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• The primitives must contain at least one operating area

• For MAS-DT MVP the action list should contain exactly one action of type goto

• https://opis.io/json-schema/2.x/array.html

• https://json-schema.org/draft/2020-12/json-schema-validation#section-6.4

changed the description

For the actions we could use maxItems + contains which is the simplest way to ensure 1 action of type goto then I guess if we add a yo we have maxContains 1 for each type, minItems 1, maxItems 2 then we need a rule that the only valid actions are goto and yo which could be handled by making the mission_plan contain oneOf [ mission_plan_slocum | mission_plan_{other}.. ]