(:trajectory

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(:action (board f0 p0))

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(:action (board f0 p1))

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(:action (board f0 p3))

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(:action (board f0 p4))

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(:action (board f0 p5))

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(:action (up f0 f1))

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(:action (depart f1 p4))

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(:action (up f1 f3))

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(:action (board f3 p2))

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(:action (depart f3 p3))

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(:action (depart f3 p0))

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(:action (down f3 f1))

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(:action (depart f1 p2))

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(:action (depart f1 p1))

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(:action (up f1 f2))

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(:action (depart f2 p5))

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)