(:trajectory

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(:action (navigate rover0 waypoint1 waypoint0))

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(:action (calibrate rover0 camera0 objective1 waypoint0))

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(:action (calibrate rover0 camera1 objective1 waypoint0))

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

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

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(:action (take_image rover0 waypoint0 objective1 camera0 colour))

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(:action (calibrate rover0 camera0 objective1 waypoint0))

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

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

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(:action (navigate rover0 waypoint0 waypoint1))

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

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(:action (sample_rock rover0 rover0store waypoint1))

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(:action (navigate rover0 waypoint1 waypoint0))

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

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(:action (communicate_rock_data rover0 general waypoint1 waypoint0 waypoint1))

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)