diff --git a/cp3_base/instructions/instructions-all.json b/cp3_base/instructions/instructions-all.json index 67d0528..6767a0e 100644 --- a/cp3_base/instructions/instructions-all.json +++ b/cp3_base/instructions/instructions-all.json @@ -1,46854 +1,240874 @@ { "l10_to_l1": { - "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, end)::\nnil)", - "path": [ - "l10", - "l9", - "l56", - "l2", - "l1" - ], - "start-dir": 3.141592653589793, - "time": 39 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1" + ], + "start-dir": 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6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": 3.141592653589793, + "time": 119 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": 3.141592653589793, + "time": 119 + }, + 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0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": 3.141592653589793, + "time": 119 + } }, "l10_to_l16": { - "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l10", - "l9", - "l56", - "l2", - "l1", - "l39", - "l13", - "l14", - "l15", - "l16" - ], - "start-dir": 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then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": 3.141592653589793, + "time": 127 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": 3.141592653589793, + "time": 127 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": 3.141592653589793, + "time": 127 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": 3.141592653589793, + "time": 127 + } }, "l10_to_l17": { - "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l10", - "l9", - "l56", - "l2", - "l1", - "l39", - "l13", - "l19", - "l18", - "l17" - ], - "start-dir": 3.141592653589793, - "time": 120 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": 3.141592653589793, + "time": 120 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": 3.141592653589793, + "time": 120 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": 3.141592653589793, + "time": 120 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": 3.141592653589793, + "time": 120 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": 3.141592653589793, + "time": 120 + } }, "l10_to_l18": { - "instructions": "P(V(1, do 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3.141592653589793, + "time": 87 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 87 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do 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MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 87 + } }, "l10_to_l2": { - "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 4)::\nV(4, end)::\nnil)", - "path": [ - "l10", - "l9", - "l56", - "l2" - ], - "start-dir": 3.141592653589793, - "time": 32 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 4)::\nV(4, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2" + ], + "start-dir": 3.141592653589793, + "time": 32 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 4)::\nV(4, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2" + ], + "start-dir": 3.141592653589793, + "time": 32 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 4)::\nV(4, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2" + ], + "start-dir": 3.141592653589793, + "time": 32 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 4)::\nV(4, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2" + ], + "start-dir": 3.141592653589793, + "time": 32 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 4)::\nV(4, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2" + ], + "start-dir": 3.141592653589793, + "time": 32 + } }, "l10_to_l21": { - "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l10", - "l9", - "l56", - "l2", - "l1", - "l39", - "l13", - "l14", - "l15", - "l21" - ], - "start-dir": 3.141592653589793, - "time": 139 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 139 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 139 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, 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do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l10", - "l9", - "l56", - "l2", - "l1", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22" - ], - "start-dir": 3.141592653589793, - "time": 144 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) 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7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 144 + } }, "l10_to_l23": { - "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l10", - "l9", - "l56", - "l2", - "l1", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22", - "l23" - ], - "start-dir": 3.141592653589793, - "time": 154 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l10", + "l9", 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then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 3.141592653589793, + "time": 154 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 3.141592653589793, + "time": 154 + } }, "l10_to_l24": { - "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 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0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-47.03, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-47.03, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l3", + "l4", + "l5", + "l38" + ], + "start-dir": 3.141592653589793, + "time": 225 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-47.03, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-47.03, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l3", + "l4", + "l5", + "l38" + ], + "start-dir": 3.141592653589793, + "time": 225 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-47.03, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-47.03, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l3", + "l4", + "l5", + "l38" + ], + "start-dir": 3.141592653589793, + "time": 225 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-47.03, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-47.03, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l3", + "l4", + "l5", + "l38" + ], + "start-dir": 3.141592653589793, + "time": 225 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-47.03, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-47.03, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l3", + "l4", + "l5", + "l38" + ], + "start-dir": 3.141592653589793, + "time": 225 + } }, "l10_to_l39": { - "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, end)::\nnil)", - "path": [ - "l10", - "l9", - "l56", - "l2", - "l1", - "l39" - ], - "start-dir": 3.141592653589793, - "time": 67 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l39" + ], + "start-dir": 3.141592653589793, + "time": 67 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 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3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l39" + ], + "start-dir": 3.141592653589793, + "time": 67 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l39" + ], + "start-dir": 3.141592653589793, + "time": 67 + } }, "l10_to_l4": { - "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l10", - "l9", - "l56", - "l2", - "l1", - "l3", - "l4" - ], - "start-dir": 3.141592653589793, - "time": 90 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l3", + "l4" + ], + "start-dir": 3.141592653589793, + "time": 90 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l3", + "l4" + ], + "start-dir": 3.141592653589793, + "time": 90 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l3", + "l4" + ], + "start-dir": 3.141592653589793, + "time": 90 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l3", + "l4" + ], + "start-dir": 3.141592653589793, + "time": 90 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l1", + "l3", + "l4" + ], + "start-dir": 3.141592653589793, + "time": 90 + } }, "l10_to_l40": { - "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(14.87, -7.84, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(24.97, -7.84, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(24.97, -14.87, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l10", - "l9", - "l56", - "l2", - "l59", - "l58", - "l57", - "l40" - ], - "start-dir": 3.141592653589793, - "time": 100 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(14.87, -7.84, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(24.97, -7.84, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(24.97, -14.87, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l59", + "l58", + "l57", + "l40" + ], + "start-dir": 3.141592653589793, + "time": 100 + }, + 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then 8)::\nV(8, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l59", + "l58", + "l57", + "l40" + ], + "start-dir": 3.141592653589793, + "time": 100 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(14.87, -7.84, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(24.97, -7.84, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(24.97, -14.87, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l2", + "l59", + "l58", + "l57", + "l40" + ], + "start-dir": 3.141592653589793, + "time": 100 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(14.87, 0.00, 0.68, 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7)::\nV(7, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(47.84, -4.11, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46", + "l45", + "l44" + ], + "start-dir": 3.141592653589793, + "time": 122 + } }, "l10_to_l45": { - "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(47.84, 0.00, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l10", - "l9", - "l56", - "l55", - "l48", - "l47", - "l46", - "l45" - ], - "start-dir": 3.141592653589793, - "time": 113 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 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do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l10", - "l9", - "l56", - "l55", - "l48", - "l47", - "l46" - ], - "start-dir": 3.141592653589793, - "time": 93 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46" + ], + "start-dir": 3.141592653589793, + "time": 93 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(16.76, 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then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46" + ], + "start-dir": 3.141592653589793, + "time": 93 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46" + ], + "start-dir": 3.141592653589793, + "time": 93 + } }, "l10_to_l47": { - "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, 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then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": 3.141592653589793, + "time": 68 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l10", + "l9", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": 3.141592653589793, + "time": 68 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(22.70, 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-1.5708) then 12)::\nV(12, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 13)::\nV(13, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 14)::\nV(14, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": -1.5707963267948966, + "time": 206 + } }, "l11_to_l18": { - "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 11)::\nV(11, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) 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then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 11)::\nV(11, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": -1.5707963267948966, + "time": 174 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 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"time": 174 + } }, "l11_to_l2": { - "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l11", - "l27", - "l26", - "l25", - "l10", - "l9", - "l56", - "l2" - ], - "start-dir": -1.5707963267948966, - "time": 118 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2" + ], + "start-dir": -1.5707963267948966, + "time": 118 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2" + ], + "start-dir": -1.5707963267948966, + "time": 118 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do 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-40.81, 0.68, -1.5708) then 13)::\nV(13, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 14)::\nV(14, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 15)::\nV(15, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 16)::\nV(16, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": -1.5707963267948966, + "time": 241 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 13)::\nV(13, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 14)::\nV(14, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 15)::\nV(15, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 16)::\nV(16, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": -1.5707963267948966, + "time": 241 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) 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10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 13)::\nV(13, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 14)::\nV(14, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 15)::\nV(15, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 16)::\nV(16, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 17)::\nV(17, end)::\nnil)", - "path": [ - "l11", - "l27", - "l26", - "l25", - "l10", - "l9", - "l56", - "l2", - "l1", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22", - "l23", - "l24" - ], - "start-dir": -1.5707963267948966, - "time": 247 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 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MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-21.08, 23.03, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(-33.03, 23.03, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31", + "l30", + "l29" + ], + "start-dir": -1.5707963267948966, + "time": 181 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-21.08, 23.03, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(-33.03, 23.03, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31", + "l30", + "l29" + ], + "start-dir": -1.5707963267948966, + "time": 181 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-21.08, 23.03, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(-33.03, 23.03, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31", + "l30", + "l29" + ], + "start-dir": -1.5707963267948966, + "time": 181 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-21.08, 23.03, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(-33.03, 23.03, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31", + "l30", + "l29" + ], + "start-dir": -1.5707963267948966, + "time": 181 + } }, "l11_to_l3": { - "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l11", - "l27", - "l26", - "l25", - "l10", - "l9", - "l56", - "l2", - "l1", - "l3" - ], - "start-dir": -1.5707963267948966, - "time": 137 + "amcl-kinect": { + "instructions": 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6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l3" + ], + "start-dir": -1.5707963267948966, + "time": 137 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + 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MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l3" + ], + "start-dir": -1.5707963267948966, + "time": 137 + } }, "l11_to_l30": { - "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l11", - "l27", - "l26", - "l25", - "l10", - "l35", - "l34", - "l33", - "l32", - "l31", - "l30" - ], - "start-dir": -1.5707963267948966, - "time": 159 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l11", + 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16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": -1.5707963267948966, + "time": 159 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": -1.5707963267948966, + "time": 159 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": -1.5707963267948966, + "time": 159 + } }, "l11_to_l31": { - "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l11", - "l27", - "l26", - "l25", - "l10", - "l35", - "l34", - "l33", - "l32", - "l31" - ], - "start-dir": -1.5707963267948966, - "time": 147 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": -1.5707963267948966, + "time": 147 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": -1.5707963267948966, + "time": 147 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": -1.5707963267948966, + "time": 147 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": -1.5707963267948966, + "time": 147 + }, + "mrpt-lidar": { + "instructions": 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6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l11", - "l27", - "l26", - "l25", - "l10", - "l35", - "l34", - "l33", - "l32" - ], - "start-dir": -1.5707963267948966, - "time": 134 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32" + ], + "start-dir": -1.5707963267948966, + "time": 134 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20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32" + ], + "start-dir": -1.5707963267948966, + "time": 134 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32" + ], + "start-dir": -1.5707963267948966, + "time": 134 + }, + "mrpt-lidar": { + 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then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l11", - "l27", - "l26", - "l25", - "l10", - "l35", - "l34", - "l33" - ], - "start-dir": -1.5707963267948966, - "time": 126 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 126 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 126 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 126 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 126 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 126 + } }, "l11_to_l34": { - "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l11", - "l27", - "l26", - "l25", - "l10", - "l35", - "l34" - ], - "start-dir": -1.5707963267948966, - "time": 112 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34" + ], + "start-dir": -1.5707963267948966, + "time": 112 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34" + ], + "start-dir": -1.5707963267948966, + "time": 112 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34" + ], + "start-dir": -1.5707963267948966, + "time": 112 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34" + ], + "start-dir": -1.5707963267948966, + "time": 112 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34" + ], + "start-dir": -1.5707963267948966, + "time": 112 + } }, "l11_to_l35": { - "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", - "path": [ - "l11", - "l27", - "l26", - "l25", - "l10", - "l35" - ], - "start-dir": -1.5707963267948966, - "time": 94 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l35" + ], + "start-dir": -1.5707963267948966, + "time": 94 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l35" + ], + "start-dir": -1.5707963267948966, + "time": 94 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l35" + ], + "start-dir": -1.5707963267948966, + "time": 94 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l35" + ], + "start-dir": -1.5707963267948966, + "time": 94 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l35" + ], + "start-dir": -1.5707963267948966, + "time": 94 + } }, "l11_to_l36": { - "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 12.16, 0.68, -3.1378) then 10)::\nV(10, do MoveAbsH(-47.24, 12.11, 0.68, -3.1378) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l11", - "l27", - "l26", - "l25", - "l10", - "l9", - "l8", - "l6", - "l7", - "l28", - "l36" - ], - "start-dir": -1.5707963267948966, - "time": 196 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 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MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 12.16, 0.68, -3.1378) then 10)::\nV(10, do MoveAbsH(-47.24, 12.11, 0.68, -3.1378) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l9", + "l8", + "l6", + "l7", + "l28", + "l36" + ], + "start-dir": -1.5707963267948966, + "time": 196 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 12.16, 0.68, -3.1378) then 10)::\nV(10, do MoveAbsH(-47.24, 12.11, 0.68, -3.1378) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l9", + "l8", + "l6", + "l7", + "l28", + "l36" + ], + "start-dir": -1.5707963267948966, + "time": 196 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 12.16, 0.68, -3.1378) then 10)::\nV(10, do MoveAbsH(-47.24, 12.11, 0.68, -3.1378) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l9", + "l8", + "l6", + "l7", + "l28", + "l36" + ], + 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do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-28.86, -20.97, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l11", - "l27", - "l26", - "l25", - "l10", - "l9", - "l56", - "l2", - "l1", - "l3", - "l4", - "l37" - ], - "start-dir": -1.5707963267948966, - "time": 215 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-28.86, -20.97, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l3", + "l4", + "l37" + ], + "start-dir": -1.5707963267948966, + "time": 215 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 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do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(-47.03, 0.00, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-47.03, -57.57, 0.68, -1.5708) then 13)::\nV(13, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l3", + "l4", + "l5", + "l38" + ], + "start-dir": -1.5707963267948966, + "time": 311 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(-47.03, 0.00, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-47.03, -57.57, 0.68, -1.5708) then 13)::\nV(13, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l3", + "l4", + "l5", + "l38" + ], + "start-dir": -1.5707963267948966, + "time": 311 + } }, "l11_to_l39": { - "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 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"time": 107 + } }, "l11_to_l57": { - "instructions": "P(V(1, do MoveAbsH(51.89, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(24.97, -7.84, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l11", - "l12", - "l45", - "l44", - "l42", - "l43", - "l40", - "l57" - ], - "start-dir": 3.141592653589793, - "time": 124 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(51.89, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(24.97, -7.84, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l11", + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l57" + ], + "start-dir": 3.141592653589793, + "time": 124 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(51.89, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(24.97, -7.84, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l11", + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l57" + ], + "start-dir": 3.141592653589793, + "time": 124 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(51.89, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(24.97, -7.84, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l11", + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l57" + ], + "start-dir": 3.141592653589793, + "time": 124 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(51.89, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(24.97, -7.84, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l11", + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l57" + ], + "start-dir": 3.141592653589793, + "time": 124 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(51.89, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(24.97, -7.84, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l11", + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l57" + ], + "start-dir": 3.141592653589793, + "time": 124 + } }, "l11_to_l58": { - "instructions": "P(V(1, do MoveAbsH(51.89, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(24.97, -7.84, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(14.87, -7.84, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l11", - "l12", - "l45", - "l44", - "l42", - "l43", - "l40", - "l57", - "l58" - ], - "start-dir": 3.141592653589793, - "time": 143 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(51.89, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(24.97, -7.84, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(14.87, -7.84, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l11", + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l57", + "l58" + ], + "start-dir": 3.141592653589793, + "time": 143 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(51.89, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(24.97, -7.84, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(14.87, -7.84, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l11", + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l57", + "l58" + ], + "start-dir": 3.141592653589793, + "time": 143 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(51.89, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(24.97, -7.84, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(14.87, -7.84, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l11", + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l57", + "l58" + ], + "start-dir": 3.141592653589793, + "time": 143 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(51.89, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(24.97, -7.84, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(14.87, -7.84, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l11", + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l57", + "l58" + ], + "start-dir": 3.141592653589793, + "time": 143 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(51.89, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(24.97, -7.84, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(14.87, -7.84, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l11", + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l57", + "l58" + ], + "start-dir": 3.141592653589793, + "time": 143 + } }, "l11_to_l59": { - "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(14.87, 0.00, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l11", - "l27", - "l26", - "l25", - "l10", - "l9", - "l56", - "l2", - "l59" - ], - "start-dir": -1.5707963267948966, - "time": 140 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(14.87, 0.00, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l59" + ], + "start-dir": -1.5707963267948966, + "time": 140 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(14.87, 0.00, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l59" + ], + "start-dir": -1.5707963267948966, + "time": 140 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(14.87, 0.00, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l59" + ], + "start-dir": -1.5707963267948966, + "time": 140 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(14.87, 0.00, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l59" + ], + "start-dir": -1.5707963267948966, + "time": 140 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(14.87, 0.00, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l59" + ], + "start-dir": -1.5707963267948966, + "time": 140 + } }, "l11_to_l6": { - "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l11", - "l27", - "l26", - "l25", - "l10", - "l9", - "l8", - "l6" - ], - "start-dir": -1.5707963267948966, - "time": 159 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l9", + "l8", + "l6" + ], + "start-dir": -1.5707963267948966, + "time": 159 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l9", + "l8", + "l6" + ], + "start-dir": -1.5707963267948966, + "time": 159 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l11", + "l27", + "l26", + "l25", + "l10", + "l9", + "l8", + "l6" + ], + "start-dir": -1.5707963267948966, + "time": 159 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 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MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": -1.5707963267948966, + "time": 177 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + 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MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l12", - "l45", - "l44", - "l42", - "l43", - "l40", - "l39", - "l13", - "l14", - "l15", - "l16" - ], - "start-dir": -1.5707963267948966, - "time": 186 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + 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3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": -1.5707963267948966, + "time": 186 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": -1.5707963267948966, + "time": 186 + } }, "l12_to_l17": { - "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l12", - "l45", - "l44", - "l42", - "l43", - "l40", - "l39", - "l13", - "l19", - "l18", - "l17" - ], - "start-dir": -1.5707963267948966, - "time": 178 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": -1.5707963267948966, + "time": 178 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": -1.5707963267948966, + "time": 178 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": -1.5707963267948966, + "time": 178 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": -1.5707963267948966, + "time": 178 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": -1.5707963267948966, + "time": 178 + } }, "l12_to_l18": { - "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l12", - "l45", - "l44", - "l42", - "l43", - "l40", - "l39", - "l13", - "l19", - "l18" - ], - "start-dir": -1.5707963267948966, - "time": 172 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": -1.5707963267948966, + "time": 172 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": -1.5707963267948966, + "time": 172 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": -1.5707963267948966, + "time": 172 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": -1.5707963267948966, + "time": 172 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": -1.5707963267948966, + "time": 172 + } }, "l12_to_l19": { - "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l12", - "l45", - "l44", - "l42", - "l43", - "l40", - "l39", - "l13", - "l19" - ], - "start-dir": -1.5707963267948966, - "time": 146 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19" + ], + "start-dir": -1.5707963267948966, + "time": 146 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19" + ], + "start-dir": -1.5707963267948966, + "time": 146 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19" + ], + "start-dir": -1.5707963267948966, + "time": 146 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19" + ], + "start-dir": -1.5707963267948966, + "time": 146 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19" + ], + "start-dir": -1.5707963267948966, + "time": 146 + } }, "l12_to_l2": { - "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l12", - "l45", - "l46", - "l47", - "l48", - "l55", - "l56", - "l2" - ], - "start-dir": -1.5707963267948966, - "time": 113 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l12", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2" + ], + "start-dir": -1.5707963267948966, + "time": 113 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l12", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2" + ], + "start-dir": -1.5707963267948966, + "time": 113 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l12", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2" + ], + "start-dir": -1.5707963267948966, + "time": 113 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l12", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2" + ], + "start-dir": -1.5707963267948966, + "time": 113 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l12", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2" + ], + "start-dir": -1.5707963267948966, + "time": 113 + } }, "l12_to_l21": { - "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l12", - "l45", - "l44", - "l42", - "l43", - "l40", - "l39", - "l13", - "l14", - "l15", - "l21" - ], - "start-dir": -1.5707963267948966, - "time": 197 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": -1.5707963267948966, + "time": 197 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": -1.5707963267948966, + "time": 197 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": -1.5707963267948966, + "time": 197 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": -1.5707963267948966, + "time": 197 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": -1.5707963267948966, + "time": 197 + } }, "l12_to_l22": { - "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l12", - "l45", - "l44", - "l42", - "l43", - "l40", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22" - ], - "start-dir": -1.5707963267948966, - "time": 202 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, 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3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": -1.5707963267948966, + "time": 202 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 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-1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l12", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3" + ], + "start-dir": -1.5707963267948966, + "time": 132 + } }, "l12_to_l30": { - "instructions": "P(V(1, do MoveAbsH(51.89, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(-21.08, 23.03, 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MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l12", + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": 0.0, + "time": 177 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(51.89, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l12", + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": 0.0, + "time": 177 + } }, "l12_to_l32": { - "instructions": "P(V(1, do MoveAbsH(51.89, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l12", - "l11", - "l27", - "l26", - "l25", - "l10", - "l35", - "l34", - "l33", - "l32" - ], - "start-dir": 0.0, - "time": 164 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(51.89, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l12", + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32" + ], + "start-dir": 0.0, + "time": 164 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(51.89, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l12", + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32" + ], + "start-dir": 0.0, + "time": 164 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(51.89, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l12", + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32" + ], + "start-dir": 0.0, + "time": 164 + }, + "mrpt-kinect": { 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then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l12", + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32" + ], + "start-dir": 0.0, + "time": 164 + } }, "l12_to_l33": { - "instructions": "P(V(1, do MoveAbsH(51.89, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l12", - "l11", - "l27", - "l26", - "l25", - "l10", - "l35", - "l34", - 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6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l12", + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33" + ], + "start-dir": 0.0, + "time": 156 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(51.89, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l12", + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33" + ], + "start-dir": 0.0, + "time": 156 + }, + "mrpt-kinect": { + 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MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l12", + "l11", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33" + ], + "start-dir": 0.0, + "time": 156 + } }, "l12_to_l34": { - "instructions": "P(V(1, do MoveAbsH(51.89, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l12", - "l11", - "l27", - "l26", - "l25", - "l10", - "l35", - "l34" - ], - "start-dir": 0.0, - "time": 142 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(51.89, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 3)::\nV(3, do 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MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l12", - "l11", - "l27", - "l26", - "l25", - "l10", - "l35" - ], - "start-dir": 0.0, - "time": 124 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(51.89, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l12", + "l11", + "l27", + "l26", + "l25", + "l10", + "l35" + ], + "start-dir": 0.0, + "time": 124 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(51.89, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l12", + "l11", + "l27", + "l26", + "l25", + "l10", + "l35" + ], + "start-dir": 0.0, + "time": 124 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(51.89, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l12", + "l11", + "l27", + "l26", + "l25", + "l10", + "l35" + ], + "start-dir": 0.0, + "time": 124 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(51.89, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l12", + "l11", + "l27", + "l26", + "l25", + "l10", + "l35" + ], + "start-dir": 0.0, + "time": 124 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(51.89, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l12", + "l11", + "l27", + "l26", + "l25", + "l10", + "l35" + ], + "start-dir": 0.0, + "time": 124 + } }, "l12_to_l36": { - "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do 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3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(-33.03, 12.16, 0.68, -3.1378) then 12)::\nV(12, do MoveAbsH(-47.24, 12.11, 0.68, -3.1378) then 13)::\nV(13, end)::\nnil)", + "path": [ + "l12", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7", + "l28", + "l36" + ], + "start-dir": -1.5707963267948966, + "time": 205 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(-33.03, 12.16, 0.68, -3.1378) then 12)::\nV(12, do MoveAbsH(-47.24, 12.11, 0.68, -3.1378) then 13)::\nV(13, end)::\nnil)", + "path": [ + "l12", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7", + "l28", + "l36" + ], + "start-dir": -1.5707963267948966, + "time": 205 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(-33.03, 12.16, 0.68, -3.1378) then 12)::\nV(12, do MoveAbsH(-47.24, 12.11, 0.68, -3.1378) then 13)::\nV(13, end)::\nnil)", + "path": [ + "l12", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7", + "l28", + "l36" + ], + "start-dir": -1.5707963267948966, + "time": 205 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(-33.03, 12.16, 0.68, -3.1378) then 12)::\nV(12, do MoveAbsH(-47.24, 12.11, 0.68, -3.1378) then 13)::\nV(13, end)::\nnil)", + "path": [ + "l12", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7", + "l28", + "l36" + ], + "start-dir": -1.5707963267948966, + "time": 205 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(-33.03, 12.16, 0.68, -3.1378) then 12)::\nV(12, do MoveAbsH(-47.24, 12.11, 0.68, -3.1378) then 13)::\nV(13, end)::\nnil)", + "path": [ + "l12", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7", + "l28", + "l36" + ], + "start-dir": -1.5707963267948966, + "time": 205 + } }, "l12_to_l37": { - "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, -20.97, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l12", - "l45", - "l44", - "l42", - "l43", - "l40", - "l39", - "l13", - "l14", - "l37" - ], - 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MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, -20.97, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l37" + ], + "start-dir": -1.5707963267948966, + "time": 188 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 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-14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 13)::\nV(13, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 14)::\nV(14, do MoveAbsH(-47.03, -57.57, 0.68, 3.1416) then 15)::\nV(15, end)::\nnil)", - "path": [ - "l12", - "l45", - "l44", - "l42", - "l43", - "l40", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22", - "l23", - "l24", - "l38" - ], - "start-dir": -1.5707963267948966, - "time": 296 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 13)::\nV(13, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 14)::\nV(14, do MoveAbsH(-47.03, -57.57, 0.68, 3.1416) then 15)::\nV(15, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24", + "l38" + ], + "start-dir": -1.5707963267948966, + "time": 296 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 13)::\nV(13, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 14)::\nV(14, do MoveAbsH(-47.03, -57.57, 0.68, 3.1416) then 15)::\nV(15, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24", + "l38" + ], + "start-dir": -1.5707963267948966, + "time": 296 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 13)::\nV(13, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 14)::\nV(14, do MoveAbsH(-47.03, -57.57, 0.68, 3.1416) then 15)::\nV(15, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24", + "l38" + ], + "start-dir": -1.5707963267948966, + "time": 296 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 13)::\nV(13, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 14)::\nV(14, do MoveAbsH(-47.03, -57.57, 0.68, 3.1416) then 15)::\nV(15, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24", + "l38" + ], + "start-dir": -1.5707963267948966, + "time": 296 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 13)::\nV(13, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 14)::\nV(14, do MoveAbsH(-47.03, -57.57, 0.68, 3.1416) then 15)::\nV(15, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", 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6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39" + ], + "start-dir": -1.5707963267948966, + "time": 124 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39" + ], + "start-dir": -1.5707963267948966, + "time": 124 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39" + ], + "start-dir": -1.5707963267948966, + "time": 124 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39" + ], + "start-dir": -1.5707963267948966, + "time": 124 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l39" + ], + "start-dir": -1.5707963267948966, + "time": 124 + } }, "l12_to_l4": { - "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l12", - "l45", - "l46", - "l47", - "l48", - "l55", - "l56", - "l2", - "l1", - "l3", - "l4" - ], - "start-dir": -1.5707963267948966, - "time": 172 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l12", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4" + ], + "start-dir": -1.5707963267948966, + "time": 172 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l12", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4" + ], + "start-dir": -1.5707963267948966, + "time": 172 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l12", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4" + ], + "start-dir": -1.5707963267948966, + "time": 172 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l12", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4" + ], + "start-dir": -1.5707963267948966, + "time": 172 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l12", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4" + ], + "start-dir": -1.5707963267948966, + 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-1.5707963267948966, + "time": 101 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l12", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56" + ], + "start-dir": -1.5707963267948966, + "time": 101 + } }, "l12_to_l57": { - "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(24.97, -7.84, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l12", - "l45", - "l44", - "l42", - "l43", - "l40", - "l57" - ], - "start-dir": -1.5707963267948966, - "time": 93 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(24.97, -7.84, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l57" + ], + "start-dir": -1.5707963267948966, + "time": 93 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(24.97, -7.84, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l57" + ], + "start-dir": -1.5707963267948966, + "time": 93 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(24.97, -7.84, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l57" + ], + "start-dir": -1.5707963267948966, + "time": 93 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(24.97, -7.84, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l57" + ], + "start-dir": -1.5707963267948966, + "time": 93 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(24.97, -7.84, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l57" + ], + "start-dir": -1.5707963267948966, + "time": 93 + } }, "l12_to_l58": { - "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(24.97, -7.84, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(14.87, -7.84, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l12", - "l45", - "l44", - "l42", - "l43", - "l40", - "l57", - "l58" - ], - "start-dir": -1.5707963267948966, - "time": 112 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(24.97, -7.84, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(14.87, -7.84, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l57", + "l58" + ], + "start-dir": -1.5707963267948966, + "time": 112 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 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MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(24.97, -7.84, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(14.87, -7.84, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l57", + "l58" + ], + "start-dir": -1.5707963267948966, + "time": 112 + } }, "l12_to_l59": { - "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(24.97, -7.84, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(14.87, 0.00, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l12", - "l45", - "l44", - "l42", - "l43", - "l40", - "l57", - "l58", - "l59" - ], - "start-dir": -1.5707963267948966, - "time": 127 + "amcl-kinect": { + 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3.1416) then 7)::\nV(7, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(14.87, 0.00, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l57", + "l58", + "l59" + ], + "start-dir": -1.5707963267948966, + "time": 127 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(24.97, -7.84, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(14.87, 0.00, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l57", + "l58", + "l59" + ], + "start-dir": -1.5707963267948966, + "time": 127 + }, + "mrpt-kinect": { + "instructions": 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7)::\nV(7, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(14.87, 0.00, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l12", + "l45", + "l44", + "l42", + "l43", + "l40", + "l57", + "l58", + "l59" + ], + "start-dir": -1.5707963267948966, + "time": 127 + } }, "l12_to_l6": { - "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l12", - "l45", - "l46", - "l47", - "l48", - "l55", - "l56", - "l9", - "l8", - "l6" - ], - "start-dir": -1.5707963267948966, - "time": 167 + 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6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l12", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6" + ], + "start-dir": -1.5707963267948966, + "time": 167 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + 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then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l12", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6" + ], + "start-dir": -1.5707963267948966, + "time": 167 + } }, "l12_to_l7": { - "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l12", - "l45", - "l46", - "l47", - "l48", - "l55", - "l56", - "l9", - "l8", - "l6", - "l7" - ], - "start-dir": -1.5707963267948966, - "time": 174 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l12", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7" + ], + "start-dir": -1.5707963267948966, + "time": 174 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l12", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7" + ], + "start-dir": -1.5707963267948966, + "time": 174 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 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0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l12", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7" + ], + "start-dir": -1.5707963267948966, + "time": 174 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l12", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7" + ], + "start-dir": -1.5707963267948966, + "time": 174 + } }, "l12_to_l8": { - "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l12", - "l45", - "l46", - "l47", - "l48", - "l55", - "l56", - "l9", - "l8" - ], - "start-dir": -1.5707963267948966, - "time": 127 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 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6.49, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": 0.0, + "time": 143 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": 0.0, + "time": 143 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": 0.0, + "time": 143 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 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8)::\nV(8, end)::\nnil)", - "path": [ - "l13", - "l39", - "l1", - "l3", - "l4", - "l6", - "l7", - "l28" - ], - "start-dir": 0.0, - "time": 122 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": 0.0, + "time": 122 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": 0.0, + "time": 122 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": 0.0, + "time": 122 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": 0.0, + "time": 122 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": 0.0, + "time": 122 + } 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then 7)::\nV(7, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l8", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": 0.0, + "time": 141 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l8", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": 0.0, + "time": 141 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 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MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l8", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": 0.0, + "time": 141 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l8", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": 0.0, + "time": 141 + } }, "l13_to_l3": { - "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do 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3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l13", - "l39", - "l1", - "l3", - "l8", - "l34", - "l33", - "l32", - "l31", - "l30" - ], - "start-dir": 0.0, - "time": 135 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": 0.0, + "time": 135 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": 0.0, + "time": 135 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": 0.0, + "time": 135 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": 0.0, + "time": 135 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": 0.0, + "time": 135 + } }, "l13_to_l31": { - "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l13", - "l39", - "l1", - "l3", - "l8", - "l34", - "l33", - "l32", - "l31" - ], - "start-dir": 0.0, - "time": 122 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": 0.0, + "time": 122 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": 0.0, + "time": 122 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": 0.0, + "time": 122 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": 0.0, + "time": 122 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": 0.0, + "time": 122 + } }, "l13_to_l32": { - "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l13", - "l39", - "l1", - "l3", - "l8", - "l34", - "l33", - "l32" - ], - "start-dir": 0.0, - "time": 109 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": 0.0, + "time": 109 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": 0.0, + "time": 109 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": 0.0, + "time": 109 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": 0.0, + "time": 109 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": 0.0, + "time": 109 + } }, "l13_to_l33": { - "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l13", - "l39", - "l1", - "l3", - "l8", - "l34", - "l33" - ], - "start-dir": 0.0, - "time": 102 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": 0.0, + "time": 102 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": 0.0, + "time": 102 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": 0.0, + "time": 102 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": 0.0, + "time": 102 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do 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MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-47.03, 0.00, 0.68, 3.1416) then 6)::\nV(6, end)::\nnil)", - "path": [ - "l13", - "l39", - "l1", - "l3", - "l4", - "l5" - ], - "start-dir": 0.0, - "time": 122 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-47.03, 0.00, 0.68, 3.1416) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l4", + "l5" + ], + "start-dir": 0.0, + "time": 122 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 5)::\nV(5, do 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"l5" + ], + "start-dir": 0.0, + "time": 122 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-47.03, 0.00, 0.68, 3.1416) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l3", + "l4", + "l5" + ], + "start-dir": 0.0, + "time": 122 + } }, "l13_to_l50": { - "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 10.76, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l13", - "l39", - "l1", - "l2", - "l56", - "l55", - "l48", - "l49", - "l50" - ], - "start-dir": 0.0, - "time": 112 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 10.76, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49", + "l50" + ], + "start-dir": 0.0, + "time": 112 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 10.76, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49", + "l50" + ], + "start-dir": 0.0, + "time": 112 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 10.76, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49", + "l50" + ], + "start-dir": 0.0, + "time": 112 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 10.76, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49", + "l50" + ], + "start-dir": 0.0, + "time": 112 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 10.76, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49", + "l50" + ], + "start-dir": 0.0, + "time": 112 + } }, "l13_to_l51": { - "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l13", - "l39", - "l1", - "l2", - "l56", - "l9", - "l10", - "l25", - "l26", - "l27", - "l51" - ], - "start-dir": 0.0, - "time": 151 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51" + ], + "start-dir": 0.0, + "time": 151 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51" + ], + "start-dir": 0.0, + "time": 151 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51" + ], + "start-dir": 0.0, + "time": 151 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51" + ], + "start-dir": 0.0, + "time": 151 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51" + ], + "start-dir": 0.0, + "time": 151 + } }, "l13_to_l52": { - "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l13", - "l39", - "l1", - "l2", - "l56", - "l9", - "l10", - "l25", - "l26", - "l27", - "l51", - "l52" - ], - "start-dir": 0.0, - "time": 155 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": 0.0, + "time": 155 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": 0.0, + "time": 155 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": 0.0, + "time": 155 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + 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0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(36.27, 8.38, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(38.97, 8.38, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l13", - "l39", - "l1", - "l2", - "l56", - "l55", - "l48", - "l47", - "l46", - "l54", - "l53" - ], - "start-dir": 0.0, - "time": 152 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 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MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25" + ], + "start-dir": 1.5707963267948966, + "time": 106 + } }, "l14_to_l26": { - "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l14", - "l13", - "l39", - "l1", - "l2", - "l56", 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4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26" + ], + "start-dir": 1.5707963267948966, + "time": 126 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26" + ], + "start-dir": 1.5707963267948966, + "time": 126 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26" + ], + "start-dir": 1.5707963267948966, + "time": 126 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do 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10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l14", - "l13", - "l39", - "l1", - "l2", - "l56", - "l9", - "l10", - "l25", - "l26", - "l27" - ], - "start-dir": 1.5707963267948966, - "time": 148 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": 1.5707963267948966, + "time": 148 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": 1.5707963267948966, + "time": 148 + }, 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MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": 1.5707963267948966, + "time": 148 + } }, "l14_to_l28": { - "instructions": "P(V(1, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", - "path": [ - "l14", - "l37", - "l4", - "l6", - "l7", - "l28" - ], - "start-dir": -1.5707963267948966, - "time": 118 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l14", + "l37", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": -1.5707963267948966, + "time": 118 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l14", + "l37", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": -1.5707963267948966, + "time": 118 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l14", + "l37", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": -1.5707963267948966, + "time": 118 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l14", + "l37", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": -1.5707963267948966, + "time": 118 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l14", + "l37", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": -1.5707963267948966, + "time": 118 + } }, "l14_to_l29": { - "instructions": "P(V(1, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l14", - "l37", - "l4", - "l6", - "l7", - "l28", - "l29" - ], - "start-dir": -1.5707963267948966, - "time": 137 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l14", + "l37", + "l4", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": -1.5707963267948966, + "time": 137 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l14", + "l37", + "l4", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": -1.5707963267948966, + "time": 137 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l14", + "l37", + "l4", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": -1.5707963267948966, + "time": 137 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l14", + "l37", + "l4", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": -1.5707963267948966, + "time": 137 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l14", + "l37", + "l4", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": -1.5707963267948966, + "time": 137 + } }, "l14_to_l3": { - "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 5)::\nV(5, end)::\nnil)", - "path": [ - "l14", - "l13", - "l39", - "l1", - "l3" - ], - "start-dir": 1.5707963267948966, - "time": 55 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 5)::\nV(5, end)::\nnil)", + 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do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l14", - "l13", - "l39", - "l1", - "l3", - "l8", - "l34", - "l33", - "l32", - "l31", - "l30" - ], - "start-dir": 1.5707963267948966, - "time": 140 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": 1.5707963267948966, + "time": 140 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + 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MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": 1.5707963267948966, + "time": 140 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": 1.5707963267948966, + "time": 140 + } }, "l14_to_l31": { - "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", - "path": 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-1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": 1.5707963267948966, + "time": 127 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": 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1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l14", - "l13", - "l39", - "l1", - "l3", - "l8", - "l34", - "l33", - "l32" - ], - "start-dir": 1.5707963267948966, - "time": 114 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": 1.5707963267948966, + "time": 114 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": 1.5707963267948966, + "time": 114 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": 1.5707963267948966, + "time": 114 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": 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then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l14", - "l13", - "l39", - "l1", - "l3", - "l8", - "l34", - "l33" - ], - "start-dir": 1.5707963267948966, - "time": 107 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": 1.5707963267948966, + "time": 107 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 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5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34" + ], + "start-dir": 1.5707963267948966, + "time": 92 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34" + ], + "start-dir": 1.5707963267948966, + "time": 92 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34" + ], + "start-dir": 1.5707963267948966, + "time": 92 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34" + ], + "start-dir": 1.5707963267948966, + "time": 92 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do 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then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": 1.5707963267948966, + "time": 87 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": 1.5707963267948966, + "time": 87 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 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do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": 1.5707963267948966, + "time": 87 + } }, "l14_to_l36": { - "instructions": "P(V(1, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-47.03, 0.00, 0.68, 1.5886) then 4)::\nV(4, do MoveAbsH(-47.24, 12.11, 0.68, 1.5886) then 5)::\nV(5, end)::\nnil)", - "path": [ - "l14", - "l37", - "l4", - "l5", - "l36" - ], - "start-dir": -1.5707963267948966, - "time": 142 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-47.03, 0.00, 0.68, 1.5886) then 4)::\nV(4, do MoveAbsH(-47.24, 12.11, 0.68, 1.5886) then 5)::\nV(5, end)::\nnil)", + "path": [ + "l14", + "l37", + "l4", + "l5", + "l36" + ], + "start-dir": -1.5707963267948966, + 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"l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": 1.5707963267948966, + "time": 111 + } }, "l14_to_l48": { - "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l14", - "l13", - "l39", - "l1", - "l2", - "l56", - "l55", - "l48" - ], - "start-dir": 1.5707963267948966, - "time": 98 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48" + ], + "start-dir": 1.5707963267948966, + "time": 98 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48" + ], + "start-dir": 1.5707963267948966, + "time": 98 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 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0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l14", - "l13", - "l39", - "l1", - "l2", - "l56", - "l55", - "l48", - "l49" - ], - "start-dir": 1.5707963267948966, - "time": 107 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49" + ], + "start-dir": 1.5707963267948966, + "time": 107 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do 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0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(14.87, -7.84, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l2", + "l59", + "l58" + ], + "start-dir": 1.5707963267948966, + "time": 86 + } }, "l14_to_l59": { - "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(14.87, 0.00, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", - "path": [ - "l14", - "l13", - "l39", - "l1", - "l2", - "l59" - ], - "start-dir": 1.5707963267948966, - "time": 71 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, 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then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(14.87, 0.00, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l2", + "l59" + ], + "start-dir": 1.5707963267948966, + "time": 71 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(14.87, 0.00, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l2", + "l59" + ], + "start-dir": 1.5707963267948966, + "time": 71 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(14.87, 0.00, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l2", + "l59" + ], + "start-dir": 1.5707963267948966, + "time": 71 + } }, "l14_to_l6": { - "instructions": "P(V(1, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 1.5708) then 4)::\nV(4, end)::\nnil)", - "path": [ - "l14", - "l37", - "l4", - "l6" - ], - "start-dir": -1.5707963267948966, - "time": 105 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 1.5708) then 4)::\nV(4, end)::\nnil)", + "path": [ + "l14", + "l37", + "l4", + "l6" + ], + "start-dir": -1.5707963267948966, + "time": 105 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 1.5708) then 4)::\nV(4, end)::\nnil)", + "path": [ + "l14", + "l37", + "l4", + "l6" + ], + "start-dir": -1.5707963267948966, + "time": 105 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 1.5708) then 4)::\nV(4, end)::\nnil)", + "path": [ + "l14", + "l37", + "l4", + "l6" + ], + "start-dir": -1.5707963267948966, + "time": 105 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 1.5708) then 4)::\nV(4, end)::\nnil)", + "path": [ + "l14", + "l37", + "l4", + "l6" + ], + "start-dir": -1.5707963267948966, + "time": 105 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 1.5708) then 4)::\nV(4, end)::\nnil)", + "path": [ + "l14", + "l37", + "l4", + "l6" + ], + "start-dir": -1.5707963267948966, + "time": 105 + } }, "l14_to_l7": { - "instructions": "P(V(1, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 5)::\nV(5, end)::\nnil)", - "path": [ - "l14", - "l37", - "l4", - "l6", - "l7" - ], - "start-dir": -1.5707963267948966, - "time": 113 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 5)::\nV(5, end)::\nnil)", + "path": [ + "l14", + "l37", + "l4", + "l6", + "l7" + ], + "start-dir": -1.5707963267948966, + "time": 113 + }, + "amcl-lidar": { + 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MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 5)::\nV(5, end)::\nnil)", + "path": [ + "l14", + "l37", + "l4", + "l6", + "l7" + ], + "start-dir": -1.5707963267948966, + "time": 113 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 5)::\nV(5, end)::\nnil)", + "path": [ + "l14", + "l37", + "l4", + "l6", + "l7" + ], + "start-dir": -1.5707963267948966, + "time": 113 + } }, "l14_to_l8": { - "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", - "path": [ - "l14", - "l13", - "l39", - "l1", - "l3", - "l8" - ], - "start-dir": 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-20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l3", + "l8" + ], + "start-dir": 1.5707963267948966, + "time": 75 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l3", + "l8" + ], + "start-dir": 1.5707963267948966, + "time": 75 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l14", + "l13", + "l39", + "l1", + "l3", + "l8" + ], + "start-dir": 1.5707963267948966, + "time": 75 + } }, "l14_to_l9": { - "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l14", - "l13", - "l39", - "l1", - "l2", - "l56", - "l9" - ], - "start-dir": 1.5707963267948966, - "time": 70 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 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10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26" + ], + "start-dir": 0.0, + "time": 162 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ 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1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": 0.0, + "time": 184 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": 0.0, + "time": 184 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": 0.0, + "time": 184 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + 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20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": 0.0, + "time": 176 + } }, "l15_to_l31": { - "instructions": "P(V(1, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do 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then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": 0.0, + "time": 150 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": 0.0, + "time": 150 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": 0.0, + "time": 150 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, 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1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": 0.0, + "time": 150 + } }, "l15_to_l33": { - "instructions": "P(V(1, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l15", - "l14", - "l13", - "l39", - "l1", - "l3", - "l8", - "l34", - "l33" - ], - "start-dir": 0.0, - "time": 143 + 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then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": 0.0, + "time": 143 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": 0.0, + "time": 143 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 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], + "start-dir": 0.0, + "time": 128 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34" + ], + "start-dir": 0.0, + "time": 128 + } }, "l15_to_l35": { - "instructions": "P(V(1, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do 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then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46" + ], + "start-dir": 0.0, + "time": 172 + } }, "l15_to_l47": { - "instructions": "P(V(1, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 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do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l15", - "l14", - "l13", - "l39", - "l1", - "l2", - "l56", - "l55", - "l48" - ], - "start-dir": 0.0, - "time": 134 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48" + ], + "start-dir": 0.0, + "time": 134 + }, + "amcl-lidar": { + "instructions": "P(V(1, do 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3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48" + ], + "start-dir": 0.0, + "time": 134 + } }, "l15_to_l49": { - "instructions": "P(V(1, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 10.76, 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then 9)::\nV(9, do MoveAbsH(22.70, 10.76, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49", + "l50" + ], + "start-dir": 0.0, + "time": 153 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 10.76, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", 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MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l16", + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": -1.5707963267948966, + "time": 160 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 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MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l16", + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 153 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l16", + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 153 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l16", + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 153 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l16", + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 153 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 9)::\nV(9, do 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MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l16", - "l15", - "l14", - "l13", - "l39", - "l1", - "l2", - "l56", - "l55", - "l48" - ], - "start-dir": -1.5707963267948966, - "time": 144 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l16", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48" + ], + 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-14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l16", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48" + ], + "start-dir": -1.5707963267948966, + "time": 144 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(22.70, 6.49, 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0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l16", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49" + ], + "start-dir": -1.5707963267948966, + "time": 152 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(22.70, 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], + "start-dir": -1.5707963267948966, + "time": 152 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l16", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49" + ], + "start-dir": -1.5707963267948966, + "time": 152 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l16", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49" + ], + "start-dir": -1.5707963267948966, + "time": 152 + } }, "l16_to_l5": { - "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-47.03, 0.00, 0.68, 3.1416) then 6)::\nV(6, end)::\nnil)", - "path": [ - "l16", - "l15", - "l14", - "l37", - "l4", - "l5" - ], - "start-dir": -1.5707963267948966, - "time": 165 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-47.03, 0.00, 0.68, 3.1416) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l16", + "l15", + "l14", + "l37", + "l4", + "l5" + ], + "start-dir": -1.5707963267948966, + "time": 165 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-47.03, 0.00, 0.68, 3.1416) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l16", + "l15", + "l14", + "l37", + "l4", + "l5" + ], + "start-dir": -1.5707963267948966, + "time": 165 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-47.03, 0.00, 0.68, 3.1416) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l16", + "l15", + "l14", + "l37", + "l4", + "l5" + ], + "start-dir": -1.5707963267948966, + "time": 165 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-47.03, 0.00, 0.68, 3.1416) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l16", + "l15", + "l14", + "l37", + "l4", + "l5" + ], + "start-dir": -1.5707963267948966, + "time": 165 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do 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then 11)::\nV(11, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l16", - "l15", - "l14", - "l13", - "l39", - "l1", - "l2", - "l56", - "l55", - "l48", - "l49", - "l50" - ], - "start-dir": -1.5707963267948966, - "time": 163 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(22.70, 10.76, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l16", + "l15", + "l14", + "l13", + "l39", + 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MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(22.70, 10.76, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l16", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49", + "l50" + ], + "start-dir": -1.5707963267948966, + "time": 163 + } }, "l16_to_l51": { - "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 13)::\nV(13, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 14)::\nV(14, end)::\nnil)", - "path": [ - "l16", - "l15", - "l14", - "l13", - "l39", - "l1", - "l2", - "l56", - "l9", - "l10", - "l25", - "l26", - "l27", - "l51" - ], - "start-dir": -1.5707963267948966, - "time": 202 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 13)::\nV(13, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 14)::\nV(14, end)::\nnil)", + "path": [ + "l16", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51" + ], + "start-dir": -1.5707963267948966, + "time": 202 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 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0.0000) then 10)::\nV(10, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 13)::\nV(13, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 14)::\nV(14, end)::\nnil)", + "path": [ + "l16", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51" + ], + "start-dir": -1.5707963267948966, + "time": 202 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 13)::\nV(13, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 14)::\nV(14, end)::\nnil)", + "path": [ + "l16", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51" + ], + "start-dir": -1.5707963267948966, + "time": 202 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 10)::\nV(10, 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4)::\nV(4, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l17", + "l16", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 3.141592653589793, + "time": 64 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(1.89, -40.81, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l17", + "l16", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 3.141592653589793, + "time": 64 + } }, "l17_to_l25": { - "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l17", - "l18", - "l19", - "l13", - "l39", - "l1", - "l2", - "l56", - "l9", - "l10", - "l25" - ], - "start-dir": 1.5707963267948966, - "time": 143 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l17", + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25" + ], + "start-dir": 1.5707963267948966, + "time": 143 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(16.76, 16.97, 0.68, 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10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l17", - "l18", - "l19", - "l13", - "l39", - "l1", - "l2", - "l56", - "l9", - "l10", - "l25", - "l26" - ], - "start-dir": 1.5707963267948966, - "time": 163 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l17", + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26" + ], + "start-dir": 1.5707963267948966, + "time": 163 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l17", + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", 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7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 13)::\nV(13, end)::\nnil)", - "path": [ - "l17", - "l18", - "l19", - "l13", - "l39", - "l1", - "l2", - "l56", - "l9", - "l10", - "l25", - "l26", - "l27" - ], - "start-dir": 1.5707963267948966, - "time": 185 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 13)::\nV(13, end)::\nnil)", + "path": [ + "l17", + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": 1.5707963267948966, + "time": 185 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 13)::\nV(13, end)::\nnil)", + "path": [ + "l17", + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": 1.5707963267948966, + "time": 185 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 13)::\nV(13, end)::\nnil)", + "path": [ + "l17", + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": 1.5707963267948966, + "time": 185 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 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3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l17", + "l18", + "l19", + "l13", + "l14", + "l37", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": 1.5707963267948966, + "time": 162 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l17", + "l18", + "l19", + "l13", + "l14", + "l37", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": 1.5707963267948966, + "time": 162 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l17", + "l18", + "l19", + "l13", + "l14", + "l37", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": 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-20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l17", + "l18", + "l19", + "l13", + "l14", + "l37", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": 1.5707963267948966, + "time": 162 + } }, "l17_to_l29": { - "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l17", - "l18", - "l19", - "l13", - "l14", - "l37", - "l4", - "l6", - "l7", - "l28", - "l29" - ], - "start-dir": 1.5707963267948966, - "time": 181 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l17", + "l18", + "l19", + "l13", + "l14", + "l37", + "l4", + 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3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l17", + "l18", + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": 1.5707963267948966, + "time": 164 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l17", + "l18", + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": 1.5707963267948966, + "time": 164 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-14.32, 16.49, 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"l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": 1.5707963267948966, + "time": 164 + } }, "l17_to_l32": { - "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l17", - "l18", - "l19", - "l13", - "l39", - "l1", - "l3", - "l8", - "l34", - "l33", - "l32" - ], - "start-dir": 1.5707963267948966, - "time": 151 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 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MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l17", + "l18", + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": 1.5707963267948966, + "time": 151 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 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"l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": 1.5707963267948966, + "time": 151 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l17", + "l18", + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": 1.5707963267948966, + "time": 151 + } }, "l17_to_l33": { - "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do 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MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l17", + "l18", + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": 1.5707963267948966, + "time": 144 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l17", + "l18", + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" 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MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l17", + "l18", + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": 1.5707963267948966, + "time": 144 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 9)::\nV(9, do 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then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l17", + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": 1.5707963267948966, + "time": 124 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 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0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-47.03, 0.00, 0.68, 1.5886) then 9)::\nV(9, do MoveAbsH(-47.24, 12.11, 0.68, 1.5886) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l17", - "l18", - "l19", - "l13", - "l39", - "l1", - "l3", - "l4", - "l5", - "l36" - ], - "start-dir": 1.5707963267948966, - "time": 187 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-47.03, 0.00, 0.68, 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MoveAbsH(24.97, -14.87, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(39.24, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(39.24, -4.11, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(47.84, -4.11, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l17", + "l18", + "l19", + "l13", + "l39", + "l40", + "l43", + "l42", + "l44" + ], + "start-dir": 1.5707963267948966, + "time": 161 + } }, "l17_to_l45": { - "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(39.24, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(39.24, -4.11, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(47.84, -4.11, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(47.84, 0.00, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l17", - "l18", - "l19", - 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MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(39.24, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(39.24, -4.11, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(47.84, -4.11, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(47.84, 0.00, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l17", + "l18", + "l19", + "l13", + "l39", + "l40", + "l43", + "l42", + "l44", + "l45" + ], + "start-dir": 1.5707963267948966, + "time": 169 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(24.97, -14.87, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(39.24, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(39.24, -4.11, 0.68, 0.0000) then 8)::\nV(8, 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then 8)::\nV(8, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l17", + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46" + ], + "start-dir": 1.5707963267948966, + "time": 173 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(22.70, 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MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l17", - "l18", - "l19", - "l13", - "l39", - "l1", - "l2", - "l56", - "l55", - "l48", - "l47" - ], - "start-dir": 1.5707963267948966, - "time": 148 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do 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0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l17", + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": 1.5707963267948966, + "time": 148 + } }, "l17_to_l48": { - "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 6.49, 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MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l17", + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49" + ], + "start-dir": 1.5707963267948966, + "time": 144 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 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MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(14.87, -7.84, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l17", - "l18", - "l19", - "l13", - "l39", - "l1", - "l2", - "l59", - "l58" - ], - "start-dir": 1.5707963267948966, - "time": 123 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(14.87, -7.84, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l17", + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l59", + "l58" + ], + "start-dir": 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MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l17", + "l18", + "l19", + "l13", + "l14", + "l37", + "l4", + "l6", + "l7" + ], + "start-dir": 1.5707963267948966, + "time": 158 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -34.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l17", + "l18", + "l19", + "l13", + "l14", + "l37", + "l4", + "l6", + "l7" + ], + 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then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25" + ], + "start-dir": 0.0, + "time": 137 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25" + ], + "start-dir": 0.0, + "time": 137 + } }, "l18_to_l26": { - "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l18", - "l19", - "l13", - "l39", - "l1", - "l2", - "l56", - "l9", - "l10", - "l25", - "l26" - ], - "start-dir": 0.0, - "time": 156 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26" + ], + "start-dir": 0.0, + "time": 156 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26" + ], + "start-dir": 0.0, + "time": 156 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + 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then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26" + ], + "start-dir": 0.0, + "time": 156 + } }, "l18_to_l27": { - "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l18", - "l19", - "l13", - "l39", - "l1", - "l2", - "l56", - "l9", - "l10", - "l25", - "l26", - "l27" - ], - "start-dir": 0.0, - "time": 179 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": 0.0, + "time": 179 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": 0.0, + "time": 179 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": 0.0, + "time": 179 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": 0.0, + "time": 179 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": 0.0, + "time": 179 + } }, "l18_to_l28": { - "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l18", - "l19", - "l13", - "l14", - "l37", - "l4", - "l6", - "l7", - "l28" - ], - "start-dir": 0.0, - "time": 156 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l14", + "l37", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": 0.0, + "time": 156 + }, + "amcl-lidar": { + 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7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l14", + "l37", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": 0.0, + "time": 156 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l14", + "l37", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": 0.0, + "time": 156 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l14", + "l37", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": 0.0, + "time": 156 + } }, "l18_to_l29": { - "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l18", - "l19", - "l13", - "l14", - "l37", - "l4", - "l6", - "l7", - "l28", - "l29" - ], - "start-dir": 0.0, - "time": 175 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l14", + "l37", + "l4", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": 0.0, + "time": 175 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l14", + "l37", + "l4", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": 0.0, + "time": 175 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l14", + "l37", + "l4", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": 0.0, + "time": 175 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l14", + "l37", + "l4", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": 0.0, + "time": 175 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l14", + "l37", + "l4", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": 0.0, + "time": 175 + } }, "l18_to_l3": { - "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, end)::\nnil)", - "path": [ - "l18", - "l19", - "l13", - "l39", - "l1", - "l3" - ], - "start-dir": 0.0, - "time": 86 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l3" + ], + "start-dir": 0.0, + "time": 86 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l3" + ], + "start-dir": 0.0, + "time": 86 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l3" + ], + "start-dir": 0.0, + "time": 86 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l3" + ], + "start-dir": 0.0, + "time": 86 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l3" + ], + "start-dir": 0.0, + "time": 86 + } }, "l18_to_l30": { - "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l18", - "l19", - "l13", - "l39", - "l1", - "l3", - "l8", - "l34", - "l33", - "l32", - "l31", - "l30" - ], - "start-dir": 0.0, - "time": 170 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": 0.0, + "time": 170 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + 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MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": 0.0, + "time": 170 + } }, "l18_to_l31": { - "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l18", - "l19", - "l13", - "l39", - "l1", - "l3", - "l8", - "l34", - "l33", - "l32", - "l31" - ], - "start-dir": 0.0, - "time": 158 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l18", + 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MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": 0.0, + "time": 158 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": 0.0, + "time": 158 + } }, "l18_to_l32": { - "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l18", - "l19", - "l13", - "l39", - "l1", - "l3", - "l8", - "l34", - "l33", - "l32" - ], - "start-dir": 0.0, - "time": 145 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 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then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": 0.0, + "time": 145 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": 0.0, + "time": 145 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": 0.0, + "time": 145 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": 0.0, + "time": 145 + } }, "l18_to_l33": { - "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l18", - "l19", 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5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": 0.0, + "time": 138 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": 0.0, + 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10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": 0.0, + "time": 138 + } }, "l18_to_l34": { - "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l18", - "l19", - "l13", - "l39", - "l1", - "l3", - "l8", - "l34" - ], - "start-dir": 0.0, - "time": 122 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 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1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34" + ], + "start-dir": 0.0, + "time": 122 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34" + ], + "start-dir": 0.0, + "time": 122 + } }, "l18_to_l35": { - "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l18", - "l19", - "l13", - "l39", - "l1", - "l2", - "l56", - "l9", - "l10", - "l35" - ], - "start-dir": 0.0, - "time": 118 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": 0.0, + "time": 118 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": 0.0, + "time": 118 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": 0.0, + "time": 118 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 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3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(39.24, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(39.24, -4.11, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(47.84, -4.11, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l40", + "l43", + "l42", + "l44" + ], + "start-dir": 0.0, + "time": 154 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(39.24, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(39.24, -4.11, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(47.84, -4.11, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l40", + "l43", + "l42", + "l44" + ], + "start-dir": 0.0, + "time": 154 + } }, "l18_to_l45": { - "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(39.24, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(39.24, -4.11, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(47.84, -4.11, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(47.84, 0.00, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l18", - "l19", - "l13", - "l39", - "l40", - "l43", - "l42", - "l44", - "l45" - ], - "start-dir": 0.0, - "time": 163 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(39.24, -14.87, 0.68, 1.5708) then 6)::\nV(6, do 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6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46" + ], + "start-dir": 0.0, + "time": 166 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(36.27, 0.00, 0.68, 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do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46" + ], + "start-dir": 0.0, + "time": 166 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46" + ], + "start-dir": 0.0, + "time": 166 + } }, "l18_to_l47": { - "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l18", - "l19", - "l13", - "l39", - "l1", - "l2", - "l56", - "l55", - "l48", - "l47" - ], - "start-dir": 0.0, - "time": 141 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": 0.0, + "time": 141 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": 0.0, + "time": 141 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": 0.0, + "time": 141 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": 0.0, + "time": 141 + }, + 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1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l18", - "l19", - "l13", - "l39", - "l1", - "l2", - "l56", - "l55", - "l48" - ], - "start-dir": 0.0, - "time": 129 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48" + ], + "start-dir": 0.0, + "time": 129 + }, + "amcl-lidar": { + 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6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48" + ], + "start-dir": 0.0, + "time": 129 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48" + ], + "start-dir": 0.0, + "time": 129 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 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MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l18", - "l19", - "l13", - "l39", - "l1", - "l2", - "l56", - "l55", - "l48", - "l49" - ], - "start-dir": 0.0, - "time": 137 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49" + ], + "start-dir": 0.0, + "time": 137 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49" + ], + "start-dir": 0.0, + "time": 137 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49" + ], + "start-dir": 0.0, + "time": 137 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49" + ], + "start-dir": 0.0, + "time": 137 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49" + ], + "start-dir": 0.0, + "time": 137 + } }, "l18_to_l5": { - "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-47.03, 0.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l18", - "l19", - "l13", - "l39", - "l1", - "l3", - "l4", - "l5" - ], - "start-dir": 0.0, - "time": 158 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-47.03, 0.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l3", + "l4", + "l5" + ], + "start-dir": 0.0, + "time": 158 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-47.03, 0.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l3", + "l4", + "l5" + ], + "start-dir": 0.0, + "time": 158 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-47.03, 0.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l39", + "l1", + "l3", + "l4", + "l5" + ], + "start-dir": 0.0, + "time": 158 + }, + 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"start-dir": 0.0, + "time": 101 + } }, "l18_to_l6": { - "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l18", - "l19", - "l13", - "l14", - "l37", - "l4", - "l6" - ], - "start-dir": 0.0, - "time": 143 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(4.97, -20.81, 0.68, -3.1090) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l18", + "l19", + "l13", + "l14", + 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0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25" + ], + "start-dir": -1.6033607209641751, + "time": 112 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25" + ], + "start-dir": -1.6033607209641751, + "time": 112 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25" + ], + "start-dir": -1.6033607209641751, + "time": 112 + } }, "l19_to_l26": { - "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 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then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26" + ], + "start-dir": -1.6033607209641751, + "time": 131 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26" + ], + "start-dir": -1.6033607209641751, + "time": 131 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26" + ], + "start-dir": -1.6033607209641751, + "time": 131 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26" + ], + "start-dir": -1.6033607209641751, + "time": 131 + } }, "l19_to_l27": { - "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l19", - "l13", - "l39", - "l1", - "l2", - "l56", - "l9", - "l10", - "l25", - "l26", - "l27" - ], - "start-dir": -1.6033607209641751, - "time": 154 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": -1.6033607209641751, + "time": 154 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": -1.6033607209641751, + "time": 154 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": -1.6033607209641751, + "time": 154 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": -1.6033607209641751, + "time": 154 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": -1.6033607209641751, + "time": 154 + } }, "l19_to_l28": { - "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l19", - "l13", - "l14", - "l37", - "l4", - "l6", - "l7", - "l28" - ], - "start-dir": -1.6033607209641751, - "time": 131 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l19", + "l13", + "l14", + "l37", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": -1.6033607209641751, + "time": 131 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l19", + "l13", + "l14", + "l37", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": -1.6033607209641751, + "time": 131 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l19", + "l13", + "l14", + "l37", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": -1.6033607209641751, + "time": 131 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 3)::\nV(3, do 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3.1416) then 6)::\nV(6, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l19", + "l13", + "l14", + "l37", + "l4", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": -1.6033607209641751, + "time": 150 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l19", + "l13", + "l14", + "l37", + "l4", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": 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end)::\nnil)", - "path": [ - "l19", - "l13", - "l39", - "l1", - "l3", - "l8", - "l34", - "l33", - "l32", - "l31", - "l30" - ], - "start-dir": -1.6033607209641751, - "time": 145 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": -1.6033607209641751, + "time": 145 + }, + "amcl-lidar": { + 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0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": -1.6033607209641751, + "time": 145 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": -1.6033607209641751, + "time": 145 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": -1.6033607209641751, + "time": 145 + } }, "l19_to_l31": { - "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l19", - "l13", - "l39", - "l1", - "l3", - "l8", - "l34", - "l33", - "l32", - "l31" - ], - "start-dir": -1.6033607209641751, - "time": 133 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": -1.6033607209641751, + "time": 133 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": -1.6033607209641751, + "time": 133 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": -1.6033607209641751, + "time": 133 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": -1.6033607209641751, + "time": 133 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": -1.6033607209641751, + "time": 133 + } }, "l19_to_l32": { - "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l19", - "l13", - "l39", - "l1", - "l3", - "l8", - "l34", - "l33", - "l32" - ], - "start-dir": -1.6033607209641751, - "time": 120 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": -1.6033607209641751, + "time": 120 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": -1.6033607209641751, + "time": 120 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": -1.6033607209641751, + "time": 120 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": -1.6033607209641751, + "time": 120 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": -1.6033607209641751, + "time": 120 + } }, "l19_to_l33": { - "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l19", - "l13", - "l39", - "l1", - "l3", - "l8", - "l34", - "l33" - ], - "start-dir": -1.6033607209641751, - "time": 113 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": -1.6033607209641751, + "time": 113 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": -1.6033607209641751, + "time": 113 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": -1.6033607209641751, + "time": 113 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": -1.6033607209641751, + "time": 113 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": -1.6033607209641751, + "time": 113 + } }, "l19_to_l34": { - "instructions": "P(V(1, do 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"l3", + "l8", + "l34" + ], + "start-dir": -1.6033607209641751, + "time": 97 + } }, "l19_to_l35": { - "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l19", - "l13", - "l39", - "l1", - "l2", - "l56", - "l9", - "l10", - "l35" - ], - "start-dir": -1.6033607209641751, - "time": 93 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do 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MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": -1.6033607209641751, + "time": 93 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": -1.6033607209641751, + "time": 93 + } }, "l19_to_l36": { - 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end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l3", + "l4", + "l5", + "l36" + ], + "start-dir": -1.6033607209641751, + "time": 155 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-47.03, 0.00, 0.68, 1.5886) then 7)::\nV(7, do MoveAbsH(-47.24, 12.11, 0.68, 1.5886) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l3", + "l4", + "l5", + "l36" + ], + "start-dir": -1.6033607209641751, + "time": 155 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-47.03, 0.00, 0.68, 1.5886) then 7)::\nV(7, do MoveAbsH(-47.24, 12.11, 0.68, 1.5886) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l3", + "l4", + "l5", + "l36" + ], + "start-dir": -1.6033607209641751, + "time": 155 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-47.03, 0.00, 0.68, 1.5886) then 7)::\nV(7, do MoveAbsH(-47.24, 12.11, 0.68, 1.5886) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l3", + "l4", + "l5", + "l36" + ], + "start-dir": -1.6033607209641751, + "time": 155 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 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0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46" + ], + "start-dir": -1.6033607209641751, + "time": 141 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46" + ], + "start-dir": -1.6033607209641751, + "time": 141 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46" + ], + "start-dir": -1.6033607209641751, + "time": 141 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46" + ], + "start-dir": -1.6033607209641751, + "time": 141 + } }, "l19_to_l47": { - "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l19", - "l13", - "l39", - "l1", - "l2", - "l56", - "l55", - "l48", - "l47" - ], - "start-dir": -1.6033607209641751, - "time": 116 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": -1.6033607209641751, + "time": 116 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": -1.6033607209641751, + "time": 116 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": -1.6033607209641751, + "time": 116 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": -1.6033607209641751, + "time": 116 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": -1.6033607209641751, + "time": 116 + } }, "l19_to_l48": { - "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l19", - "l13", - "l39", - "l1", - "l2", - "l56", - "l55", - "l48" - ], - "start-dir": -1.6033607209641751, - "time": 104 + 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8)::\nV(8, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48" + ], + "start-dir": -1.6033607209641751, + "time": 104 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48" + ], + "start-dir": -1.6033607209641751, + "time": 104 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48" + ], + "start-dir": -1.6033607209641751, + "time": 104 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48" + ], + "start-dir": -1.6033607209641751, + "time": 104 + } }, "l19_to_l49": { - "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l19", - "l13", - "l39", - "l1", - "l2", - "l56", - "l55", - "l48", - "l49" - ], - "start-dir": -1.6033607209641751, - "time": 112 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49" + ], + "start-dir": -1.6033607209641751, + "time": 112 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49" + ], + "start-dir": -1.6033607209641751, + "time": 112 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49" + ], + "start-dir": -1.6033607209641751, + "time": 112 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 9)::\nV(9, 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"l55", + "l48", + "l49", + "l50" + ], + "start-dir": -1.6033607209641751, + "time": 123 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 10.76, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49", + "l50" + ], + "start-dir": -1.6033607209641751, + "time": 123 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 10.76, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49", + "l50" + ], + "start-dir": -1.6033607209641751, + "time": 123 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 10.76, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49", + "l50" + ], + "start-dir": -1.6033607209641751, + "time": 123 + } }, "l19_to_l51": { - "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l19", - "l13", - "l39", - "l1", - "l2", - "l56", - "l9", - "l10", - "l25", - "l26", - "l27", - "l51" - ], - "start-dir": -1.6033607209641751, - "time": 162 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51" + ], + "start-dir": -1.6033607209641751, + "time": 162 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, 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7)::\nV(7, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55" + ], + "start-dir": -1.6033607209641751, + "time": 93 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l19", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55" + ], + "start-dir": -1.6033607209641751, + "time": 93 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do 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"l22" + ], + "start-dir": 3.141592653589793, + "time": 105 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 105 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 105 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 105 + } }, "l1_to_l23": { - "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l1", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22", - "l23" - ], - "start-dir": 3.141592653589793, - "time": 116 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 3.141592653589793, + "time": 116 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 3.141592653589793, + "time": 116 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 3.141592653589793, + "time": 116 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 3.141592653589793, + "time": 116 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 3.141592653589793, + "time": 116 + } }, "l1_to_l24": { - "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l1", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22", - "l23", - "l24" - ], - "start-dir": 3.141592653589793, - "time": 122 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 3.141592653589793, + "time": 122 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 3.141592653589793, + "time": 122 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 3.141592653589793, + "time": 122 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 3.141592653589793, + "time": 122 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 3.141592653589793, + "time": 122 + } }, "l1_to_l25": { - "instructions": "P(V(1, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", - "path": [ - "l1", - "l2", - "l56", - "l9", - "l10", - "l25" - ], - "start-dir": 1.5707963267948966, - "time": 63 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l1", + "l2", + "l56", + "l9", + "l10", + "l25" + ], + "start-dir": 1.5707963267948966, + "time": 63 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l1", + "l2", + "l56", + "l9", + "l10", + "l25" + ], + "start-dir": 1.5707963267948966, + "time": 63 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l1", + "l2", + "l56", + "l9", + "l10", + "l25" 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then 6)::\nV(6, end)::\nnil)", + "path": [ + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": -1.5707963267948966, + "time": 72 + } }, "l1_to_l33": { - "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 5)::\nV(5, end)::\nnil)", - "path": [ - "l1", - "l3", - "l8", - "l34", - "l33" - ], - "start-dir": -1.5707963267948966, - "time": 65 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 5)::\nV(5, end)::\nnil)", + "path": [ + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 65 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 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"l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": 1.5707963267948966, + "time": 117 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": 1.5707963267948966, + "time": 117 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": 1.5707963267948966, + "time": 117 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 8)::\nV(8, do 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then 12)::\nV(12, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(51.89, 16.97, 0.68, 0.0000) then 14)::\nV(14, end)::\nnil)", + "path": [ + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l11" + ], + "start-dir": 0.0, + "time": 224 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(51.89, 16.97, 0.68, 0.0000) then 14)::\nV(14, end)::\nnil)", + "path": [ + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l11" + ], + "start-dir": 0.0, + "time": 224 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(40.54, 16.97, 0.68, 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"start-dir": 0.0, + "time": 171 + } }, "l21_to_l33": { - "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l21", - "l15", - "l14", - "l13", - "l39", - "l1", - "l3", - "l8", - "l34", - "l33" - ], - "start-dir": 0.0, - "time": 163 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 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20.00, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34" + ], + "start-dir": 0.0, + "time": 148 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 20.00, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34" + ], + "start-dir": 0.0, + "time": 148 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 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MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l21", + "l15", + "l14", + "l37", + "l4", + "l6", + "l7" + ], + "start-dir": 0.0, + "time": 168 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l21", + "l15", + "l14", + "l37", + "l4", + "l6", + "l7" + ], + "start-dir": 0.0, + "time": 168 + } }, "l21_to_l8": { - "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 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MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8" + ], + "start-dir": 0.0, + "time": 131 + } }, "l21_to_l9": { - "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l21", - "l15", - "l14", - "l13", - "l39", - "l1", - "l2", - "l56", - "l9" - ], - "start-dir": 0.0, - "time": 126 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 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MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9" + ], + "start-dir": 0.0, + "time": 126 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9" + ], + "start-dir": 0.0, + "time": 126 + } }, 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7)::\nV(7, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1" + ], + "start-dir": -1.5707963267948966, + "time": 105 + } }, "l22_to_l10": { - "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l22", - "l21", - "l15", - "l14", - "l13", - "l39", - "l1", - "l2", - "l56", - "l9", - "l10" - ], - "start-dir": -1.5707963267948966, - "time": 144 + "amcl-kinect": { + "instructions": "P(V(1, do 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5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10" + ], + "start-dir": -1.5707963267948966, + "time": 144 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10" + ], + "start-dir": -1.5707963267948966, + "time": 144 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + 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9)::\nV(9, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 14)::\nV(14, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": -1.5707963267948966, + "time": 210 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 14)::\nV(14, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": -1.5707963267948966, + "time": 210 + } }, "l22_to_l28": { - "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, 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3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l37", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": -1.5707963267948966, + "time": 179 + } }, "l22_to_l29": { - "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 23.03, 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MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l37", + "l4", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": -1.5707963267948966, + "time": 198 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l37", + "l4", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": -1.5707963267948966, + "time": 198 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l37", + "l4", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": -1.5707963267948966, + "time": 198 + } }, "l22_to_l3": { - "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 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MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": -1.5707963267948966, + "time": 176 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": -1.5707963267948966, + "time": 176 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": -1.5707963267948966, + "time": 176 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": -1.5707963267948966, + "time": 176 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": -1.5707963267948966, + "time": 176 + } }, "l22_to_l33": { - "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l22", - "l21", - "l15", - "l14", - "l13", - "l39", - "l1", - "l3", - "l8", - "l34", - "l33" - ], - "start-dir": -1.5707963267948966, - "time": 169 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 169 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 169 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 169 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 169 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 169 + } }, "l22_to_l34": { - "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-6.22, 20.00, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l22", - "l21", - "l15", - "l14", - "l13", - "l39", - "l1", - "l3", - "l8", - "l34" - ], - "start-dir": -1.5707963267948966, - "time": 154 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-6.22, 20.00, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34" + ], + "start-dir": -1.5707963267948966, + "time": 154 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-6.22, 20.00, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34" 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MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-6.22, 20.00, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8", + "l34" + ], + "start-dir": -1.5707963267948966, + "time": 154 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 9)::\nV(9, do 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do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": -1.5707963267948966, + "time": 149 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": -1.5707963267948966, + "time": 149 + } }, "l22_to_l36": { - "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-47.03, 0.00, 0.68, 1.5886) then 7)::\nV(7, do MoveAbsH(-47.24, 12.11, 0.68, 1.5886) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l22", - "l21", - "l15", - "l14", - "l37", - "l4", - "l5", - "l36" - ], - "start-dir": -1.5707963267948966, - "time": 203 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-47.03, 0.00, 0.68, 1.5886) then 7)::\nV(7, do MoveAbsH(-47.24, 12.11, 0.68, 1.5886) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l37", + "l4", + "l5", + "l36" + ], + "start-dir": -1.5707963267948966, + "time": 203 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-47.03, 0.00, 0.68, 1.5886) then 7)::\nV(7, do MoveAbsH(-47.24, 12.11, 0.68, 1.5886) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l22", + "l21", + 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then 7)::\nV(7, do MoveAbsH(39.24, -14.87, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(39.24, -4.11, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(47.84, -4.11, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(47.84, 0.00, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l40", + "l43", + "l42", + "l44", + "l45" + ], + "start-dir": -1.5707963267948966, + "time": 194 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(24.97, -14.87, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(39.24, -14.87, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(39.24, -4.11, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(47.84, -4.11, 0.68, 1.5708) then 10)::\nV(10, do 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then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 13)::\nV(13, end)::\nnil)", - "path": [ - "l22", - "l21", - "l15", - "l14", - "l13", - "l39", - "l1", - "l2", - "l56", - "l55", - "l48", - "l47", - "l46" - ], - "start-dir": -1.5707963267948966, - "time": 198 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 13)::\nV(13, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46" + ], + "start-dir": -1.5707963267948966, + "time": 198 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 13)::\nV(13, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46" + ], + "start-dir": -1.5707963267948966, + "time": 198 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 13)::\nV(13, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46" + ], + "start-dir": -1.5707963267948966, + "time": 198 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 13)::\nV(13, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46" + ], + "start-dir": -1.5707963267948966, + "time": 198 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 13)::\nV(13, end)::\nnil)", + "path": [ + "l22", + "l21", + 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173 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": -1.5707963267948966, + "time": 173 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": -1.5707963267948966, + "time": 173 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": -1.5707963267948966, + "time": 173 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": -1.5707963267948966, + "time": 173 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": -1.5707963267948966, + "time": 173 + } }, "l22_to_l48": { - "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l22", - "l21", - "l15", - "l14", - "l13", - "l39", - "l1", - "l2", - "l56", - "l55", - "l48" - ], - "start-dir": -1.5707963267948966, - "time": 160 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48" + ], + "start-dir": -1.5707963267948966, + "time": 160 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48" + ], + "start-dir": -1.5707963267948966, + "time": 160 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48" + ], + "start-dir": -1.5707963267948966, + "time": 160 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48" + ], + "start-dir": -1.5707963267948966, + "time": 160 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48" + ], + "start-dir": -1.5707963267948966, + "time": 160 + } }, "l22_to_l49": { - "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l22", - "l21", - "l15", - "l14", - "l13", - "l39", - "l1", - "l2", - "l56", - "l55", - "l48", - "l49" - ], - "start-dir": -1.5707963267948966, - "time": 169 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49" + ], + "start-dir": -1.5707963267948966, + "time": 169 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49" + ], + "start-dir": -1.5707963267948966, + "time": 169 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49" + ], + "start-dir": -1.5707963267948966, + "time": 169 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49" + ], + "start-dir": -1.5707963267948966, + "time": 169 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49" + ], + "start-dir": -1.5707963267948966, + "time": 169 + } }, "l22_to_l5": { - "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-47.03, 0.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l22", - "l21", - "l15", - "l14", - "l37", - "l4", - "l5" - ], - "start-dir": -1.5707963267948966, - "time": 181 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-47.03, 0.00, 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0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 14)::\nV(14, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 15)::\nV(15, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51" + ], + "start-dir": -1.5707963267948966, + "time": 218 + }, + "aruco": { + 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-1.5707963267948966, + "time": 218 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 14)::\nV(14, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 15)::\nV(15, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51" + ], + "start-dir": -1.5707963267948966, + "time": 218 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 14)::\nV(14, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 15)::\nV(15, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51" + ], + "start-dir": -1.5707963267948966, + "time": 218 + } }, "l22_to_l52": { - "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 14)::\nV(14, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 15)::\nV(15, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 16)::\nV(16, end)::\nnil)", - "path": [ - "l22", - "l21", - "l15", - "l14", - "l13", - "l39", - "l1", - "l2", - "l56", - "l9", - "l10", - "l25", - "l26", - "l27", - "l51", - "l52" - ], - "start-dir": -1.5707963267948966, - "time": 222 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 14)::\nV(14, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 15)::\nV(15, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 16)::\nV(16, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": -1.5707963267948966, + "time": 222 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 14)::\nV(14, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 15)::\nV(15, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 16)::\nV(16, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": -1.5707963267948966, + "time": 222 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 14)::\nV(14, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 15)::\nV(15, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 16)::\nV(16, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": -1.5707963267948966, + "time": 222 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 14)::\nV(14, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 15)::\nV(15, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 16)::\nV(16, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": -1.5707963267948966, + "time": 222 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 14)::\nV(14, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 15)::\nV(15, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 16)::\nV(16, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": -1.5707963267948966, + "time": 222 + } }, "l22_to_l53": { - "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 13)::\nV(13, do MoveAbsH(36.27, 8.38, 0.68, 0.0000) then 14)::\nV(14, do MoveAbsH(38.97, 8.38, 0.68, 0.0000) then 15)::\nV(15, end)::\nnil)", - "path": [ - "l22", - "l21", - "l15", - "l14", - "l13", - "l39", - "l1", - "l2", - "l56", - "l55", - "l48", - "l47", - "l46", - "l54", - "l53" - ], - "start-dir": -1.5707963267948966, - "time": 219 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 13)::\nV(13, do MoveAbsH(36.27, 8.38, 0.68, 0.0000) then 14)::\nV(14, do MoveAbsH(38.97, 8.38, 0.68, 0.0000) then 15)::\nV(15, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46", + "l54", + "l53" + ], + "start-dir": -1.5707963267948966, + "time": 219 + }, + "amcl-lidar": { + 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0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55" + ], + "start-dir": -1.5707963267948966, + "time": 150 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55" + ], + "start-dir": -1.5707963267948966, + "time": 150 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55" + ], + "start-dir": -1.5707963267948966, + "time": 150 + }, + "mrpt-kinect": { + "instructions": 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6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55" + ], + "start-dir": -1.5707963267948966, + "time": 150 + } }, "l22_to_l56": { - "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l22", - "l21", - "l15", - "l14", - "l13", - "l39", - "l1", - "l2", - "l56" - ], - "start-dir": -1.5707963267948966, - "time": 125 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56" + ], + "start-dir": -1.5707963267948966, + "time": 125 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56" + ], + "start-dir": -1.5707963267948966, + "time": 125 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56" + ], + "start-dir": -1.5707963267948966, + "time": 125 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56" + ], + "start-dir": -1.5707963267948966, + "time": 125 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56" + ], + "start-dir": -1.5707963267948966, + "time": 125 + } }, "l22_to_l57": { - "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(24.97, -7.84, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l22", - "l21", - "l15", - "l14", - "l13", - "l39", - "l40", - "l57" - ], - "start-dir": -1.5707963267948966, - "time": 138 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(24.97, -7.84, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l40", + "l57" + ], + "start-dir": -1.5707963267948966, + "time": 138 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(24.97, -7.84, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l40", + "l57" + ], + "start-dir": -1.5707963267948966, + "time": 138 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(24.97, -7.84, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l40", + "l57" + ], + "start-dir": -1.5707963267948966, + "time": 138 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(24.97, -7.84, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l40", + "l57" + ], + "start-dir": -1.5707963267948966, + "time": 138 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(24.97, -7.84, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l40", + "l57" + ], + "start-dir": -1.5707963267948966, + "time": 138 + } }, "l22_to_l58": { - "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(14.87, -7.84, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l22", - "l21", - "l15", - "l14", - "l13", - "l39", - "l1", - "l2", - "l59", - "l58" - ], - "start-dir": -1.5707963267948966, - "time": 148 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(14.87, -7.84, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l59", + "l58" + ], + "start-dir": -1.5707963267948966, + "time": 148 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(14.87, -7.84, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", 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MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10" + ], + "start-dir": 0.0, + "time": 153 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 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then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10" + ], + "start-dir": 0.0, + "time": 153 + } }, "l23_to_l11": { - "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 14)::\nV(14, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 15)::\nV(15, do MoveAbsH(51.89, 16.97, 0.68, 0.0000) then 16)::\nV(16, end)::\nnil)", - "path": [ - "l23", - "l22", - "l21", - "l15", - "l14", - "l13", - "l39", - "l1", - "l2", - "l56", - "l9", - "l10", - "l25", - "l26", - "l27", - "l11" - ], - "start-dir": 0.0, - "time": 240 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 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3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 14)::\nV(14, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26" + ], + "start-dir": 0.0, + "time": 197 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 14)::\nV(14, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26" + ], + "start-dir": 0.0, + "time": 197 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 14)::\nV(14, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26" + ], + "start-dir": 0.0, + "time": 197 + } }, "l23_to_l27": { - "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 14)::\nV(14, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 15)::\nV(15, end)::\nnil)", - "path": [ - "l23", - "l22", - "l21", - "l15", - "l14", - "l13", - "l39", - "l1", - "l2", - "l56", - "l9", - "l10", - "l25", - "l26", - "l27" - ], - "start-dir": 0.0, - "time": 220 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 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"mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 14)::\nV(14, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 15)::\nV(15, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": 0.0, + "time": 220 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 14)::\nV(14, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 15)::\nV(15, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": 0.0, + "time": 220 + } }, "l23_to_l28": { - "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l23", - "l22", - "l21", - "l15", - "l14", - "l37", - "l4", - "l6", - "l7", - "l28" - ], - "start-dir": 0.0, - "time": 188 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l37", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": 0.0, + "time": 188 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 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"l7", + "l28", + "l29" + ], + "start-dir": 0.0, + "time": 207 + } }, "l23_to_l3": { - "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l23", - "l22", - "l21", - "l15", - "l14", - "l13", - "l39", - "l1", - "l3" - ], - "start-dir": 0.0, - "time": 127 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 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1.5708) then 11)::\nV(11, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 14)::\nV(14, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 15)::\nV(15, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 16)::\nV(16, end)::\nnil)", - "path": [ - "l23", - "l22", - "l21", - "l15", - "l14", - "l13", - "l39", - "l1", - "l2", - "l56", - "l9", - "l10", - "l25", - "l26", - "l27", - "l51" - ], - "start-dir": 0.0, - "time": 228 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) 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then 11)::\nV(11, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 14)::\nV(14, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 15)::\nV(15, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 16)::\nV(16, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 17)::\nV(17, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": 0.0, + "time": 232 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 14)::\nV(14, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 15)::\nV(15, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 16)::\nV(16, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 17)::\nV(17, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": 0.0, + "time": 232 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 14)::\nV(14, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 15)::\nV(15, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 16)::\nV(16, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 17)::\nV(17, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": 0.0, + "time": 232 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-0.27, 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MoveAbsH(36.27, 8.38, 0.68, 0.0000) then 15)::\nV(15, do MoveAbsH(38.97, 8.38, 0.68, 0.0000) then 16)::\nV(16, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46", + "l54", + "l53" + ], + "start-dir": 0.0, + "time": 229 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 14)::\nV(14, do MoveAbsH(36.27, 8.38, 0.68, 0.0000) then 15)::\nV(15, do MoveAbsH(38.97, 8.38, 0.68, 0.0000) then 16)::\nV(16, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46", + "l54", + "l53" + ], + "start-dir": 0.0, + "time": 229 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(16.76, 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0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 14)::\nV(14, do MoveAbsH(36.27, 8.38, 0.68, 0.0000) then 15)::\nV(15, do MoveAbsH(38.97, 8.38, 0.68, 0.0000) then 16)::\nV(16, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46", + "l54", + "l53" + ], + "start-dir": 0.0, + "time": 229 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 14)::\nV(14, do MoveAbsH(36.27, 8.38, 0.68, 0.0000) then 15)::\nV(15, do MoveAbsH(38.97, 8.38, 0.68, 0.0000) then 16)::\nV(16, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46", + "l54", + "l53" + ], + "start-dir": 0.0, + "time": 229 + } }, "l23_to_l54": { - "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 14)::\nV(14, do MoveAbsH(36.27, 8.38, 0.68, 1.5708) then 15)::\nV(15, end)::\nnil)", - "path": [ - "l23", - "l22", - "l21", - "l15", - "l14", - "l13", - "l39", - "l1", - "l2", - "l56", - "l55", - "l48", - "l47", - "l46", - "l54" - ], - "start-dir": 0.0, - "time": 223 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 14)::\nV(14, do MoveAbsH(36.27, 8.38, 0.68, 1.5708) then 15)::\nV(15, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46", + "l54" + ], + "start-dir": 0.0, + "time": 223 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, 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3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 14)::\nV(14, do MoveAbsH(36.27, 8.38, 0.68, 1.5708) then 15)::\nV(15, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46", + "l54" + ], + "start-dir": 0.0, + "time": 223 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do 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0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55" + ], + "start-dir": 0.0, + "time": 159 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56", + "l55" + ], + "start-dir": 0.0, + "time": 159 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", 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MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l56" + ], + "start-dir": 0.0, + "time": 135 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + 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3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(24.97, -7.84, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l23", - "l22", - "l21", - "l15", - "l14", - "l13", - "l39", - "l40", - "l57" - ], - "start-dir": 0.0, - "time": 147 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(24.97, -7.84, 0.68, 1.5708) then 9)::\nV(9, 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then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(14.87, -7.84, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l23", - "l22", - "l21", - "l15", - "l14", - "l13", - "l39", - "l1", - "l2", - "l59", - "l58" - ], - "start-dir": 0.0, - "time": 157 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(14.87, -7.84, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l59", + "l58" + ], + "start-dir": 0.0, + "time": 157 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(14.87, -7.84, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", 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MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(14.87, -7.84, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l59", + "l58" + ], + "start-dir": 0.0, + "time": 157 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(14.87, -7.84, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l59", + "l58" + ], + "start-dir": 0.0, + "time": 157 + } }, "l23_to_l59": { - "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(14.87, 0.00, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l23", - "l22", - "l21", - "l15", - "l14", - "l13", - "l39", - "l1", - "l2", - "l59" - ], - "start-dir": 0.0, - "time": 142 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(14.87, 0.00, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l59" + ], + "start-dir": 0.0, + "time": 142 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(14.87, 0.00, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l59" + ], + "start-dir": 0.0, + "time": 142 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(14.87, 0.00, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l59" + ], + "start-dir": 0.0, + "time": 142 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(14.87, 0.00, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l59" + ], + "start-dir": 0.0, + "time": 142 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(14.87, 0.00, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l2", + "l59" + ], + "start-dir": 0.0, + "time": 142 + } }, "l23_to_l6": { - "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) 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"path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l37", + "l4", + "l6" + ], + "start-dir": 0.0, + "time": 175 + } }, "l23_to_l7": { - "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l23", - "l22", - "l21", - "l15", - "l14", - "l37", - "l4", - "l6", - "l7" - ], - "start-dir": 0.0, - "time": 184 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, 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} }, "l23_to_l8": { - "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l23", - "l22", - "l21", - "l15", - "l14", - "l13", - "l39", - "l1", - "l3", - "l8" - ], - "start-dir": 0.0, - "time": 146 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, 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"l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8" + ], + "start-dir": 0.0, + "time": 146 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l1", + "l3", + "l8" + ], + "start-dir": 0.0, + "time": 146 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 3)::\nV(3, do 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then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l24", + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l19" + ], + "start-dir": 1.5707963267948966, + "time": 92 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -57.57, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l24", + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l19" + ], + "start-dir": 1.5707963267948966, + "time": 92 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -57.57, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, 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9)::\nV(9, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l24", + "l23", + "l22", + "l21", + "l15", + "l14", + "l37", + "l4", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": 1.5707963267948966, + "time": 214 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -57.57, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 11)::\nV(11, do 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then 7)::\nV(7, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l24", + "l23", + "l22", + "l21", + "l15", + "l14", + "l37", + "l4", + "l6" + ], + "start-dir": 1.5707963267948966, + "time": 182 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -57.57, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l24", + "l23", + "l22", + "l21", + "l15", + "l14", + "l37", + "l4", + "l6" + ], + "start-dir": 1.5707963267948966, + "time": 182 + } }, "l24_to_l7": { - "instructions": "P(V(1, 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6)::\nV(6, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l24", + "l23", + "l22", + "l21", + "l15", + "l14", + "l37", + "l4", + "l6", + "l7" + ], + "start-dir": 1.5707963267948966, + "time": 190 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-0.27, -57.57, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-0.27, -52.22, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -52.22, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -40.81, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, -20.97, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + 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MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": -1.5707963267948966, + "time": 143 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l25", + "l10", + 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do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": -1.5707963267948966, + "time": 143 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": -1.5707963267948966, + "time": 143 + } }, "l25_to_l16": { - "instructions": "P(V(1, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l25", - "l10", - "l9", - "l56", - "l2", - "l1", - "l39", - "l13", - 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0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": -1.5707963267948966, + "time": 152 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": -1.5707963267948966, + "time": 152 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": 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6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": -1.5707963267948966, + "time": 144 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do 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then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": -1.5707963267948966, + "time": 168 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do 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MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": -1.5707963267948966, + "time": 163 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": -1.5707963267948966, + "time": 163 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + 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then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": -1.5707963267948966, + "time": 172 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": -1.5707963267948966, + "time": 172 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": -1.5707963267948966, + "time": 172 + } }, "l26_to_l17": { - "instructions": "P(V(1, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 9)::\nV(9, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l26", - "l25", - "l10", - "l9", - "l56", - "l2", - "l1", - "l39", - "l13", - "l19", - "l18", - "l17" - ], - "start-dir": -1.5707963267948966, - "time": 164 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 9)::\nV(9, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": 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MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 13)::\nV(13, end)::\nnil)", - "path": [ - "l26", - "l25", - "l10", - "l9", - "l56", - "l2", - "l1", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22" - ], - "start-dir": -1.5707963267948966, - "time": 188 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-2.43, 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then 8)::\nV(8, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-28.86, -20.97, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l3", + "l4", + "l37" + ], + "start-dir": -1.5707963267948966, + "time": 173 + } }, "l26_to_l38": { - "instructions": "P(V(1, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-47.03, 0.00, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-47.03, -57.57, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l26", - "l25", - "l10", - "l9", - "l56", - "l2", - "l1", - 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16.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14" + ], + "start-dir": -1.5707963267948966, + "time": 149 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do 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MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 10)::\nV(10, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": -1.5707963267948966, + "time": 154 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 10)::\nV(10, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": -1.5707963267948966, + "time": 154 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 10)::\nV(10, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": -1.5707963267948966, + "time": 154 + } }, "l27_to_l2": { - "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l27", - "l26", - "l25", - "l10", - "l9", - "l56", - "l2" - ], - "start-dir": -1.5707963267948966, - "time": 98 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 7)::\nV(7, 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MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 14)::\nV(14, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 15)::\nV(15, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 16)::\nV(16, end)::\nnil)", + "path": [ + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": -1.5707963267948966, + "time": 227 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 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0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-21.08, 23.03, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-33.03, 23.03, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31", + "l30", + "l29" + ], + "start-dir": -1.5707963267948966, + "time": 161 + } }, "l27_to_l3": { - "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l27", - "l26", - "l25", - "l10", - "l9", - "l56", - "l2", - "l1", - "l3" - ], - "start-dir": -1.5707963267948966, - "time": 117 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l3" + ], + "start-dir": -1.5707963267948966, + "time": 117 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l3" + ], + "start-dir": -1.5707963267948966, + "time": 117 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l3" + ], + "start-dir": -1.5707963267948966, + "time": 117 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l3" + ], + "start-dir": -1.5707963267948966, + "time": 117 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l3" + ], + "start-dir": -1.5707963267948966, + "time": 117 + } }, "l27_to_l30": { - "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l27", - "l26", - "l25", - "l10", - "l35", - "l34", - "l33", - "l32", - "l31", - "l30" - ], - "start-dir": -1.5707963267948966, - "time": 139 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": -1.5707963267948966, + "time": 139 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": -1.5707963267948966, + "time": 139 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": -1.5707963267948966, + "time": 139 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": -1.5707963267948966, + "time": 139 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": -1.5707963267948966, + "time": 139 + } }, "l27_to_l31": { - "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l27", - "l26", - "l25", - "l10", - "l35", - "l34", - "l33", - "l32", - "l31" - ], - "start-dir": -1.5707963267948966, - "time": 127 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": -1.5707963267948966, + "time": 127 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": -1.5707963267948966, + "time": 127 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": -1.5707963267948966, + "time": 127 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": -1.5707963267948966, + "time": 127 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": -1.5707963267948966, + "time": 127 + } }, "l27_to_l32": { - "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 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3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 106 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 106 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 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then 4)::\nV(4, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l27", + "l26", + "l25", + "l10", + "l35", + "l34" + ], + "start-dir": -1.5707963267948966, + "time": 92 + } }, "l27_to_l35": { - "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 5)::\nV(5, end)::\nnil)", - "path": [ - "l27", - "l26", - "l25", - "l10", - "l35" - ], - "start-dir": -1.5707963267948966, - "time": 74 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 5)::\nV(5, end)::\nnil)", + "path": [ + "l27", + "l26", + "l25", + "l10", + "l35" + ], + 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then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l27", - "l26", - "l25", - "l10", - "l9", - "l56", - "l2", - "l1", - "l39" - ], - "start-dir": -1.5707963267948966, - "time": 133 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l27", + "l26", + "l25", + 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MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l27", - "l26", - "l25", - "l10", - "l9", - "l56", - "l2", - "l1", - "l3", - "l4" - ], - "start-dir": -1.5707963267948966, - "time": 157 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + 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then 8)::\nV(8, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l3", + "l4" + ], + "start-dir": -1.5707963267948966, + "time": 157 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l3", + "l4" + ], + "start-dir": -1.5707963267948966, + "time": 157 + } }, "l27_to_l40": { - "instructions": "P(V(1, do MoveAbsH(51.89, 16.97, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(51.89, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l27", - "l11", - "l12", - "l45", - "l44", - "l42", - "l43", - "l40" - ], - "start-dir": 1.5707963267948966, - "time": 131 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(51.89, 16.97, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(51.89, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 7)::\nV(7, do 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then 6)::\nV(6, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l8", + "l9", + "l10" + ], + "start-dir": 3.141592653589793, + "time": 84 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l8", + "l9", + "l10" + ], + "start-dir": 3.141592653589793, + "time": 84 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l8", + "l9", + "l10" 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9)::\nV(9, do MoveAbsH(51.89, 16.97, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l28", - "l7", - "l6", - "l8", - "l9", - "l10", - "l25", - "l26", - "l27", - "l11" - ], - "start-dir": 3.141592653589793, - "time": 170 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(51.89, 16.97, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l8", + "l9", + "l10", + "l25", + "l26", + "l27", + "l11" + ], + "start-dir": 3.141592653589793, + "time": 170 + }, + "amcl-lidar": { + "instructions": "P(V(1, do 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MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(51.89, 16.97, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l8", + "l9", + "l10", + "l25", + "l26", + "l27", + "l11" + ], + "start-dir": 3.141592653589793, + "time": 170 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(51.89, 16.97, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + 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MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(47.84, 0.00, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(51.89, 0.00, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l28", - "l7", - "l6", - "l8", - "l9", - "l56", - "l55", - "l48", - "l47", - "l46", - "l45", - "l12" - ], - "start-dir": 3.141592653589793, - "time": 179 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(47.84, 0.00, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(51.89, 0.00, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46", + "l45", + "l12" + ], + "start-dir": 3.141592653589793, + "time": 179 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(47.84, 0.00, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(51.89, 0.00, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46", + "l45", + "l12" + ], + "start-dir": 3.141592653589793, + "time": 179 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(47.84, 0.00, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(51.89, 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MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l13", + "l19", + "l18" + ], + "start-dir": 3.141592653589793, + "time": 157 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l13", + "l19", + "l18" + ], + 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-20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l13", + "l19", + "l18" + ], + "start-dir": 3.141592653589793, + "time": 157 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l13", + "l19", + "l18" + ], + "start-dir": 3.141592653589793, + "time": 157 + } }, "l28_to_l19": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l28", - "l7", - "l6", - "l4", - "l37", - "l14", - "l13", - "l19" - ], - "start-dir": 3.141592653589793, - "time": 131 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 131 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 131 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 131 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 131 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 131 + } }, "l28_to_l2": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", - 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6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l2" + ], + "start-dir": 3.141592653589793, + "time": 90 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l2" + ], + "start-dir": 3.141592653589793, + "time": 90 + } }, "l28_to_l21": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l28", - "l7", - "l6", - "l4", - "l37", - "l14", - "l15", - "l21" - ], - "start-dir": 3.141592653589793, - "time": 174 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 174 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 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MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 174 + } }, "l28_to_l22": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l28", - "l7", - "l6", - "l4", - "l37", - "l14", - "l15", - "l21", - "l22" - ], - "start-dir": 3.141592653589793, - "time": 179 + "amcl-kinect": 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-40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 179 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 179 + }, + "mrpt-kinect": { + 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-40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 179 + } }, "l28_to_l23": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l28", - "l7", - "l6", - "l4", - "l37", - "l14", - "l15", - "l21", - "l22", - "l23" - ], - 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MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l28", - "l7", - "l6", - "l4", - "l37", - "l14", - "l15", - "l21", - "l22", - "l23", - "l24" - ], - "start-dir": 3.141592653589793, - "time": 196 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 3.141592653589793, + "time": 196 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + 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MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 3.141592653589793, + "time": 196 + } }, "l28_to_l25": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l28", - "l7", - "l6", - "l8", - "l9", - "l10", - "l25" - ], - "start-dir": 3.141592653589793, - "time": 108 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l8", + "l9", + "l10", + "l25" + ], + "start-dir": 3.141592653589793, + "time": 108 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", 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end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l8", + "l9", + "l10", + "l25" + ], + "start-dir": 3.141592653589793, + "time": 108 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l8", + "l9", + "l10", + "l25" + ], + "start-dir": 3.141592653589793, + "time": 108 + } }, "l28_to_l26": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 6)::\nV(6, do 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"l43" + ], + "start-dir": 3.141592653589793, + "time": 183 + } }, "l28_to_l44": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(47.84, -4.11, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l28", - "l7", - "l6", - "l8", - "l9", - "l56", - "l55", - "l48", - "l47", - "l46", - "l45", - "l44" - ], - "start-dir": 3.141592653589793, - "time": 180 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 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then 10)::\nV(10, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(47.84, -4.11, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46", + "l45", + "l44" + ], + "start-dir": 3.141592653589793, + "time": 180 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(47.84, -4.11, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", 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9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(47.84, 0.00, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46", + "l45" + ], + "start-dir": 3.141592653589793, + "time": 171 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(47.84, 0.00, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + 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then 10)::\nV(10, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46" + ], + "start-dir": 3.141592653589793, + "time": 151 + } }, "l28_to_l47": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l28", - "l7", - "l6", - "l8", - "l9", - "l56", - "l55", - "l48", - "l47" - ], - "start-dir": 3.141592653589793, - "time": 126 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": 3.141592653589793, + "time": 126 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + 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4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": 3.141592653589793, + "time": 126 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l8", + 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3)::\nV(3, end)::\nnil)", + "path": [ + "l28", + "l36", + "l5" + ], + "start-dir": -1.574594845385384, + "time": 50 + } }, "l28_to_l50": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 10.76, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l28", - "l7", - "l6", - "l8", - "l9", - "l56", - "l55", - "l48", - "l49", - "l50" - ], - "start-dir": 3.141592653589793, - "time": 133 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 10.76, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l49", + "l50" + ], + "start-dir": 3.141592653589793, + "time": 133 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 8)::\nV(8, do 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MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 10.76, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l49", + "l50" + ], + "start-dir": 3.141592653589793, + "time": 133 + } }, "l28_to_l51": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 10)::\nV(10, 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8)::\nV(8, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l8", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": 3.141592653589793, + "time": 162 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + 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MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l8", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": 3.141592653589793, + "time": 162 + } }, "l28_to_l53": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(38.97, 12.92, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(38.97, 8.38, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l28", - "l7", - "l6", - "l8", - "l9", - "l10", - "l25", - "l26", - "l27", - "l51", - "l52", - "l53" - ], - "start-dir": 3.141592653589793, - "time": 171 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(38.97, 12.92, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(38.97, 8.38, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l8", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52", + "l53" + ], + "start-dir": 3.141592653589793, + "time": 171 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(38.97, 12.92, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(38.97, 8.38, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l8", + "l9", + "l10", + "l25", + "l26", + "l27", + 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4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(38.97, 12.92, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(38.97, 8.38, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l28", + "l7", + "l6", + "l8", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52", + "l53" + ], + "start-dir": 3.141592653589793, + "time": 171 + } }, "l28_to_l54": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 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3.141592653589793, + "time": 141 + } }, "l29_to_l14": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l29", - "l28", - "l7", - "l6", - "l4", - "l37", - "l14" - ], - "start-dir": 3.141592653589793, - "time": 137 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l29", + "l28", + 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7)::\nV(7, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14" + ], + "start-dir": 3.141592653589793, + "time": 137 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14" + ], + "start-dir": 3.141592653589793, + "time": 137 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14" + ], + "start-dir": 3.141592653589793, + "time": 137 + } }, "l29_to_l15": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l29", - "l28", - "l7", - "l6", - "l4", - "l37", - "l14", - "l15" - ], - "start-dir": 3.141592653589793, - "time": 173 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l15" + ], + "start-dir": 3.141592653589793, + "time": 173 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l15" + ], + "start-dir": 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-1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l15" + ], + "start-dir": 3.141592653589793, + "time": 173 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l15" + ], + "start-dir": 3.141592653589793, + "time": 173 + } }, "l29_to_l16": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l29", - "l28", - "l7", - "l6", - "l4", - "l37", - "l14", - "l15", - "l16" - ], - "start-dir": 3.141592653589793, - "time": 182 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l16" + ], + "start-dir": 3.141592653589793, + "time": 182 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l16" + ], + "start-dir": 3.141592653589793, + "time": 182 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l16" + ], + "start-dir": 3.141592653589793, + "time": 182 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l16" + ], + "start-dir": 3.141592653589793, + "time": 182 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l16" + ], + "start-dir": 3.141592653589793, + "time": 182 + } }, "l29_to_l17": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l29", - "l28", - "l7", - "l6", - "l4", - "l37", - "l14", - "l13", - "l19", - "l18", - "l17" - ], - "start-dir": 3.141592653589793, - "time": 182 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": 3.141592653589793, + "time": 182 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": 3.141592653589793, + "time": 182 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": 3.141592653589793, + "time": 182 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": 3.141592653589793, + "time": 182 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": 3.141592653589793, + "time": 182 + } }, "l29_to_l18": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l29", - "l28", - "l7", - "l6", - "l4", - "l37", - "l14", - "l13", - "l19", - "l18" - ], - "start-dir": 3.141592653589793, - "time": 176 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l13", + "l19", + "l18" + ], + "start-dir": 3.141592653589793, + "time": 176 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l13", + "l19", + "l18" + ], + "start-dir": 3.141592653589793, + "time": 176 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l13", + "l19", + "l18" + ], + "start-dir": 3.141592653589793, + "time": 176 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l13", + "l19", + "l18" + ], + "start-dir": 3.141592653589793, + "time": 176 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l13", + "l19", + "l18" + ], + "start-dir": 3.141592653589793, + "time": 176 + } }, "l29_to_l19": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l29", - "l28", - "l7", - "l6", - "l4", - "l37", - "l14", - "l13", - "l19" - ], - "start-dir": 3.141592653589793, - "time": 150 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 150 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 150 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 150 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 150 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 150 + } }, "l29_to_l2": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l29", - "l28", - "l7", - "l6", - "l8", - "l9", - "l56", - "l2" - ], - "start-dir": 3.141592653589793, - "time": 109 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l2" + ], + "start-dir": 3.141592653589793, + "time": 109 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l2" + ], + "start-dir": 3.141592653589793, + "time": 109 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l2" + ], + "start-dir": 3.141592653589793, + "time": 109 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l2" + ], + "start-dir": 3.141592653589793, + "time": 109 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l2" + ], + "start-dir": 3.141592653589793, + "time": 109 + } }, "l29_to_l21": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l29", - "l28", - "l7", - "l6", - "l4", - "l37", - "l14", - "l15", - "l21" - ], - "start-dir": 3.141592653589793, - "time": 193 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 193 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 193 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 193 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 193 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 193 + } }, "l29_to_l22": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l29", - "l28", - "l7", - "l6", - "l4", - "l37", - "l14", - "l15", - "l21", - "l22" - ], - "start-dir": 3.141592653589793, - "time": 198 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 198 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 198 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 198 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 198 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 198 + } }, "l29_to_l23": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l29", - "l28", - "l7", - "l6", - "l4", - "l37", - "l14", - "l15", - "l21", - "l22", - "l23" - ], - "start-dir": 3.141592653589793, - "time": 208 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 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MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l29", - "l28", - "l7", - "l6", - "l4", - "l37", - "l14", - "l15", - "l21", - "l22", - "l23", - "l24" - ], - "start-dir": 3.141592653589793, - "time": 215 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-2.43, 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MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l29", + "l30", + "l31", + "l32", + "l33", + "l34", + "l35", + "l10", + "l25" + ], + "start-dir": 1.5707963267948966, + "time": 118 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-21.08, 23.03, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-21.08, 16.49, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-14.32, 16.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l29", + "l30", + "l31", + "l32", + "l33", + "l34", + "l35", + "l10", + "l25" + ], + "start-dir": 1.5707963267948966, + "time": 118 + }, + 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6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -14.87, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(24.97, -14.87, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(39.24, -14.87, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l8", + "l3", + "l1", + "l39", + "l40", + "l43" + ], + "start-dir": 3.141592653589793, + "time": 202 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -14.87, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(24.97, -14.87, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(39.24, -14.87, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l29", + 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MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(47.84, -4.11, 0.68, -1.5708) then 13)::\nV(13, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46", + "l45", + "l44" + ], + "start-dir": 3.141592653589793, + "time": 199 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(47.84, -4.11, 0.68, -1.5708) then 13)::\nV(13, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46", + "l45", + "l44" + ], + "start-dir": 3.141592653589793, + "time": 199 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(47.84, -4.11, 0.68, -1.5708) then 13)::\nV(13, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46", + "l45", + "l44" + ], + "start-dir": 3.141592653589793, + "time": 199 + } }, "l29_to_l45": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(47.84, 0.00, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l29", - "l28", - "l7", - "l6", - "l8", - "l9", - "l56", - "l55", - "l48", - "l47", - "l46", - "l45" - ], - "start-dir": 3.141592653589793, - "time": 191 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(47.84, 0.00, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46", + "l45" + ], + "start-dir": 3.141592653589793, + "time": 191 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(47.84, 0.00, 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-1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(47.84, 0.00, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46", + "l45" + ], + "start-dir": 3.141592653589793, + "time": 191 + } }, "l29_to_l46": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l29", - "l28", - "l7", - "l6", - "l8", - "l9", - "l56", - "l55", - "l48", - "l47", - "l46" - ], - "start-dir": 3.141592653589793, - "time": 170 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46" + ], + "start-dir": 3.141592653589793, + "time": 170 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l29", + "l28", 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then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46" + ], + "start-dir": 3.141592653589793, + "time": 170 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46" + ], + "start-dir": 3.141592653589793, + "time": 170 + } }, "l29_to_l47": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l29", - "l28", - "l7", - "l6", - "l8", - "l9", - "l56", - "l55", - "l48", - "l47" - ], - "start-dir": 3.141592653589793, - "time": 145 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": 3.141592653589793, + "time": 145 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, 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0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": 3.141592653589793, + "time": 145 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": 3.141592653589793, + "time": 145 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": 3.141592653589793, + "time": 145 + } }, "l29_to_l48": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l29", - "l28", - "l7", - "l6", - "l8", - "l9", - "l56", - "l55", - "l48" - ], - "start-dir": 3.141592653589793, - "time": 133 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48" + ], + "start-dir": 3.141592653589793, + "time": 133 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48" + ], + "start-dir": 3.141592653589793, + "time": 133 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48" + ], + "start-dir": 3.141592653589793, + "time": 133 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48" + ], + "start-dir": 3.141592653589793, + "time": 133 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48" + ], + "start-dir": 3.141592653589793, + "time": 133 + } }, "l29_to_l49": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do 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"start-dir": 3.141592653589793, + "time": 68 + } }, "l29_to_l50": { - "instructions": "P(V(1, do MoveAbsH(-21.08, 23.03, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-21.08, 16.49, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-14.32, 16.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(28.00, 10.76, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l29", - "l30", - "l31", - "l32", - "l33", - "l34", - "l35", - "l10", - "l25", - "l26", - "l50" - ], - "start-dir": 1.5707963267948966, - "time": 150 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-21.08, 23.03, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-21.08, 16.49, 0.68, 0.0000) then 3)::\nV(3, 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MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(14.87, -7.84, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(24.97, -7.84, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l2", + "l59", + "l58", + "l57" + ], + "start-dir": 3.141592653589793, + "time": 164 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 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0.0000) then 8)::\nV(8, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(14.87, -7.84, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l2", + "l59", + "l58" + ], + "start-dir": 3.141592653589793, + "time": 145 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(14.87, -7.84, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l2", + "l59", + "l58" + ], + "start-dir": 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0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(14.87, -7.84, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l29", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l2", + "l59", + "l58" + ], + "start-dir": 3.141592653589793, + "time": 145 + } }, "l29_to_l59": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(14.87, 0.00, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", - "path": [ - 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4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": -1.5707963267948966, + "time": 96 + } }, "l2_to_l17": { - "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 4)::\nV(4, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l2", - "l1", - "l39", - "l13", - "l19", - "l18", - "l17" - ], - "start-dir": -1.5707963267948966, - "time": 89 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 4)::\nV(4, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l2", + "l1", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": -1.5707963267948966, + "time": 89 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 4)::\nV(4, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l2", + "l1", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": -1.5707963267948966, + "time": 89 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, 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3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 4)::\nV(4, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l2", + "l1", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": -1.5707963267948966, + "time": 82 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 4)::\nV(4, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l2", + "l1", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": -1.5707963267948966, + "time": 82 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 4)::\nV(4, do 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then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": -1.5707963267948966, + "time": 108 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": -1.5707963267948966, + "time": 108 + } }, "l2_to_l22": { - "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l2", - "l1", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22" - ], - "start-dir": -1.5707963267948966, - "time": 113 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": -1.5707963267948966, + "time": 113 + 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-52.22, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": -1.5707963267948966, + "time": 113 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": -1.5707963267948966, + "time": 113 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": -1.5707963267948966, + "time": 113 + } }, "l2_to_l23": { - "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l2", - "l1", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22", - "l23" - ], - "start-dir": -1.5707963267948966, - "time": 123 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": -1.5707963267948966, + "time": 123 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": -1.5707963267948966, + "time": 123 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": -1.5707963267948966, + "time": 123 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": -1.5707963267948966, + "time": 123 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": -1.5707963267948966, + "time": 123 + } }, "l2_to_l24": { - "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l2", - "l1", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22", - "l23", - "l24" - ], - "start-dir": -1.5707963267948966, - "time": 129 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": -1.5707963267948966, + "time": 129 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 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MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l2", + "l56", + "l9", + "l10", + "l25", + "l26" + ], + "start-dir": 0.0, + "time": 75 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l2", + "l56", + "l9", + "l10", + "l25", + "l26" + ], + "start-dir": 0.0, + "time": 75 + } }, "l2_to_l27": { - "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l2", - "l56", - "l9", - "l10", - "l25", - "l26", - "l27" - ], - "start-dir": 0.0, - "time": 97 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": 0.0, + "time": 97 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": 0.0, + "time": 97 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": 0.0, + "time": 97 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": 0.0, + "time": 97 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": 0.0, + "time": 97 + } }, "l2_to_l28": { - "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-33.03, 10.27, 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then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l2", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33" + ], + "start-dir": 0.0, + "time": 69 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l2", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33" + ], + "start-dir": 0.0, + "time": 69 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 20.00, 0.68, 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3.141592653589793, + "time": 190 + } }, "l30_to_l13": { - "instructions": "P(V(1, do MoveAbsH(-21.08, 16.49, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-14.32, 16.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -20.97, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l30", - "l31", - "l32", - "l33", - "l34", - "l8", - "l3", - "l1", - "l39", - "l13" - ], - "start-dir": 3.141592653589793, - "time": 136 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-21.08, 16.49, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-14.32, 16.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -20.97, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l30", + "l31", + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13" + ], + "start-dir": 3.141592653589793, + "time": 136 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-21.08, 16.49, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-14.32, 16.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -20.97, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l30", + "l31", + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13" + ], + "start-dir": 3.141592653589793, + "time": 136 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-21.08, 16.49, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-14.32, 16.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -20.97, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l30", + "l31", + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13" + ], + "start-dir": 3.141592653589793, + "time": 136 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-21.08, 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MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -20.97, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l30", + "l31", + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13" + ], + "start-dir": 3.141592653589793, + "time": 136 + } }, "l30_to_l14": { - "instructions": "P(V(1, do MoveAbsH(-21.08, 16.49, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-14.32, 16.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l30", - "l31", - "l32", - "l33", - "l34", - "l8", - "l3", - "l1", - "l39", - "l13", - "l14" - ], - "start-dir": 3.141592653589793, - "time": 141 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-21.08, 16.49, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-14.32, 16.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l30", + "l31", + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14" + ], + "start-dir": 3.141592653589793, + "time": 141 + }, + "amcl-lidar": { + 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20.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l30", + "l31", + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14" + ], + "start-dir": 3.141592653589793, + "time": 141 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-21.08, 16.49, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-14.32, 16.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l30", + "l31", + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14" + ], + "start-dir": 3.141592653589793, + "time": 141 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-21.08, 16.49, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-14.32, 16.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l30", + "l31", + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14" + ], + "start-dir": 3.141592653589793, + "time": 141 + } }, "l30_to_l15": { - "instructions": "P(V(1, do MoveAbsH(-21.08, 16.49, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-14.32, 16.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l30", - "l31", - "l32", - "l33", - "l34", - "l8", - "l3", - "l1", - "l39", - "l13", - "l14", - "l15" - ], - "start-dir": 3.141592653589793, - "time": 177 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-21.08, 16.49, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-14.32, 16.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l30", + "l31", + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": 3.141592653589793, + "time": 177 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-21.08, 16.49, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-14.32, 16.49, 0.68, 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then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 10)::\nV(10, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l30", + "l31", + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 145 + } }, "l30_to_l2": { - "instructions": "P(V(1, do MoveAbsH(-21.08, 16.49, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-14.32, 16.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 20.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ 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then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 14)::\nV(14, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 15)::\nV(15, end)::\nnil)", + "path": [ + "l30", + "l31", + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 3.141592653589793, + "time": 212 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-21.08, 16.49, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-14.32, 16.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 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do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l30", + "l31", + "l32", + "l33", + "l34", + "l35", + "l10", + "l9", + "l56" + ], + "start-dir": 3.141592653589793, + "time": 91 + } }, "l30_to_l57": { - "instructions": "P(V(1, do MoveAbsH(-21.08, 16.49, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-14.32, 16.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 20.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(14.87, -7.84, 0.68, 0.0000) then 12)::\nV(12, do 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MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(14.87, -7.84, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l30", + "l31", + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l2", + "l59", + "l58" + ], + "start-dir": 3.141592653589793, + "time": 139 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-21.08, 16.49, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-14.32, 16.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 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MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 9)::\nV(9, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l31", + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": 1.5707963267948966, + "time": 158 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 16.49, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 9)::\nV(9, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l31", + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": 1.5707963267948966, + "time": 158 + } }, "l31_to_l19": { - "instructions": "P(V(1, do MoveAbsH(-14.32, 16.49, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 9)::\nV(9, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l31", - "l32", - "l33", - "l34", - "l8", - "l3", - "l1", - "l39", - "l13", - "l19" - ], - "start-dir": 1.5707963267948966, - "time": 132 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 16.49, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 9)::\nV(9, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l31", + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": 1.5707963267948966, + "time": 132 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 16.49, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 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MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 12)::\nV(12, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 13)::\nV(13, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 14)::\nV(14, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 15)::\nV(15, end)::\nnil)", + "path": [ + "l31", + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 1.5707963267948966, + "time": 205 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 16.49, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 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then 7)::\nV(7, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(51.89, 16.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(51.89, 0.00, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l35", + "l10", + "l25", + "l26", + "l27", + "l11", + "l12" + ], + "start-dir": 0.0, + "time": 164 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(51.89, 16.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(51.89, 0.00, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l35", + "l10", + "l25", + "l26", + "l27", + 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then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13" + ], + "start-dir": 0.0, + "time": 109 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13" + ], + "start-dir": 0.0, + "time": 109 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 4)::\nV(4, do 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3.1416) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l32", - "l33", - "l34", - "l8", - "l3", - "l1", - "l39", - "l13", - "l14" - ], - "start-dir": 0.0, - "time": 114 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14" + ], + "start-dir": 0.0, + "time": 114 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14" + ], + "start-dir": 0.0, + "time": 114 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14" + ], + "start-dir": 0.0, + "time": 114 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14" + ], + "start-dir": 0.0, + "time": 114 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14" + ], + "start-dir": 0.0, + "time": 114 + } }, "l32_to_l15": { - "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l32", - "l33", - "l34", - "l8", 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then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": 0.0, + "time": 150 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": 0.0, + "time": 150 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": 0.0, + "time": 150 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": 0.0, + "time": 150 + } }, "l32_to_l16": { - "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l32", - "l33", - "l34", - "l8", - "l3", - "l1", - "l39", - "l13", - "l14", - "l15", - "l16" - ], - "start-dir": 0.0, - "time": 159 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": 0.0, + "time": 159 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": 0.0, + "time": 159 + 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MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": 0.0, + "time": 159 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do 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then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": 0.0, + "time": 145 + } }, "l32_to_l19": { - "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l32", - "l33", - "l34", - "l8", - "l3", - "l1", - "l39", - "l13", - "l19" - ], - "start-dir": 0.0, - "time": 119 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 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8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": 0.0, + "time": 119 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": 0.0, + "time": 119 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": 0.0, + "time": 119 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": 0.0, + "time": 119 + } }, "l32_to_l2": { - "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l32", - "l33", - "l34", - "l35", - "l10", - "l9", - "l56", - "l2" - ], - "start-dir": 0.0, - "time": 76 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l35", + "l10", + "l9", + "l56", + "l2" + ], + "start-dir": 0.0, + "time": 76 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l35", + "l10", + "l9", + "l56", + "l2" + ], + "start-dir": 0.0, + "time": 76 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 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5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 0.0, + "time": 171 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, 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6)::\nV(6, do MoveAbsH(28.00, 16.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(28.00, 10.76, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l35", + "l10", + "l25", + "l26", + "l50" + ], + "start-dir": 0.0, + "time": 102 + } }, "l32_to_l51": { - "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l32", - "l33", - "l34", - "l35", - "l10", - "l25", - "l26", - "l27", - "l51" - ], - "start-dir": 0.0, - "time": 121 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 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MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l35", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": 0.0, + "time": 125 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l35", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": 0.0, + "time": 125 + }, + "mrpt-kinect": { + 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then 6)::\nV(6, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l35", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": 0.0, + "time": 125 + } }, "l32_to_l53": { - "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(38.97, 12.92, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(38.97, 8.38, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l32", - "l33", - "l34", - "l35", - "l10", - "l25", - "l26", - "l27", - "l51", - "l52", - "l53" - ], - "start-dir": 0.0, - "time": 134 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(38.97, 12.92, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(38.97, 8.38, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l35", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52", + "l53" + ], + "start-dir": 0.0, + "time": 134 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(38.97, 12.92, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(38.97, 8.38, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l35", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52", + "l53" + ], + "start-dir": 0.0, + "time": 134 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(38.97, 12.92, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(38.97, 8.38, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l35", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52", + "l53" + ], + "start-dir": 0.0, + "time": 134 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(38.97, 12.92, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(38.97, 8.38, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l35", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52", + "l53" + ], + "start-dir": 0.0, + "time": 134 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(38.97, 12.92, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(38.97, 8.38, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l35", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52", + "l53" + ], + "start-dir": 0.0, + "time": 134 + } }, "l32_to_l54": { - "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(38.97, 12.92, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(38.97, 8.38, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(36.27, 8.38, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l32", - "l33", - "l34", - "l35", - "l10", - "l25", - "l26", - "l27", - "l51", - "l52", - "l53", - "l54" - ], - "start-dir": 0.0, - "time": 139 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 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0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(38.97, 12.92, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(38.97, 8.38, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(36.27, 8.38, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l35", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52", + "l53", + "l54" + ], + "start-dir": 0.0, + "time": 139 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(38.97, 12.92, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(38.97, 8.38, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(36.27, 8.38, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l35", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52", + "l53", + "l54" + ], + "start-dir": 0.0, + "time": 139 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(38.97, 12.92, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(38.97, 8.38, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(36.27, 8.38, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l35", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52", + "l53", + "l54" + ], + "start-dir": 0.0, + "time": 139 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(38.97, 12.92, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(38.97, 8.38, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(36.27, 8.38, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l32", + "l33", + 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-1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l35", + "l10", + "l9", + "l56", + "l55" + ], + "start-dir": 0.0, + "time": 89 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l35", + "l10", + "l9", + "l56", + "l55" + ], + "start-dir": 0.0, + "time": 89 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l35", + "l10", + "l9", + "l56", + "l55" + ], + "start-dir": 0.0, + "time": 89 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-14.32, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 20.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l32", + "l33", + "l34", + "l35", + "l10", + "l9", + "l56", + "l55" + ], + "start-dir": 0.0, + "time": 89 + }, + 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5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": 1.5707963267948966, + "time": 143 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + 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MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": 1.5707963267948966, + "time": 143 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + 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then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": 1.5707963267948966, + "time": 152 + } }, "l33_to_l17": { - "instructions": "P(V(1, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", - "path": [ - 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MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": 1.5707963267948966, + "time": 138 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l19", + "l18" + ], + 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-14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l33", - "l34", - "l8", - "l3", - "l1", - "l39", - "l13", - "l19" - ], - "start-dir": 1.5707963267948966, - "time": 112 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": 1.5707963267948966, + "time": 112 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 2),\nV(2, do 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"l13", + "l19" + ], + "start-dir": 1.5707963267948966, + "time": 112 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": 1.5707963267948966, + "time": 112 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": 1.5707963267948966, + "time": 112 + } }, "l33_to_l2": { - "instructions": "P(V(1, do MoveAbsH(-6.22, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l33", - "l34", - "l35", - "l10", - "l9", - "l56", - "l2" - ], - "start-dir": 1.5707963267948966, - "time": 69 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l33", + "l34", + "l35", + "l10", + "l9", + "l56", + "l2" + ], + "start-dir": 1.5707963267948966, + "time": 69 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l33", + "l34", + "l35", + "l10", + "l9", + "l56", + "l2" + ], + "start-dir": 1.5707963267948966, + "time": 69 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l33", + "l34", + "l35", + "l10", + "l9", + "l56", + "l2" + ], + "start-dir": 1.5707963267948966, + "time": 69 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l33", + "l34", + "l35", + "l10", + "l9", + "l56", + "l2" + ], + "start-dir": 1.5707963267948966, + "time": 69 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 20.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 20.00, 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3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 1.5707963267948966, + "time": 163 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 1.5707963267948966, + "time": 163 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 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0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l33", - "l34", - "l8", - "l3", - "l1", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22" - ], - "start-dir": 1.5707963267948966, - "time": 168 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l33", + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 1.5707963267948966, + "time": 168 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 20.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + 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MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": 3.141592653589793, + "time": 129 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": 3.141592653589793, + "time": 129 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": 3.141592653589793, + "time": 129 + } }, "l34_to_l16": { - "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 9)::\nV(9, 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-1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": 3.141592653589793, + "time": 138 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l34", + 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MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": 3.141592653589793, + "time": 138 + } }, "l34_to_l17": { - "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 6)::\nV(6, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l34", - "l8", - "l3", - "l1", - 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then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 6)::\nV(6, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": 3.141592653589793, + "time": 130 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 6)::\nV(6, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + 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0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l34", + "l35", + "l10", + "l9", + "l56", + "l2" + ], + "start-dir": 1.5707963267948966, + "time": 55 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 20.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l34", + "l35", + "l10", + "l9", + "l56", + "l2" + ], + "start-dir": 1.5707963267948966, + "time": 55 + } }, "l34_to_l21": { - "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l34", - "l8", - "l3", - "l1", - "l39", - "l13", - "l14", - "l15", - "l21" - ], - "start-dir": 3.141592653589793, - "time": 149 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 149 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 149 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 149 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 149 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 149 + } }, "l34_to_l22": { - "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l34", - "l8", - "l3", - "l1", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22" - ], - "start-dir": 3.141592653589793, - "time": 154 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 154 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 154 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, 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0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 154 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 154 + } }, "l34_to_l23": { - "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l34", - "l8", - "l3", - "l1", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22", - "l23" - ], - "start-dir": 3.141592653589793, - "time": 164 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 3.141592653589793, + "time": 164 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l34", + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 3.141592653589793, + "time": 164 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, 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0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l35", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13" + ], + "start-dir": 3.141592653589793, + "time": 83 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l35", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13" + ], + "start-dir": 3.141592653589793, + "time": 83 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 2),\nV(2, do 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"l35", - "l10", - "l9", - "l56", - "l2", - "l1", - "l39", - "l13", - "l14" - ], - "start-dir": 3.141592653589793, - "time": 88 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l35", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14" + ], + "start-dir": 3.141592653589793, + "time": 88 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l35", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14" + ], + "start-dir": 3.141592653589793, + "time": 88 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l35", + "l10", + "l9", + "l56", + "l2", + "l1", + 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MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l35", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14" + ], + "start-dir": 3.141592653589793, + "time": 88 + } }, "l35_to_l15": { - "instructions": "P(V(1, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l35", - "l10", - "l9", - "l56", - 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6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l35", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": 3.141592653589793, + "time": 124 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l35", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": 3.141592653589793, + "time": 124 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l35", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": 3.141592653589793, + "time": 124 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l35", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": 3.141592653589793, + "time": 124 + } }, "l35_to_l16": { - "instructions": "P(V(1, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l35", - "l10", - "l9", - "l56", - "l2", - "l1", - "l39", - "l13", - "l14", - "l15", - "l16" - ], - "start-dir": 3.141592653589793, - "time": 133 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l35", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": 3.141592653589793, + "time": 133 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l35", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + 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MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(47.84, 0.00, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l35", + "l10", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46", + "l45" + ], + "start-dir": 3.141592653589793, + "time": 119 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(47.84, 0.00, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l35", + "l10", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46", + "l45" + ], + "start-dir": 3.141592653589793, + "time": 119 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) 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do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l35", + "l10", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46" + ], + "start-dir": 3.141592653589793, + "time": 98 + } }, "l35_to_l47": { - "instructions": "P(V(1, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l35", - "l10", - "l9", - "l56", - "l55", - "l48", - "l47" - ], - "start-dir": 3.141592653589793, - "time": 73 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 2),\nV(2, do 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8)::\nV(8, do MoveAbsH(-47.03, 0.00, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l35", + "l10", + "l9", + "l56", + "l2", + "l1", + "l3", + "l4", + "l5" + ], + "start-dir": 3.141592653589793, + "time": 128 + } }, "l35_to_l50": { - "instructions": "P(V(1, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(28.00, 16.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(28.00, 10.76, 0.68, -1.5708) then 5)::\nV(5, end)::\nnil)", - "path": [ - "l35", - "l10", - "l25", - "l26", - "l50" - ], - "start-dir": 3.141592653589793, - "time": 64 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(28.00, 16.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(28.00, 10.76, 0.68, -1.5708) then 5)::\nV(5, end)::\nnil)", + "path": [ + "l35", + "l10", + "l25", + "l26", + "l50" + ], + "start-dir": 3.141592653589793, + 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do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l36", + "l5", + "l4", + "l3", + "l1", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": 3.1237551006762745, + "time": 188 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l36", + "l5", + "l4", + "l3", + "l1", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": 3.1237551006762745, + "time": 188 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l36", + "l5", + "l4", + "l3", + "l1", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": 3.1237551006762745, + "time": 188 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l36", + "l5", + "l4", + "l3", + "l1", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": 3.1237551006762745, + "time": 188 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l36", + "l5", + "l4", + "l3", + "l1", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": 3.1237551006762745, + "time": 188 + } }, "l36_to_l18": { - "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l36", - "l5", - "l4", - "l3", - "l1", - "l39", - "l13", - "l19", - "l18" - ], - "start-dir": 3.1237551006762745, - "time": 181 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l36", + "l5", + "l4", + "l3", + "l1", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": 3.1237551006762745, + "time": 181 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l36", + "l5", + "l4", + "l3", + "l1", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": 3.1237551006762745, + "time": 181 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l36", + "l5", + "l4", + "l3", + "l1", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": 3.1237551006762745, + "time": 181 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l36", + "l5", + "l4", + "l3", + "l1", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": 3.1237551006762745, + "time": 181 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l36", + "l5", + "l4", + "l3", + "l1", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": 3.1237551006762745, + "time": 181 + } }, "l36_to_l19": { - "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l36", - "l5", - "l4", - "l3", - "l1", - "l39", - "l13", - "l19" - ], - "start-dir": 3.1237551006762745, - "time": 155 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l36", + "l5", + "l4", + "l3", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": 3.1237551006762745, + "time": 155 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l36", + "l5", + "l4", + "l3", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": 3.1237551006762745, + "time": 155 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l36", + "l5", + "l4", + "l3", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": 3.1237551006762745, + "time": 155 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l36", + "l5", + "l4", + "l3", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": 3.1237551006762745, + "time": 155 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l36", + "l5", + "l4", + "l3", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": 3.1237551006762745, + "time": 155 + } }, "l36_to_l2": { - "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", - "path": [ - "l36", - "l5", - "l4", - "l3", - "l1", - "l2" - ], - "start-dir": 3.1237551006762745, - "time": 114 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l36", + "l5", + "l4", + "l3", + "l1", + "l2" + ], + "start-dir": 3.1237551006762745, + "time": 114 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l36", + "l5", + "l4", + "l3", + "l1", + "l2" + ], + "start-dir": 3.1237551006762745, + "time": 114 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l36", + "l5", + "l4", + "l3", + "l1", + "l2" + ], + "start-dir": 3.1237551006762745, + "time": 114 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l36", + "l5", + "l4", + "l3", + "l1", + "l2" + ], + "start-dir": 3.1237551006762745, + "time": 114 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l36", + "l5", + "l4", + "l3", + "l1", + "l2" + ], + "start-dir": 3.1237551006762745, + "time": 114 + } }, "l36_to_l21": { - "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 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then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l36", + "l5", + "l4", + "l37", + "l14", + "l15", + "l21" + ], + "start-dir": 3.1237551006762745, + "time": 198 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l36", + "l5", + "l4", + "l37", + "l14", + "l15", + "l21" + ], + "start-dir": 3.1237551006762745, + "time": 198 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 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MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l36", + "l5", + "l4", + "l37", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.1237551006762745, + "time": 203 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l36", + "l5", + "l4", + "l37", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.1237551006762745, + "time": 203 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 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then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l36", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": 1.5669978082044094, + "time": 151 + } }, "l36_to_l48": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l36", - "l28", - "l7", - "l6", - "l8", - "l9", - "l56", - "l55", - "l48" - ], - "start-dir": 1.5669978082044094, - "time": 139 + "amcl-kinect": { + "instructions": "P(V(1, do 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MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l36", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48" + ], + "start-dir": 1.5669978082044094, + "time": 139 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l36", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48" + ], + "start-dir": 1.5669978082044094, + "time": 139 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, 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"l51" + ], + "start-dir": 1.5669978082044094, + "time": 183 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l36", + "l28", + "l7", + "l6", + "l8", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51" + ], + "start-dir": 1.5669978082044094, + "time": 183 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 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do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(36.27, 8.38, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l36", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46", + "l54" + ], + "start-dir": 1.5669978082044094, + "time": 192 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(36.27, 8.38, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l36", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46", + "l54" + ], + "start-dir": 1.5669978082044094, + "time": 192 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(36.27, 8.38, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l36", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46", + "l54" + ], + "start-dir": 1.5669978082044094, + "time": 192 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(36.27, 8.38, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l36", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46", + "l54" + ], + "start-dir": 1.5669978082044094, + "time": 192 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(36.27, 8.38, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l36", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46", + "l54" + ], + "start-dir": 1.5669978082044094, + "time": 192 + } }, "l36_to_l55": { - "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l36", - "l28", - "l7", - "l6", - "l8", - "l9", - "l56", - "l55" - ], - "start-dir": 1.5669978082044094, - "time": 128 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l36", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55" + ], + "start-dir": 1.5669978082044094, + "time": 128 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l36", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55" + ], + "start-dir": 1.5669978082044094, + "time": 128 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l36", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55" + ], + "start-dir": 1.5669978082044094, + "time": 128 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l36", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56", + "l55" + ], + "start-dir": 1.5669978082044094, + "time": 128 + }, + 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-1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l36", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56" + ], + "start-dir": 1.5669978082044094, + "time": 104 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l36", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56" + ], + "start-dir": 1.5669978082044094, + "time": 104 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l36", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56" + ], + "start-dir": 1.5669978082044094, + "time": 104 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-33.03, 12.16, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-33.03, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l36", + "l28", + "l7", + "l6", + "l8", + "l9", + "l56" + ], + "start-dir": 1.5669978082044094, + "time": 104 + } }, "l36_to_l57": { - "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(14.87, -7.84, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(24.97, -7.84, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l36", - "l5", - "l4", - "l3", - "l1", - "l2", - "l59", - "l58", - "l57" - ], - "start-dir": 3.1237551006762745, - "time": 167 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(14.87, -7.84, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(24.97, -7.84, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l36", + "l5", + "l4", + "l3", + "l1", + "l2", + "l59", + "l58", + "l57" + ], + 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6)::\nV(6, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(14.87, -7.84, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(24.97, -7.84, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l36", + "l5", + "l4", + "l3", + "l1", + "l2", + "l59", + "l58", + "l57" + ], + "start-dir": 3.1237551006762745, + "time": 167 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(14.87, -7.84, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(24.97, -7.84, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l36", + "l5", + "l4", + "l3", + "l1", + "l2", + "l59", + "l58", + "l57" + ], + "start-dir": 3.1237551006762745, + "time": 167 + }, + 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"l27", - "l11" - ], - "start-dir": 0.0, - "time": 214 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(51.89, 16.97, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l11" + ], + "start-dir": 0.0, + "time": 214 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do 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MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l37", - "l4", - "l3", - "l1", - "l2", - "l56", - "l55", - "l48", - "l47", - "l46" - ], - "start-dir": 0.0, - "time": 181 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46" + ], + "start-dir": 0.0, + "time": 181 + }, + "amcl-lidar": { + "instructions": "P(V(1, 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then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46" + ], + "start-dir": 0.0, + "time": 181 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46" + ], + 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MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l37", - "l4", - "l3", - "l1", - "l2", - "l56", - "l55", - "l48", - "l47" - ], - "start-dir": 0.0, - "time": 156 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": 0.0, + "time": 156 + }, + 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MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": 0.0, + "time": 156 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": 0.0, + "time": 156 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do 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then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l37", - "l4", - "l3", - "l1", - "l2", - "l56", - "l55", - "l48", - "l49" - ], - "start-dir": 0.0, - "time": 152 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49" + ], + "start-dir": 0.0, + "time": 152 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49" + ], + "start-dir": 0.0, + "time": 152 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49" + ], + "start-dir": 0.0, + "time": 152 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", 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0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-47.03, 0.00, 0.68, 3.1416) then 3)::\nV(3, end)::\nnil)", + "path": [ + "l37", + "l4", + "l5" + ], + "start-dir": 0.0, + "time": 71 + } }, "l37_to_l50": { - "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 10.76, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l37", - "l4", - "l3", - "l1", - "l2", - "l56", - "l55", - "l48", - "l49", - "l50" - ], - "start-dir": 0.0, - "time": 163 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 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MoveAbsH(22.70, 10.76, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49", + "l50" + ], + "start-dir": 0.0, + "time": 163 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 10.76, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49", + "l50" + ], + "start-dir": 0.0, + "time": 163 + }, + "mrpt-kinect": { + "instructions": 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0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 10.76, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49", + "l50" + ], + "start-dir": 0.0, + "time": 163 + } }, "l37_to_l51": { - "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 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"time": 202 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51" + ], + "start-dir": 0.0, + "time": 202 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51" + ], + "start-dir": 0.0, + "time": 202 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51" + ], + "start-dir": 0.0, + "time": 202 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51" + ], + "start-dir": 0.0, + "time": 202 + } }, "l37_to_l52": { - "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 12)::\nV(12, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 13)::\nV(13, end)::\nnil)", - "path": [ - "l37", - "l4", - "l3", - "l1", - "l2", - "l56", - "l9", - "l10", - "l25", - "l26", - "l27", - "l51", - "l52" - ], - "start-dir": 0.0, - "time": 206 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 12)::\nV(12, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 13)::\nV(13, end)::\nnil)", + "path": [ + "l37", 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], + "start-dir": 0.0, + "time": 206 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 12)::\nV(12, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 13)::\nV(13, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": 0.0, + "time": 206 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 12)::\nV(12, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 13)::\nV(13, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": 0.0, + "time": 206 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 12)::\nV(12, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 13)::\nV(13, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": 0.0, + "time": 206 + } }, "l37_to_l53": { - "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(36.27, 8.38, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(38.97, 8.38, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l37", - "l4", - "l3", - "l1", - "l2", - "l56", - "l55", - "l48", - "l47", - "l46", - "l54", - "l53" - ], - "start-dir": 0.0, - "time": 203 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(36.27, 8.38, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(38.97, 8.38, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46", + "l54", + "l53" + ], + "start-dir": 0.0, + "time": 203 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(36.27, 8.38, 0.68, 0.0000) then 11)::\nV(11, do 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0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(36.27, 8.38, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l37", - "l4", - "l3", - "l1", - "l2", - "l56", - "l55", - "l48", - "l47", - "l46", - "l54" - ], - "start-dir": 0.0, - "time": 197 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(36.27, 8.38, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46", + "l54" + ], + "start-dir": 0.0, + "time": 197 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(36.27, 8.38, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46", + "l54" + ], + "start-dir": 0.0, + "time": 197 + }, + 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then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(36.27, 8.38, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46", + "l54" + ], + "start-dir": 0.0, + "time": 197 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(36.27, 8.38, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46", + "l54" + ], + "start-dir": 0.0, + "time": 197 + } }, "l37_to_l55": { - "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l37", - "l4", - "l3", - "l1", - "l2", - "l56", - "l55" - ], - "start-dir": 0.0, - "time": 133 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 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0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55" + ], + "start-dir": 0.0, + "time": 133 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55" + ], + "start-dir": 0.0, + "time": 133 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 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then 6)::\nV(6, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56" + ], + "start-dir": 0.0, + "time": 109 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56" + ], + "start-dir": 0.0, + "time": 109 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l37", + "l4", + "l3", + "l1", + "l2", + "l56" + ], + "start-dir": 0.0, + "time": 109 + 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MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(24.97, -7.84, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l38", + "l24", + "l23", + "l22", + "l21", + "l15", + "l14", + "l13", + "l39", + "l40", + "l57" + ], + "start-dir": 1.5707963267948966, + "time": 231 + } }, "l38_to_l58": { - "instructions": "P(V(1, do MoveAbsH(-47.03, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(14.87, -7.84, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l38", - "l5", - "l4", - "l3", - "l1", - "l2", - "l59", - "l58" - ], - 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7)::\nV(7, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": 0.0, + "time": 132 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": 0.0, + "time": 132 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 2),\nV(2, 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then 6)::\nV(6, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": 0.0, + "time": 124 + } }, "l39_to_l31": { - "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l39", - "l1", - "l3", - "l8", - "l34", - "l33", - "l32", - "l31" - ], - "start-dir": 0.0, - "time": 111 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 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do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 6)::\nV(6, end)::\nnil)", - "path": [ - "l39", - "l1", - "l3", - "l8", - "l34", - "l33" - ], - "start-dir": 0.0, - "time": 91 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": 0.0, + "time": 91 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 5)::\nV(5, do 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then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 20.00, 0.68, 1.5708) then 5)::\nV(5, end)::\nnil)", + "path": [ + "l39", + "l1", + "l3", + "l8", + "l34" + ], + "start-dir": 0.0, + "time": 76 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 20.00, 0.68, 1.5708) then 5)::\nV(5, end)::\nnil)", + "path": [ + "l39", + "l1", + "l3", + "l8", + "l34" + ], + "start-dir": 0.0, + "time": 76 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 20.00, 0.68, 1.5708) then 5)::\nV(5, end)::\nnil)", + "path": [ + "l39", + "l1", + "l3", + "l8", + "l34" + ], + "start-dir": 0.0, + "time": 76 + }, + "mrpt-kinect": 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MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l39", - "l1", - "l2", - "l56", - "l9", - "l10", - "l35" - ], - "start-dir": 0.0, - "time": 71 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": 0.0, + "time": 71 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do 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then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(22.70, 10.76, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49", + "l50" + ], + "start-dir": 0.0, + "time": 101 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(22.70, 10.76, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49", 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MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49", + "l50" + ], + "start-dir": 0.0, + "time": 101 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(22.70, 10.76, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l39", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49", + "l50" + ], + "start-dir": 0.0, + "time": 101 + } }, "l39_to_l51": { - "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l39", - "l1", - "l2", - "l56", - "l9", - "l10", - "l25", - "l26", - "l27", - "l51" - ], - "start-dir": 0.0, - "time": 140 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51" + ], + "start-dir": 0.0, + "time": 140 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51" + ], + "start-dir": 0.0, + "time": 140 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) 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MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51" + ], + "start-dir": 0.0, + "time": 140 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51" + ], + "start-dir": 0.0, + "time": 140 + } }, "l39_to_l52": { - 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5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": 0.0, + "time": 144 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": 0.0, + "time": 144 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": 0.0, + "time": 144 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": 0.0, + "time": 144 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l39", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": 0.0, + "time": 144 + } }, "l39_to_l53": { - "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 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3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 1.5707963267948966, + "time": 116 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 1.5707963267948966, + "time": 116 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 1.5707963267948966, + "time": 116 + } }, "l3_to_l23": { - "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l3", - "l1", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22", - "l23" - ], - "start-dir": 1.5707963267948966, - "time": 127 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 1.5707963267948966, + "time": 127 + }, + "amcl-lidar": { + 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0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 1.5707963267948966, + "time": 127 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 1.5707963267948966, + "time": 127 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 1.5707963267948966, + "time": 127 + } }, "l3_to_l24": { - "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l3", - "l1", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22", - "l23", - "l24" - ], - "start-dir": 1.5707963267948966, - "time": 133 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 1.5707963267948966, + "time": 133 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 1.5707963267948966, + "time": 133 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 1.5707963267948966, + "time": 133 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 1.5707963267948966, + "time": 133 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 1.5707963267948966, + "time": 133 + } }, "l3_to_l25": { - "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l3", - "l1", - "l2", - "l56", - "l9", - "l10", - "l25" - ], - "start-dir": 1.5707963267948966, - "time": 74 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l3", + "l1", + "l2", + "l56", + "l9", + "l10", + 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"l56", + "l9", + "l10", + "l25" + ], + "start-dir": 1.5707963267948966, + "time": 74 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l3", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25" + ], + "start-dir": 1.5707963267948966, + "time": 74 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": 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then 6)::\nV(6, end)::\nnil)", + "path": [ + "l3", + "l1", + "l2", + "l56", + "l55", + "l48" + ], + "start-dir": 1.5707963267948966, + "time": 66 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l3", + "l1", + "l2", + "l56", + "l55", + "l48" + ], + "start-dir": 1.5707963267948966, + "time": 66 + } }, "l3_to_l49": { - "instructions": "P(V(1, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", - "path": [ - 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"l22", + "l23" + ], + "start-dir": -1.5707963267948966, + "time": 135 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": -1.5707963267948966, + "time": 135 + } }, "l40_to_l24": { - "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l40", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22", - "l23", - "l24" - ], - "start-dir": -1.5707963267948966, - "time": 141 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": -1.5707963267948966, + 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6)::\nV(6, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": -1.5707963267948966, + "time": 141 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": -1.5707963267948966, 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6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l40", - "l57", - "l58", - "l59", - "l2", - "l56", - "l9", - "l10", - "l25" - ], - "start-dir": 0.0, - "time": 124 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(24.97, -7.84, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l40", + "l57", + "l58", + "l59", + "l2", + "l56", + "l9", + "l10", + "l25" + ], + "start-dir": 0.0, + "time": 124 + }, + "amcl-lidar": { + "instructions": "P(V(1, 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8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l40", + "l57", + "l58", + "l59", + "l2", + "l56", + "l9", + "l10", + "l25" + ], + "start-dir": 0.0, + "time": 124 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(24.97, -7.84, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l40", + "l57", + "l58", + "l59", + "l2", + "l56", + "l9", + "l10", + "l25" + ], + "start-dir": 0.0, + "time": 124 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(24.97, -7.84, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l40", + "l57", + "l58", + "l59", + "l2", + "l56", + "l9", + "l10", + "l25" + ], + "start-dir": 0.0, + "time": 124 + } }, "l40_to_l26": { - "instructions": "P(V(1, do MoveAbsH(24.97, -7.84, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 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0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l40", + "l57", + "l58", + "l59", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26" + ], + "start-dir": 0.0, + "time": 144 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(24.97, -7.84, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l40", + "l57", + "l58", + "l59", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26" + ], + "start-dir": 0.0, + "time": 144 + }, + 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1.5708) then 6)::\nV(6, do MoveAbsH(51.89, 16.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l40", - "l43", - "l42", - "l44", - "l45", - "l12", - "l11", - "l27" - ], - "start-dir": 1.5707963267948966, - "time": 131 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(39.24, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(47.84, -4.11, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(47.84, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(51.89, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(51.89, 16.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l40", + "l43", + "l42", + "l44", + "l45", + "l12", + "l11", + "l27" + ], + "start-dir": 1.5707963267948966, + "time": 131 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(39.24, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(39.24, 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], + "start-dir": 1.5707963267948966, + "time": 131 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(39.24, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(47.84, -4.11, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(47.84, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(51.89, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(51.89, 16.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l40", + "l43", + "l42", + "l44", + "l45", + "l12", + "l11", + "l27" + ], + "start-dir": 1.5707963267948966, + "time": 131 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(39.24, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(47.84, -4.11, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(47.84, 0.00, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(51.89, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(51.89, 16.97, 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}, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l40", + "l39", + "l1", + "l3", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": -1.5707963267948966, + "time": 157 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l40", + "l39", + "l1", + "l3", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": -1.5707963267948966, + "time": 157 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l40", + "l39", + "l1", + "l3", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": -1.5707963267948966, + "time": 157 + } }, "l40_to_l29": { - "instructions": "P(V(1, do MoveAbsH(24.97, -7.84, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l40", - "l57", - "l58", - "l59", - "l2", - "l1", - "l3", - "l8", - "l6", - "l7", - "l28", - "l29" - ], - "start-dir": 0.0, - "time": 177 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(24.97, -7.84, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l40", + "l57", + "l58", + "l59", + "l2", + "l1", + "l3", + "l8", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": 0.0, + "time": 177 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(24.97, -7.84, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l40", + "l57", + "l58", + "l59", + "l2", + "l1", + "l3", + "l8", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": 0.0, + "time": 177 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(24.97, -7.84, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l40", + "l57", + "l58", + "l59", + "l2", + 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then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": -1.5707963267948966, + "time": 170 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", 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0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": -1.5707963267948966, + "time": 157 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": 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7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": -1.5707963267948966, + "time": 144 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": -1.5707963267948966, + "time": 144 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": -1.5707963267948966, + "time": 144 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": -1.5707963267948966, + "time": 144 + }, + 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then 7)::\nV(7, end)::\nnil)", + "path": [ + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 137 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 137 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 137 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 137 + } }, "l40_to_l34": { - "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", - "path": [ - "l40", - "l39", - "l1", - "l3", - "l8", - "l34" - ], - "start-dir": -1.5707963267948966, - "time": 122 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l40", + "l39", + "l1", + "l3", + "l8", + "l34" + ], + "start-dir": -1.5707963267948966, + "time": 122 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l40", + "l39", + "l1", + "l3", + "l8", + "l34" + ], + "start-dir": -1.5707963267948966, + "time": 122 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l40", + "l39", + "l1", + "l3", + "l8", + "l34" + ], + "start-dir": -1.5707963267948966, + "time": 122 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l40", + "l39", + "l1", + "l3", + "l8", + "l34" + ], + "start-dir": -1.5707963267948966, + "time": 122 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l40", + "l39", + "l1", + "l3", + "l8", + "l34" + ], + "start-dir": -1.5707963267948966, + "time": 122 + } }, "l40_to_l35": { - "instructions": "P(V(1, do MoveAbsH(24.97, -7.84, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l40", - "l57", - "l58", - "l59", - "l2", - "l56", - "l9", - "l10", - "l35" - ], - "start-dir": 0.0, - "time": 105 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(24.97, -7.84, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l40", + "l57", + "l58", + "l59", + "l2", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": 0.0, + "time": 105 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(24.97, -7.84, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l40", + "l57", + "l58", + "l59", + "l2", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": 0.0, + "time": 105 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(24.97, -7.84, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l40", + "l57", + "l58", + "l59", + "l2", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": 0.0, + "time": 105 + }, + 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-1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-47.03, -57.57, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24", + "l38" + ], + "start-dir": -1.5707963267948966, + "time": 218 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-47.03, -57.57, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24", + "l38" + ], + "start-dir": -1.5707963267948966, + "time": 218 + } }, "l40_to_l39": { - "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 3.1416) then 2),\nV(2, end)::\nnil)", - "path": [ - "l40", - "l39" - ], - "start-dir": -1.5707963267948966, - "time": 46 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 3.1416) then 2),\nV(2, end)::\nnil)", + "path": [ + "l40", + "l39" + ], + "start-dir": -1.5707963267948966, + "time": 46 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 3.1416) then 2),\nV(2, end)::\nnil)", + "path": [ + "l40", + "l39" + ], + "start-dir": -1.5707963267948966, + "time": 46 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 3.1416) then 2),\nV(2, end)::\nnil)", + "path": [ + "l40", + "l39" + ], + "start-dir": 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0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-47.03, 0.00, 0.68, 3.1416) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l40", + "l39", + "l1", + "l3", + "l4", + "l5" + ], + "start-dir": -1.5707963267948966, + "time": 157 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-47.03, 0.00, 0.68, 3.1416) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l40", + "l39", + "l1", + "l3", + "l4", + "l5" + ], + "start-dir": -1.5707963267948966, + "time": 157 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-47.03, 0.00, 0.68, 3.1416) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l40", + "l39", + "l1", + "l3", + "l4", + "l5" + ], + "start-dir": -1.5707963267948966, + "time": 157 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-47.03, 0.00, 0.68, 3.1416) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l40", + "l39", + "l1", + "l3", + "l4", + "l5" + ], + "start-dir": -1.5707963267948966, + "time": 157 + } }, "l40_to_l50": { - "instructions": "P(V(1, do MoveAbsH(24.97, -7.84, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 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3.1416) then 5)::\nV(5, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(36.27, 8.38, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(38.97, 8.38, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(38.97, 12.92, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(40.54, 12.92, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l40", + "l43", + "l42", + "l44", + "l45", + "l46", + "l54", + "l53", + "l52", + "l51" + ], + "start-dir": 1.5707963267948966, + "time": 127 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(39.24, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(47.84, -4.11, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(36.27, 8.38, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(38.97, 8.38, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(38.97, 12.92, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(40.54, 12.92, 0.68, 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-20.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": 3.141592653589793, + "time": 146 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 5)::\nV(5, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": 3.141592653589793, + "time": 146 + } }, "l42_to_l18": { - "instructions": "P(V(1, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 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"l40", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": 3.141592653589793, + "time": 139 + } }, "l42_to_l19": { - "instructions": "P(V(1, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 5)::\nV(5, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 6)::\nV(6, end)::\nnil)", - "path": [ - "l42", - "l43", - "l40", - "l39", - "l13", - "l19" - ], - "start-dir": 3.141592653589793, - "time": 113 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 5)::\nV(5, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l42", + "l43", + "l40", + "l39", + "l13", + "l19" + ], + "start-dir": 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"start-dir": 3.141592653589793, + "time": 116 + } }, "l42_to_l21": { - "instructions": "P(V(1, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l42", - "l43", - "l40", - "l39", - "l13", - "l14", - "l15", - "l21" - ], - "start-dir": 3.141592653589793, - "time": 165 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 165 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 165 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 165 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 165 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 165 + } }, "l42_to_l22": { - "instructions": "P(V(1, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l42", - "l43", - "l40", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22" - ], - "start-dir": 3.141592653589793, - "time": 170 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 170 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 170 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 170 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 170 + }, 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MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l42", - "l43", - "l40", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22", - "l23" - ], - "start-dir": 3.141592653589793, - "time": 180 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 3.141592653589793, + "time": 180 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 3.141592653589793, + "time": 180 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 3.141592653589793, + "time": 180 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 3.141592653589793, + "time": 180 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 3.141592653589793, + "time": 180 + } }, "l42_to_l24": { - "instructions": "P(V(1, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l42", - "l43", - "l40", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22", - "l23", - "l24" - ], - "start-dir": 3.141592653589793, - "time": 186 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(24.97, 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], + "start-dir": -1.5707963267948966, + "time": 150 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": -1.5707963267948966, + "time": 150 + } }, "l43_to_l23": { - "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l43", - "l40", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22", - "l23" - ], - "start-dir": -1.5707963267948966, - "time": 160 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": -1.5707963267948966, + "time": 160 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": -1.5707963267948966, + "time": 160 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": -1.5707963267948966, + "time": 160 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": -1.5707963267948966, + "time": 160 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": -1.5707963267948966, + "time": 160 + } }, "l43_to_l24": { - "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l43", - "l40", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22", - "l23", - "l24" - ], - "start-dir": -1.5707963267948966, - "time": 166 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ 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7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": -1.5707963267948966, + "time": 166 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": -1.5707963267948966, + "time": 166 + } }, "l43_to_l25": { - "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l43", - "l42", - "l44", - "l45", - "l46", - "l47", - "l48", - "l55", - "l25" - ], - "start-dir": 0.0, - "time": 134 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l43", + "l42", + "l44", + "l45", + "l46", + "l47", + "l48", + "l55", + "l25" + ], + "start-dir": 0.0, + "time": 134 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l43", + "l42", + "l44", + "l45", + "l46", + "l47", + "l48", + "l55", + "l25" + ], + "start-dir": 0.0, + "time": 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then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l43", + "l42", + "l44", + "l45", + "l46", + "l47", + "l48", + "l55", + "l25" + ], + "start-dir": 0.0, + "time": 134 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(47.84, -4.11, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(16.76, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l43", + "l42", + "l44", + "l45", + "l46", + "l47", + "l48", + "l55", + "l25" + ], + "start-dir": 0.0, + "time": 134 + } }, "l43_to_l26": { - "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, 0.0000) 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0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l1", + "l3", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": -1.5707963267948966, + "time": 183 + } }, "l43_to_l29": { - "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l43", - "l40", - "l39", - "l1", - "l3", - "l8", - "l6", 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then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l1", + "l3", + "l8", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": -1.5707963267948966, + "time": 202 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l1", + "l3", + "l8", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": -1.5707963267948966, + "time": 202 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l1", + "l3", + "l8", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": -1.5707963267948966, + "time": 202 + }, + "mrpt-lidar": { + 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"l3" + ], + "start-dir": -1.5707963267948966, + "time": 111 + } }, "l43_to_l30": { - "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l43", - "l40", - "l39", - "l1", - "l3", - "l8", - "l34", - "l33", - "l32", - "l31", - "l30" - ], - "start-dir": -1.5707963267948966, - "time": 195 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": -1.5707963267948966, + "time": 195 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": -1.5707963267948966, + "time": 195 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": -1.5707963267948966, + "time": 195 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": -1.5707963267948966, + "time": 195 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": -1.5707963267948966, + "time": 195 + } }, "l43_to_l31": { - "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l43", - "l40", - "l39", - "l1", - "l3", - "l8", - "l34", - "l33", - "l32", - "l31" - ], - "start-dir": -1.5707963267948966, - "time": 183 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": -1.5707963267948966, + "time": 183 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": -1.5707963267948966, + "time": 183 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": -1.5707963267948966, + "time": 183 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": -1.5707963267948966, + "time": 183 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": -1.5707963267948966, + "time": 183 + } }, "l43_to_l32": { - "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l43", - "l40", - "l39", - "l1", - "l3", - "l8", - "l34", - "l33", - "l32" - ], - "start-dir": -1.5707963267948966, - "time": 170 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": -1.5707963267948966, + "time": 170 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": -1.5707963267948966, + "time": 170 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": -1.5707963267948966, + "time": 170 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": -1.5707963267948966, + "time": 170 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": -1.5707963267948966, + "time": 170 + } }, "l43_to_l33": { - "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l43", - "l40", - "l39", - "l1", - "l3", - "l8", - "l34", - "l33" - ], - "start-dir": -1.5707963267948966, - "time": 162 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 162 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 162 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 162 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 162 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 162 + } }, "l43_to_l34": { - "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, 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MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l1", + "l3", + "l8", + "l34" + ], + "start-dir": -1.5707963267948966, + "time": 147 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l1", + "l3", + "l8", + "l34" + ], + "start-dir": -1.5707963267948966, + "time": 147 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do 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1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l43", + "l40", + "l57", + "l58", + "l59", + "l2", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": -1.5707963267948966, + "time": 132 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(24.97, -7.84, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l43", + 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MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-47.03, 0.00, 0.68, 1.5886) then 7)::\nV(7, do MoveAbsH(-47.24, 12.11, 0.68, 1.5886) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l1", + "l3", + "l4", + "l5", + "l36" + ], + "start-dir": -1.5707963267948966, + "time": 205 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-47.03, 0.00, 0.68, 1.5886) then 7)::\nV(7, do MoveAbsH(-47.24, 12.11, 0.68, 1.5886) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l1", + "l3", + "l4", + "l5", + "l36" + ], + "start-dir": -1.5707963267948966, + "time": 205 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 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6)::\nV(6, end)::\nnil)", - "path": [ - "l43", - "l40", - "l39", - "l13", - "l14", - "l37" - ], - "start-dir": -1.5707963267948966, - "time": 135 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 3.1416) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + "l13", + "l14", + "l37" + ], + "start-dir": -1.5707963267948966, + "time": 135 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-28.86, -20.97, 0.68, 3.1416) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l43", + "l40", + "l39", + 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then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14" + ], + "start-dir": -1.5707963267948966, + "time": 125 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14" + ], + "start-dir": -1.5707963267948966, + "time": 125 + }, + "mrpt-kinect": { + 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"start-dir": -1.5707963267948966, + "time": 125 + } }, "l44_to_l15": { - "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l44", - "l42", - "l43", - "l40", - "l39", - "l13", - "l14", - "l15" - ], - "start-dir": -1.5707963267948966, - "time": 161 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": -1.5707963267948966, + "time": 161 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": -1.5707963267948966, + "time": 161 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": -1.5707963267948966, + "time": 161 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": -1.5707963267948966, + "time": 161 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": -1.5707963267948966, + "time": 161 + } }, "l44_to_l16": { - "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l44", - "l42", - "l43", - "l40", - "l39", - "l13", - "l14", - "l15", - "l16" - ], - "start-dir": -1.5707963267948966, - "time": 169 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": -1.5707963267948966, + "time": 169 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": -1.5707963267948966, + "time": 169 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": -1.5707963267948966, + "time": 169 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": -1.5707963267948966, + "time": 169 + }, 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MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l44", - "l42", - "l43", - "l40", - "l39", - "l13", - "l19", - "l18", - "l17" - ], - "start-dir": -1.5707963267948966, - "time": 162 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 6)::\nV(6, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": -1.5707963267948966, + "time": 162 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 6)::\nV(6, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": -1.5707963267948966, + "time": 162 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 6)::\nV(6, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": -1.5707963267948966, + "time": 162 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 6)::\nV(6, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": -1.5707963267948966, + "time": 162 + }, + "mrpt-lidar": { 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0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l44", - "l42", - "l43", - "l40", - "l39", - "l13", - "l19", - "l18" - ], - "start-dir": -1.5707963267948966, - "time": 155 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 6)::\nV(6, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": -1.5707963267948966, + "time": 155 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 6)::\nV(6, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": -1.5707963267948966, + "time": 155 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 6)::\nV(6, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": -1.5707963267948966, + "time": 155 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 6)::\nV(6, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": -1.5707963267948966, + "time": 155 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 6)::\nV(6, do MoveAbsH(4.97, -20.81, 0.68, 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-14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 6)::\nV(6, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19" + ], + "start-dir": -1.5707963267948966, + "time": 129 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 6)::\nV(6, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19" + ], + "start-dir": -1.5707963267948966, + "time": 129 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 6)::\nV(6, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19" + ], + "start-dir": -1.5707963267948966, + "time": 129 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 6)::\nV(6, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19" + ], + "start-dir": -1.5707963267948966, + "time": 129 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 6)::\nV(6, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19" + ], + "start-dir": -1.5707963267948966, + "time": 129 + } }, "l44_to_l2": { - "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l44", - "l45", - "l46", - "l47", - "l48", - "l55", - "l56", - "l2" - ], - "start-dir": 0.0, - "time": 114 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l44", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2" + ], + "start-dir": 0.0, + "time": 114 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l44", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2" + ], + "start-dir": 0.0, + "time": 114 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l44", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2" + ], + "start-dir": 0.0, + "time": 114 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l44", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2" + ], + "start-dir": 0.0, + "time": 114 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l44", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2" + ], + "start-dir": 0.0, + "time": 114 + } }, "l44_to_l21": { - "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l44", - "l42", - "l43", - "l40", - "l39", - "l13", - "l14", - "l15", - "l21" - ], - "start-dir": -1.5707963267948966, - "time": 181 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": -1.5707963267948966, + "time": 181 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": -1.5707963267948966, + "time": 181 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": -1.5707963267948966, + "time": 181 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": -1.5707963267948966, + "time": 181 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": -1.5707963267948966, + "time": 181 + } }, "l44_to_l22": { - "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l44", - "l42", - "l43", - "l40", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22" - ], - "start-dir": -1.5707963267948966, - "time": 186 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": -1.5707963267948966, + "time": 186 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": -1.5707963267948966, + "time": 186 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": -1.5707963267948966, + "time": 186 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": -1.5707963267948966, + "time": 186 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": -1.5707963267948966, + "time": 186 + } }, "l44_to_l23": { - "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l44", - "l42", - "l43", - "l40", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22", - "l23" - ], - "start-dir": -1.5707963267948966, - "time": 196 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": -1.5707963267948966, + "time": 196 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": -1.5707963267948966, + "time": 196 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": -1.5707963267948966, + "time": 196 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": -1.5707963267948966, + "time": 196 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": -1.5707963267948966, + "time": 196 + } }, "l44_to_l24": { - "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l44", - "l42", - "l43", - "l40", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22", - "l23", - "l24" - ], - "start-dir": -1.5707963267948966, - "time": 203 + "amcl-kinect": { + 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3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": -1.5707963267948966, + "time": 203 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": -1.5707963267948966, + "time": 203 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": -1.5707963267948966, + "time": 203 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": -1.5707963267948966, + "time": 203 + } }, "l44_to_l25": { - "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(16.76, 16.97, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l44", - "l45", - "l46", - "l47", - "l48", - "l55", - "l25" - ], - "start-dir": 0.0, - "time": 97 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 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8)::\nV(8, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l44", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33" + ], + "start-dir": 0.0, + "time": 159 + } }, "l44_to_l34": { - "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 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144 + } }, "l44_to_l35": { - "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l44", - "l45", - "l46", - "l47", - "l48", - "l55", - "l56", - "l9", - "l10", - "l35" - ], - "start-dir": 0.0, - "time": 126 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 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3.1416) then 10)::\nV(10, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l44", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7" + ], + "start-dir": 0.0, + "time": 174 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l44", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7" + ], + "start-dir": 0.0, + "time": 174 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l44", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7" + ], + "start-dir": 0.0, + "time": 174 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l44", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7" + ], + "start-dir": 0.0, + "time": 174 + } }, "l44_to_l8": { - "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l44", - "l45", - "l46", - "l47", - "l48", - "l55", - "l56", - "l9", - "l8" - ], - "start-dir": 0.0, - "time": 127 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l44", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8" + ], + "start-dir": 0.0, + "time": 127 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l44", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8" + ], + "start-dir": 0.0, + "time": 127 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l44", + "l45", + "l46", + "l47", + "l48", + 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0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l44", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8" + ], + "start-dir": 0.0, + "time": 127 + } }, "l44_to_l9": { - "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l44", - "l45", - "l46", - "l47", - "l48", - "l55", - "l56", - "l9" - ], - "start-dir": 0.0, - "time": 109 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 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"l9" + ], + "start-dir": 0.0, + "time": 109 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l44", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9" + ], + "start-dir": 0.0, + "time": 109 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l44", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9" + ], + "start-dir": 0.0, + "time": 109 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l44", + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9" + ], + "start-dir": 0.0, + "time": 109 + } }, "l45_to_l1": { - "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 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"l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14" + ], + "start-dir": 3.141592653589793, + "time": 133 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14" + ], + "start-dir": 3.141592653589793, + "time": 133 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14" + ], + "start-dir": 3.141592653589793, + "time": 133 + } }, "l45_to_l15": { - "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l45", - "l44", - "l42", - "l43", - "l40", - "l39", - "l13", - "l14", - "l15" - ], - "start-dir": 3.141592653589793, - "time": 169 + "amcl-kinect": { 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0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": 3.141592653589793, + "time": 169 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": 3.141592653589793, + "time": 169 + }, + "mrpt-kinect": { + 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0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": 3.141592653589793, + "time": 169 + } }, "l45_to_l16": { - "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l45", - "l44", - "l42", - "l43", - "l40", - "l39", - "l13", - "l14", - "l15", - "l16" - ], - "start-dir": 3.141592653589793, - "time": 178 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": 3.141592653589793, + "time": 178 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": 3.141592653589793, + "time": 178 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": 3.141592653589793, + "time": 178 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": 3.141592653589793, + "time": 178 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": 3.141592653589793, + "time": 178 + } }, "l45_to_l17": { - "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l45", - "l44", - "l42", - "l43", - "l40", - "l39", - "l13", - "l19", - "l18", - "l17" - ], - "start-dir": 3.141592653589793, - "time": 170 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": 3.141592653589793, + "time": 170 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": 3.141592653589793, + "time": 170 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": 3.141592653589793, + "time": 170 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": 3.141592653589793, + "time": 170 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": 3.141592653589793, + "time": 170 + } }, "l45_to_l18": { - "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l45", - "l44", - "l42", - "l43", - "l40", - "l39", - "l13", - "l19", - "l18" - ], - "start-dir": 3.141592653589793, - "time": 164 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": 3.141592653589793, + "time": 164 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": 3.141592653589793, + "time": 164 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": 3.141592653589793, + "time": 164 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": 3.141592653589793, + "time": 164 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": 3.141592653589793, + "time": 164 + } }, "l45_to_l19": { - "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l45", - "l44", - "l42", - "l43", - "l40", - "l39", - "l13", - "l19" - ], - "start-dir": 3.141592653589793, - "time": 138 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 138 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 138 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 138 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 138 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 7)::\nV(7, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 138 + } }, "l45_to_l2": { - "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l45", - "l46", - "l47", - "l48", - "l55", - "l56", - "l2" - ], - "start-dir": -1.5707963267948966, - "time": 106 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2" + ], + "start-dir": -1.5707963267948966, + "time": 106 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2" + ], + "start-dir": -1.5707963267948966, + "time": 106 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2" + ], + "start-dir": -1.5707963267948966, + "time": 106 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2" + ], + "start-dir": -1.5707963267948966, + "time": 106 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2" + ], + "start-dir": -1.5707963267948966, + "time": 106 + } }, "l45_to_l21": { - "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l45", - "l44", - "l42", - "l43", - "l40", - "l39", - "l13", - "l14", - "l15", - "l21" - ], - "start-dir": 3.141592653589793, - "time": 189 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 189 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 189 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 189 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 189 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 189 + } }, "l45_to_l22": { - "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l45", - "l44", - "l42", - "l43", - "l40", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22" - ], - "start-dir": 3.141592653589793, - "time": 194 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 194 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 194 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 194 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 194 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 194 + } }, "l45_to_l23": { - "instructions": "P(V(1, do 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-14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 3.141592653589793, + "time": 205 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, 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7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34" + ], + "start-dir": -1.5707963267948966, + "time": 137 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", 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9)::\nV(9, end)::\nnil)", + "path": [ + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": -1.5707963267948966, + "time": 119 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": -1.5707963267948966, + "time": 119 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": -1.5707963267948966, + "time": 119 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": -1.5707963267948966, + "time": 119 + } }, "l45_to_l36": { - "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-33.03, 12.16, 0.68, -3.1378) then 11)::\nV(11, do MoveAbsH(-47.24, 12.11, 0.68, -3.1378) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l45", - "l46", - "l47", - "l48", - "l55", - "l56", - "l9", - "l8", - "l6", - "l7", - "l28", - "l36" - ], - "start-dir": -1.5707963267948966, - "time": 198 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-33.03, 12.16, 0.68, -3.1378) then 11)::\nV(11, do MoveAbsH(-47.24, 12.11, 0.68, -3.1378) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7", + "l28", + "l36" + ], + "start-dir": -1.5707963267948966, + "time": 198 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-33.03, 12.16, 0.68, -3.1378) then 11)::\nV(11, do MoveAbsH(-47.24, 12.11, 0.68, -3.1378) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7", + "l28", + "l36" + ], + "start-dir": -1.5707963267948966, + "time": 198 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-33.03, 12.16, 0.68, -3.1378) then 11)::\nV(11, do MoveAbsH(-47.24, 12.11, 0.68, -3.1378) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7", + "l28", + "l36" + ], + "start-dir": -1.5707963267948966, + "time": 198 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-33.03, 12.16, 0.68, -3.1378) then 11)::\nV(11, do MoveAbsH(-47.24, 12.11, 0.68, -3.1378) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7", + "l28", + "l36" + ], + "start-dir": -1.5707963267948966, + "time": 198 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-33.03, 12.16, 0.68, -3.1378) then 11)::\nV(11, do MoveAbsH(-47.24, 12.11, 0.68, -3.1378) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7", + "l28", + "l36" + ], + "start-dir": -1.5707963267948966, + "time": 198 + } }, "l45_to_l37": { - "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, -20.97, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l45", - "l44", - "l42", - "l43", - "l40", - "l39", - "l13", - "l14", - "l37" - ], - "start-dir": 3.141592653589793, - "time": 180 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, -20.97, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l37" + ], + "start-dir": 3.141592653589793, + "time": 180 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, -20.97, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l37" + ], + "start-dir": 3.141592653589793, + "time": 180 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, -20.97, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l37" + ], + "start-dir": 3.141592653589793, + "time": 180 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, -20.97, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l37" + ], + "start-dir": 3.141592653589793, + "time": 180 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, -20.97, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l37" + ], + "start-dir": 3.141592653589793, + "time": 180 + } }, "l45_to_l38": { - "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 12)::\nV(12, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 13)::\nV(13, do MoveAbsH(-47.03, -57.57, 0.68, 3.1416) then 14)::\nV(14, end)::\nnil)", - "path": [ - "l45", - "l44", - "l42", - "l43", - "l40", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22", - "l23", - "l24", - "l38" - ], - "start-dir": 3.141592653589793, - "time": 288 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 12)::\nV(12, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 13)::\nV(13, do MoveAbsH(-47.03, -57.57, 0.68, 3.1416) then 14)::\nV(14, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24", + "l38" + ], + "start-dir": 3.141592653589793, + "time": 288 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 12)::\nV(12, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 13)::\nV(13, do MoveAbsH(-47.03, -57.57, 0.68, 3.1416) then 14)::\nV(14, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24", + "l38" + ], + "start-dir": 3.141592653589793, + "time": 288 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 12)::\nV(12, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 13)::\nV(13, do MoveAbsH(-47.03, -57.57, 0.68, 3.1416) then 14)::\nV(14, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24", + "l38" + ], + "start-dir": 3.141592653589793, + "time": 288 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(39.24, -4.11, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -14.87, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 12)::\nV(12, do MoveAbsH(-3.24, -57.57, 0.68, 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8)::\nV(8, end)::\nnil)", + "path": [ + "l45", + "l44", + "l42", + "l43", + "l40", + "l57", + "l58", + "l59" + ], + "start-dir": 3.141592653589793, + "time": 119 + } }, "l45_to_l6": { - "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l45", - "l46", - "l47", - "l48", - "l55", - "l56", - "l9", - "l8", - "l6" - ], - "start-dir": -1.5707963267948966, - "time": 160 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6" + ], + "start-dir": -1.5707963267948966, + "time": 160 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l45", + "l46", + 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3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6" + ], + "start-dir": -1.5707963267948966, + "time": 160 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6" + ], + "start-dir": -1.5707963267948966, + "time": 160 + } }, "l45_to_l7": { - "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l45", - "l46", - "l47", - "l48", - "l55", - "l56", - "l9", - "l8", - "l6", - "l7" - ], - "start-dir": -1.5707963267948966, - "time": 167 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7" + ], + "start-dir": -1.5707963267948966, + "time": 167 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7" + ], + "start-dir": -1.5707963267948966, + "time": 167 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l45", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7" + ], + "start-dir": -1.5707963267948966, + "time": 167 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) 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MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 9)::\nV(9, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l46", - "l47", - "l48", - "l55", - "l56", - "l2", - "l1", - "l39", - "l13", - "l19", - "l18", - "l17" - ], - "start-dir": -1.5707963267948966, - "time": 174 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 9)::\nV(9, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": -1.5707963267948966, + "time": 174 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -20.97, 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1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": -1.5707963267948966, + "time": 98 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": -1.5707963267948966, + "time": 98 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(22.70, 6.49, 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0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 12.16, 0.68, -3.1378) then 10)::\nV(10, do MoveAbsH(-47.24, 12.11, 0.68, -3.1378) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7", + "l28", + "l36" + ], + "start-dir": -1.5707963267948966, + "time": 177 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 12.16, 0.68, -3.1378) then 10)::\nV(10, do MoveAbsH(-47.24, 12.11, 0.68, -3.1378) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7", + "l28", + "l36" + ], + "start-dir": -1.5707963267948966, + "time": 177 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 12.16, 0.68, -3.1378) then 10)::\nV(10, do MoveAbsH(-47.24, 12.11, 0.68, -3.1378) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7", + "l28", + "l36" + ], + "start-dir": -1.5707963267948966, + "time": 177 + } }, "l46_to_l37": { - "instructions": "P(V(1, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-28.86, -20.97, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l46", - "l47", - "l48", - "l55", - "l56", - "l2", - "l1", - "l3", - "l4", - "l37" - ], - "start-dir": -1.5707963267948966, - "time": 182 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-28.86, -20.97, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4", + "l37" + ], + "start-dir": -1.5707963267948966, + "time": 182 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-28.86, -20.97, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4", + "l37" + ], + "start-dir": -1.5707963267948966, + "time": 182 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-28.86, -20.97, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4", + "l37" + ], 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6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-28.86, -20.97, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4", + "l37" + ], + "start-dir": -1.5707963267948966, + "time": 182 + } }, "l46_to_l38": { - "instructions": "P(V(1, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-47.03, 0.00, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-47.03, -57.57, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l46", - "l47", - "l48", - "l55", - "l56", - "l2", - "l1", - "l3", - "l4", - "l5", - "l38" - ], - "start-dir": -1.5707963267948966, - "time": 279 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-47.03, 0.00, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-47.03, -57.57, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4", + "l5", + "l38" + ], + 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3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l47", - "l48", - "l55", - "l56", - "l2", - "l1", - "l39", - "l13", - "l14", - "l15" - ], - "start-dir": 0.0, - "time": 147 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": 0.0, + "time": 147 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": 0.0, + "time": 147 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 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8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": 0.0, + "time": 147 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": 0.0, + "time": 147 + } }, 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], + "start-dir": 0.0, + "time": 138 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l47", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": 0.0, + "time": 138 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 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16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l47", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": 0.0, + "time": 138 + } }, "l47_to_l31": { - "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do 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MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l47", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33", + "l32" + ], + "start-dir": 0.0, + "time": 112 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l47", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33", + "l32" + ], + 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5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l47", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33", + "l32" + ], + "start-dir": 0.0, + "time": 112 + } }, "l47_to_l33": { - "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l47", - "l48", - "l55", - 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then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-47.03, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-47.03, -57.57, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l47", - "l48", - "l55", - "l56", - "l2", - "l1", - "l3", - "l4", - "l5", - "l38" - ], - "start-dir": 0.0, - "time": 253 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-47.03, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-47.03, -57.57, 0.68, -1.5708) then 10)::\nV(10, 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3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-47.03, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-47.03, -57.57, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4", + "l5", + "l38" + ], + "start-dir": 0.0, + "time": 253 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 8)::\nV(8, do 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then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": -1.5707963267948966, + "time": 160 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l48", + "l55", + "l56", + "l2", + "l1", + 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-52.22, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l48", - "l55", - "l56", - "l2", - "l1", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22", - "l23" - ], - "start-dir": -1.5707963267948966, - "time": 171 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": -1.5707963267948966, + "time": 171 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + 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MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 12)::\nV(12, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 13)::\nV(13, end)::\nnil)", - "path": [ - "l48", - "l55", - "l56", - "l2", - "l1", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22", - "l23", - "l24" - ], - "start-dir": -1.5707963267948966, - "time": 177 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-2.43, 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MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": -1.5707963267948966, + "time": 114 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l48", + "l55", + 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MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": -1.5707963267948966, + "time": 114 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": -1.5707963267948966, + "time": 114 + } }, "l48_to_l32": { - "instructions": "P(V(1, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l48", - "l55", - "l56", - "l9", - "l10", - "l35", - "l34", - "l33", - "l32" - ], - "start-dir": -1.5707963267948966, - "time": 101 + "amcl-kinect": { + "instructions": "P(V(1, do 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20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33", + "l32" + ], + "start-dir": -1.5707963267948966, + "time": 101 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33", + "l32" + ], + "start-dir": -1.5707963267948966, + "time": 101 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 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MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33", + "l32" + ], + "start-dir": -1.5707963267948966, + "time": 101 + } }, "l48_to_l33": { - "instructions": "P(V(1, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l48", - "l55", - "l56", - "l9", - "l10", - "l35", - "l34", - "l33" - ], - "start-dir": -1.5707963267948966, - "time": 93 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 93 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 93 + }, + "aruco": { + 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end)::\nnil)", + "path": [ + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 93 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33" + ], + "start-dir": -1.5707963267948966, + "time": 93 + } }, "l48_to_l34": { - "instructions": "P(V(1, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 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then 6)::\nV(6, end)::\nnil)", + "path": [ + "l48", + "l55", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": -1.5707963267948966, + "time": 61 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l48", + "l55", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": -1.5707963267948966, + "time": 61 + } }, "l48_to_l36": { - "instructions": "P(V(1, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 7)::\nV(7, do 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MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-47.03, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-47.03, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4", + "l5", + "l38" + ], + "start-dir": -1.5707963267948966, + "time": 241 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-47.03, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-47.03, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4", + "l5", + "l38" + ], + "start-dir": 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6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-47.03, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-47.03, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4", + "l5", + "l38" + ], + "start-dir": -1.5707963267948966, + "time": 241 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-47.03, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-47.03, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4", + "l5", + "l38" + ], + "start-dir": -1.5707963267948966, + "time": 241 + } }, 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MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l48", - "l55", - "l56", - "l2", - "l1", - "l3", - "l4" - ], - "start-dir": -1.5707963267948966, - "time": 107 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4" + ], + "start-dir": -1.5707963267948966, + "time": 107 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 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MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(14.87, -7.84, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(24.97, -7.84, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(24.97, -14.87, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l48", - "l55", - "l56", - "l2", - "l59", - "l58", - "l57", - "l40" - ], - "start-dir": -1.5707963267948966, - "time": 117 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(14.87, -7.84, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(24.97, -7.84, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(24.97, -14.87, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l48", + "l55", + "l56", + "l2", + "l59", + "l58", + "l57", + "l40" + ], + "start-dir": 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7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l49", - "l48", - "l55", - "l56", - "l2", - "l1", - "l39", - "l13", - "l14" - ], - "start-dir": 3.141592653589793, - "time": 108 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14" + ], + "start-dir": 3.141592653589793, + "time": 108 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 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8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14" + ], + "start-dir": 3.141592653589793, + "time": 108 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14" + ], + "start-dir": 3.141592653589793, + "time": 108 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 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6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": 3.141592653589793, + "time": 144 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": 3.141592653589793, + "time": 144 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": 3.141592653589793, + "time": 144 + } }, "l49_to_l16": { - "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l49", - "l48", - "l55", - "l56", - "l2", - "l1", - "l39", - "l13", - "l14", - "l15", - "l16" - ], - "start-dir": 3.141592653589793, - "time": 152 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": 3.141592653589793, + "time": 152 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": 3.141592653589793, + "time": 152 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": 3.141592653589793, + "time": 152 + }, + 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MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": 3.141592653589793, + "time": 152 + } }, "l49_to_l17": { - "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l49", - "l48", - "l55", - "l56", - "l2", - "l1", - "l39", - "l13", - "l19", - "l18", - "l17" - ], - "start-dir": 3.141592653589793, - "time": 145 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l49", 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0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": 3.141592653589793, + "time": 145 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": 3.141592653589793, + "time": 145 + } }, "l49_to_l18": { - "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l49", - "l48", - "l55", - "l56", - "l2", - "l1", - "l39", - "l13", - "l19", - "l18" - ], - "start-dir": 3.141592653589793, - "time": 138 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": 3.141592653589793, + "time": 138 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": 3.141592653589793, + "time": 138 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": 3.141592653589793, + "time": 138 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": 3.141592653589793, + "time": 138 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do 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MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l49", - "l48", - "l55", - "l56", - "l2", - "l1", - "l39", - "l13", - "l19" - ], - "start-dir": 3.141592653589793, - "time": 112 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 112 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 112 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 112 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 8)::\nV(8, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 112 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 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2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 5)::\nV(5, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2" + ], + "start-dir": 3.141592653589793, + "time": 57 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 5)::\nV(5, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2" + ], + "start-dir": 3.141592653589793, + "time": 57 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 5)::\nV(5, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2" + ], + "start-dir": 3.141592653589793, + "time": 57 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 5)::\nV(5, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2" + ], + "start-dir": 3.141592653589793, + "time": 57 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 5)::\nV(5, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2" + ], + "start-dir": 3.141592653589793, + "time": 57 + } }, "l49_to_l21": { - "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l49", - "l48", - "l55", - "l56", - "l2", - "l1", - "l39", - "l13", - "l14", - "l15", - "l21" - ], - "start-dir": 3.141592653589793, - "time": 164 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 164 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 164 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 164 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 164 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 164 + } }, "l49_to_l22": { - "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do 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-1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 169 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 12)::\nV(12, 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0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 13)::\nV(13, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 3.141592653589793, + "time": 179 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 13)::\nV(13, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 3.141592653589793, + "time": 179 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 13)::\nV(13, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 3.141592653589793, + "time": 179 + } }, "l49_to_l24": { - "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 12)::\nV(12, 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7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": 3.141592653589793, + "time": 141 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": 3.141592653589793, + "time": 141 + } }, "l49_to_l3": { - "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l49", - "l48", - "l55", - "l56", - "l2", - "l1", - "l3" - ], - "start-dir": 3.141592653589793, - "time": 75 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3" + ], + "start-dir": 3.141592653589793, + "time": 75 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3" + ], + "start-dir": 3.141592653589793, + "time": 75 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", + "path": 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7)::\nV(7, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3" + ], + "start-dir": 3.141592653589793, + "time": 75 + } }, "l49_to_l30": { - "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l49", - "l48", - "l55", - "l56", - "l9", - "l10", - "l35", - "l34", - "l33", - "l32", - "l31", - "l30" - ], - "start-dir": 3.141592653589793, - "time": 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3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": 3.141592653589793, + "time": 135 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": 3.141592653589793, + "time": 135 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": 3.141592653589793, + "time": 135 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": 3.141592653589793, + "time": 135 + } }, "l49_to_l31": { - "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l49", - "l48", - "l55", - "l56", - "l9", - "l10", - "l35", - "l34", - "l33", - "l32", - "l31" - ], - "start-dir": 3.141592653589793, - "time": 122 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": 3.141592653589793, + "time": 122 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": 3.141592653589793, + "time": 122 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": 3.141592653589793, + "time": 122 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": 3.141592653589793, + "time": 122 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": 3.141592653589793, + "time": 122 + } }, 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3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33", + "l32" + ], + "start-dir": 3.141592653589793, + "time": 109 + } }, "l49_to_l33": { - "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l49", - "l48", - "l55", - "l56", - "l9", - "l10", - "l35", - "l34", - "l33" - ], - "start-dir": 3.141592653589793, - "time": 102 + "amcl-kinect": { + "instructions": 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MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33" + ], + "start-dir": 3.141592653589793, + "time": 102 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33" + ], + "start-dir": 3.141592653589793, + "time": 102 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 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8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34", + "l33" + ], + "start-dir": 3.141592653589793, + "time": 102 + } }, "l49_to_l34": { - "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l49", - "l48", - "l55", - "l56", - "l9", - "l10", - "l35", - "l34" - ], - "start-dir": 3.141592653589793, - "time": 88 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34" + ], + "start-dir": 3.141592653589793, + "time": 88 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34" + ], + "start-dir": 3.141592653589793, + "time": 88 + }, + "aruco": { + 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end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34" + ], + "start-dir": 3.141592653589793, + "time": 88 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35", + "l34" + ], + "start-dir": 3.141592653589793, + "time": 88 + } }, "l49_to_l35": { - "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l49", - "l48", - "l55", - "l56", - "l9", - "l10", - "l35" - ], - "start-dir": 3.141592653589793, - "time": 69 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": 3.141592653589793, + "time": 69 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": 3.141592653589793, + "time": 69 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": 3.141592653589793, + "time": 69 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": 3.141592653589793, + "time": 69 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": 3.141592653589793, + "time": 69 + } }, "l49_to_l36": { - "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, -3.1378) then 9)::\nV(9, do MoveAbsH(-47.24, 12.11, 0.68, -3.1378) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l49", - "l48", - "l55", - "l56", - "l9", - "l8", - "l6", - "l7", - "l28", - "l36" - ], - "start-dir": 3.141592653589793, - "time": 148 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, -3.1378) then 9)::\nV(9, do MoveAbsH(-47.24, 12.11, 0.68, -3.1378) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7", + "l28", + "l36" + ], + "start-dir": 3.141592653589793, + "time": 148 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, -3.1378) then 9)::\nV(9, do MoveAbsH(-47.24, 12.11, 0.68, -3.1378) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7", + "l28", + "l36" + ], + "start-dir": 3.141592653589793, + "time": 148 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MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, -3.1378) then 9)::\nV(9, do MoveAbsH(-47.24, 12.11, 0.68, -3.1378) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7", + "l28", + "l36" + ], + "start-dir": 3.141592653589793, + "time": 148 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, -3.1378) then 9)::\nV(9, do MoveAbsH(-47.24, 12.11, 0.68, -3.1378) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7", + "l28", + "l36" + ], + "start-dir": 3.141592653589793, + "time": 148 + } }, "l49_to_l37": { - "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-28.86, -20.97, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l49", - "l48", - "l55", - "l56", - "l2", - "l1", - "l3", - "l4", - "l37" - ], - "start-dir": 3.141592653589793, - "time": 153 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-28.86, -20.97, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4", + "l37" + ], + "start-dir": 3.141592653589793, + "time": 153 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-28.86, -20.97, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4", + "l37" + ], + "start-dir": 3.141592653589793, + "time": 153 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-28.86, -20.97, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4", + "l37" + ], + "start-dir": 3.141592653589793, + "time": 153 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-28.86, -20.97, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4", + "l37" + ], + "start-dir": 3.141592653589793, + "time": 153 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-28.86, -20.97, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4", + "l37" + ], + "start-dir": 3.141592653589793, + "time": 153 + } }, "l49_to_l38": { - "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-47.03, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-47.03, -57.57, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l49", - "l48", - "l55", - "l56", - "l2", - "l1", - "l3", - "l4", - "l5", - "l38" - ], - "start-dir": 3.141592653589793, - "time": 250 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-47.03, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-47.03, -57.57, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4", + "l5", + "l38" + ], + "start-dir": 3.141592653589793, + "time": 250 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-47.03, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-47.03, -57.57, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4", + "l5", + "l38" + ], + "start-dir": 3.141592653589793, + "time": 250 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-47.03, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-47.03, -57.57, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4", + "l5", + "l38" + ], + "start-dir": 3.141592653589793, + "time": 250 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-47.03, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-47.03, -57.57, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4", + "l5", + "l38" + ], + "start-dir": 3.141592653589793, + "time": 250 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-47.03, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-47.03, -57.57, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4", + "l5", + "l38" + ], + "start-dir": 3.141592653589793, + "time": 250 + } }, "l49_to_l39": { - "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l49", - "l48", - "l55", - "l56", - "l2", - "l1", - "l39" - ], - "start-dir": 3.141592653589793, - "time": 92 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39" + ], + "start-dir": 3.141592653589793, + "time": 92 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39" + ], + "start-dir": 3.141592653589793, + "time": 92 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39" + ], + "start-dir": 3.141592653589793, + "time": 92 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39" + ], + "start-dir": 3.141592653589793, + "time": 92 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 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-57.57, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l4", - "l37", - "l14", - "l15", - "l21", - "l22", - "l23", - "l24" - ], - "start-dir": 3.141592653589793, - "time": 165 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l4", + "l37", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 3.141592653589793, + "time": 165 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l4", + "l37", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 3.141592653589793, + "time": 165 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l4", + "l37", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 3.141592653589793, + "time": 165 + }, + 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MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l4", + "l37", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 3.141592653589793, + "time": 165 + } }, "l4_to_l25": { - "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l4", - "l3", - "l1", - "l2", - "l56", - "l9", - "l10", - "l25" - ], - "start-dir": 1.5707963267948966, - "time": 114 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l4", + "l3", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25" + ], + "start-dir": 1.5707963267948966, + "time": 114 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l4", + "l3", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25" + ], + "start-dir": 1.5707963267948966, + "time": 114 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l4", + "l3", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25" + ], + "start-dir": 1.5707963267948966, + "time": 114 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l4", + "l3", 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do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l4", - "l3", - "l1", - "l2", - "l56", - "l9", - "l10", - "l25", - "l26" - ], - "start-dir": 1.5707963267948966, - "time": 133 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l4", + "l3", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26" + ], + "start-dir": 1.5707963267948966, + "time": 133 + }, + "amcl-lidar": { + 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0.0000) then 9)::\nV(9, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(47.84, -4.11, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46", + "l45", + "l44" + ], + "start-dir": 1.5707963267948966, + "time": 172 + } }, "l4_to_l45": { - "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(47.84, 0.00, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l4", - "l3", - "l1", - "l2", - "l56", - "l55", - "l48", - "l47", - "l46", - "l45" - ], - "start-dir": 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5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(47.84, 0.00, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46", + "l45" + ], + "start-dir": 1.5707963267948966, + "time": 163 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(47.84, 0.00, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46", + "l45" + ], + "start-dir": 1.5707963267948966, + "time": 163 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(47.84, 0.00, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46", + "l45" + ], + "start-dir": 1.5707963267948966, + "time": 163 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 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MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49" + ], + "start-dir": 1.5707963267948966, + "time": 114 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49" + ], + "start-dir": 1.5707963267948966, + "time": 114 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do 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MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l4", - "l3", - "l1", - "l2", - "l56", - "l9", - "l10", - "l25", - "l26", - "l27", - "l51" - ], - "start-dir": 1.5707963267948966, - "time": 164 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 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"l53" + ], + "start-dir": 1.5707963267948966, + "time": 165 + } }, "l4_to_l54": { - "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(36.27, 8.38, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l4", - "l3", - "l1", - "l2", - "l56", - "l55", - "l48", - "l47", - "l46", - "l54" - ], - "start-dir": 1.5707963267948966, - "time": 159 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 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then 10)::\nV(10, end)::\nnil)", + "path": [ + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46", + "l54" + ], + "start-dir": 1.5707963267948966, + "time": 159 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(36.27, 8.38, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46", + "l54" + ], + "start-dir": 1.5707963267948966, + "time": 159 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do 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"l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": -1.5707963267948966, + "time": 154 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(22.70, 10.76, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l50", + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": -1.5707963267948966, + "time": 154 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 10.76, 0.68, 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0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l50", + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": -1.5707963267948966, + "time": 154 + } }, "l50_to_l16": { - "instructions": "P(V(1, do MoveAbsH(22.70, 10.76, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l50", - "l49", - "l48", - "l55", - "l56", - "l2", - "l1", - "l39", - "l13", - "l14", - "l15", - "l16" - ], - "start-dir": -1.5707963267948966, - "time": 163 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 10.76, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(1.89, -40.81, 0.68, 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MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l50", + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": -1.5707963267948966, + "time": 163 + } }, "l50_to_l17": { - "instructions": "P(V(1, do MoveAbsH(22.70, 10.76, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 9)::\nV(9, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l50", - "l49", - "l48", - "l55", - "l56", - "l2", - "l1", - "l39", - "l13", - "l19", - "l18", - "l17" - ], - "start-dir": -1.5707963267948966, - "time": 155 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 10.76, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 9)::\nV(9, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l50", + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": -1.5707963267948966, + "time": 155 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 10.76, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 9)::\nV(9, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 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MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l50", + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3" + ], + "start-dir": -1.5707963267948966, + "time": 86 + } }, "l50_to_l30": { - "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l50", - "l26", - "l25", - "l10", - "l35", - "l34", - "l33", - "l32", - "l31", - "l30" - ], - "start-dir": 0.0, - "time": 128 + "amcl-kinect": { + 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then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l50", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": 0.0, + "time": 128 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l50", + "l26", + 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0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l50", - "l49", - "l48", - "l55", - "l56", - "l2", - "l1", - "l39" - ], - "start-dir": -1.5707963267948966, - "time": 102 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 10.76, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l50", + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39" + ], + "start-dir": -1.5707963267948966, + "time": 102 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 10.76, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 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then 8)::\nV(8, end)::\nnil)", + "path": [ + "l50", + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39" + ], + "start-dir": -1.5707963267948966, + "time": 102 + } }, "l50_to_l4": { - "instructions": "P(V(1, do MoveAbsH(22.70, 10.76, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l50", - "l49", - "l48", - "l55", - "l56", - "l2", - "l1", - "l3", - "l4" - ], - "start-dir": -1.5707963267948966, - "time": 126 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 10.76, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 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then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l50", + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4" + ], + "start-dir": -1.5707963267948966, + "time": 126 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 10.76, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l50", + "l49", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4" + ], + "start-dir": -1.5707963267948966, + "time": 126 + } }, "l50_to_l40": { - "instructions": "P(V(1, do MoveAbsH(22.70, 10.76, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(14.87, -7.84, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(24.97, -7.84, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(24.97, -14.87, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l50", - "l49", - "l48", - "l55", - "l56", - "l2", - "l59", - "l58", - "l57", - "l40" - ], - "start-dir": -1.5707963267948966, - "time": 136 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 10.76, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(14.87, -7.84, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(24.97, -7.84, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(24.97, -14.87, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l50", + "l49", + "l48", + "l55", + "l56", + "l2", + "l59", + "l58", + "l57", + "l40" + ], + "start-dir": -1.5707963267948966, + "time": 136 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(22.70, 10.76, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(14.87, -7.84, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(24.97, -7.84, 0.68, -1.5708) then 9)::\nV(9, do 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then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l50", + "l49", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7" + ], + "start-dir": -1.5707963267948966, + "time": 128 + } }, "l50_to_l8": { - "instructions": "P(V(1, do MoveAbsH(22.70, 10.76, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l50", - "l49", - "l48", - "l55", - "l56", - "l9", - "l8" - ], - "start-dir": -1.5707963267948966, - "time": 81 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(22.70, 10.76, 0.68, 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do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 13)::\nV(13, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 14)::\nV(14, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 15)::\nV(15, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 16)::\nV(16, end)::\nnil)", + "path": [ + "l51", + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 0.0, + "time": 228 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 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3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-21.08, 23.03, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(-33.03, 23.03, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l51", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31", + "l30", + "l29" + ], + "start-dir": 0.0, + "time": 168 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do 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then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l51", + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l3" + ], + "start-dir": 0.0, + "time": 124 + } }, "l51_to_l30": { - "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 10)::\nV(10, 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MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", - "path": [ - "l51", - "l27", - "l26", - "l25", - "l10", - "l35" - ], - "start-dir": 0.0, - "time": 81 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l51", + "l27", + "l26", + "l25", + "l10", + "l35" + ], + "start-dir": 0.0, + "time": 81 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l51", + "l27", + "l26", + "l25", + "l10", + "l35" + ], + "start-dir": 0.0, + "time": 81 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l51", + "l27", + "l26", + "l25", + "l10", + "l35" + ], + "start-dir": 0.0, + "time": 81 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l51", + "l27", + "l26", + "l25", + "l10", + "l35" + ], + "start-dir": 0.0, + "time": 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8)::\nV(8, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 12.16, 0.68, -3.1378) then 10)::\nV(10, do MoveAbsH(-47.24, 12.11, 0.68, -3.1378) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l51", + "l27", + "l26", + "l25", + "l10", + "l9", + "l8", + "l6", + "l7", + "l28", + "l36" + ], + "start-dir": 0.0, + "time": 183 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 12.16, 0.68, -3.1378) then 10)::\nV(10, do MoveAbsH(-47.24, 12.11, 0.68, -3.1378) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l51", 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MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l51", + "l27", + "l26", + "l25", + "l10", + "l9", + "l8", + "l6", + "l7" + ], + "start-dir": 0.0, + "time": 153 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l51", + "l27", + "l26", + "l25", + "l10", + "l9", + "l8", + "l6", + "l7" + ], + "start-dir": 0.0, + "time": 153 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do 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then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 12)::\nV(12, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 13)::\nV(13, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 14)::\nV(14, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 15)::\nV(15, end)::\nnil)", + "path": [ + "l52", + "l51", + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": 1.5707963267948966, + "time": 205 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(40.54, 12.92, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) 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then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 12)::\nV(12, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 13)::\nV(13, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 14)::\nV(14, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 15)::\nV(15, end)::\nnil)", - "path": [ - "l52", - "l51", - "l27", - "l26", - "l25", - "l10", - "l9", - "l56", - "l2", - "l1", - "l39", - "l13", - "l19", - "l18", - "l17" - ], - "start-dir": 1.5707963267948966, - "time": 197 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(40.54, 12.92, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 12)::\nV(12, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 13)::\nV(13, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 14)::\nV(14, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 15)::\nV(15, end)::\nnil)", + "path": [ + "l52", + "l51", + "l27", + "l26", + "l25", + "l10", + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": 1.5707963267948966, + "time": 197 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(40.54, 12.92, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 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MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l52", + "l51", + "l27", + "l26", + "l25", + "l10", + "l35", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": 1.5707963267948966, + "time": 138 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(40.54, 12.92, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) 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then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 13)::\nV(13, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 14)::\nV(14, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 15)::\nV(15, end)::\nnil)", - "path": [ - "l53", - "l54", - "l46", - "l47", - "l48", - "l55", - "l56", - "l2", - "l1", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22" - ], - "start-dir": -1.5707963267948966, - "time": 219 + "amcl-kinect": { + 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end)::\nnil)", + "path": [ + "l53", + "l54", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": -1.5707963267948966, + "time": 219 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(36.27, 8.38, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 13)::\nV(13, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 14)::\nV(14, do 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do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 13)::\nV(13, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 14)::\nV(14, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 15)::\nV(15, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 16)::\nV(16, end)::\nnil)", + "path": [ + "l53", + "l54", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": -1.5707963267948966, + "time": 230 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(36.27, 8.38, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 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-1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 13)::\nV(13, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 14)::\nV(14, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 15)::\nV(15, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 16)::\nV(16, end)::\nnil)", + "path": [ + "l53", + "l54", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": -1.5707963267948966, + "time": 230 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(36.27, 8.38, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 13)::\nV(13, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 14)::\nV(14, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 15)::\nV(15, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 16)::\nV(16, end)::\nnil)", + "path": [ + "l53", + "l54", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": -1.5707963267948966, + "time": 230 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(36.27, 8.38, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 13)::\nV(13, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 14)::\nV(14, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 15)::\nV(15, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 16)::\nV(16, end)::\nnil)", + "path": [ + "l53", + "l54", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + 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then 10)::\nV(10, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(-47.03, 0.00, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-47.03, -57.57, 0.68, -1.5708) then 13)::\nV(13, end)::\nnil)", + "path": [ + "l53", + "l54", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4", + "l5", + "l38" + ], + "start-dir": -1.5707963267948966, + "time": 300 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(36.27, 8.38, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 11)::\nV(11, do 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10)::\nV(10, end)::\nnil)", - "path": [ - "l53", - "l52", - "l51", - "l27", - "l26", - "l25", - "l10", - "l9", - "l8", - "l6" - ], - "start-dir": 0.0, - "time": 159 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(38.97, 12.92, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(40.54, 12.92, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l53", + "l52", + "l51", + "l27", + "l26", + "l25", + "l10", + "l9", + "l8", + "l6" + ], + "start-dir": 0.0, + "time": 159 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(38.97, 12.92, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(40.54, 12.92, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l53", + "l52", + "l51", + "l27", + "l26", + "l25", + "l10", + "l9", + "l8", + "l6" + ], + "start-dir": 0.0, + "time": 159 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(38.97, 12.92, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(40.54, 12.92, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l53", + "l52", + "l51", + "l27", + "l26", + "l25", + "l10", + "l9", + "l8", + "l6" + ], + "start-dir": 0.0, + "time": 159 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(38.97, 12.92, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(40.54, 12.92, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l53", + "l52", + "l51", + "l27", + "l26", + "l25", + "l10", + "l9", + "l8", + "l6" + ], + "start-dir": 0.0, + "time": 159 + }, + 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0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l53", - "l52", - "l51", - "l27", - "l26", - "l25", - "l10", - "l9", - "l8", - "l6", - "l7" - ], - "start-dir": 0.0, - "time": 166 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(38.97, 12.92, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(40.54, 12.92, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 10.27, 0.68, 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4)::\nV(4, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l53", + "l52", + "l51", + "l27", + "l26", + "l25", + "l10", + "l9", + "l8", + "l6", + "l7" + ], + "start-dir": 0.0, + "time": 166 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(38.97, 12.92, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(40.54, 12.92, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l53", + "l52", + "l51", + "l27", + "l26", + "l25", + "l10", + "l9", + "l8", + "l6", + "l7" + ], + "start-dir": 0.0, + "time": 166 + } }, "l53_to_l8": { - "instructions": "P(V(1, do MoveAbsH(38.97, 12.92, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(40.54, 12.92, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l53", - "l52", - "l51", - "l27", - "l26", - "l25", - "l10", - "l9", - "l8" - ], - "start-dir": 0.0, - "time": 119 + "amcl-kinect": 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7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l53", + "l52", + "l51", + "l27", + "l26", + "l25", + "l10", + "l9", + "l8" + ], + "start-dir": 0.0, + "time": 119 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(38.97, 12.92, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(40.54, 12.92, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l53", + "l52", + "l51", + "l27", + "l26", + "l25", + "l10", + "l9", + "l8" + ], + "start-dir": 0.0, + "time": 119 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(38.97, 12.92, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(40.54, 12.92, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l53", + "l52", + "l51", + "l27", + "l26", + "l25", + "l10", + "l9", + "l8" + ], + "start-dir": 0.0, + "time": 119 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(38.97, 12.92, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(40.54, 12.92, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l53", + "l52", + "l51", + "l27", + "l26", + "l25", + "l10", + "l9", + "l8" + ], + "start-dir": 0.0, + "time": 119 + } }, "l53_to_l9": { - "instructions": "P(V(1, do MoveAbsH(38.97, 12.92, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(40.54, 12.92, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(28.00, 16.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l53", - "l52", - "l51", - "l27", - "l26", - "l25", - "l10", - "l9" - ], - "start-dir": 0.0, - "time": 100 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(38.97, 12.92, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(40.54, 12.92, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 4)::\nV(4, do 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"instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 14)::\nV(14, end)::\nnil)", + "path": [ + "l54", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 213 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 14)::\nV(14, end)::\nnil)", + "path": [ + "l54", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 213 + } }, "l54_to_l23": { - "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 14)::\nV(14, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 15)::\nV(15, end)::\nnil)", - "path": [ - "l54", - "l46", - "l47", - "l48", - "l55", - "l56", - "l2", - "l1", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22", - "l23" - ], - "start-dir": 3.141592653589793, - "time": 224 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 14)::\nV(14, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 15)::\nV(15, end)::\nnil)", + "path": [ + "l54", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 3.141592653589793, + "time": 224 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 14)::\nV(14, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 15)::\nV(15, end)::\nnil)", + "path": [ + "l54", + "l46", + "l47", + "l48", + 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end)::\nnil)", + "path": [ + "l54", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 3.141592653589793, + "time": 224 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 14)::\nV(14, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 15)::\nV(15, end)::\nnil)", + "path": [ + "l54", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 3.141592653589793, + "time": 224 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 14)::\nV(14, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 15)::\nV(15, end)::\nnil)", + "path": [ + "l54", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 3.141592653589793, + "time": 224 + } }, "l54_to_l24": { - "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 14)::\nV(14, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 15)::\nV(15, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 16)::\nV(16, end)::\nnil)", - "path": [ - "l54", - "l46", - "l47", - "l48", - "l55", - "l56", - "l2", - "l1", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22", - "l23", - "l24" - ], - "start-dir": 3.141592653589793, - "time": 230 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 12)::\nV(12, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 13)::\nV(13, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 14)::\nV(14, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 15)::\nV(15, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 16)::\nV(16, end)::\nnil)", + "path": [ + "l54", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 3.141592653589793, + "time": 230 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 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do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(-33.03, 12.16, 0.68, -3.1378) then 11)::\nV(11, do MoveAbsH(-47.24, 12.11, 0.68, -3.1378) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l54", - "l46", - "l47", - "l48", - "l55", - "l56", - "l9", - "l8", - "l6", - "l7", - "l28", - "l36" - ], - "start-dir": 3.141592653589793, - "time": 193 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 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MoveAbsH(-47.03, 0.00, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-47.03, -57.57, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l54", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4", + "l5", + "l38" + ], + "start-dir": 3.141592653589793, + "time": 295 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-47.03, 0.00, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-47.03, -57.57, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l54", + 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MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-47.03, 0.00, 0.68, -1.5708) then 11)::\nV(11, do MoveAbsH(-47.03, -57.57, 0.68, -1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l54", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l3", + "l4", + "l5", + "l38" + ], + "start-dir": 3.141592653589793, + "time": 295 + } }, "l54_to_l39": { - "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l54", - "l46", - "l47", - "l48", - "l55", - "l56", - "l2", - "l1", - "l39" - ], - "start-dir": 3.141592653589793, - "time": 136 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l54", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39" + ], + "start-dir": 3.141592653589793, + "time": 136 + }, + "amcl-lidar": { 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MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l54", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39" + ], + "start-dir": 3.141592653589793, + "time": 136 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l54", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l1", + "l39" + ], + "start-dir": 3.141592653589793, + "time": 136 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 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0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l54", + "l46", + "l47", + "l48", + "l55", + "l56", + "l2", + "l59" + ], + "start-dir": 3.141592653589793, + "time": 123 + } }, "l54_to_l6": { - "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l54", - "l46", - "l47", - "l48", - "l55", - "l56", - "l9", - "l8", - "l6" - ], - "start-dir": 3.141592653589793, - "time": 155 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l54", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6" + ], + "start-dir": 3.141592653589793, + "time": 155 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l54", + 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0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l54", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6" + ], + "start-dir": 3.141592653589793, + "time": 155 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l54", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6" + ], + "start-dir": 3.141592653589793, + "time": 155 + } }, "l54_to_l7": { - "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l54", - "l46", - "l47", - "l48", - "l55", - "l56", - "l9", - "l8", - "l6", - "l7" - ], - "start-dir": 3.141592653589793, - "time": 163 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l54", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7" + ], + "start-dir": 3.141592653589793, + "time": 163 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l54", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7" + ], + "start-dir": 3.141592653589793, + "time": 163 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l54", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7" + ], + "start-dir": 3.141592653589793, + "time": 163 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 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MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-33.03, 10.27, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l54", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8", + "l6", + "l7" + ], + "start-dir": 3.141592653589793, + "time": 163 + } }, "l54_to_l8": { - "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l54", - "l46", - "l47", - "l48", - "l55", - "l56", - "l9", - "l8" - ], - "start-dir": 3.141592653589793, - "time": 115 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l54", + "l46", + "l47", + "l48", + "l55", + "l56", + "l9", + "l8" + ], + "start-dir": 3.141592653589793, + "time": 115 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(36.27, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(22.70, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(22.70, 6.49, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l54", + "l46", + "l47", + "l48", + "l55", + 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-14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, -1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l55", + "l56", + "l2", + "l1", + "l39", + "l13" + ], + "start-dir": -1.5707963267948966, + "time": 83 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, -1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l55", + "l56", + "l2", + "l1", + "l39", + "l13" + ], + "start-dir": -1.5707963267948966, + "time": 83 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, -1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l55", + "l56", + "l2", + "l1", + "l39", + "l13" + ], + "start-dir": -1.5707963267948966, + "time": 83 + } }, "l55_to_l14": { - "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, 3.1416) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l55", - "l56", - "l2", - "l1", - "l39", - "l13", - "l14" - ], - "start-dir": -1.5707963267948966, - "time": 89 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do 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then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": -1.5707963267948966, + "time": 145 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": -1.5707963267948966, + "time": 145 + }, + "aruco": { + "instructions": "P(V(1, do 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8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": -1.5707963267948966, + "time": 150 + } }, "l55_to_l23": { - "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l55", - "l56", - "l2", - "l1", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22", - "l23" - ], - "start-dir": -1.5707963267948966, - "time": 160 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l55", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": -1.5707963267948966, + "time": 160 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 2),\nV(2, do 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do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", - "path": [ - "l56", - "l9", - "l10", - "l25", - "l26", - "l27" - ], - "start-dir": 0.0, - "time": 86 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l56", + "l9", + "l10", + "l25", + "l26", + "l27" + ], + "start-dir": 0.0, + "time": 86 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l56", + "l9", + "l10", + "l25", 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7)::\nV(7, end)::\nnil)", + "path": [ + "l57", + "l40", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": 3.141592653589793, + "time": 121 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l57", + "l40", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": 3.141592653589793, + "time": 121 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, 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end)::\nnil)", + "path": [ + "l57", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 133 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l57", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 133 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 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0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l57", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 138 + } }, "l57_to_l23": { - "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l57", - "l40", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22", - "l23" - ], - "start-dir": 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0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l57", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 3.141592653589793, + "time": 148 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l57", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 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-40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l57", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 3.141592653589793, + "time": 148 + } }, "l57_to_l24": { - "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l57", - "l40", - "l39", - "l13", 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MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l57", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 3.141592653589793, + "time": 155 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l57", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 3.141592653589793, + "time": 155 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l57", + "l40", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + 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MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l57", - "l58", - "l59", - "l2", - "l56", - "l9", - "l10", - "l25" - ], - "start-dir": -1.5707963267948966, - "time": 111 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l57", + "l58", + "l59", + "l2", + "l56", + "l9", + "l10", + "l25" + ], + "start-dir": -1.5707963267948966, + "time": 111 + }, + "amcl-lidar": { + "instructions": "P(V(1, do 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end)::\nnil)", + "path": [ + "l57", + "l40", + "l43", + "l42", + "l44", + "l45", + "l12", + "l11", + "l27" + ], + "start-dir": 3.141592653589793, + "time": 146 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(47.84, -4.11, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(47.84, 0.00, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(51.89, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(51.89, 16.97, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(40.54, 16.97, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l57", + "l40", + "l43", + "l42", + "l44", + "l45", + "l12", + "l11", + "l27" + ], + "start-dir": 3.141592653589793, + "time": 146 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 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MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l57", + "l58", + "l59", + "l2", + "l1", + "l3", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": -1.5707963267948966, + "time": 145 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 8)::\nV(8, do 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then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l57", - "l58", - "l59", - "l2", - "l1", - "l3", - "l8", - "l34", - "l33", - "l32", - "l31", - "l30" - ], - "start-dir": -1.5707963267948966, - "time": 158 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l57", + "l58", + "l59", + "l2", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": -1.5707963267948966, + "time": 158 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l57", + "l58", + "l59", + "l2", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": -1.5707963267948966, + "time": 158 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l57", + "l58", + "l59", + "l2", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31", + "l30" + ], + "start-dir": -1.5707963267948966, + "time": 158 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 1.5708) then 11)::\nV(11, do MoveAbsH(-21.08, 23.03, 0.68, 1.5708) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l57", + "l58", + "l59", + 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MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-21.08, 16.49, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l57", + "l58", + "l59", + "l2", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32", + "l31" + ], + "start-dir": -1.5707963267948966, + "time": 145 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 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do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l57", - "l58", - "l59", - "l2", - "l1", - "l3", - "l8", - "l34", - "l33", - "l32" - ], - "start-dir": -1.5707963267948966, - "time": 132 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l57", + "l58", + "l59", + "l2", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": -1.5707963267948966, + "time": 132 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l57", + "l58", + "l59", + "l2", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": -1.5707963267948966, + "time": 132 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 2),\nV(2, do 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MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l57", + "l58", + "l59", + "l2", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": -1.5707963267948966, + "time": 132 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l57", + "l58", + "l59", + "l2", + "l1", + "l3", + "l8", + "l34", + "l33", + 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7)::\nV(7, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l57", + "l58", + "l59", + "l2", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": -1.5707963267948966, + "time": 92 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l57", + "l58", + "l59", + "l2", + "l56", + "l9", + "l10", + "l35" + ], + "start-dir": -1.5707963267948966, + "time": 92 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 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MoveAbsH(-47.03, 0.00, 0.68, 1.5886) then 8)::\nV(8, do MoveAbsH(-47.24, 12.11, 0.68, 1.5886) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l57", + "l58", + "l59", + "l2", + "l1", + "l3", + "l4", + "l5", + "l36" + ], + "start-dir": -1.5707963267948966, + "time": 167 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-47.03, 0.00, 0.68, 1.5886) then 8)::\nV(8, do MoveAbsH(-47.24, 12.11, 0.68, 1.5886) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l57", + "l58", + "l59", + "l2", + "l1", + "l3", + "l4", + "l5", + "l36" + ], + "start-dir": -1.5707963267948966, + "time": 167 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) 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MoveAbsH(-47.24, 12.11, 0.68, 1.5886) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l57", + "l58", + "l59", + "l2", + "l1", + "l3", + "l4", + "l5", + "l36" + ], + "start-dir": -1.5707963267948966, + "time": 167 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-47.03, 0.00, 0.68, 1.5886) then 8)::\nV(8, do MoveAbsH(-47.24, 12.11, 0.68, 1.5886) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l57", + "l58", + "l59", + "l2", + "l1", + "l3", + "l4", + "l5", + "l36" + ], + "start-dir": -1.5707963267948966, + "time": 167 + } }, "l57_to_l37": { - "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, -14.87, 0.68, 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6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l57", + "l58", + "l59", + "l2", + "l56", + "l55", + "l48", + "l49" + ], + "start-dir": -1.5707963267948966, + "time": 112 + } }, "l57_to_l5": { - "instructions": "P(V(1, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-47.03, 0.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l57", - "l58", - "l59", - "l2", - "l1", - "l3", - "l4", - "l5" - ], - "start-dir": -1.5707963267948966, - "time": 145 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-47.03, 0.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l57", + "l58", + "l59", + "l2", + "l1", + "l3", + "l4", + "l5" + ], + "start-dir": -1.5707963267948966, + "time": 145 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-47.03, 0.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l57", + "l58", + "l59", + "l2", + "l1", + "l3", + "l4", + "l5" + ], + "start-dir": -1.5707963267948966, + "time": 145 + }, + 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8)::\nV(8, end)::\nnil)", + "path": [ + "l57", + "l58", + "l59", + "l2", + "l1", + "l3", + "l4", + "l5" + ], + "start-dir": -1.5707963267948966, + "time": 145 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-47.03, 0.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l57", + "l58", + "l59", + "l2", + "l1", + "l3", + "l4", + "l5" + ], + "start-dir": -1.5707963267948966, + "time": 145 + } }, "l57_to_l50": { - "instructions": "P(V(1, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 10.76, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l57", - "l58", - "l59", - "l2", - "l56", - "l55", - "l48", - "l49", - "l50" - ], - "start-dir": -1.5707963267948966, - "time": 122 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 10.76, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l57", + "l58", + "l59", + "l2", + "l56", + "l55", + "l48", + "l49", + "l50" + ], + 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then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 10.76, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l57", + "l58", + "l59", + "l2", + "l56", + "l55", + "l48", + "l49", + "l50" + ], + "start-dir": -1.5707963267948966, + "time": 122 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(14.87, -7.84, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 10.76, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l57", + "l58", + "l59", + "l2", + "l56", + "l55", + "l48", + "l49", + "l50" + ], + "start-dir": -1.5707963267948966, + "time": 122 + }, 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0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(36.27, 8.38, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(38.97, 8.38, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(38.97, 12.92, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(40.54, 12.92, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l57", - "l40", - "l43", - "l42", - "l44", - "l45", - "l46", - "l54", - "l53", - "l52", - "l51" - ], - "start-dir": 3.141592653589793, - "time": 141 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(24.97, -14.87, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(39.24, -14.87, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(39.24, -4.11, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(47.84, -4.11, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(47.84, 0.00, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(36.27, 8.38, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(38.97, 8.38, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(38.97, 12.92, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(40.54, 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then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l58", + "l59", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 0.0, + "time": 142 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l58", + "l59", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 0.0, + "time": 142 + }, + "aruco": { + 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7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l58", + "l59", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 0.0, + "time": 142 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l58", + "l59", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 0.0, + "time": 142 + } }, "l58_to_l22": { - "instructions": "P(V(1, do MoveAbsH(14.87, 0.00, 0.68, 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7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l58", + "l59", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 0.0, + "time": 147 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l58", + "l59", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", 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-1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l58", + "l59", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 0.0, + "time": 147 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, 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5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l58", + "l59", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 0.0, + "time": 157 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l58", + "l59", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 0.0, + "time": 157 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l58", + "l59", + "l2", + "l1", + "l39", + "l13", + 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4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l58", + "l59", + "l2", + "l1", + "l3", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": 0.0, + "time": 125 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l58", + "l59", + "l2", + "l1", + "l3", + 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1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l58", + "l59", + "l2", + "l1", + "l3", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": 0.0, + "time": 125 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l58", + "l59", + "l2", + "l1", + "l3", + "l4", + "l6", + "l7", + "l28" + ], + "start-dir": 0.0, + "time": 125 + } }, "l58_to_l29": { - 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MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l58", + "l59", + "l2", + "l1", + "l3", + "l8", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": 0.0, + "time": 144 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l58", + "l59", + "l2", + "l1", + "l3", + "l8", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": 0.0, + "time": 144 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l58", + "l59", + "l2", + "l1", + "l3", + "l8", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": 0.0, + "time": 144 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l58", + "l59", + "l2", + "l1", + "l3", + "l8", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": 0.0, + "time": 144 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(-33.03, 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then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l58", + "l59", + "l2", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": 0.0, + "time": 112 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-14.32, 16.49, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l58", + "l59", + "l2", + "l1", + "l3", + "l8", + "l34", + "l33", + "l32" + ], + "start-dir": 0.0, + "time": 112 + } }, "l58_to_l33": { - "instructions": "P(V(1, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l58", - "l59", - "l2", - "l1", - "l3", - "l8", - "l34", - "l33" - ], - "start-dir": 0.0, - "time": 105 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l58", + "l59", + "l2", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": 0.0, + "time": 105 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l58", + "l59", + "l2", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": 0.0, + "time": 105 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l58", + "l59", + "l2", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": 0.0, + "time": 105 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(-14.32, 20.00, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l58", + "l59", + "l2", + "l1", + "l3", + "l8", + "l34", + "l33" + ], + "start-dir": 0.0, + "time": 105 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(14.87, 0.00, 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"mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(-6.22, 10.27, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(-6.22, 20.00, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l58", + "l59", + "l2", + "l1", + "l3", + "l8", + "l34" + ], + "start-dir": 0.0, + "time": 89 + } }, "l58_to_l35": { - "instructions": "P(V(1, do MoveAbsH(14.87, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 16.97, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 20.00, 0.68, 1.5708) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l58", - "l59", - "l2", - "l56", - "l9", - "l10", - "l35" - ], - "start-dir": 0.0, - "time": 72 + 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0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l59", + "l2", + "l1", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": -1.5707963267948966, + "time": 102 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 5)::\nV(5, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l59", + "l2", + "l1", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": -1.5707963267948966, + "time": 102 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 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6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l59", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": -1.5707963267948966, + "time": 143 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ 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then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l59", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": -1.5707963267948966, + "time": 150 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l59", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": -1.5707963267948966, + "time": 150 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l59", + "l2", + 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MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l59", + "l2", + "l56", + "l9", + "l10", + "l25" + ], + "start-dir": -1.5707963267948966, + "time": 78 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l59", + "l2", + "l56", + "l9", + "l10", + "l25" + ], + "start-dir": -1.5707963267948966, + "time": 78 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l59", + "l2", + "l56", + "l9", + "l10", + "l25" + ], + "start-dir": -1.5707963267948966, + "time": 78 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l59", + "l2", + "l56", + "l9", + "l10", + "l25" + ], + "start-dir": -1.5707963267948966, + "time": 78 + } }, "l59_to_l26": { - "instructions": "P(V(1, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(28.00, 16.97, 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6)::\nV(6, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l59", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26" + ], + "start-dir": -1.5707963267948966, + "time": 97 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l59", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26" + ], + "start-dir": -1.5707963267948966, + "time": 97 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do 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then 5)::\nV(5, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l59", + "l2", + "l1", + "l3", + "l8", + "l6", + "l7", + "l28", + "l29" + ], + "start-dir": -1.5707963267948966, + "time": 130 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(-6.22, 0.00, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(-6.22, 10.27, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-28.86, 10.27, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-33.03, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(-33.03, 12.16, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(-33.03, 23.03, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l59", + "l2", + "l1", + "l3", + "l8", + "l6", + "l7", + "l28", + "l29" + 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9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(51.89, 16.97, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l5", + "l4", + "l3", + "l1", + "l2", + "l56", + "l9", + "l10", + "l25", + "l26", + "l27", + "l11" + ], + "start-dir": 1.5707963267948966, + "time": 208 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 1.5708) then 6)::\nV(6, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 7)::\nV(7, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(40.54, 16.97, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(51.89, 16.97, 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MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(47.84, 0.00, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(51.89, 0.00, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l5", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46", + "l45", + "l12" + ], + "start-dir": 1.5707963267948966, + "time": 203 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(47.84, 0.00, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(51.89, 0.00, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l5", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46", + "l45", + "l12" + ], + "start-dir": 1.5707963267948966, + "time": 203 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(47.84, 0.00, 0.68, 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4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(47.84, 0.00, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l5", - "l4", - "l3", - "l1", - "l2", - "l56", - "l55", - "l48", - "l47", - "l46", - "l45" - ], - "start-dir": 1.5707963267948966, - "time": 196 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, 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MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 10)::\nV(10, do MoveAbsH(47.84, 0.00, 0.68, 0.0000) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l5", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46", + "l45" + ], + "start-dir": 1.5707963267948966, + "time": 196 + } }, "l5_to_l46": { - "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 10)::\nV(10, 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8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l5", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46" + ], + "start-dir": 1.5707963267948966, + "time": 175 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l5", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46" + ], + "start-dir": 1.5707963267948966, + "time": 175 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l5", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46" + ], + "start-dir": 1.5707963267948966, + "time": 175 + } }, "l5_to_l47": { - "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 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7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l5", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": 1.5707963267948966, + "time": 150 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l5", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": 1.5707963267948966, + "time": 150 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 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MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l5", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48" + ], + "start-dir": 1.5707963267948966, + "time": 138 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l5", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48" + ], + "start-dir": 1.5707963267948966, + "time": 138 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do 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6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l5", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49" + ], + "start-dir": 1.5707963267948966, + "time": 146 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l5", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49" + ], + "start-dir": 1.5707963267948966, + "time": 146 + }, + "aruco": { + 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MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l5", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49" + ], + "start-dir": 1.5707963267948966, + "time": 146 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 10.76, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l5", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49" + ], + "start-dir": 1.5707963267948966, + "time": 146 + } }, "l5_to_l50": { - "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 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MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 10.76, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l5", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49", + "l50" + ], + "start-dir": 1.5707963267948966, + "time": 157 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 10.76, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(28.00, 10.76, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l5", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l49", + "l50" + ], + 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then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(36.27, 8.38, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(38.97, 8.38, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", - "path": [ - "l5", - "l4", - "l3", - "l1", - "l2", - "l56", - "l55", - "l48", - "l47", - "l46", - "l54", - "l53" - ], - "start-dir": 1.5707963267948966, - "time": 197 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(36.27, 8.38, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(38.97, 8.38, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l5", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46", + "l54", + "l53" + ], + "start-dir": 1.5707963267948966, + "time": 197 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(36.27, 8.38, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(38.97, 8.38, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l5", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46", + "l54", + "l53" + ], + "start-dir": 1.5707963267948966, + "time": 197 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(36.27, 8.38, 0.68, 0.0000) then 11)::\nV(11, do MoveAbsH(38.97, 8.38, 0.68, 0.0000) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l5", + "l4", + "l3", + "l1", + "l2", + 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4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(36.27, 8.38, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l5", - "l4", - "l3", - "l1", - "l2", - "l56", - "l55", - "l48", - "l47", - "l46", - "l54" - ], - "start-dir": 1.5707963267948966, - "time": 191 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(36.27, 8.38, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l5", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46", + "l54" + ], + "start-dir": 1.5707963267948966, + "time": 191 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(36.27, 8.38, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l5", + "l4", + "l3", + 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MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(36.27, 8.38, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l5", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46", + "l54" + ], + "start-dir": 1.5707963267948966, + "time": 191 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 10)::\nV(10, do MoveAbsH(36.27, 8.38, 0.68, 1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l5", + "l4", + "l3", + "l1", + "l2", + "l56", + "l55", + "l48", + "l47", + "l46", + "l54" + ], + "start-dir": 1.5707963267948966, + "time": 191 + } }, "l5_to_l55": { - "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(3.51, 0.00, 0.68, 1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l5", - "l4", - "l3", - "l1", - "l2", - "l56", - "l55" - ], - "start-dir": 1.5707963267948966, - "time": 127 + "amcl-kinect": { + "instructions": 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0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l6", + "l4", + "l37", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 3.141592653589793, + "time": 176 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l6", + "l4", + "l37", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 3.141592653589793, + "time": 176 + } }, "l6_to_l24": { - "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 2),\nV(2, 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8)::\nV(8, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l6", + "l4", + "l37", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 3.141592653589793, + "time": 183 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l6", + "l4", + "l37", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 3.141592653589793, + "time": 183 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 2),\nV(2, do 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5)::\nV(5, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l6", - "l8", - "l9", - "l56", - "l55", - "l48", - "l47" - ], - "start-dir": 1.5707963267948966, - "time": 113 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": 1.5707963267948966, + "time": 113 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 4)::\nV(4, do 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then 8)::\nV(8, end)::\nnil)", + "path": [ + "l6", + "l8", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51" + ], + "start-dir": 1.5707963267948966, + "time": 146 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l6", + "l8", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51" + ], + "start-dir": 1.5707963267948966, + "time": 146 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l6", + "l8", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51" + ], + "start-dir": 1.5707963267948966, + "time": 146 + } }, "l6_to_l52": { - "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l6", - "l8", - "l9", - "l10", - "l25", - "l26", - "l27", - "l51", - "l52" - ], - "start-dir": 1.5707963267948966, - "time": 149 + 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0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l6", + "l8", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": 1.5707963267948966, + "time": 149 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l6", + "l8", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": 1.5707963267948966, + "time": 149 + }, + "mrpt-kinect": { + "instructions": "P(V(1, 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MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(38.97, 12.92, 0.68, 3.1416) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l6", + "l8", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52" + ], + "start-dir": 1.5707963267948966, + "time": 149 + } }, "l6_to_l53": { - "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(38.97, 12.92, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(38.97, 8.38, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l6", - "l8", - "l9", - "l10", - "l25", - "l26", - "l27", - "l51", - "l52", - "l53" - ], - "start-dir": 1.5707963267948966, - "time": 159 + 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MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(38.97, 12.92, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(38.97, 8.38, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l6", + "l8", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52", + "l53" + ], + "start-dir": 1.5707963267948966, + "time": 159 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(38.97, 12.92, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(38.97, 8.38, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l6", + "l8", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52", + "l53" + ], + "start-dir": 1.5707963267948966, + "time": 159 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(40.54, 12.92, 0.68, 3.1416) then 8)::\nV(8, do MoveAbsH(38.97, 12.92, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(38.97, 8.38, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l6", + "l8", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51", + "l52", + "l53" + ], + "start-dir": 1.5707963267948966, + "time": 159 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 2),\nV(2, do 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MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(36.27, 8.38, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l6", - "l8", - "l9", - "l56", - "l55", - "l48", - "l47", - "l46", - "l54" - ], - "start-dir": 1.5707963267948966, - "time": 154 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 8)::\nV(8, do MoveAbsH(36.27, 8.38, 0.68, 1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46", + "l54" + ], + "start-dir": 1.5707963267948966, + "time": 154 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) 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5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 6)::\nV(6, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l7", + "l6", + "l4", + "l37", + "l14", + "l13", + "l19" + ], + "start-dir": 1.5707963267948966, + "time": 125 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 6)::\nV(6, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l7", + "l6", + "l4", + "l37", + "l14", + "l13", + "l19" + ], + "start-dir": 1.5707963267948966, + "time": 125 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 6)::\nV(6, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l7", + "l6", + "l4", + "l37", + "l14", + "l13", + "l19" + ], + "start-dir": 1.5707963267948966, + "time": 125 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 6)::\nV(6, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l7", + "l6", + "l4", + "l37", + "l14", + "l13", + "l19" + ], + "start-dir": 1.5707963267948966, + "time": 125 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) 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then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l7", + "l6", + "l8", + "l9", + "l56", + "l2" + ], + "start-dir": 1.5707963267948966, + "time": 85 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l7", + "l6", + "l8", + "l9", + "l56", + "l2" + ], + "start-dir": 1.5707963267948966, + "time": 85 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 6)::\nV(6, end)::\nnil)", + 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0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l7", - "l6", - "l4", - "l37", - "l14", - "l15", - "l21", - "l22", - "l23" - ], - "start-dir": 1.5707963267948966, - "time": 184 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 1.5707963267948966, + "time": 184 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 1.5707963267948966, + "time": 184 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 1.5707963267948966, + "time": 184 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 1.5707963267948966, + "time": 184 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 1.5707963267948966, + "time": 184 + } }, "l7_to_l24": { - "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l7", - "l6", - "l4", - "l37", - "l14", - "l15", - "l21", - "l22", - "l23", - "l24" - ], - "start-dir": 1.5707963267948966, - "time": 190 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 1.5707963267948966, + "time": 190 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 1.5707963267948966, + "time": 190 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 1.5707963267948966, + "time": 190 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 1.5707963267948966, + "time": 190 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(-28.86, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(-28.86, -20.97, 0.68, 0.0000) then 4)::\nV(4, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 9)::\nV(9, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l7", + "l6", + "l4", + "l37", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 1.5707963267948966, + "time": 190 + } }, "l7_to_l25": { - "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", - "path": [ - "l7", - "l6", - "l8", - "l9", - "l10", - "l25" - ], - "start-dir": 1.5707963267948966, - "time": 103 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l7", + "l6", + "l8", + "l9", + "l10", + "l25" + ], + "start-dir": 1.5707963267948966, + "time": 103 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l7", + "l6", + "l8", + "l9", + "l10", + "l25" + ], + "start-dir": 1.5707963267948966, + "time": 103 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l7", + "l6", + "l8", + "l9", + "l10", + "l25" + ], + "start-dir": 1.5707963267948966, + "time": 103 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l7", + "l6", + "l8", + "l9", + "l10", + "l25" + ], + "start-dir": 1.5707963267948966, + "time": 103 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l7", + "l6", + "l8", + "l9", + "l10", + "l25" + ], + "start-dir": 1.5707963267948966, + "time": 103 + } }, "l7_to_l26": { - "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l7", - "l6", - "l8", - "l9", - "l10", - "l25", - "l26" - ], - "start-dir": 1.5707963267948966, - "time": 123 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l7", + "l6", + "l8", + "l9", + "l10", + "l25", + "l26" + ], + "start-dir": 1.5707963267948966, + "time": 123 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l7", + "l6", + "l8", + "l9", + "l10", + "l25", + "l26" + ], + "start-dir": 1.5707963267948966, + "time": 123 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(28.00, 16.97, 0.68, 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0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(39.24, -4.11, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46", + "l45", + "l44", + "l42" + ], + "start-dir": 1.5707963267948966, + "time": 191 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) then 11)::\nV(11, do MoveAbsH(39.24, -4.11, 0.68, 3.1416) then 12)::\nV(12, end)::\nnil)", + "path": [ + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46", + "l45", + "l44", + "l42" + ], + "start-dir": 1.5707963267948966, + "time": 191 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(47.84, -4.11, 0.68, 3.1416) 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0.0000) then 8)::\nV(8, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(47.84, -4.11, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46", + "l45", + "l44" + ], + "start-dir": 1.5707963267948966, + "time": 174 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(47.84, -4.11, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + 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5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(47.84, 0.00, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(47.84, -4.11, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46", + "l45", + "l44" + ], + "start-dir": 1.5707963267948966, + "time": 174 + } }, "l7_to_l45": { - "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(47.84, 0.00, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l7", - "l6", - "l8", - "l9", - "l56", - "l55", - "l48", - "l47", - "l46", - "l45" - ], - "start-dir": 1.5707963267948966, - "time": 166 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(47.84, 0.00, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46", + "l45" + ], + "start-dir": 1.5707963267948966, + "time": 166 + }, + "amcl-lidar": { + "instructions": "P(V(1, 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MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(47.84, 0.00, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46", + "l45" + ], + "start-dir": 1.5707963267948966, + "time": 166 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(47.84, 0.00, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l7", + "l6", + "l8", + "l9", + 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10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l7", - "l6", - "l8", - "l9", - "l56", - "l55", - "l48", - "l47", - "l46" - ], - "start-dir": 1.5707963267948966, - "time": 146 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l7", + "l6", 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"l46" + ], + "start-dir": 1.5707963267948966, + "time": 146 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(36.27, 0.00, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46" + ], + "start-dir": 1.5707963267948966, + "time": 146 + } }, "l7_to_l47": { - "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l7", - "l6", - "l8", - "l9", - "l56", - "l55", - "l48", - "l47" - ], - "start-dir": 1.5707963267948966, - "time": 121 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": 1.5707963267948966, + "time": 121 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do 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"l47" + ], + "start-dir": 1.5707963267948966, + "time": 121 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": 1.5707963267948966, + "time": 121 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 0.00, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47" + ], + "start-dir": 1.5707963267948966, + "time": 121 + } }, "l7_to_l48": { - "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l7", - "l6", - "l8", - "l9", - "l56", - "l55", - "l48" - ], - "start-dir": 1.5707963267948966, - "time": 108 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48" + ], + "start-dir": 1.5707963267948966, + "time": 108 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48" + ], + "start-dir": 1.5707963267948966, + "time": 108 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48" + ], + "start-dir": 1.5707963267948966, + "time": 108 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, 0.0000) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48" + ], + "start-dir": 1.5707963267948966, + "time": 108 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do 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0.0000) then 6)::\nV(6, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l7", - "l6", - "l8", - "l9", - "l10", - "l25", - "l26", - "l27", - "l51" - ], - "start-dir": 1.5707963267948966, - "time": 153 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, 1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 16.97, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 16.97, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(28.00, 16.97, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(40.54, 16.97, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(40.54, 12.92, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l7", + "l6", + "l8", + "l9", + "l10", + "l25", + "l26", + "l27", + "l51" + ], + "start-dir": 1.5707963267948966, + "time": 153 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6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(36.27, 8.38, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l7", - "l6", - "l8", - "l9", - "l56", - "l55", - "l48", - "l47", - "l46", - "l54" - ], - "start-dir": 1.5707963267948966, - "time": 161 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(36.27, 8.38, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l7", + "l6", + "l8", + 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MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(36.27, 0.00, 0.68, 1.5708) then 9)::\nV(9, do MoveAbsH(36.27, 8.38, 0.68, 1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l7", + "l6", + "l8", + "l9", + "l56", + "l55", + "l48", + "l47", + "l46", + "l54" + ], + "start-dir": 1.5707963267948966, + "time": 161 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-28.86, 10.27, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(-6.22, 10.27, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(3.51, 6.49, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(16.76, 6.49, 0.68, 0.0000) then 6)::\nV(6, do MoveAbsH(22.70, 6.49, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(22.70, 0.00, 0.68, 0.0000) then 8)::\nV(8, do 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then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": 3.141592653589793, + "time": 112 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15" + ], + "start-dir": 3.141592653589793, + "time": 112 + } }, "l8_to_l16": { - "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 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then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 7)::\nV(7, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": 3.141592653589793, + "time": 120 + } }, "l8_to_l17": { - "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 5)::\nV(5, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l8", - "l3", - "l1", - "l39", - "l13", - "l19", - "l18", - "l17" - ], - "start-dir": 3.141592653589793, - "time": 113 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, 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then 7)::\nV(7, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": 3.141592653589793, + "time": 113 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 5)::\nV(5, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(4.97, -34.97, 0.68, 3.1416) then 7)::\nV(7, do MoveAbsH(1.89, -34.97, 0.68, 3.1416) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l19", + "l18", + "l17" + ], + "start-dir": 3.141592653589793, + "time": 113 + } }, "l8_to_l18": { - "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, 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3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 5)::\nV(5, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": 3.141592653589793, + "time": 106 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 5)::\nV(5, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": 3.141592653589793, + "time": 106 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 5)::\nV(5, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": 3.141592653589793, + "time": 106 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 5)::\nV(5, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": 3.141592653589793, + "time": 106 + } }, "l8_to_l19": { - "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 5)::\nV(5, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 6)::\nV(6, end)::\nnil)", - "path": [ - "l8", - "l3", - "l1", - "l39", - "l13", - "l19" - ], - "start-dir": 3.141592653589793, - "time": 80 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 5)::\nV(5, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 80 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 5)::\nV(5, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 80 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 5)::\nV(5, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 80 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 5)::\nV(5, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 80 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 5)::\nV(5, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 80 + } }, "l8_to_l2": { - "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 4)::\nV(4, end)::\nnil)", - "path": [ - "l8", - "l9", - "l56", - "l2" - ], - "start-dir": 1.5707963267948966, - "time": 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"instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 4)::\nV(4, end)::\nnil)", + "path": [ + "l8", + "l9", + "l56", + "l2" + ], + "start-dir": 1.5707963267948966, + "time": 37 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 10.27, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 4)::\nV(4, end)::\nnil)", + "path": [ + "l8", + "l9", + "l56", + "l2" + ], + "start-dir": 1.5707963267948966, + "time": 37 + } }, "l8_to_l21": { - "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", - "path": [ - "l8", - "l3", - "l1", - "l39", - "l13", - "l14", - "l15", - "l21" - ], - "start-dir": 3.141592653589793, - "time": 132 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 132 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 132 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 132 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 132 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 132 + } }, "l8_to_l22": { - "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l8", - "l3", - "l1", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22" - ], - "start-dir": 3.141592653589793, - "time": 137 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 137 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 137 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 137 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 137 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 137 + } }, "l8_to_l23": { - "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l8", - "l3", - "l1", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22", - "l23" - ], - "start-dir": 3.141592653589793, - "time": 147 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 3.141592653589793, + "time": 147 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 3.141592653589793, + "time": 147 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23" + ], + "start-dir": 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MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l8", - "l3", - "l1", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22", - "l23", - "l24" - ], - "start-dir": 3.141592653589793, - "time": 153 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 3.141592653589793, + "time": 153 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 3.141592653589793, + "time": 153 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 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6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-0.27, -57.57, 0.68, 3.1416) then 10)::\nV(10, do MoveAbsH(-3.24, -57.57, 0.68, 3.1416) then 11)::\nV(11, end)::\nnil)", + "path": [ + "l8", + "l3", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22", + "l23", + "l24" + ], + "start-dir": 3.141592653589793, + "time": 153 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(-6.22, 0.00, 0.68, 0.0000) then 2),\nV(2, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 3)::\nV(3, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 9)::\nV(9, do MoveAbsH(-0.27, 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-1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": 3.141592653589793, + "time": 116 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, 0.0000) then 8)::\nV(8, do MoveAbsH(1.89, -40.81, 0.68, 0.0000) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l16" + ], + "start-dir": 3.141592653589793, + "time": 116 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do 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6)::\nV(6, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": 3.141592653589793, + "time": 101 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 6)::\nV(6, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": 3.141592653589793, + "time": 101 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 6)::\nV(6, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": 3.141592653589793, + "time": 101 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 6)::\nV(6, do MoveAbsH(4.97, -20.81, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(4.97, -34.97, 0.68, -1.5708) then 8)::\nV(8, end)::\nnil)", + "path": [ + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19", + "l18" + ], + "start-dir": 3.141592653589793, + "time": 101 + } }, "l9_to_l19": { - "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 6)::\nV(6, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 7)::\nV(7, end)::\nnil)", - "path": [ - "l9", - "l56", - "l2", - "l1", - "l39", - "l13", - "l19" - ], - "start-dir": 3.141592653589793, - "time": 75 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 6)::\nV(6, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 75 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 6)::\nV(6, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 75 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 0.0326) then 6)::\nV(6, do MoveAbsH(4.97, -20.81, 0.68, 0.0326) then 7)::\nV(7, end)::\nnil)", + "path": [ + "l9", + 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7)::\nV(7, end)::\nnil)", + "path": [ + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l19" + ], + "start-dir": 3.141592653589793, + "time": 75 + } }, "l9_to_l2": { - "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 3)::\nV(3, end)::\nnil)", - "path": [ - "l9", - "l56", - "l2" - ], - "start-dir": 3.141592653589793, - "time": 20 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 3)::\nV(3, end)::\nnil)", + "path": [ + "l9", + "l56", + "l2" + ], + "start-dir": 3.141592653589793, + "time": 20 + }, + "amcl-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, -1.5708) then 3)::\nV(3, end)::\nnil)", + "path": [ + "l9", + "l56", + "l2" + ], + "start-dir": 3.141592653589793, + "time": 20 + }, + "aruco": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, 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0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", - "path": [ - "l9", - "l56", - "l2", - "l1", - "l39", - "l13", - "l14", - "l15", - "l21" - ], - "start-dir": 3.141592653589793, - "time": 127 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + 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MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 127 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, -1.5708) then 9)::\nV(9, end)::\nnil)", + "path": [ + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21" + ], + "start-dir": 3.141592653589793, + "time": 127 + }, + 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0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", - "path": [ - "l9", - "l56", - "l2", - "l1", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22" - ], - "start-dir": 3.141592653589793, - "time": 132 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l9", + "l56", + "l2", + "l1", + "l39", + 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-1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 132 + }, + "mrpt-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 132 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, 0.0000) then 10)::\nV(10, end)::\nnil)", + "path": [ + "l9", + "l56", + "l2", + "l1", + "l39", + "l13", + "l14", + "l15", + "l21", + "l22" + ], + "start-dir": 3.141592653589793, + "time": 132 + } }, "l9_to_l23": { - "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(0.00, -14.87, 0.68, -1.5708) then 5)::\nV(5, do MoveAbsH(0.00, -20.97, 0.68, 3.1416) then 6)::\nV(6, do MoveAbsH(-2.43, -20.97, 0.68, -1.5708) then 7)::\nV(7, do MoveAbsH(-2.43, -40.81, 0.68, -1.5708) then 8)::\nV(8, do MoveAbsH(-2.43, -52.22, 0.68, 0.0000) then 9)::\nV(9, do MoveAbsH(-0.27, -52.22, 0.68, -1.5708) then 10)::\nV(10, do MoveAbsH(-0.27, -57.57, 0.68, -1.5708) then 11)::\nV(11, end)::\nnil)", - "path": [ - "l9", - "l56", - "l2", - "l1", - "l39", - "l13", - "l14", - "l15", - "l21", - "l22", - "l23" - ], - "start-dir": 3.141592653589793, - "time": 142 + "amcl-kinect": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, -1.5708) then 4)::\nV(4, do 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0.00, 0.68, 3.1416) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l9", + "l56", + "l2", + "l1", + "l3", + "l4" + ], + "start-dir": 3.141592653589793, + "time": 78 + }, + "mrpt-lidar": { + "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 3.1416) then 3)::\nV(3, do MoveAbsH(0.00, 0.00, 0.68, 3.1416) then 4)::\nV(4, do MoveAbsH(-6.22, 0.00, 0.68, 3.1416) then 5)::\nV(5, do MoveAbsH(-28.86, 0.00, 0.68, 3.1416) then 6)::\nV(6, end)::\nnil)", + "path": [ + "l9", + "l56", + "l2", + "l1", + "l3", + "l4" + ], + "start-dir": 3.141592653589793, + "time": 78 + } }, "l9_to_l40": { - "instructions": "P(V(1, do MoveAbsH(3.51, 6.49, 0.68, -1.5708) then 2),\nV(2, do MoveAbsH(3.51, 0.00, 0.68, 0.0000) then 3)::\nV(3, do MoveAbsH(14.87, 0.00, 0.68, -1.5708) then 4)::\nV(4, do MoveAbsH(14.87, -7.84, 0.68, 0.0000) then 5)::\nV(5, do MoveAbsH(24.97, -7.84, 0.68, -1.5708) then 6)::\nV(6, do MoveAbsH(24.97, -14.87, 0.68, -1.5708) then 7)::\nV(7, 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