(define (problem roverprob6232) (:domain Rover) (:objects general - Lander colour high_res low_res - Mode rover0 rover1 - Rover rover0store rover1store - Store waypoint0 waypoint1 waypoint2 waypoint3 - Waypoint camera0 camera1 camera2 - Camera objective0 objective1 objective2 - Objective ) (:init (visible waypoint1 waypoint0) (visible waypoint0 waypoint1) (visible waypoint2 waypoint1) (visible waypoint1 waypoint2) (visible waypoint2 waypoint3) (visible waypoint3 waypoint2) (visible waypoint3 waypoint1) (visible waypoint1 waypoint3) (= (recharges) 0) (at_rock_sample waypoint1) (in_sun waypoint1) (at_soil_sample waypoint2) (in_sun waypoint2) (at_soil_sample waypoint3) (at_rock_sample waypoint3) (at_lander general waypoint2) (channel_free general) (= (energy rover0) 50) (at rover0 waypoint3) (available rover0) (store_of rover0store rover0) (empty rover0store) (equipped_for_soil_analysis rover0) (equipped_for_imaging rover0) (can_traverse rover0 waypoint3 waypoint1) (can_traverse rover0 waypoint1 waypoint3) (= (energy rover1) 50) (at rover1 waypoint2) (available rover1) (store_of rover1store rover1) (empty rover1store) (equipped_for_soil_analysis rover1) (equipped_for_rock_analysis rover1) (equipped_for_imaging rover1) (can_traverse rover1 waypoint2 waypoint1) (can_traverse rover1 waypoint1 waypoint2) (can_traverse rover1 waypoint2 waypoint3) (can_traverse rover1 waypoint3 waypoint2) (can_traverse rover1 waypoint1 waypoint0) (can_traverse rover1 waypoint0 waypoint1) (on_board camera0 rover1) (calibration_target camera0 objective0) (supports camera0 colour) (supports camera0 high_res) (on_board camera1 rover0) (calibration_target camera1 objective0) (supports camera1 colour) (supports camera1 low_res) (on_board camera2 rover0) (calibration_target camera2 objective1) (supports camera2 low_res) (visible_from objective0 waypoint0) (visible_from objective0 waypoint1) (visible_from objective0 waypoint2) (visible_from objective0 waypoint3) (visible_from objective1 waypoint0) (visible_from objective1 waypoint1) (visible_from objective2 waypoint0) (visible_from objective2 waypoint1) (visible_from objective2 waypoint2) ) (:goal (and (communicated_soil_data waypoint3) (communicated_rock_data waypoint1) (communicated_image_data objective0 high_res) ) ) (:metric minimize (recharges)) )