userCam0 12 9 18 269.99 89 0 640 480 10 SGIX skyTones.jpg true light1 0.000 0.000 100.00 0.2, 0.2, 0.2 0.8, 0.8, 0.8 0.2, 0.2, 0.2 1.0, 0.0, 0.00 light1 20.000 20.000 100.00 0.2, 0.2, 0.2 0.8, 0.8, 0.8 0.2, 0.2, 0.2 1.0, 0.0, 0.00 light1 -20.000 -20.000 100.00 0.2, 0.2, 0.2 0.8, 0.8, 0.8 0.2, 0.2, 0.2 1.0, 0.0, 0.00 ground1 0.8 1.0 0.8 grid.ppm 0.000 0.000 -0.100 0.000 0.300 0.100 tapia.gzb grid.ppm #robot1 robot1 16 2 0 0 0 60 camera1 0.0 0.0 0.52 0.01 laser1 0.0 0.0 0.30 truthRobot #robot2 robot2 2 16 0 0 0 280 camera2 0.0 0.0 0.52 0.01 laser2 0.0 0.0 0.30 truthRobot #robot3 robot3 24 6 0 0 0 0 camera3 0.0 0.0 0.52 0.01 laser3 0.0 0.0 0.30 truthRobot #robot4 robot4 11 7 0 0 0 170 camera4 0.0 0.0 0.52 0.01 laser4 0.0 0.0 0.30 truthRobot #robot5 robot5 20 7 0 0 0 0 camera5 0.0 0.0 0.52 0.01 laser5 0.0 0.0 0.30 truthRobot #robot6 robot6 24 16 0 0 0 0 camera6 0.0 0.0 0.52 0.01 laser6 0.0 0.0 0.30 truthRobot #robot7 robot7 2 10 0 0 0 0 camera7 0.0 0.0 0.52 0.01 laser7 0.0 0.0 0.30 truthRobot #fiducial 1 (yellow, purple, blue) #first blob 13 7 0 .2 .2 cylinder 1 1 0 #truth truthCylinder #second blob 0 0 .2 .2 .2 cylinder 1 0 1 #third blob 0 0 .4 .2 .2 cylinder 0 0 1 #base 0 0 0 1.5 .01 cylinder 0 1 0 #fiducial 2 (purple, blue, yellow) #first blob 20 8.5 0 .2 .2 cylinder 1 0 1 #truth truthCylinder #second blob 0 0 .2 .2 .2 cylinder 0 0 1 #third blob 0 0 .4 .2 .2 cylinder 1 1 0 #base 0 0 0 1.5 .01 cylinder 0 1 0 #fiducial 3 (blue, yellow, purple) #first blob 8 4.15 0 .2 .2 cylinder 0 0 1 #truth truthCylinder #second blob 0 0 .2 .2 .2 cylinder 1 1 0 #third blob 0 0 .4 .2 .2 cylinder 1 0 1 #base 0 0 0 1.5 .01 cylinder 0 1 0 #fiducial 4 (blue, purple, yellow) #first blob 12 16.4 0 .2 .2 cylinder 0 0 1 #truth truthCylinder #second blob 0 0 .2 .2 .2 cylinder 1 0 1 #third blob 0 0 .4 .2 .2 cylinder 1 1 0 #base 0 0 0 1.5 .01 cylinder 0 1 0 #fiducial 5 (purple, yellow, blue) #first blob 20 16.4 0 .2 .2 cylinder 1 0 1 #truth truthCylinder #second blob 0 0 .2 .2 .2 cylinder 1 1 0 #third blob 0 0 .4 .2 .2 cylinder 0 0 1 #base 0 0 0 1.5 .01 cylinder 0 1 0 #fiducial 6 (yellow, blue, purple) #first blob 20 2 0 .2 .2 cylinder 1 1 0 #truth truthCylinder #second blob 0 0 .2 .2 .2 cylinder 0 0 1 #third blob 0 0 .4 .2 .2 cylinder 1 0 1 #base 0 0 0 1.5 .01 cylinder 0 1 0