(object Petal version 45 _written "Rose 7.5.0103.1920" charSet 0) (object Design "Logical View" is_unit TRUE is_loaded TRUE attributes (list Attribute_Set (object Attribute tool "Java" name "IDE" value "Internal Editor")) quid "3D6C3E8B0186" defaults (object defaults rightMargin 0.250000 leftMargin 0.250000 topMargin 0.250000 bottomMargin 0.500000 pageOverlap 0.250000 clipIconLabels TRUE autoResize TRUE snapToGrid TRUE gridX 16 gridY 16 defaultFont (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) showMessageNum 1 showClassOfObject TRUE notation "Unified") root_usecase_package (object Class_Category "Use Case View" quid "3D6C3E8B01C2" exportControl "Public" global TRUE logical_models (list unit_reference_list) statemachine (object State_Machine "State/Activity Model" quid "3D6C3EDF01E0" states (list States (object State "$UNNAMED$0" quid "3D6C3EEA008C" transitions (list transition_list (object State_Transition quid "3D6C40C402EE" label "" supplier "Initializing" quidu "3D6C3EF00082" Event (object Event "Program started" quid "3D6C40C402EF") sendEvent (object sendEvent quid "3D6C40C402F1")) (object State_Transition quid "3D6DDC1D0118" label "" supplier "User Interface" quidu "3D6DD38A0348" Event (object Event "Program started" quid "3D6DDC1D0119") sendEvent (object sendEvent quid "3D6DDC1D011B"))) type "StartState") (object State "Initializing" quid "3D6C3EF00082" transitions (list transition_list (object State_Transition quid "3D6C3F170190" label "" supplier "Ready" quidu "3D6C3EFE0208" Event (object Event "initialized" quid "3D6C3F170191") sendEvent (object sendEvent quid "3D6C3F170193"))) type "Normal") (object State "Ready" quid "3D6C3EFE0208" transitions (list transition_list (object State_Transition quid "3D6C3F1E021C" label "" supplier "Running" quidu "3D6C3F9F037A" Event (object Event "'Go' pressed" quid "3D6C3F1E021D") sendEvent (object sendEvent quid "3D6C3F1E021F")) (object State_Transition quid "3D6C411E0186" label "" supplier "$UNNAMED$1" quidu "3D6C40CC017C" Event (object Event "'End' pressed" quid "3D6C411E0187") sendEvent (object sendEvent quid "3D6C411E0189"))) type "Normal") (object State "Running" quid "3D6C3F9F037A" transitions (list transition_list (object State_Transition quid "3D6C3FAE01F4" label "" supplier "$UNNAMED$1" quidu "3D6C40CC017C" Event (object Event "'End' pressed" quid "3D6C3FAE01F5") sendEvent (object sendEvent quid "3D6C3FAE01F7")) (object State_Transition quid "3D6DD3CC024E" label "" supplier "User Interface" quidu "3D6DD38A0348" Event (object Event "'End' pressed" quid "3D6DD3CC024F") sendEvent (object sendEvent quid "3D6DD3CC0251")) (object State_Transition quid "3D782DA902C6" supplier "Running" quidu "3D6C3F9F037A" sendEvent (object sendEvent quid "3D782DA902C9"))) statemachine (object State_Machine "State/Activity Model2" quid "3D782BBE023A" states (list States (object State "Sensors and Image Recognition" quid "3D6DD3A700B4" transitions (list transition_list (object State_Transition quid "3D782DB5019A" label "" supplier ":Running:Sensors and Image Recognition" quidu "3D6DD3A700B4" Event (object Event "while running" quid "3D818174016A") sendEvent (object sendEvent quid "3D782DB5019D"))) type "Normal") (object State "Broadcasting (only in case 1, does not exist in case 0 and case 2)" quid "3D6DD3AD00AA" transitions (list transition_list (object State_Transition quid "3D782DB80104" label "" supplier ":Running:Broadcasting (only in case 1, does not exist in case 0 and case 2)" quidu "3D6DD3AD00AA" Event (object Event "while running" quid "3D8181740170") sendEvent (object sendEvent quid "3D782DB80107"))) type "Normal") (object State "$UNNAMED$2" quid "3D782E2701AE" type "StartState") (object State "$UNNAMED$3" quid "3D782E5F026C" type "EndState") (object State "$UNNAMED$4" quid "3D8181FB0302" transitions (list transition_list (object State_Transition quid "3D8182400366" label "" supplier "$UNNAMED$4" quidu "3D8181FB0302" Event (object Event "while running" quid "3D8182400367") sendEvent (object sendEvent quid "3D8182400369"))) statemachine (object State_Machine "State/Activity Model3" quid "3D81822700A0" states (list States (object State "Communicating (only in case 2, in case 0 and case 1 we go to Avoiding directly)" quid "3D6DD396028A" transitions (list transition_list (object State_Transition quid "3D6DD3CA00AA" label "" supplier "User Interface" quidu "3D6DD38A0348" Event (object Event "'End' pressed" quid "3D6DD3CA00AB") sendEvent (object sendEvent quid "3D6DD3CA00AD")) (object State_Transition quid "3D6DD3DC01CC" label "" supplier ":Running:#4:Avoiding" quidu "3D6C453D0122" Event (object Event "data exchanged OR aborted" quid "3D6DD3DC01CD") sendEvent (object sendEvent quid "3D6DD3DC01CF"))) type "Normal") (object State "Avoiding" quid "3D6C453D0122" transitions (list transition_list (object State_Transition quid "3D7828F703DE" label "" supplier ":Running:#4:Exploring (Start)" quidu "3D6DD39103A2" Event (object Event "avoided" quid "3D7828F703DF") sendEvent (object sendEvent quid "3D7828F703E1"))) type "Normal") (object State "Exploring (Start)" quid "3D6DD39103A2" transitions (list transition_list (object State_Transition quid "3D6DD3DF0172" label "" supplier ":Running:#4:Communicating (only in case 2, in case 0 and case 1 we go to Avoiding directly)" quidu "3D6DD396028A" Event (object Event "robot detected" quid "3D6DD3DF0173") sendEvent (object sendEvent quid "3D6DD3DF0175")) (object State_Transition quid "3D6DD3E300DC" label "" supplier ":Running:#4:Pushing" quidu "3D6DD3A00140" Event (object Event "cube detected" quid "3D6DD3E300DD") sendEvent (object sendEvent quid "3D6DD3E300DF")) (object State_Transition quid "3DEAD06F00B4" label "" supplier ":Running:#4:Avoiding" quidu "3D6C453D0122" Event (object Event "drive stalled" quid "3DEAD06F00B5") sendEvent (object sendEvent quid "3DEAD06F00B7"))) type "Normal") (object State "Pushing" quid "3D6DD3A00140" transitions (list transition_list (object State_Transition quid "3D6DD3D001AE" label "" supplier "User Interface" quidu "3D6DD38A0348" Event (object Event "'End' pressed" quid "3D6DD3D001AF") sendEvent (object sendEvent quid "3D6DD3D001B1")) (object State_Transition quid "3D6DD3E20078" label "" supplier ":Running:#4:Avoiding" quidu "3D6C453D0122" Event (object Event "arrived OR drive stalled" quid "3D6DD3E20079") sendEvent (object sendEvent quid "3D6DD3E2007B")) (object State_Transition quid "3D78289F0348" label "" supplier ":Running:#4:Avoiding" quidu "3D6C453D0122" Event (object Event "blocked" quid "3D78289F0349") sendEvent (object sendEvent quid "3D78289F034B")) (object State_Transition quid "3E1150F201FE" label "" supplier ":Running:#4:Exploring (Start)" quidu "3D6DD39103A2" Event (object Event "cube lost" quid "3E1150F201FF") sendEvent (object sendEvent quid "3E1150F20201"))) type "Normal")) partitions (list Partitions) objects (list Objects) statediagrams (list StateDiagrams)) type "Normal")) partitions (list Partitions) objects (list Objects) statediagrams (list StateDiagrams)) type "Normal") (object State "$UNNAMED$1" quid "3D6C40CC017C" type "EndState") (object State "Idle" quid "3D6C3F0B024E" transitions (list transition_list (object State_Transition quid "3D6C3F22014A" label "" supplier "Initializing" quidu "3D6C3EF00082" Event (object Event "'Rst' pressed" quid "3D6C3F22014B") sendEvent (object sendEvent quid "3D6C3F22014D")) (object State_Transition quid "3D6C3FAB02BC" label "" supplier "Running" quidu "3D6C3F9F037A" Event (object Event "'Go' pressed" quid "3D6C3FAB02BD") sendEvent (object sendEvent quid "3D6C3FAB02BF")) (object State_Transition quid "3D6C40CF00BE" label "" supplier "$UNNAMED$1" quidu "3D6C40CC017C" Event (object Event "'End' pressed" quid "3D6C40CF00BF") sendEvent (object sendEvent quid "3D6C40CF00C1"))) type "Normal") (object State "Pushing towards cluster point" quid "3D6C451F012C" transitions (list transition_list (object State_Transition quid "3D6C4565006E" label "" supplier "Exit to Avoiding" quidu "3D7832D60082" Event (object Event "arrived OR met obstacle, more then once" quid "3D6C7A7901E4") sendEvent (object sendEvent quid "3D6C45650071")) (object State_Transition quid "3D6C4567005A" label "" supplier "Backing up" quidu "3D6C469A01C2" Event (object Event "met obstacle, first time" quid "3D6C4567005B") sendEvent (object sendEvent quid "3D6C4567005D")) (object State_Transition quid "3D6C82EC0172" label "" supplier "Backing up (if not done yet), Turning slightly left/right" quidu "3D6C82C20190" Event (object Event "cube lost" quid "3D6C82EC0173") sendEvent (object sendEvent quid "3D6C82EC0175"))) type "Normal") (object State "Entry to Pushing" quid "3D6C453602BC" transitions (list transition_list (object State_Transition quid "3D6C456202B2" supplier "Approaching cube" quidu "3D7846CA01D6" sendEvent (object sendEvent quid "3D6C456202B5"))) type "Normal") (object State "Exit to Exploring" quid "3D6C4538030C" type "Normal") (object State "Backing up" quid "3D6C469A01C2" transitions (list transition_list (object State_Transition quid "3D6C4745028A" label "" supplier "Waiting" quidu "3D6C469E02A8" Event (object Event "far enough OR drive stalled" quid "3D6C4745028B") sendEvent (object sendEvent quid "3D6C4745028D")) (object State_Transition quid "3D7832650096" label "" supplier "Turning away" quidu "3D6DD788023A" Event (object Event "far enough" quid "3D7848700169") sendEvent (object sendEvent quid "3D7832650099")) (object State_Transition quid "3D9D291B00D2" label "" supplier "Driving forward" quidu "3D6DD8DC0230" Event (object Event "drive stalled" quid "3D9D291B00D3") sendEvent (object sendEvent quid "3D9D291B00D5"))) type "Normal") (object State "Waiting" quid "3D6C469E02A8" transitions (list transition_list (object State_Transition quid "3D6C474A03D4" label "" supplier "Trying to retrieve cube" quidu "3D6C46FB03AC" Event (object Event "random time passed" quid "3D6C474A03D5") sendEvent (object sendEvent quid "3D6C474A03D7")) (object State_Transition quid "3D6C458C01B8" label "" supplier "Pushing towards cluster point" quidu "3D6C451F012C" Event (object Event "cube retrieved" quid "3D6C458C01B9") sendEvent (object sendEvent quid "3D6C458C01BB")) (object State_Transition quid "3DEAD1AC00D2" label "" supplier "Trying to retrieve cube" quidu "3D6C46FB03AC" Event (object Event "random time passed" quid "3DEAD1AC00D3") sendEvent (object sendEvent quid "3DEAD1AC00D5"))) type "Normal") (object State "Trying to retrieve cube" quid "3D6C46FB03AC" transitions (list transition_list (object State_Transition quid "3D6DDB660258" label "" supplier "Exit to Avoiding" quidu "3D7832D60082" Event (object Event "drive stalled" quid "3D6DDB660259") sendEvent (object sendEvent quid "3D6DDB66025B")) (object State_Transition quid "3D6C45AD0118" label "" supplier "Backing up (if not done yet), Turning slightly left/right" quidu "3D6C82C20190" Event (object Event "cube lost" quid "3D6C45AD0119") sendEvent (object sendEvent quid "3D6C45AD011B")) (object State_Transition quid "3D7846FE010E" label "" supplier "Approaching cube" quidu "3D7846CA01D6" Event (object Event "cube re-discovered" quid "3D7846FE010F") sendEvent (object sendEvent quid "3D7846FE0111"))) type "Normal") (object State "NewState" quid "3D6C49530348" transitions (list transition_list (object State_Transition quid "3D6C49570352" supplier "NewState" quidu "3D6C49530348" sendEvent (object sendEvent quid "3D6C49570355"))) type "Normal") (object State "Justifying" quid "3D6C65ED0050" transitions (list transition_list (object State_Transition quid "3D6C665201D6" label "" supplier "Sending messages" quidu "3D6C65FB0320" Event (object Event "justified" quid "3D6C665201D7") sendEvent (object sendEvent quid "3D6C665201D9"))) type "Normal") (object State "Sending messages" quid "3D6C65FB0320" transitions (list transition_list (object State_Transition quid "3D6C665D03B6" label "" supplier "Waiting for responses" quidu "3D6C660601FE" Event (object Event "sent" quid "3D6C665D03B7") sendEvent (object sendEvent quid "3D6C665D03B9"))) type "Normal") (object State "Waiting for responses" quid "3D6C660601FE" transitions (list transition_list (object State_Transition quid "3D6C66710230" label "" supplier "Count responses" quidu "3D6C66690096" Event (object Event "X seconds passed" quid "3D6C66710231") sendEvent (object sendEvent quid "3D6C66710233"))) type "Normal") (object State "Entry to Communicating" quid "3D6C66250064" transitions (list transition_list (object State_Transition quid "3D6C663C01F4" label "" supplier "Turning" quidu "3D6DD8C60136" Event (object Event "met robot" quid "3D6C663C01F5") sendEvent (object sendEvent quid "3D6C663C01F7"))) type "Normal") (object State "Count responses" quid "3D6C66690096" transitions (list transition_list (object State_Transition quid "3D6C668A0294" label "" supplier "Exchanging data" quidu "3D6C668202B2" Event (object Event "1 response, other robot identified" quid "3D6C668A0295") sendEvent (object sendEvent quid "3D6C668A0297")) (object State_Transition quid "3D6C68A201CC" label "" supplier "Exit to Avoiding" quidu "3D7832D60082" Event (object Event "not exactly 1 response" quid "3D6C68A201CD") sendEvent (object sendEvent quid "3D6C68A201CF"))) type "Normal") (object State "Exchanging data" quid "3D6C668202B2" transitions (list transition_list (object State_Transition quid "3D6C809002E4" label "" supplier "Compare cluster point densities and take over denser location" quidu "3D817F5D02A8" Event (object Event "exchanged" quid "3D6DC470037D") sendEvent (object sendEvent quid "3D6C809002E7"))) type "Normal") (object State "Exit to Exploring from Local C." quid "3D6C68970212" type "Normal") (object State "Searching first cube (Start)" quid "3D6C69540352" transitions (list transition_list (object State_Transition quid "3D6C69CB010E" label "" supplier "Broadcasting location to all" quidu "3D6C6962024E" Event (object Event "found" quid "3D6C69CB010F") sendEvent (object sendEvent quid "3D6C69CB0111")) (object State_Transition quid "3D6C6C1C0352" label "" supplier "Compare cluster point densities and take over denser location, compare ids" quidu "3D6C69D20276" Event (object Event "got message" quid "3D6C6C1C0353") sendEvent (object sendEvent quid "3D6C6C1C0355"))) type "Normal") (object State "Broadcasting location to all" quid "3D6C6962024E" transitions (list transition_list (object State_Transition quid "3D6C69E400D2" label "" supplier "Compare cluster point densities and take over denser location, compare ids" quidu "3D6C69D20276" Event (object Event "got message" quid "3D6C69E400D3") sendEvent (object sendEvent quid "3D6C69E400D5")) (object State_Transition quid "3D6C6A5F019A" label "" supplier "Compare cluster point densities and take over denser location, compare ids" quidu "3D6C69D20276" Event (object Event "got message" quid "3D6C6A5F019B") sendEvent (object sendEvent quid "3D6C6A5F019D"))) type "Normal") (object State "Compare cluster point densities and take over denser location, compare ids" quid "3D6C69D20276" transitions (list transition_list (object State_Transition quid "3D6C69E60352" label "" supplier "Broadcasting location to all" quidu "3D6C6962024E" Event (object Event "got message" quid "3D6C69E60353") sendEvent (object sendEvent quid "3D6C69E60355")) (object State_Transition quid "3D6C6A9100DC" label "" supplier "Broadcasting location to all" quidu "3D6C6962024E" Event (object Event "I have lower id" quid "3D6C6A9100DD") sendEvent (object sendEvent quid "3D6C6A9100DF")) (object State_Transition quid "3D6C6ADA0370" label "" supplier "Watchdog" quidu "3D6C6AA9030C" Event (object Event "I have higher id" quid "3D6C6ADA0371") sendEvent (object sendEvent quid "3D6C6ADA0373"))) type "Normal") (object State "Watchdog" quid "3D6C6AA9030C" transitions (list transition_list (object State_Transition quid "3D6C6ADF0370" label "" supplier "Compare cluster point densities and take over denser location, compare ids" quidu "3D6C69D20276" Event (object Event "got message OR found cluster point with even higher density than my sender" quid "3D6C6ADF0371") sendEvent (object sendEvent quid "3D6C6ADF0373")) (object State_Transition quid "3D6C6B180230" label "" supplier "Broadcasting location to all" quidu "3D6C6962024E" Event (object Event "my sender has become inactive" quid "3D6C6B180231") sendEvent (object sendEvent quid "3D6C6B180233"))) type "Normal") (object State "Entry to Exploring" quid "3D6C6C94021C" transitions (list transition_list (object State_Transition quid "3D6C6CAD00FA" label "" supplier "Driving" quidu "3D6C6CA9012C" Event (object Event "Program newly started OR cube lost OR Avoiding finished" quid "3D6C7A79026B") sendEvent (object sendEvent quid "3D6C6CAD00FD"))) type "Normal") (object State "Exit from Explore" quid "3D6C6CA00082" type "Normal") (object State "Driving" quid "3D6C6CA9012C" transitions (list transition_list (object State_Transition quid "3D6C7AB20050" label "" supplier "Exit to Communicating (case 2) Exit to Avoiding (case 0, case 1)" quidu "3D6C7A970230" Event (object Event "robot detected" quid "3D6C7AB20051") sendEvent (object sendEvent quid "3D6C7AB20053")) (object State_Transition quid "3D6C7AB50064" label "" supplier "Compare cube density here with density at my cluster point. If cube density here is higher use this location as cluster point" quidu "3DA131550226" Event (object Event "cube detected" quid "3D6C7AB50065") sendEvent (object sendEvent quid "3D6C7AB50067")) (object State_Transition quid "3D6C7ACA005A" label "" supplier "Choose new direction" quidu "3D6C7A950244" Event (object Event "wall detected OR close to cluster point" quid "3D6C7ACA005B") sendEvent (object sendEvent quid "3D6C7ACA005D")) (object State_Transition quid "3DEACFC100AA" label "" supplier "Exit to Avoiding" quidu "3D7832D60082" Event (object Event "drive stalled" quid "3DEACFC100AB") sendEvent (object sendEvent quid "3DEACFC100AD"))) type "Normal") (object State "Choose new direction" quid "3D6C7A950244" transitions (list transition_list (object State_Transition quid "3D6C7B1C01D6" label "" supplier "Driving" quidu "3D6C6CA9012C" Event (object Event "chosen" quid "3D6C7B1C01D7") sendEvent (object sendEvent quid "3D6C7B1C01D9"))) type "Normal") (object State "Exit to Communicating (case 2) Exit to Avoiding (case 0, case 1)" quid "3D6C7A970230" transitions (list transition_list (object State_Transition quid "3D6DDFFC02E4" label "" supplier "Avoiding" quidu "3D7830F001A4" Event (object Event "data exchanged OR aborted" quid "3D6DDFFC02E5") sendEvent (object sendEvent quid "3D6DDFFC02E7"))) type "Normal") (object State "Exit to Pushing" quid "3D6C7A990136" transitions (list transition_list (object State_Transition quid "3D6DDFFF0366" label "" supplier "Avoiding" quidu "3D7830F001A4" Event (object Event "arrived OR cube lost" quid "3D6DDFFF0367") sendEvent (object sendEvent quid "3D6DDFFF0369"))) type "Normal") (object State "Backing up (if not done yet), Turning slightly left/right" quid "3D6C82C20190" transitions (list transition_list (object State_Transition quid "3D6C830C00DC" label "" supplier "Exit to Exploring" quidu "3D6C4538030C" Event (object Event "cube lost" quid "3D6C830C00DD") sendEvent (object sendEvent quid "3D6C830C00DF")) (object State_Transition quid "3D6C831F01C2" label "" supplier "Pushing towards cluster point" quidu "3D6C451F012C" Event (object Event "cube retrieved" quid "3D6C831F01C3") sendEvent (object sendEvent quid "3D6C831F01C5")) (object State_Transition quid "3D9E74F90208" label "" supplier "Approaching cube" quidu "3D7846CA01D6" Event (object Event "cube re-discovered" quid "3D9E74F90209") sendEvent (object sendEvent quid "3D9E74F9020B"))) type "Normal") (object State "Taking image (Start)" quid "3D6CA1ED01EA" transitions (list transition_list (object State_Transition quid "3D6CA227017C" label "" supplier "Processing image" quidu "3D6CA1F40208" Event (object Event "taken" quid "3D6CA227017D") sendEvent (object sendEvent quid "3D6CA227017F"))) type "Normal") (object State "Processing image" quid "3D6CA1F40208" transitions (list transition_list (object State_Transition quid "3D6CA24503CA" label "" supplier "Set camera flags" quidu "3D6CA2290316" Event (object Event "processed" quid "3D6CA24503CB") sendEvent (object sendEvent quid "3D6CA24503CD"))) type "Normal") (object State "Set infra-red flags" quid "3D6CA1FE0122" transitions (list transition_list (object State_Transition quid "3D6CA22500B4" label "" supplier "Taking image (Start)" quidu "3D6CA1ED01EA" Event (object Event "set" quid "3D6CA22500B5") sendEvent (object sendEvent quid "3D6CA22500B7"))) type "Normal") (object State "Processing infra-red signals (Start)" quid "3D6CA2060136" transitions (list transition_list (object State_Transition quid "3D6CA22002DA" label "" supplier "Set infra-red flags" quidu "3D6CA1FE0122" Event (object Event "processed" quid "3D6DC47003F1") sendEvent (object sendEvent quid "3D6CA22002DD"))) type "Normal") (object State "Set camera flags" quid "3D6CA2290316" transitions (list transition_list (object State_Transition quid "3D6CA24D00AA" label "" supplier "Taking image (Start)" quidu "3D6CA1ED01EA" Event (object Event "set" quid "3D6CA24D00AB") sendEvent (object sendEvent quid "3D6CA24D00AD"))) type "Normal") (object State "Check if motor stalled" quid "3D6DD1B801D6" transitions (list transition_list (object State_Transition quid "3D6DD22F02C6" label "" supplier "Set 'stalled' flag" quidu "3D6DD1D0038E" Event (object Event "checked" quid "3D6DD22F02C7") sendEvent (object sendEvent quid "3D6DD22F02C9"))) type "Normal") (object State "Set 'stalled' flag" quid "3D6DD1D0038E" transitions (list transition_list (object State_Transition quid "3D6DD23200BE" label "" supplier "Taking image (Start)" quidu "3D6CA1ED01EA" Event (object Event "set" quid "3D6DD23200BF") sendEvent (object sendEvent quid "3D6DD23200C1"))) type "Normal") (object State "User Interface" quid "3D6DD38A0348" transitions (list transition_list (object State_Transition quid "3D6DD3B8010E" label "" supplier ":Running:#4:Communicating (only in case 2, in case 0 and case 1 we go to Avoiding directly)" quidu "3D6DD396028A" Event (object Event "'Go' pressed" quid "3D6DD3B8010F") sendEvent (object sendEvent quid "3D6DD3B80111")) (object State_Transition quid "3D6DD3C603A2" label "" supplier "Running" quidu "3D6C3F9F037A" Event (object Event "'Go' pressed" quid "3D6DD3C603A3") sendEvent (object sendEvent quid "3D6DD3C603A5")) (object State_Transition quid "3D6DD3D200FA" label "" supplier ":Running:#4:Pushing" quidu "3D6DD3A00140" Event (object Event "'Go' pressed" quid "3D6DD3D200FB") sendEvent (object sendEvent quid "3D6DD3D200FD")) (object State_Transition quid "3D6DDC27033E" label "" supplier "$UNNAMED$1" quidu "3D6C40CC017C" Event (object Event "'End' pressed" quid "3D6DDC27033F") sendEvent (object sendEvent quid "3D6DDC270341"))) type "Normal") (object State "Turning away" quid "3D6DD788023A" transitions (list transition_list (object State_Transition quid "3D6DD7B4029E" label "" supplier "Exit to Exploring from Local C." quidu "3D6C68970212" Event (object Event "until free" quid "3D6DD7B4029F") sendEvent (object sendEvent quid "3D6DD7B402A1")) (object State_Transition quid "3D6DDB8E038E" label "" supplier "Exit to Exploring" quidu "3D6C4538030C" Event (object Event "after a certain amount of time" quid "3D7827F00176") sendEvent (object sendEvent quid "3D6DDB8E0391"))) type "Normal") (object State "Backing up 2" quid "3D6DD79200B4" transitions (list transition_list (object State_Transition quid "3D6DD7B100D2" label "" supplier "Turning away" quidu "3D6DD788023A" Event (object Event "far enough OR motor stalled OR (0/0)" quid "3D6DD7B100D3") sendEvent (object sendEvent quid "3D6DD7B100D5"))) type "Normal") (object State "Turning" quid "3D6DD8C60136" transitions (list transition_list (object State_Transition quid "3D6DD8E801D6" label "" supplier "Driving forward" quidu "3D6DD8DC0230" Event (object Event "facing other robot" quid "3D6DD8E801D7") sendEvent (object sendEvent quid "3D6DD8E801D9")) (object State_Transition quid "3D6DD970001E" label "" supplier "Exit to Avoiding" quidu "3D7832D60082" Event (object Event "other robot is driving away" quid "3D6DD970001F") sendEvent (object sendEvent quid "3D6DD9700021"))) type "Normal") (object State "Driving forward" quid "3D6DD8DC0230" transitions (list transition_list (object State_Transition quid "3D6DD9000172" label "" supplier "Sending messages" quidu "3D6C65FB0320" Event (object Event "close enough OR drive stalled" quid "3D6DD9000173") sendEvent (object sendEvent quid "3D6DD9000175")) (object State_Transition quid "3D9D291E0118" label "" supplier "Turning away" quidu "3D6DD788023A" Event (object Event "enough space to turn" quid "3D9D291E0119") sendEvent (object sendEvent quid "3D9D291E011B"))) type "Normal") (object State "Avoiding" quid "3D7830F001A4" transitions (list transition_list (object State_Transition quid "3D7831390136" label "" supplier "Driving" quidu "3D6C6CA9012C" Event (object Event "avoided" quid "3D7831390137") sendEvent (object sendEvent quid "3D7831390139"))) type "Normal") (object State "Entry to Avoiding" quid "3D7832210104" transitions (list transition_list (object State_Transition quid "3D78322B03CA" supplier "Backing up" quidu "3D6C469A01C2" sendEvent (object sendEvent quid "3D78322B03CD"))) type "Normal") (object State "Exit to Avoiding" quid "3D7832D60082" type "Normal") (object State "Approaching cube" quid "3D7846CA01D6" transitions (list transition_list (object State_Transition quid "3D7846EF0000" label "" supplier "Backing up" quidu "3D6C469A01C2" Event (object Event "met obstacle, first time" quid "3D7846EF0001") sendEvent (object sendEvent quid "3D7846EF0003")) (object State_Transition quid "3D7847030032" label "" supplier "Pushing towards cluster point" quidu "3D6C451F012C" Event (object Event "done" quid "3D9E74EA03BF") sendEvent (object sendEvent quid "3D7847030035")) (object State_Transition quid "3E11550A00D2" label "" supplier "Exit to Avoiding" quidu "3D7832D60082" Event (object Event "met obstacle, more then once" quid "3E11550A00D3") sendEvent (object sendEvent quid "3E11550A00D5"))) type "Normal") (object State "Compare cluster point densities and take over denser location" quid "3D817F5D02A8" transitions (list transition_list (object State_Transition quid "3D817F7E02B2" label "" supplier "Exit to Avoiding" quidu "3D7832D60082" Event (object Event "done" quid "3D817F7E02B3") sendEvent (object sendEvent quid "3D817F7E02B5"))) type "Normal") (object State "Driving forward2" quid "3D9D290D0280" type "Normal") (object State "Compare cube density here with density at my cluster point. If cube density here is higher use this location as cluster point" quid "3DA131550226" transitions (list transition_list (object State_Transition quid "3DA131B602C6" label "" supplier "Exit to Pushing" quidu "3D6C7A990136" Event (object Event "cube density here lower" quid "3DA131B602C7") sendEvent (object sendEvent quid "3DA131B602C9")) (object State_Transition quid "3DA131D90064" label "" supplier "Driving" quidu "3D6C6CA9012C" Event (object Event "cube density here higher" quid "3DA131D90065") sendEvent (object sendEvent quid "3DA131D90067"))) type "Normal") (object State "NewState2" quid "3DEACF9E015E" type "Normal")) partitions (list Partitions) objects (list Objects) statediagrams (list StateDiagrams (object State_Diagram "User Interface" quid "3D6C3EDF01E1" title "User Interface" zoom 100 max_height 28350 max_width 21600 origin_x 0 origin_y 0 items (list diagram_item_list (object StateView "StartState" "$UNNAMED$0" @1 location (1104, 64) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object ItemLabel Parent_View @1 location (1146, 34) nlines 2 max_width 600 label "") icon_style "Icon" line_color 3342489 quidu "3D6C3EEA008C" autoResize TRUE) (object StateView "Normal" "Initializing" @2 location (1024, 384) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object ItemLabel Parent_View @2 location (1024, 373) fill_color 13434879 anchor_loc 1 nlines 2 max_width 204 justify 0 label "Initializing") icon_style "Icon" line_color 3342489 fill_color 13434879 quidu "3D6C3EF00082" autoResize TRUE) (object StateView "Normal" "Ready" @3 location (1808, 432) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object ItemLabel Parent_View @3 location (1808, 421) fill_color 13434879 anchor_loc 1 nlines 2 max_width 204 justify 0 label "Ready") icon_style "Icon" line_color 3342489 fill_color 13434879 quidu "3D6C3EFE0208" autoResize TRUE) (object TransView "" @4 font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object SegLabel @5 Parent_View @4 location (1419, 363) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) anchor_loc 1 nlines 1 max_width 450 justify 0 label "initialized" pctDist 0.500000 height 45 orientation 0) stereotype TRUE line_color 3342489 quidu "3D6C3F170190" client @2 supplier @3 line_style 0 x_offset FALSE) (object StateView "Normal" "Running" @6 location (1072, 1296) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object ItemLabel Parent_View @6 location (1072, 1276) fill_color 13434879 anchor_loc 1 nlines 2 max_width 678 justify 0 label "Running") icon_style "Icon" line_color 3342489 fill_color 13434879 quidu "3D6C3F9F037A" width 774 height 152 autoResize TRUE) (object TransView "" @7 font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object SegLabel @8 Parent_View @7 location (1112, 217) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) anchor_loc 1 nlines 1 max_width 450 justify 0 label "Program started" pctDist 0.500000 height 45 orientation 0) stereotype TRUE line_color 3342489 quidu "3D6C40C402EE" client @1 supplier @2 line_style 0 x_offset FALSE) (object StateView "EndState" "$UNNAMED$1" @9 location (1072, 1936) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object ItemLabel Parent_View @9 location (1126, 1894) nlines 2 max_width 600 label "") icon_style "Icon" line_color 3342489 quidu "3D6C40CC017C" autoResize TRUE) (object NoteView @10 location (1792, 144) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object ItemLabel Parent_View @10 location (1623, 60) fill_color 13434879 nlines 3 max_width 302 label |Menu displays: |Go X X End ) line_color 3342489 fill_color 13434879 width 362 height 181) (object AttachView "" @11 stereotype TRUE line_color 3342489 client @3 supplier @10 line_style 0) (object NoteView @12 location (1072, 1008) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object ItemLabel Parent_View @12 location (912, 930) fill_color 13434879 nlines 3 max_width 284 label |Menu displays: |X X X End ) line_color 3342489 fill_color 13434879 width 344 height 168) (object AttachView "" @13 stereotype TRUE line_color 3342489 client @6 supplier @12 line_style 0) (object NoteView @14 location (1168, 688) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object ItemLabel Parent_View @14 location (927, 516) fill_color 13434879 nlines 6 max_width 447 label "'Exploring' is started, 'Sensors and Image Recognition' is started, 'Broadcasting' is started (only in case 1)") line_color 3342489 fill_color 13434879 width 507 height 356) (object TransView "" @15 font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object SegLabel @16 Parent_View @15 location (1567, 932) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) anchor_loc 1 nlines 1 max_width 450 justify 0 label "'Go' pressed" pctDist 0.500000 height 45 orientation 0) stereotype TRUE line_color 3342489 quidu "3D6C3F1E021C" client @3 supplier @6 vertices (list Points (1768, 498) (1472, 1006) (1176, 1219)) line_style 0 x_offset FALSE) (object AttachView "" @17 stereotype TRUE line_color 3342489 client @14 supplier @15 line_style 0) (object TransView "" @18 font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object SegLabel @19 Parent_View @18 location (1602, 1272) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) anchor_loc 1 nlines 1 max_width 450 justify 0 label "'End' pressed" pctDist 0.500000 height 45 orientation 0) stereotype TRUE line_color 3342489 quidu "3D6C411E0186" client @3 supplier @9 vertices (list Points (1794, 498) (1678, 1088) (1102, 1894)) line_style 0 x_offset FALSE) (object TransView "" @20 font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object SegLabel @21 Parent_View @20 location (1112, 1643) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) anchor_loc 1 nlines 1 max_width 450 justify 0 label "'End' pressed" pctDist 0.550999 height 87 orientation 0) stereotype TRUE line_color 3342489 quidu "3D6C3FAE01F4" client @6 supplier @9 vertices (list Points (1050, 1372) (1006, 1534) (1065, 1893)) line_style 0 x_offset FALSE))) (object State_Diagram "Exploring" quid "3D6C44BA026C" title "Exploring" zoom 100 max_height 28350 max_width 21600 origin_x 0 origin_y 0 items (list diagram_item_list (object StateView "Normal" "Entry to Exploring" @22 location (144, 800) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object ItemLabel Parent_View @22 location (144, 789) fill_color 13434879 anchor_loc 1 nlines 2 max_width 204 justify 0 label "Entry to Exploring") icon_style "Icon" line_color 3342489 fill_color 13434879 quidu "3D6C6C94021C" autoResize TRUE) (object StateView "Normal" "Driving" @23 location (992, 1120) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object ItemLabel Parent_View @23 location (992, 1109) fill_color 13434879 anchor_loc 1 nlines 2 max_width 204 justify 0 label "Driving") icon_style "Icon" line_color 3342489 fill_color 13434879 quidu "3D6C6CA9012C" autoResize TRUE) (object TransView "" @24 font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) stereotype TRUE line_color 3342489 quidu "3D6C6CAD00FA" client @22 supplier @23 line_style 0 x_offset FALSE) (object StateView "Normal" "Choose new direction" @25 location (1024, 128) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object ItemLabel Parent_View @25 location (1024, 108) fill_color 13434879 anchor_loc 1 nlines 2 max_width 286 justify 0 label "Choose new direction") icon_style "Icon" line_color 3342489 fill_color 13434879 quidu "3D6C7A950244" width 382 height 152 autoResize TRUE) (object StateView "Normal" "Exit to Communicating (case 2) Exit to Avoiding (case 0, case 1)" @26 location (1936, 928) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object ItemLabel Parent_View @26 location (1936, 885) fill_color 13434879 anchor_loc 1 nlines 2 max_width 684 justify 0 label "Exit to Communicating (case 2) Exit to Avoiding (case 0, case 1)") icon_style "Icon" line_color 3342489 fill_color 13434879 quidu "3D6C7A970230" width 780 height 198 autoResize TRUE) (object StateView "Normal" "Exit to Pushing" @27 location (1024, 2192) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object ItemLabel Parent_View @27 location (1024, 2181) fill_color 13434879 anchor_loc 1 nlines 2 max_width 204 justify 0 label "Exit to Pushing") icon_style "Icon" line_color 3342489 fill_color 13434879 quidu "3D6C7A990136" autoResize TRUE) (object TransView "" @28 font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object SegLabel @29 Parent_View @28 location (1556, 616) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) anchor_loc 1 nlines 1 max_width 450 justify 0 label "chosen" pctDist 0.491404 height 47 orientation 0) stereotype TRUE line_color 3342489 quidu "3D6C7B1C01D6" client @25 supplier @23 vertices (list Points (1130, 204) (1581, 525) (1058, 1052)) line_style 0 x_offset FALSE) (object StateView "Normal" "Compare cube density here with density at my cluster point. If cube density here is higher use this location as cluster point" @30 location (992, 1696) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object ItemLabel Parent_View @30 location (992, 1662) fill_color 13434879 anchor_loc 1 nlines 2 max_width 1802 justify 0 label "Compare cube density here with density at my cluster point. If cube density here is higher use this location as cluster point") icon_style "Icon" line_color 3342489 fill_color 13434879 quidu "3DA131550226" width 1898 height 180 autoResize TRUE) (object TransView "" @31 font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object SegLabel @32 Parent_View @31 location (1336, 1005) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) anchor_loc 1 nlines 1 max_width 450 justify 0 label "robot detected" pctDist 0.500000 height 45 orientation 0) stereotype TRUE line_color 3342489 quidu "3D6C7AB20050" client @23 supplier @26 line_style 0 x_offset FALSE) (object TransView "" @33 font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object SegLabel @34 Parent_View @33 location (703, 1364) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) anchor_loc 1 nlines 1 max_width 450 justify 0 label "cube detected" pctDist 1.263128 height 184 orientation 1) stereotype TRUE line_color 3342489 quidu "3D6C7AB50064" client @23 supplier @30 vertices (list Points (966, 1186) (894, 1378) (964, 1605)) line_style 0 x_offset FALSE) (object TransView "" @35 font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object SegLabel @36 Parent_View @35 location (729, 506) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) anchor_loc 1 nlines 1 max_width 1137 justify 0 label "wall detected OR close to cluster point" pctDist 0.646093 height 71 orientation 1) stereotype TRUE line_color 3342489 quidu "3D6C7ACA005A" client @23 supplier @25 vertices (list Points (959, 1052) (672, 463) (944, 203)) line_style 0 x_offset FALSE) (object TransView "" @37 font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object SegLabel @38 Parent_View @37 location (1492, 1984) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) anchor_loc 1 nlines 1 max_width 450 justify 0 label "cube density here lower" pctDist 1.731257 height 141 orientation 1) stereotype TRUE line_color 3342489 quidu "3DA131B602C6" client @30 supplier @27 vertices (list Points (1084, 1786) (1263, 1959) (1092, 2125)) line_style 0 x_offset FALSE) (object TransView "" @39 font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object SegLabel @40 Parent_View @39 location (1387, 1436) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) anchor_loc 1 nlines 1 max_width 450 justify 0 label "cube density here higher" pctDist 1.264248 height 201 orientation 1) stereotype TRUE line_color 3342489 quidu "3DA131D90064" client @30 supplier @23 vertices (list Points (1047, 1605) (1181, 1388) (1039, 1187)) line_style 0 x_offset FALSE) (object StateView "Normal" "Exit to Avoiding" @41 location (1888, 1344) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object ItemLabel Parent_View @41 location (1888, 1333) fill_color 13434879 anchor_loc 1 nlines 2 max_width 204 justify 0 label "Exit to Avoiding") icon_style "Icon" line_color 3342489 fill_color 13434879 quidu "3D7832D60082" autoResize TRUE) (object TransView "" @42 font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object SegLabel @43 Parent_View @42 location (1451, 1188) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) anchor_loc 1 nlines 1 max_width 450 justify 0 label "drive stalled" pctDist 0.500000 height 45 orientation 0) stereotype TRUE line_color 3342489 quidu "3DEACFC100AA" client @23 supplier @41 line_style 0 x_offset FALSE))) (object State_Diagram "Pushing" quid "3D6C45180064" title "Pushing" zoom 100 max_height 28350 max_width 21600 origin_x 0 origin_y 563 items (list diagram_item_list (object StateView "Normal" "Pushing towards cluster point" @44 location (1408, 624) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object ItemLabel Parent_View @44 location (1408, 595) fill_color 13434879 anchor_loc 1 nlines 2 max_width 364 justify 0 label "Pushing towards cluster point") icon_style "Icon" line_color 3342489 fill_color 13434879 quidu "3D6C451F012C" width 460 height 170 autoResize TRUE) (object StateView "Normal" "Entry to Pushing" @45 location (176, 336) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object ItemLabel Parent_View @45 location (176, 325) fill_color 13434879 anchor_loc 1 nlines 2 max_width 204 justify 0 label "Entry to Pushing") icon_style "Icon" line_color 3342489 fill_color 13434879 quidu "3D6C453602BC" autoResize TRUE) (object StateView "Normal" "Exit to Exploring" @46 location (1776, 1296) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object ItemLabel Parent_View @46 location (1776, 1276) fill_color 13434879 anchor_loc 1 nlines 2 max_width 328 justify 0 label "Exit to Exploring") icon_style "Icon" line_color 3342489 fill_color 13434879 quidu "3D6C4538030C" width 424 height 152 autoResize TRUE) (object NoteView @47 location (1504, 240) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object ItemLabel Parent_View @47 location (1085, 46) fill_color 13434879 nlines 7 max_width 802 label |Met wall: |not possible, unless cluster point is next to wall. Then we just choose radius big enough (there may be no position errors due to communication, though) | |Met cube: ignore ) line_color 3342489 fill_color 13434879 width 862 height 400) (object AttachView "" @48 stereotype TRUE line_color 3342489 client @47 supplier @44 line_style 0) (object StateView "Normal" "Backing up" @49 location (224, 1040) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object ItemLabel Parent_View @49 location (224, 1029) fill_color 13434879 anchor_loc 1 nlines 2 max_width 204 justify 0 label "Backing up") icon_style "Icon" line_color 3342489 fill_color 13434879 quidu "3D6C469A01C2" autoResize TRUE) (object StateView "Normal" "Waiting" @50 location (624, 1680) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object ItemLabel Parent_View @50 location (624, 1669) fill_color 13434879 anchor_loc 1 nlines 2 max_width 204 justify 0 label "Waiting") icon_style "Icon" line_color 3342489 fill_color 13434879 quidu "3D6C469E02A8" autoResize TRUE) (object StateView "Normal" "Trying to retrieve cube" @51 location (1136, 2000) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object ItemLabel Parent_View @51 location (1136, 1980) fill_color 13434879 anchor_loc 1 nlines 2 max_width 262 justify 0 label "Trying to retrieve cube") icon_style "Icon" line_color 3342489 fill_color 13434879 quidu "3D6C46FB03AC" width 358 height 152 autoResize TRUE) (object NoteView @52 location (192, 1760) font (object Font size 10 face "Arial" bold FALSE italics FALSE underline FALSE strike FALSE color 0 default_color TRUE) label (object ItemLabel Parent_View @52 location (48, 1613) fill_color 13434879 nlines 5 max_width 252 label "Does not work if two robots are facing each other") line_color 3342489 fill_color 13434879 width 312 height 307) 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