SCENARIOS = {
+ "pe05": {
+ "init": [0, 0, 0],
+ "slot": gen_slot_at(10, 0, 0, False),
+ "obst": [gen_obst_at(*p) for p in [
+ [8, 2.5, 0], [6, 2.5, 0],
+ [10.25, 1.5, 0], [10.25, -1.5, 0]]]},
+ "pe04": {
+ "init": [0, 0, 0],
+ "slot": gen_slot_at(10, 0, 0, False),
+ "obst": [gen_obst_at(*p) for p in [
+ [10.25, 1.5, 0], [10.25, -1.5, 0]]]},
+ "pe03": {
+ "init": [0, 0, 0],
+ "slot": gen_slot_at(15, 0, pi/2, False),
+ "obst": [gen_obst_at(*p) for p in [
+ [13.5, 0.25, 0], [16.5, 0.25, 0],
+ [12.5, -2.5, 0], [17.5, -2.5, 0]]]},
+ "pe02": {
+ "init": [0, 0, 0],
+ "slot": gen_slot_at(15, 0, pi/2, False),
+ "obst": [gen_obst_at(*p) for p in [
+ [13.5, 0.25, 0], [16.5, 0.25, 0],
+ [13.5, -5, 0], [16.5, -5, 0]]]},
+ "pe01": {
+ "init": [0, 0, 0],
+ "slot": gen_slot_at(15, 0, pi/2, False),
+ "obst": [gen_obst_at(*p) for p in [
+ [13.5, 0.25, 0], [16.5, 0.25, 0],
+ [15, -5, 0]]]},
+ "pa05": {
+ "init": [0, 0, 0],
+ "slot": gen_slot_at(12, 2, -pi/2, True),
+ "obst": [gen_obst_at(*p) for p in [
+ [7, 0, 0], [7, 2, 0], [7, 4, 0], [7, -2, 0],
+ [9, -2, 0], [11, -2, 0]]]},
+ "pa04": {
+ "init": [0, 0, 0],
+ "slot": gen_slot_at(12, -2, -pi/2, True),
+ "obst": [gen_obst_at(*p) for p in [
+ [7, -2, 0], [7, -4, 0], [7, -6, 0], [9, -6, 0], [11, -6, 0],
+ [7, -2, 0], [11, 0, 0], [15, 0, 0], [19, 0, 0],
+ [7, 3, 0], [11, 5, 0], [15, 3, 0], [19, 3, 0]]]},
+ "pa03": {
+ "init": [0, 0, 0],
+ "slot": gen_slot_at(15, 0, 0, True),
+ "obst": [gen_obst_at(*p) for p in [
+ [15.25, -3.5, 0], [15.25, 3.5, 0],
+ [7.5, 2.5, 0], [10, -2.5, 0], [12.5, 0, 0]]]},
+ "pa02": {
+ "init": [0, 0, 0],
+ "slot": gen_slot_at(15, 0, 0, True),
+ "obst": [gen_obst_at(*p) for p in [
+ [15.25, -3.5, 0], [15.25, 3.5, 0],
+ [10, 5, 0], [10, 0, 0], [12.5, 0, 0]]]},
"pa01": {
"init": [0, 0, 0],
"slot": gen_slot_at(15, 0, 0, True),