicated_image_data( objective7,colour ),true ).
goal( communicated_image_data( objective5,high_res ),true ).
% <<<<<  GOAL
% 

