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Mission objectives are generally clear, though there are a number of subtleties to contend with as well.
Some challenges can be mastered by experience; it won't take you long to memorize the floor plan of the bank, and you quickly become familiar with the penalty for setting off alarms in the art gallery.
Others require you to be flexible; cameras and security guards aren't always in the same place, and even doors, safes, and getaway spots can vary from mission to mission.
This mix of constancy and variability does a great job of making you feel more confident with each mission while simultaneously keeping you on your toes. You can never be perfectly prepared for a job, and that's the way it should be.