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experiment_trial_bad.json
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experiment_trial_bad.json
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[{"id": 0, "robots": [{"id": 0, "skills": ["approach_person", "approach_robot", "authenticate_person", "deposit", "navigation", "operate_drawer", "pick_up"], "location": "PC Room 1", "battery_level": 0.64, "battery_consumption_rate": 0.0024000000000000002, "avg_speed": 0.8, "local_plan": null, "position": [-28.5, 18]}, {"id": 1, "skills": ["approach_person", "approach_robot", "authenticate_person", "deposit", "navigation", "operate_drawer", "pick_up"], "location": "PC Room 2", "battery_level": 0.42, "battery_consumption_rate": 0.0015, "avg_speed": 0.8, "local_plan": [["navigation", ["PC Room 10", [[-27.4, 18], [-19, 16], [-18, 13]]]], ["approach_person", ["nurse"]], ["authenticate_person", ["nurse"]], ["operate_drawer", ["open"]], ["send_message", ["nurse"]], ["wait_message", ["r1"]], ["operate_drawer", ["close"]], ["navigation", ["Pharmacy", [[-18, 13], [-19, 16], [0, 8], [-2, 2.6]]]], ["approach_robot", ["lab_arm"]], ["operate_drawer", ["open"]], ["send_message", ["lab_arm"]], ["wait_message", ["r1"]], ["operate_drawer", ["close"]]], "position": [-27.4, 18]}, {"id": 2, "skills": ["navigation", "approach_robot", "approach_person", "pick_up", "deposit", "authenticate_person"], "location": "IC Room 4", "battery_level": 0.4, "battery_consumption_rate": 0.0013000000000000002, "avg_speed": 0.8, "local_plan": null, "position": [-34, 17.5]}, {"id": 3, "skills": ["approach_person", "approach_robot", "authenticate_person", "deposit", "navigation", "operate_drawer", "pick_up"], "location": "IC Room 1", "battery_level": 0.61, "battery_consumption_rate": 0.0017000000000000001, "avg_speed": 0.8, "local_plan": null, "position": [-38, 35]}, {"id": 4, "skills": ["approach_person", "approach_robot", "authenticate_person", "deposit", "navigation", "operate_drawer", "pick_up"], "location": "PC Room 8", "battery_level": 0.63, "battery_consumption_rate": 0.0018000000000000002, "avg_speed": 0.8, "local_plan": null, "position": [-27, 13]}], "nurses": [{"position": [-18, 13], "location": "PC Room 10"}]}, {"id": 1, "robots": [{"id": 0, "skills": ["approach_person", "approach_robot", "authenticate_person", "deposit", "navigation", "operate_drawer", "pick_up"], "location": "PC Room 1", "battery_level": 0.64, "battery_consumption_rate": 0.0027, "avg_speed": 0.8, "local_plan": null, "position": [-28.5, 18]}, {"id": 1, "skills": ["approach_person", "approach_robot", "authenticate_person", "deposit", "navigation", "operate_drawer", "pick_up"], "location": "PC Room 2", "battery_level": 0.42, "battery_consumption_rate": 0.0019, "avg_speed": 0.8, "local_plan": [["navigation", ["PC Room 7", [[-27.4, 18], [-19, 16], [-4, 18]]]], ["approach_person", ["nurse"]], ["authenticate_person", ["nurse"]], ["operate_drawer", ["open"]], ["send_message", ["nurse"]], ["wait_message", ["r1"]], ["operate_drawer", ["close"]], ["navigation", ["Pharmacy", [[-4, 18], [-19, 16], [0, 8], [-2, 2.6]]]], ["approach_robot", ["lab_arm"]], ["operate_drawer", ["open"]], ["send_message", 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[-18, 13], "location": "PC Room 10"}]}, {"id": 3, "robots": [{"id": 0, "skills": ["approach_person", "approach_robot", "authenticate_person", "deposit", "navigation", "operate_drawer", "pick_up"], "location": "PC Room 1", "battery_level": 0.53, "battery_consumption_rate": 0.0024000000000000002, "avg_speed": 0.8, "local_plan": null, "position": [-28.5, 18]}, {"id": 1, "skills": ["approach_person", "approach_robot", "authenticate_person", "deposit", "navigation", "operate_drawer", "pick_up"], "location": "PC Room 2", "battery_level": 0.35000000000000003, "battery_consumption_rate": 0.0015, "avg_speed": 0.8, "local_plan": [["navigation", ["IC Room 3", [[-27.4, 18], [-19, 16], [-37, 15], [-38, 23]]]], ["approach_person", ["nurse"]], ["authenticate_person", ["nurse"]], ["operate_drawer", ["open"]], ["send_message", ["nurse"]], ["wait_message", ["r1"]], ["operate_drawer", ["close"]], ["navigation", ["Pharmacy", [[-38, 23], [-37, 15], [-19, 16], [0, 8], [-2, 2.6]]]], ["approach_robot", ["lab_arm"]], ["operate_drawer", ["open"]], ["send_message", ["lab_arm"]], ["wait_message", ["r1"]], ["operate_drawer", ["close"]]], "position": [-27.4, 18]}, {"id": 2, "skills": ["navigation", "approach_robot", "approach_person", "pick_up", "deposit", "authenticate_person"], "location": "IC Room 4", "battery_level": 0.84, "battery_consumption_rate": 0.0013000000000000002, "avg_speed": 0.8, "local_plan": null, "position": [-34, 17.5]}, {"id": 3, "skills": ["approach_person", "approach_robot", "authenticate_person", "deposit", "navigation", "operate_drawer", "pick_up"], "location": "IC Room 1", "battery_level": 0.47000000000000003, "battery_consumption_rate": 0.0017000000000000001, "avg_speed": 0.8, "local_plan": null, "position": [-38, 35]}, {"id": 4, "skills": ["approach_person", "approach_robot", "authenticate_person", "deposit", "navigation", "operate_drawer", "pick_up"], "location": "PC Room 8", "battery_level": 0.11, "battery_consumption_rate": 0.0018000000000000002, "avg_speed": 0.8, "local_plan": null, "position": [-27, 13]}], "nurses": [{"position": [-18, 13], "location": "PC Room 10"}]}, {"id": 4, "robots": [{"id": 0, "skills": ["approach_person", "approach_robot", "authenticate_person", "deposit", "navigation", "operate_drawer", "pick_up"], "location": "PC Room 1", "battery_level": 0.53, "battery_consumption_rate": 0.0027, "avg_speed": 0.8, "local_plan": null, "position": [-28.5, 18]}, {"id": 1, "skills": ["approach_person", "approach_robot", "authenticate_person", "deposit", "navigation", "operate_drawer", "pick_up"], "location": "PC Room 2", "battery_level": 0.35000000000000003, "battery_consumption_rate": 0.0019, "avg_speed": 0.8, "local_plan": [["navigation", ["PC Room 4", [[-27.4, 18], [-19, 16], [-19, 18]]]], ["approach_person", ["nurse"]], ["authenticate_person", ["nurse"]], ["operate_drawer", ["open"]], ["send_message", ["nurse"]], ["wait_message", ["r1"]], ["operate_drawer", ["close"]], ["navigation", ["Pharmacy", [[-19, 18], [-19, 16], [0, 8], [-2, 2.6]]]], ["approach_robot", ["lab_arm"]], ["operate_drawer", ["open"]], ["send_message", ["lab_arm"]], ["wait_message", ["r1"]], ["operate_drawer", ["close"]]], "position": [-27.4, 18]}, {"id": 2, "skills": ["navigation", "approach_robot", "approach_person", "pick_up", "deposit", "authenticate_person"], "location": "IC Room 4", "battery_level": 0.84, "battery_consumption_rate": 0.0022, "avg_speed": 0.8, "local_plan": null, "position": [-34, 17.5]}, {"id": 3, "skills": ["approach_person", "approach_robot", "authenticate_person", "deposit", "navigation", "operate_drawer", "pick_up"], "location": "IC Room 1", "battery_level": 0.47000000000000003, "battery_consumption_rate": 0.0011, "avg_speed": 0.8, "local_plan": null, "position": [-38, 35]}, {"id": 4, "skills": ["approach_person", "approach_robot", "authenticate_person", "deposit", "navigation", "operate_drawer", "pick_up"], "location": "PC Room 8", "battery_level": 0.11, "battery_consumption_rate": 0.0018000000000000002, 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[[-11.5, 18], [-19, 16], [0, 8], [-2, 2.6]]]], ["approach_robot", ["lab_arm"]], ["operate_drawer", ["open"]], ["send_message", ["lab_arm"]], ["wait_message", ["r1"]], ["operate_drawer", ["close"]]], "position": [-27.4, 18]}, {"id": 2, "skills": ["navigation", "approach_robot", "approach_person", "pick_up", "deposit", "authenticate_person"], "location": "IC Room 4", "battery_level": 0.84, "battery_consumption_rate": 0.0024000000000000002, "avg_speed": 0.8, "local_plan": null, "position": [-34, 17.5]}, {"id": 3, "skills": ["approach_person", "approach_robot", "authenticate_person", "deposit", "navigation", "operate_drawer", "pick_up"], "location": "IC Room 1", "battery_level": 0.47000000000000003, "battery_consumption_rate": 0.0018000000000000002, "avg_speed": 0.8, "local_plan": null, "position": [-38, 35]}, {"id": 4, "skills": ["approach_person", "approach_robot", "authenticate_person", "deposit", "navigation", "operate_drawer", "pick_up"], "location": "PC Room 8", "battery_level": 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