(:trajectory

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(:action (calibrate rover0 camera0 objective0 waypoint1))

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(:action (take_image rover0 waypoint1 objective0 camera0 colour))

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(:action (calibrate rover0 camera1 objective0 waypoint1))

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(:action (communicate_image_data rover0 general objective0 colour waypoint1 waypoint0))

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(:action (navigate rover0 waypoint1 waypoint0))

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(:action (take_image rover0 waypoint0 objective1 camera1 colour))

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(:action (navigate rover0 waypoint0 waypoint1))

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(:action (communicate_image_data rover0 general objective1 colour waypoint1 waypoint0))

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(:action (navigate rover0 waypoint1 waypoint2))

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(:action (sample_soil rover0 rover0store waypoint2))

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(:action (navigate rover0 waypoint2 waypoint1))

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(:action (navigate rover0 waypoint1 waypoint3))

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(:action (communicate_soil_data rover0 general waypoint2 waypoint3 waypoint0))

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(:action (drop rover0 rover0store))

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(:action (sample_soil rover0 rover0store waypoint3))

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(:action (communicate_soil_data rover0 general waypoint3 waypoint3 waypoint0))

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)