(Defdomain rover   (            (:operator (!navigate ?x ?y ?z)             (    (rover ?x)  (waypoint ?y)  (waypoint ?z)                  (can_traverse ?x ?y ?z)  (available ?x)  (at ?x ?y)                  (visible ?y ?z) )             ((at ?x ?y)) ((at ?x ?z)))            (:operator (!sample_soil ?x ?s ?p)             (    (rover ?x) (store ?s) (waypoint ?p) (at ?x ?p)                  (at_soil_sample ?p) (equipped_for_soil_analysis ?x)                  (store_of ?s ?x) (empty ?s))             ((empty ?s) (at_soil_sample ?p))             ((full ?s) (have_soil_analysis ?x ?p)))            (:operator (!sample_rock ?x ?s ?p)             (    (rover ?x) (store ?s) (waypoint ?p) (at ?x ?p)                  (at_rock_sample ?p) (equipped_for_rock_analysis ?x)                  (store_of ?s ?x) (empty ?s))             ((empty ?s) (at_rock_sample ?p))             ((full ?s) (have_rock_analysis ?x ?p)))            (:operator (!drop ?x ?y)             (    (rover ?x) (store ?y) (store_of ?y ?x) (full ?y))             ((full ?y)) ((empty ?y)))            (:operator (!calibrate ?r ?i ?t ?w)             (    (rover ?r) (camera ?i) (objective ?t) (waypoint ?w)                  (equipped_for_imaging ?r) (calibration_target ?i ?t)                  (at ?r ?w) (visible_from ?t ?w) (on_board ?i ?r))             nil ((calibrated ?i ?r)))            (:operator (!take_image ?r ?p ?o ?i ?m)             (    (rover ?r) (waypoint ?p) (objective ?o) (camera ?i)                  (mode ?m) (calibrated ?i ?r) (on_board ?i ?r)                  (equipped_for_imaging ?r) (supports ?i ?m)                  (visible_from ?o ?p) (at ?r ?p))             ((calibrated ?i ?r)) ((have_image ?r ?o ?m)))            (:operator (!communicate_soil_data ?r ?l ?p ?x ?y)             (    (rover ?r) (lander ?l) (waypoint ?p) (waypoint ?x)                  (waypoint ?y) (at ?r ?x) (at_lander ?l ?y)                  (have_soil_analysis ?r ?p) (visible ?x ?y)                  (available ?r) (channel_free ?l))             ((available ?r) (channel_free ?l))             ((channel_free ?l) (communicated_soil_data ?p)              (available ?r)))            (:operator (!communicate_rock_data ?r ?l ?p ?x ?y)             (    (rover ?r) (lander ?l) (waypoint ?p) (waypoint ?x)                  (waypoint ?y) (at ?r ?x) (at_lander ?l ?y)                  (have_rock_analysis ?r ?p) (visible ?x ?y)                  (available ?r) (channel_free ?l))             ((available ?r) (channel_free ?l))             ((channel_free ?l) (communicated_rock_data ?p)              (available ?r)))            (:operator (!communicate_image_data ?r ?l ?o ?m ?x ?y)             (    (rover ?r) (lander ?l) (objective ?o) (mode ?m)                  (waypoint ?x) (waypoint ?y) (at ?r ?x)                  (at_lander ?l ?y) (have_image ?r ?o ?m)                  (visible ?x ?y) (available ?r) (channel_free ?l))             ((available ?r) (channel_free ?l))             ((channel_free ?l) (communicated_image_data ?o ?m)              (available ?r)))(:method (empty-store ?s ?rover)Case1    ((empty ?s))         ()Case2    ()         ((!drop ?rover ?s)));----------------------------------------------(:operator (!visit ?waypoint)  ()  ()  ((visited ?waypoint)))(:operator (!unvisit ?waypoint)  ()  ((visited ?waypoint))  ())(:method (navigate ?rover ?to)  ((at ?rover ?from))  ((!visit ?from)     (navigate ?rover ?from ?to)     (!unvisit ?from)))(:method (navigate ?rover ?from ?to)Case1    ((at ?rover ?to))         ()Case2    ((can_traverse ?rover ?from ?to)         )         ((!navigate ?rover ?from ?to))Case3    ((waypoint ?mid)          (can_traverse ?rover ?from ?mid)          (not (visited ?mid))         )         ((!navigate ?rover ?from ?mid) (!visit ?mid) (navigate ?rover ?mid ?to) (!unvisit ?mid)));----------------------------------------------(:method (send_soil_data ?rover ?waypoint)     ((lander ?l)          (at_lander ?l ?y)          (visible ?x ?y))         ((navigate ?rover ?x)      (!communicate_soil_data ?rover ?l ?waypoint ?x ?y)))(:method (get_soil_data ?waypoint)    ((waypoint ?waypoint)     (rover ?rover)         (store_of ?s ?rover)         (equipped_for_soil_analysis ?rover)    )         ((navigate ?rover ?waypoint)          (empty-store ?s ?rover)          (!sample_soil ?rover ?s ?waypoint)      (send_soil_data ?rover ?waypoint)))(:method (send_rock_data ?rover ?waypoint)     ((lander ?l)          (at_lander ?l ?y)          (visible ?x ?y))         ((navigate ?rover ?x)      (!communicate_rock_data ?rover ?l ?waypoint ?x ?y)))(:method (get_rock_data ?waypoint)    ((waypoint ?waypoint)     (rover ?rover)         (equipped_for_rock_analysis ?rover)         (store_of ?s ?rover)    )         ((navigate ?rover ?waypoint)          (empty-store ?s ?rover)          (!sample_rock ?rover ?s ?waypoint)      (send_rock_data ?rover ?waypoint)))(:method (send_image_data ?rover ?objective ?mode)     ((lander ?l)          (at_lander ?l ?y)          (visible ?x ?y))         ((navigate ?rover ?x)      (!communicate_image_data ?rover ?l ?objective ?mode ?x ?y)))(:method (get_image_data ?objective ?mode)    ((objective ?objective)         (equipped_for_imaging ?rover)         (on_board ?camera ?rover)         (supports ?camera ?mode)         (visible_from ?objective ?waypoint)    )         ((calibrate ?rover ?camera)      (navigate ?rover ?waypoint)          (!take_image ?rover ?waypoint ?objective ?camera ?mode)      (send_image_data ?rover ?objective ?mode)))(:method (calibrate ?rover ?camera)    ((calibration_target ?camera ?objective)         (visible_from ?objective ?waypoint)    )         ((navigate ?rover ?waypoint)          (!calibrate ?rover ?camera ?objective ?waypoint)))))