Four people, all of whom just six months ago had no formal spaceflight training, strapped themselves into a SpaceX capsule atop a 200-foot-tall rocket and took a three-day spin around Earth. After splashing down off the coast of Florida on Saturday, the passengers emerged from their capsule, smiling and waving, if a little unsteady after spending nearly 72 hours in weightlessness. SpaceX says it’s just the beginning.

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