#Comment line

map {

    bottom_left { -0.6096 -0.4953 }
    top_right { 3.05 4.6419 }
    robot_start { 0.0 0.0 }
    robot_goal { 0.00 2.50 }

    #Fiducials will contain a position,
    #a top_color, a bottom_color, a top_radius, and a bottom_radius
    #This should probably be broken down further into a fiducial being
    #composed of two Ball objects...at some point

    fiducials {
    	num_fiducials 7
	    0 {
	        position { -0.6125 4.1375 } 
		    top_color green
		    bottom_color blue
		    top_radius 0.055 #in meters
		    bottom_radius 0.055 #in meters
	    }
	
	    1 {
	        position { 0.5 4.125 }
		    top_color blue
		    bottom_color yellow
		    top_radius 0.055
		    bottom_radius 0.055
	    }
	
	    2 {
	        position { 3.0125 3.325 }
		    top_color green
		    bottom_color orange
		    top_radius 0.055
		    bottom_radius 0.055
	    }
	
	    3 {
	        position { 1.9875 -0.475 }
		    top_color red
		    bottom_color green
		    top_radius 0.055
		    bottom_radius 0.055
	    }
	    
	    4 {
	        position { -0.5125 0.65 }
		    top_color yellow
		    bottom_color red
		    top_radius 0.055
		    bottom_radius 0.055
	    }
	    
	    5 {
	       position { 1.45 1.425 }
	           top_color blue
		   bottom_color red
		   top_radius 0.055
		   bottom_radius 0.055
	    }

	    6 {
	       position { 0.8625 1.225 }
	           top_color orange
		   bottom_color blue
		   top_radius 0.055
		   bottom_radius 0.055
	    }
    }

    #ConstructionObject information.  Note: some of the intended landing sites may be
    #outside of the bounding box

    construction_objects {
    	num_construction_objects 8 
        0 {
            position { 0.0 0.0 } # Tricky Under robot
            #color color_name
            #size 1 | 2
        }
        1 {
            position { 0.0 1.22 } # Around first obstacle
        }
        2 {
            position { 0.32 2.875 } # Near Diagonal Obstacles
        }
        3 {
            position { 1.878 3.464 } #Impossible: In the obstacle
        }
        4 {
            position { 2.262 -0.304 } #Hard: In the corner.  Moved out 7cm,7cm
        }
        5 {
            position { 0.581 2.343 } # One of the further blocks
        }
        6 {
            position { 2.30 2.595 } # Double block
            size 2
        }
        7 {
            position { -0.232 3.494 } # Around concave obstacle
        }
    }

	#Recall that obstacle points must be specified in CCW order
	
    obstacles {
    	num_obstacles 8
		0 {
	        num_points 4
		    0 { -0.6096 0.4191 }
		    1 { -0.6096 0.6350 }
		    2 { 0.2032 0.6350  }
		    3 { 0.2032 0.4191 }
		}
	
		1 {
	        num_points 4
		    0 { -0.6096 0.4191  }
		    1 { -0.6096 1.2192  }
		    2 { -0.6096 2.1336  }
		    3 {  0.0254 1.8923  }
		}

		2 {
	        num_points 4
		    0 { 0.8763 1.2192  }
		    1 { 1.4478 1.4351  }
		    2 { 1.4859 1.3335  }
		    3 { 0.9144 1.1240  }
		}

		3 { 
	        num_points 4
		    0 { 1.0033 1.8351  }
		    1 { 1.0668 1.9304  }
		    2 { 1.4986 1.4986  }
		    3 { 1.4478 1.4351  }
		}

		4 { 
	        num_points 4
		    0 { 0.7938 1.2510  }
		    1 { 0.9271 1.8415  }
		    2 { 1.0033 1.8351  }
		    3 { 0.8763 1.2192  }
		}

		5 {
	        num_points 4
		    0 { 0.3048 3.4417 }
		    1 { 0.3048 4.6419 }
		    2 { 0.5143 4.6419  }
		    3 { 0.5143 3.4417  }
		}

		6 {
	        num_points 4
		    0 { 1.8192 3.8481 }
		    1 { 1.8192 4.0640 }
		    2 { 3.0384 4.0640 }
		    3 { 3.0384 3.8481 }
		}

		7 {
	        num_points 4
		    0 { 2.0097 0.7620  }
		    1 { 2.2383 0.7620 }
		    2 { 2.2383 -0.4953  }
		    3 { 2.0097 -0.4953 }
		}
	}
}