; search time: 0.06
; plan length: 74
(calibrate rover4 camera4 objective2 waypoint0)
(calibrate rover2 camera0 objective0 waypoint13)
(navigate rover3 waypoint11 waypoint16)
(take_image rover4 waypoint0 objective7 camera4 colour)
(communicate_image_data rover4 general objective7 colour waypoint0 waypoint6)
(calibrate rover4 camera4 objective2 waypoint0)
(take_image rover4 waypoint0 objective5 camera4 colour)
(communicate_image_data rover4 general objective5 colour waypoint0 waypoint6)
(calibrate rover4 camera4 objective2 waypoint0)
(navigate rover3 waypoint16 waypoint5)
(sample_soil rover3 rover3store waypoint5)
(navigate rover3 waypoint5 waypoint16)
(communicate_soil_data rover3 general waypoint5 waypoint16 waypoint6)
(take_image rover4 waypoint0 objective0 camera4 colour)
(communicate_image_data rover4 general objective0 colour waypoint0 waypoint6)
(calibrate rover4 camera4 objective2 waypoint0)
(take_image rover4 waypoint0 objective7 camera4 low_res)
(communicate_image_data rover4 general objective7 low_res waypoint0 waypoint6)
(calibrate rover4 camera4 objective2 waypoint0)
(take_image rover4 waypoint0 objective6 camera4 low_res)
(communicate_image_data rover4 general objective6 low_res waypoint0 waypoint6)
(calibrate rover4 camera4 objective2 waypoint0)
(take_image rover4 waypoint0 objective2 camera4 low_res)
(communicate_image_data rover4 general objective2 low_res waypoint0 waypoint6)
(take_image rover2 waypoint13 objective4 camera0 high_res)
(communicate_image_data rover2 general objective4 high_res waypoint13 waypoint6)
(calibrate rover2 camera0 objective0 waypoint13)
(take_image rover2 waypoint13 objective0 camera0 high_res)
(communicate_image_data rover2 general objective0 high_res waypoint13 waypoint6)
(navigate rover5 waypoint12 waypoint9)
(sample_rock rover5 rover5store waypoint9)
(navigate rover5 waypoint9 waypoint12)
(navigate rover5 waypoint12 waypoint16)
(communicate_rock_data rover5 general waypoint9 waypoint16 waypoint6)
(drop rover5 rover5store)
(navigate rover5 waypoint16 waypoint12)
(navigate rover5 waypoint12 waypoint4)
(sample_rock rover5 rover5store waypoint4)
(navigate rover5 waypoint4 waypoint12)
(navigate rover5 waypoint12 waypoint16)
(communicate_rock_data rover5 general waypoint4 waypoint16 waypoint6)
(navigate rover4 waypoint0 waypoint2)
(navigate rover4 waypoint2 waypoint8)
(sample_soil rover4 rover4store waypoint8)
(communicate_soil_data rover4 general waypoint8 waypoint8 waypoint6)
(drop rover4 rover4store)
(drop rover3 rover3store)
(navigate rover2 waypoint13 waypoint0)
(navigate rover3 waypoint16 waypoint6)
(sample_rock rover3 rover3store waypoint6)
(navigate rover3 waypoint6 waypoint16)
(communicate_rock_data rover3 general waypoint6 waypoint16 waypoint6)
(navigate rover2 waypoint0 waypoint18)
(sample_soil rover2 rover2store waypoint18)
(navigate rover2 waypoint18 waypoint0)
(communicate_soil_data rover2 general waypoint18 waypoint0 waypoint6)
(navigate rover4 waypoint8 waypoint2)
(navigate rover4 waypoint2 waypoint19)
(sample_rock rover4 rover4store waypoint19)
(communicate_rock_data rover4 general waypoint19 waypoint19 waypoint6)
(drop rover4 rover4store)
(navigate rover4 waypoint19 waypoint2)
(navigate rover4 waypoint2 waypoint3)
(sample_rock rover4 rover4store waypoint3)
(drop rover3 rover3store)
(navigate rover4 waypoint3 waypoint2)
(navigate rover4 waypoint2 waypoint0)
(communicate_rock_data rover4 general waypoint3 waypoint0 waypoint6)
(navigate rover3 waypoint16 waypoint11)
(navigate rover3 waypoint11 waypoint17)
(sample_rock rover3 rover3store waypoint17)
(navigate rover3 waypoint17 waypoint11)
(navigate rover3 waypoint11 waypoint1)
(communicate_rock_data rover3 general waypoint17 waypoint1 waypoint6)
