experiment_trials1.json

[
    {
        "id": 0,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0024000000000000002,
                "battery_level": 0.64,
                "id": 0,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "IC Room 1",
                            [
                                [
                                    -28.5,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -37,
                                    15
                                ],
                                [
                                    -39.44,
                                    33.98,
                                    0.0
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -39.44,
                                    33.98,
                                    0.0
                                ],
                                [
                                    -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"
                        ]
                    ]
                ],
                "location": "PC Room 1",
                "position": [
                    -28.5,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0028,
                "battery_level": 0.53,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 7",
                "position": [
                    -4,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.45,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0023,
                "battery_level": 0.29,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.38,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 4",
                "position": [
                    -19.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 1,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0027,
                "battery_level": 0.64,
                "id": 0,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "IC Room 2",
                            [
                                [
                                    -28.5,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -37,
                                    15
                                ],
                                [
                                    -32.88,
                                    33.95,
                                    3.14
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -32.88,
                                    33.95,
                                    3.14
                                ],
                                [
                                    -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"
                        ]
                    ]
                ],
                "location": "PC Room 1",
                "position": [
                    -28.5,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0019,
                "battery_level": 0.53,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 7",
                "position": [
                    -4,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0022,
                "battery_level": 0.45,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0016,
                "battery_level": 0.29,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.38,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 4",
                "position": [
                    -19.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 2,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0011,
                "battery_level": 0.64,
                "id": 0,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 8",
                            [
                                [
                                    -28.5,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -27.23,
                                    13.0,
                                    1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -27.23,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 1",
                "position": [
                    -28.5,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0018000000000000002,
                "battery_level": 0.53,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 7",
                "position": [
                    -4,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0021000000000000003,
                "battery_level": 0.45,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.29,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.002,
                "battery_level": 0.38,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 4",
                "position": [
                    -19.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 3,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0024000000000000002,
                "battery_level": 0.53,
                "id": 0,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "IC Room 4",
                            [
                                [
                                    -28.5,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -37,
                                    15
                                ],
                                [
                                    -33.9,
                                    18.93,
                                    3.14
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -33.9,
                                    18.93,
                                    3.14
                                ],
                                [
                                    -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"
                        ]
                    ]
                ],
                "location": "PC Room 1",
                "position": [
                    -28.5,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0028,
                "battery_level": 0.23,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 7",
                "position": [
                    -4,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.21,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0023,
                "battery_level": 0.61,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.24,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 4",
                "position": [
                    -19.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 4,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0027,
                "battery_level": 0.53,
                "id": 0,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 5",
                            [
                                [
                                    -28.5,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -13.5,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -13.5,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 1",
                "position": [
                    -28.5,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0019,
                "battery_level": 0.23,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 7",
                "position": [
                    -4,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0022,
                "battery_level": 0.21,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0016,
                "battery_level": 0.61,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.24,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 4",
                "position": [
                    -19.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 5,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0011,
                "battery_level": 0.53,
                "id": 0,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 3",
                            [
                                [
                                    -28.5,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 1",
                "position": [
                    -28.5,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0018000000000000002,
                "battery_level": 0.23,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 7",
                "position": [
                    -4,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0021000000000000003,
                "battery_level": 0.21,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.61,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.002,
                "battery_level": 0.24,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 4",
                "position": [
                    -19.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 6,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0024000000000000002,
                "battery_level": 0.55,
                "id": 0,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 2",
                            [
                                [
                                    -28.5,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -27.23,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -27.23,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 1",
                "position": [
                    -28.5,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0028,
                "battery_level": 0.54,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 7",
                "position": [
                    -4,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.89,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0023,
                "battery_level": 0.43,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.15,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 4",
                "position": [
                    -19.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 7,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0027,
                "battery_level": 0.55,
                "id": 0,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 3",
                            [
                                [
                                    -28.5,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 1",
                "position": [
                    -28.5,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0019,
                "battery_level": 0.54,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 7",
                "position": [
                    -4,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0022,
                "battery_level": 0.89,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0016,
                "battery_level": 0.43,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.15,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 4",
                "position": [
                    -19.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 8,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0011,
                "battery_level": 0.55,
                "id": 0,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 3",
                            [
                                [
                                    -28.5,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 1",
                "position": [
                    -28.5,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0018000000000000002,
                "battery_level": 0.54,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 7",
                "position": [
                    -4,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0021000000000000003,
                "battery_level": 0.89,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.43,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.002,
                "battery_level": 0.15,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 4",
                "position": [
                    -19.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 9,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0024000000000000002,
                "battery_level": 0.64,
                "id": 0,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 2",
                            [
                                [
                                    -27.23,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -27.23,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -27.23,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0028,
                "battery_level": 0.53,
                "id": 1,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.45,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 3",
                "position": [
                    -21.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0023,
                "battery_level": 0.29,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.38,
                "id": 4,
                "local_plan": null,
                "location": "IC Room 6",
                "position": [
                    -38.0,
                    10.0,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 10,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0027,
                "battery_level": 0.64,
                "id": 0,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 5",
                            [
                                [
                                    -27.23,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -13.5,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -13.5,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0019,
                "battery_level": 0.53,
                "id": 1,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0022,
                "battery_level": 0.45,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 3",
                "position": [
                    -21.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0016,
                "battery_level": 0.29,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.38,
                "id": 4,
                "local_plan": null,
                "location": "IC Room 6",
                "position": [
                    -38.0,
                    10.0,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 11,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0011,
                "battery_level": 0.64,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0018000000000000002,
                "battery_level": 0.53,
                "id": 1,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "IC Room 3",
                            [
                                [
                                    -33.9,
                                    18.93,
                                    3.14
                                ],
                                [
                                    -37,
                                    15
                                ],
                                [
                                    -40.23,
                                    25.37,
                                    0.0
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -40.23,
                                    25.37,
                                    0.0
                                ],
                                [
                                    -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"
                        ]
                    ]
                ],
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0021000000000000003,
                "battery_level": 0.45,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 3",
                "position": [
                    -21.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.29,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.002,
                "battery_level": 0.38,
                "id": 4,
                "local_plan": null,
                "location": "IC Room 6",
                "position": [
                    -38.0,
                    10.0,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 12,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0024000000000000002,
                "battery_level": 0.53,
                "id": 0,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 5",
                            [
                                [
                                    -27.23,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -13.5,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -13.5,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0028,
                "battery_level": 0.23,
                "id": 1,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.21,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 3",
                "position": [
                    -21.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0023,
                "battery_level": 0.61,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.24,
                "id": 4,
                "local_plan": null,
                "location": "IC Room 6",
                "position": [
                    -38.0,
                    10.0,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 13,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0027,
                "battery_level": 0.53,
                "id": 0,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 5",
                            [
                                [
                                    -27.23,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -13.5,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -13.5,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0019,
                "battery_level": 0.23,
                "id": 1,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0022,
                "battery_level": 0.21,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 3",
                "position": [
                    -21.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0016,
                "battery_level": 0.61,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.24,
                "id": 4,
                "local_plan": null,
                "location": "IC Room 6",
                "position": [
                    -38.0,
                    10.0,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 14,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0011,
                "battery_level": 0.53,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0018000000000000002,
                "battery_level": 0.23,
                "id": 1,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "IC Room 1",
                            [
                                [
                                    -33.9,
                                    18.93,
                                    3.14
                                ],
                                [
                                    -37,
                                    15
                                ],
                                [
                                    -39.44,
                                    33.98,
                                    0.0
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -39.44,
                                    33.98,
                                    0.0
                                ],
                                [
                                    -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"
                        ]
                    ]
                ],
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0021000000000000003,
                "battery_level": 0.21,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 3",
                "position": [
                    -21.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.61,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.002,
                "battery_level": 0.24,
                "id": 4,
                "local_plan": null,
                "location": "IC Room 6",
                "position": [
                    -38.0,
                    10.0,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 15,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0024000000000000002,
                "battery_level": 0.55,
                "id": 0,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 10",
                            [
                                [
                                    -27.23,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -18.0,
                                    13.0,
                                    1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -18.0,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0028,
                "battery_level": 0.54,
                "id": 1,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.89,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 3",
                "position": [
                    -21.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0023,
                "battery_level": 0.43,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.15,
                "id": 4,
                "local_plan": null,
                "location": "IC Room 6",
                "position": [
                    -38.0,
                    10.0,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 16,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0027,
                "battery_level": 0.55,
                "id": 0,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 5",
                            [
                                [
                                    -27.23,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -13.5,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -13.5,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0019,
                "battery_level": 0.54,
                "id": 1,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0022,
                "battery_level": 0.89,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 3",
                "position": [
                    -21.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0016,
                "battery_level": 0.43,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.15,
                "id": 4,
                "local_plan": null,
                "location": "IC Room 6",
                "position": [
                    -38.0,
                    10.0,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 17,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0011,
                "battery_level": 0.55,
                "id": 0,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 7",
                            [
                                [
                                    -27.23,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -4,
                                    18,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -4,
                                    18,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0018000000000000002,
                "battery_level": 0.54,
                "id": 1,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0021000000000000003,
                "battery_level": 0.89,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 3",
                "position": [
                    -21.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.43,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.002,
                "battery_level": 0.15,
                "id": 4,
                "local_plan": null,
                "location": "IC Room 6",
                "position": [
                    -38.0,
                    10.0,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 18,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0024000000000000002,
                "battery_level": 0.64,
                "id": 0,
                "local_plan": null,
                "location": "IC Room 1",
                "position": [
                    -39.44,
                    33.98,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0028,
                "battery_level": 0.53,
                "id": 1,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 4",
                            [
                                [
                                    -27.23,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -19.0,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -19.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.45,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0023,
                "battery_level": 0.29,
                "id": 3,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.38,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 10",
                "position": [
                    -18.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 19,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0027,
                "battery_level": 0.64,
                "id": 0,
                "local_plan": null,
                "location": "IC Room 1",
                "position": [
                    -39.44,
                    33.98,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0019,
                "battery_level": 0.53,
                "id": 1,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 7",
                            [
                                [
                                    -27.23,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -4,
                                    18,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -4,
                                    18,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0022,
                "battery_level": 0.45,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0016,
                "battery_level": 0.29,
                "id": 3,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.38,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 10",
                "position": [
                    -18.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 20,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0011,
                "battery_level": 0.64,
                "id": 0,
                "local_plan": null,
                "location": "IC Room 1",
                "position": [
                    -39.44,
                    33.98,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0018000000000000002,
                "battery_level": 0.53,
                "id": 1,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 1",
                            [
                                [
                                    -27.23,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -28.5,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -28.5,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0021000000000000003,
                "battery_level": 0.45,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.29,
                "id": 3,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.002,
                "battery_level": 0.38,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 10",
                "position": [
                    -18.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 21,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0024000000000000002,
                "battery_level": 0.53,
                "id": 0,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "IC Room 2",
                            [
                                [
                                    -39.44,
                                    33.98,
                                    0.0
                                ],
                                [
                                    -37,
                                    15
                                ],
                                [
                                    -32.88,
                                    33.95,
                                    3.14
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -32.88,
                                    33.95,
                                    3.14
                                ],
                                [
                                    -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"
                        ]
                    ]
                ],
                "location": "IC Room 1",
                "position": [
                    -39.44,
                    33.98,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0028,
                "battery_level": 0.23,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.21,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0023,
                "battery_level": 0.61,
                "id": 3,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.24,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 10",
                "position": [
                    -18.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 22,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0027,
                "battery_level": 0.53,
                "id": 0,
                "local_plan": null,
                "location": "IC Room 1",
                "position": [
                    -39.44,
                    33.98,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0019,
                "battery_level": 0.23,
                "id": 1,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 3",
                            [
                                [
                                    -27.23,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0022,
                "battery_level": 0.21,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0016,
                "battery_level": 0.61,
                "id": 3,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.24,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 10",
                "position": [
                    -18.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 23,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0011,
                "battery_level": 0.53,
                "id": 0,
                "local_plan": null,
                "location": "IC Room 1",
                "position": [
                    -39.44,
                    33.98,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0018000000000000002,
                "battery_level": 0.23,
                "id": 1,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 2",
                            [
                                [
                                    -27.23,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -27.23,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -27.23,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0021000000000000003,
                "battery_level": 0.21,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.61,
                "id": 3,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.002,
                "battery_level": 0.24,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 10",
                "position": [
                    -18.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 24,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0024000000000000002,
                "battery_level": 0.55,
                "id": 0,
                "local_plan": null,
                "location": "IC Room 1",
                "position": [
                    -39.44,
                    33.98,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0028,
                "battery_level": 0.54,
                "id": 1,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 5",
                            [
                                [
                                    -27.23,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -13.5,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -13.5,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.89,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0023,
                "battery_level": 0.43,
                "id": 3,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.15,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 10",
                "position": [
                    -18.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 25,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0027,
                "battery_level": 0.55,
                "id": 0,
                "local_plan": null,
                "location": "IC Room 1",
                "position": [
                    -39.44,
                    33.98,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0019,
                "battery_level": 0.54,
                "id": 1,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 4",
                            [
                                [
                                    -27.23,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -19.0,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -19.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0022,
                "battery_level": 0.89,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0016,
                "battery_level": 0.43,
                "id": 3,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.15,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 10",
                "position": [
                    -18.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 26,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0011,
                "battery_level": 0.55,
                "id": 0,
                "local_plan": null,
                "location": "IC Room 1",
                "position": [
                    -39.44,
                    33.98,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0018000000000000002,
                "battery_level": 0.54,
                "id": 1,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 7",
                            [
                                [
                                    -27.23,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -4,
                                    18,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -4,
                                    18,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0021000000000000003,
                "battery_level": 0.89,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.43,
                "id": 3,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.002,
                "battery_level": 0.15,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 10",
                "position": [
                    -18.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 27,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0024000000000000002,
                "battery_level": 0.64,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 1",
                "position": [
                    -28.5,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0028,
                "battery_level": 0.53,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 7",
                "position": [
                    -4,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.45,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 5",
                            [
                                [
                                    -11.5,
                                    18,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -13.5,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -13.5,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0023,
                "battery_level": 0.29,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.38,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 4",
                "position": [
                    -19.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 28,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0027,
                "battery_level": 0.64,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 1",
                "position": [
                    -28.5,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0019,
                "battery_level": 0.53,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 7",
                "position": [
                    -4,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0022,
                "battery_level": 0.45,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 3",
                            [
                                [
                                    -11.5,
                                    18,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0016,
                "battery_level": 0.29,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.38,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 4",
                "position": [
                    -19.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 29,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0011,
                "battery_level": 0.64,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 1",
                "position": [
                    -28.5,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0018000000000000002,
                "battery_level": 0.53,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 7",
                "position": [
                    -4,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0021000000000000003,
                "battery_level": 0.45,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "IC Room 6",
                            [
                                [
                                    -11.5,
                                    18,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -37,
                                    15
                                ],
                                [
                                    -38.0,
                                    10.0,
                                    0.0
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -38.0,
                                    10.0,
                                    0.0
                                ],
                                [
                                    -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"
                        ]
                    ]
                ],
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.29,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.002,
                "battery_level": 0.38,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 4",
                "position": [
                    -19.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 30,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0024000000000000002,
                "battery_level": 0.53,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 1",
                "position": [
                    -28.5,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0028,
                "battery_level": 0.23,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 7",
                "position": [
                    -4,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.21,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "IC Room 3",
                            [
                                [
                                    -11.5,
                                    18,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -37,
                                    15
                                ],
                                [
                                    -40.23,
                                    25.37,
                                    0.0
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -40.23,
                                    25.37,
                                    0.0
                                ],
                                [
                                    -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"
                        ]
                    ]
                ],
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0023,
                "battery_level": 0.61,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.24,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 4",
                "position": [
                    -19.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 31,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0027,
                "battery_level": 0.53,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 1",
                "position": [
                    -28.5,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0019,
                "battery_level": 0.23,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 7",
                "position": [
                    -4,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0022,
                "battery_level": 0.21,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "IC Room 6",
                            [
                                [
                                    -11.5,
                                    18,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -37,
                                    15
                                ],
                                [
                                    -38.0,
                                    10.0,
                                    0.0
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -38.0,
                                    10.0,
                                    0.0
                                ],
                                [
                                    -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"
                        ]
                    ]
                ],
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0016,
                "battery_level": 0.61,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.24,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 4",
                "position": [
                    -19.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 32,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0011,
                "battery_level": 0.53,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 1",
                "position": [
                    -28.5,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0018000000000000002,
                "battery_level": 0.23,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 7",
                "position": [
                    -4,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0021000000000000003,
                "battery_level": 0.21,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 3",
                            [
                                [
                                    -11.5,
                                    18,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.61,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.002,
                "battery_level": 0.24,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 4",
                "position": [
                    -19.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 33,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0024000000000000002,
                "battery_level": 0.55,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 1",
                "position": [
                    -28.5,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0028,
                "battery_level": 0.54,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 7",
                "position": [
                    -4,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.89,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "IC Room 2",
                            [
                                [
                                    -11.5,
                                    18,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -37,
                                    15
                                ],
                                [
                                    -32.88,
                                    33.95,
                                    3.14
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -32.88,
                                    33.95,
                                    3.14
                                ],
                                [
                                    -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"
                        ]
                    ]
                ],
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0023,
                "battery_level": 0.43,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.15,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 4",
                "position": [
                    -19.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 34,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0027,
                "battery_level": 0.55,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 1",
                "position": [
                    -28.5,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0019,
                "battery_level": 0.54,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 7",
                "position": [
                    -4,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0022,
                "battery_level": 0.89,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 8",
                            [
                                [
                                    -11.5,
                                    18,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -27.23,
                                    13.0,
                                    1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -27.23,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0016,
                "battery_level": 0.43,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.15,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 4",
                "position": [
                    -19.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 35,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0011,
                "battery_level": 0.55,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 1",
                "position": [
                    -28.5,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0018000000000000002,
                "battery_level": 0.54,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 7",
                "position": [
                    -4,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0021000000000000003,
                "battery_level": 0.89,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "IC Room 1",
                            [
                                [
                                    -11.5,
                                    18,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -37,
                                    15
                                ],
                                [
                                    -39.44,
                                    33.98,
                                    0.0
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -39.44,
                                    33.98,
                                    0.0
                                ],
                                [
                                    -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"
                        ]
                    ]
                ],
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.43,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.002,
                "battery_level": 0.15,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 4",
                "position": [
                    -19.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 36,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0024000000000000002,
                "battery_level": 0.64,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0028,
                "battery_level": 0.53,
                "id": 1,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.45,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 2",
                            [
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -27.23,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -27.23,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 3",
                "position": [
                    -21.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0023,
                "battery_level": 0.29,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.38,
                "id": 4,
                "local_plan": null,
                "location": "IC Room 6",
                "position": [
                    -38.0,
                    10.0,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 37,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0027,
                "battery_level": 0.64,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0019,
                "battery_level": 0.53,
                "id": 1,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0022,
                "battery_level": 0.45,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 10",
                            [
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -18.0,
                                    13.0,
                                    1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -18.0,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 3",
                "position": [
                    -21.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0016,
                "battery_level": 0.29,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.38,
                "id": 4,
                "local_plan": null,
                "location": "IC Room 6",
                "position": [
                    -38.0,
                    10.0,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 38,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0011,
                "battery_level": 0.64,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0018000000000000002,
                "battery_level": 0.53,
                "id": 1,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "IC Room 2",
                            [
                                [
                                    -33.9,
                                    18.93,
                                    3.14
                                ],
                                [
                                    -37,
                                    15
                                ],
                                [
                                    -32.88,
                                    33.95,
                                    3.14
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -32.88,
                                    33.95,
                                    3.14
                                ],
                                [
                                    -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"
                        ]
                    ]
                ],
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0021000000000000003,
                "battery_level": 0.45,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 3",
                "position": [
                    -21.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.29,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.002,
                "battery_level": 0.38,
                "id": 4,
                "local_plan": null,
                "location": "IC Room 6",
                "position": [
                    -38.0,
                    10.0,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 39,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0024000000000000002,
                "battery_level": 0.53,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0028,
                "battery_level": 0.23,
                "id": 1,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.21,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 2",
                            [
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -27.23,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -27.23,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 3",
                "position": [
                    -21.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0023,
                "battery_level": 0.61,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.24,
                "id": 4,
                "local_plan": null,
                "location": "IC Room 6",
                "position": [
                    -38.0,
                    10.0,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 40,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0027,
                "battery_level": 0.53,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0019,
                "battery_level": 0.23,
                "id": 1,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0022,
                "battery_level": 0.21,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 5",
                            [
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -13.5,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -13.5,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 3",
                "position": [
                    -21.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0016,
                "battery_level": 0.61,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.24,
                "id": 4,
                "local_plan": null,
                "location": "IC Room 6",
                "position": [
                    -38.0,
                    10.0,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 41,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0011,
                "battery_level": 0.53,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0018000000000000002,
                "battery_level": 0.23,
                "id": 1,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0021000000000000003,
                "battery_level": 0.21,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 4",
                            [
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -19.0,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -19.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 3",
                "position": [
                    -21.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.61,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.002,
                "battery_level": 0.24,
                "id": 4,
                "local_plan": null,
                "location": "IC Room 6",
                "position": [
                    -38.0,
                    10.0,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 42,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0024000000000000002,
                "battery_level": 0.55,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0028,
                "battery_level": 0.54,
                "id": 1,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.89,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 9",
                            [
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -26.0,
                                    13.0,
                                    1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -26.0,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 3",
                "position": [
                    -21.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0023,
                "battery_level": 0.43,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.15,
                "id": 4,
                "local_plan": null,
                "location": "IC Room 6",
                "position": [
                    -38.0,
                    10.0,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 43,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0027,
                "battery_level": 0.55,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0019,
                "battery_level": 0.54,
                "id": 1,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0022,
                "battery_level": 0.89,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 5",
                            [
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -13.5,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -13.5,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 3",
                "position": [
                    -21.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0016,
                "battery_level": 0.43,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.15,
                "id": 4,
                "local_plan": null,
                "location": "IC Room 6",
                "position": [
                    -38.0,
                    10.0,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 44,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0011,
                "battery_level": 0.55,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0018000000000000002,
                "battery_level": 0.54,
                "id": 1,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0021000000000000003,
                "battery_level": 0.89,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 4",
                            [
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -19.0,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -19.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 3",
                "position": [
                    -21.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.43,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.002,
                "battery_level": 0.15,
                "id": 4,
                "local_plan": null,
                "location": "IC Room 6",
                "position": [
                    -38.0,
                    10.0,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 45,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0024000000000000002,
                "battery_level": 0.64,
                "id": 0,
                "local_plan": null,
                "location": "IC Room 1",
                "position": [
                    -39.44,
                    33.98,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0028,
                "battery_level": 0.53,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.45,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 1",
                            [
                                [
                                    -26.0,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -28.5,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -28.5,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0023,
                "battery_level": 0.29,
                "id": 3,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.38,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 10",
                "position": [
                    -18.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 46,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0027,
                "battery_level": 0.64,
                "id": 0,
                "local_plan": null,
                "location": "IC Room 1",
                "position": [
                    -39.44,
                    33.98,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0019,
                "battery_level": 0.53,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0022,
                "battery_level": 0.45,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 2",
                            [
                                [
                                    -26.0,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -27.23,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -27.23,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0016,
                "battery_level": 0.29,
                "id": 3,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.38,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 10",
                "position": [
                    -18.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 47,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0011,
                "battery_level": 0.64,
                "id": 0,
                "local_plan": null,
                "location": "IC Room 1",
                "position": [
                    -39.44,
                    33.98,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0018000000000000002,
                "battery_level": 0.53,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0021000000000000003,
                "battery_level": 0.45,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 1",
                            [
                                [
                                    -26.0,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -28.5,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -28.5,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.29,
                "id": 3,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.002,
                "battery_level": 0.38,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 10",
                "position": [
                    -18.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 48,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0024000000000000002,
                "battery_level": 0.53,
                "id": 0,
                "local_plan": null,
                "location": "IC Room 1",
                "position": [
                    -39.44,
                    33.98,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0028,
                "battery_level": 0.23,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.21,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 7",
                            [
                                [
                                    -26.0,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -4,
                                    18,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -4,
                                    18,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0023,
                "battery_level": 0.61,
                "id": 3,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.24,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 10",
                "position": [
                    -18.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 49,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0027,
                "battery_level": 0.53,
                "id": 0,
                "local_plan": null,
                "location": "IC Room 1",
                "position": [
                    -39.44,
                    33.98,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0019,
                "battery_level": 0.23,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0022,
                "battery_level": 0.21,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 4",
                            [
                                [
                                    -26.0,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -19.0,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -19.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0016,
                "battery_level": 0.61,
                "id": 3,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.24,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 10",
                "position": [
                    -18.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 50,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0011,
                "battery_level": 0.53,
                "id": 0,
                "local_plan": null,
                "location": "IC Room 1",
                "position": [
                    -39.44,
                    33.98,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0018000000000000002,
                "battery_level": 0.23,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0021000000000000003,
                "battery_level": 0.21,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 4",
                            [
                                [
                                    -26.0,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -19.0,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -19.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.61,
                "id": 3,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.002,
                "battery_level": 0.24,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 10",
                "position": [
                    -18.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 51,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0024000000000000002,
                "battery_level": 0.55,
                "id": 0,
                "local_plan": null,
                "location": "IC Room 1",
                "position": [
                    -39.44,
                    33.98,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0028,
                "battery_level": 0.54,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.89,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 2",
                            [
                                [
                                    -26.0,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -27.23,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -27.23,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0023,
                "battery_level": 0.43,
                "id": 3,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.15,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 10",
                "position": [
                    -18.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 52,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0027,
                "battery_level": 0.55,
                "id": 0,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "IC Room 5",
                            [
                                [
                                    -39.44,
                                    33.98,
                                    0.0
                                ],
                                [
                                    -37,
                                    15
                                ],
                                [
                                    -38.0,
                                    21.5,
                                    0.0
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -38.0,
                                    21.5,
                                    0.0
                                ],
                                [
                                    -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"
                        ]
                    ]
                ],
                "location": "IC Room 1",
                "position": [
                    -39.44,
                    33.98,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0019,
                "battery_level": 0.54,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0022,
                "battery_level": 0.89,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0016,
                "battery_level": 0.43,
                "id": 3,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.15,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 10",
                "position": [
                    -18.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 53,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0011,
                "battery_level": 0.55,
                "id": 0,
                "local_plan": null,
                "location": "IC Room 1",
                "position": [
                    -39.44,
                    33.98,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0018000000000000002,
                "battery_level": 0.54,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0021000000000000003,
                "battery_level": 0.89,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 3",
                            [
                                [
                                    -26.0,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.43,
                "id": 3,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.002,
                "battery_level": 0.15,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 10",
                "position": [
                    -18.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 54,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0024000000000000002,
                "battery_level": 0.64,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 1",
                "position": [
                    -28.5,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0028,
                "battery_level": 0.53,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 7",
                "position": [
                    -4,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.45,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 10",
                            [
                                [
                                    -11.5,
                                    18,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -18.0,
                                    13.0,
                                    1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -18.0,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0023,
                "battery_level": 0.29,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.38,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 4",
                "position": [
                    -19.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 55,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0027,
                "battery_level": 0.64,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 1",
                "position": [
                    -28.5,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0019,
                "battery_level": 0.53,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 7",
                "position": [
                    -4,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0022,
                "battery_level": 0.45,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "IC Room 2",
                            [
                                [
                                    -11.5,
                                    18,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -37,
                                    15
                                ],
                                [
                                    -32.88,
                                    33.95,
                                    3.14
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -32.88,
                                    33.95,
                                    3.14
                                ],
                                [
                                    -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"
                        ]
                    ]
                ],
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0016,
                "battery_level": 0.29,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.38,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 4",
                "position": [
                    -19.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 56,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0011,
                "battery_level": 0.64,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 1",
                "position": [
                    -28.5,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0018000000000000002,
                "battery_level": 0.53,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 7",
                "position": [
                    -4,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0021000000000000003,
                "battery_level": 0.45,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 3",
                            [
                                [
                                    -11.5,
                                    18,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.29,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.002,
                "battery_level": 0.38,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 4",
                "position": [
                    -19.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 57,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0024000000000000002,
                "battery_level": 0.53,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 1",
                "position": [
                    -28.5,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0028,
                "battery_level": 0.23,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 7",
                "position": [
                    -4,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.21,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "IC Room 3",
                            [
                                [
                                    -11.5,
                                    18,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -37,
                                    15
                                ],
                                [
                                    -40.23,
                                    25.37,
                                    0.0
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -40.23,
                                    25.37,
                                    0.0
                                ],
                                [
                                    -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"
                        ]
                    ]
                ],
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0023,
                "battery_level": 0.61,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.24,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 4",
                "position": [
                    -19.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 58,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0027,
                "battery_level": 0.53,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 1",
                "position": [
                    -28.5,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0019,
                "battery_level": 0.23,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 7",
                "position": [
                    -4,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0022,
                "battery_level": 0.21,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 2",
                            [
                                [
                                    -11.5,
                                    18,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -27.23,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -27.23,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0016,
                "battery_level": 0.61,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.24,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 4",
                "position": [
                    -19.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 59,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0011,
                "battery_level": 0.53,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 1",
                "position": [
                    -28.5,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0018000000000000002,
                "battery_level": 0.23,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 7",
                "position": [
                    -4,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0021000000000000003,
                "battery_level": 0.21,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "IC Room 5",
                            [
                                [
                                    -11.5,
                                    18,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -37,
                                    15
                                ],
                                [
                                    -38.0,
                                    21.5,
                                    0.0
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -38.0,
                                    21.5,
                                    0.0
                                ],
                                [
                                    -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"
                        ]
                    ]
                ],
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.61,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.002,
                "battery_level": 0.24,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 4",
                "position": [
                    -19.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 60,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0024000000000000002,
                "battery_level": 0.55,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 1",
                "position": [
                    -28.5,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0028,
                "battery_level": 0.54,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 7",
                "position": [
                    -4,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.89,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "IC Room 4",
                            [
                                [
                                    -11.5,
                                    18,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -37,
                                    15
                                ],
                                [
                                    -33.9,
                                    18.93,
                                    3.14
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -33.9,
                                    18.93,
                                    3.14
                                ],
                                [
                                    -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"
                        ]
                    ]
                ],
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0023,
                "battery_level": 0.43,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.15,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 4",
                "position": [
                    -19.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 61,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0027,
                "battery_level": 0.55,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 1",
                "position": [
                    -28.5,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0019,
                "battery_level": 0.54,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 7",
                "position": [
                    -4,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0022,
                "battery_level": 0.89,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "IC Room 1",
                            [
                                [
                                    -11.5,
                                    18,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -37,
                                    15
                                ],
                                [
                                    -39.44,
                                    33.98,
                                    0.0
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -39.44,
                                    33.98,
                                    0.0
                                ],
                                [
                                    -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"
                        ]
                    ]
                ],
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0016,
                "battery_level": 0.43,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.15,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 4",
                "position": [
                    -19.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 62,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0011,
                "battery_level": 0.55,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 1",
                "position": [
                    -28.5,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0018000000000000002,
                "battery_level": 0.54,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 7",
                "position": [
                    -4,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0021000000000000003,
                "battery_level": 0.89,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "IC Room 6",
                            [
                                [
                                    -11.5,
                                    18,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -37,
                                    15
                                ],
                                [
                                    -38.0,
                                    10.0,
                                    0.0
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -38.0,
                                    10.0,
                                    0.0
                                ],
                                [
                                    -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"
                        ]
                    ]
                ],
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.43,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.002,
                "battery_level": 0.15,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 4",
                "position": [
                    -19.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 63,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0024000000000000002,
                "battery_level": 0.64,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0028,
                "battery_level": 0.53,
                "id": 1,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "IC Room 1",
                            [
                                [
                                    -33.9,
                                    18.93,
                                    3.14
                                ],
                                [
                                    -37,
                                    15
                                ],
                                [
                                    -39.44,
                                    33.98,
                                    0.0
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -39.44,
                                    33.98,
                                    0.0
                                ],
                                [
                                    -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"
                        ]
                    ]
                ],
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.45,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 3",
                "position": [
                    -21.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0023,
                "battery_level": 0.29,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.38,
                "id": 4,
                "local_plan": null,
                "location": "IC Room 6",
                "position": [
                    -38.0,
                    10.0,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 64,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0027,
                "battery_level": 0.64,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0019,
                "battery_level": 0.53,
                "id": 1,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0022,
                "battery_level": 0.45,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 7",
                            [
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -4,
                                    18,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -4,
                                    18,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 3",
                "position": [
                    -21.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0016,
                "battery_level": 0.29,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.38,
                "id": 4,
                "local_plan": null,
                "location": "IC Room 6",
                "position": [
                    -38.0,
                    10.0,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 65,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0011,
                "battery_level": 0.64,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0018000000000000002,
                "battery_level": 0.53,
                "id": 1,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0021000000000000003,
                "battery_level": 0.45,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 5",
                            [
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -13.5,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -13.5,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 3",
                "position": [
                    -21.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.29,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.002,
                "battery_level": 0.38,
                "id": 4,
                "local_plan": null,
                "location": "IC Room 6",
                "position": [
                    -38.0,
                    10.0,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 66,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0024000000000000002,
                "battery_level": 0.53,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0028,
                "battery_level": 0.23,
                "id": 1,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.21,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 7",
                            [
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -4,
                                    18,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -4,
                                    18,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 3",
                "position": [
                    -21.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0023,
                "battery_level": 0.61,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.24,
                "id": 4,
                "local_plan": null,
                "location": "IC Room 6",
                "position": [
                    -38.0,
                    10.0,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 67,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0027,
                "battery_level": 0.53,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0019,
                "battery_level": 0.23,
                "id": 1,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0022,
                "battery_level": 0.21,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 5",
                            [
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -13.5,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -13.5,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 3",
                "position": [
                    -21.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0016,
                "battery_level": 0.61,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.24,
                "id": 4,
                "local_plan": null,
                "location": "IC Room 6",
                "position": [
                    -38.0,
                    10.0,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 68,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0011,
                "battery_level": 0.53,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0018000000000000002,
                "battery_level": 0.23,
                "id": 1,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0021000000000000003,
                "battery_level": 0.21,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 9",
                            [
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -26.0,
                                    13.0,
                                    1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -26.0,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 3",
                "position": [
                    -21.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.61,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.002,
                "battery_level": 0.24,
                "id": 4,
                "local_plan": null,
                "location": "IC Room 6",
                "position": [
                    -38.0,
                    10.0,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 69,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0024000000000000002,
                "battery_level": 0.55,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0028,
                "battery_level": 0.54,
                "id": 1,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.89,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 10",
                            [
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -18.0,
                                    13.0,
                                    1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -18.0,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 3",
                "position": [
                    -21.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0023,
                "battery_level": 0.43,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.15,
                "id": 4,
                "local_plan": null,
                "location": "IC Room 6",
                "position": [
                    -38.0,
                    10.0,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 70,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0027,
                "battery_level": 0.55,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0019,
                "battery_level": 0.54,
                "id": 1,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "IC Room 1",
                            [
                                [
                                    -33.9,
                                    18.93,
                                    3.14
                                ],
                                [
                                    -37,
                                    15
                                ],
                                [
                                    -39.44,
                                    33.98,
                                    0.0
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -39.44,
                                    33.98,
                                    0.0
                                ],
                                [
                                    -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"
                        ]
                    ]
                ],
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0022,
                "battery_level": 0.89,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 3",
                "position": [
                    -21.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0016,
                "battery_level": 0.43,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.15,
                "id": 4,
                "local_plan": null,
                "location": "IC Room 6",
                "position": [
                    -38.0,
                    10.0,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 71,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0011,
                "battery_level": 0.55,
                "id": 0,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0018000000000000002,
                "battery_level": 0.54,
                "id": 1,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0021000000000000003,
                "battery_level": 0.89,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 9",
                            [
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -26.0,
                                    13.0,
                                    1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -26.0,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 3",
                "position": [
                    -21.0,
                    18.0,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.43,
                "id": 3,
                "local_plan": null,
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.002,
                "battery_level": 0.15,
                "id": 4,
                "local_plan": null,
                "location": "IC Room 6",
                "position": [
                    -38.0,
                    10.0,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 72,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0024000000000000002,
                "battery_level": 0.64,
                "id": 0,
                "local_plan": null,
                "location": "IC Room 1",
                "position": [
                    -39.44,
                    33.98,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0028,
                "battery_level": 0.53,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.45,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 3",
                            [
                                [
                                    -26.0,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -21.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0023,
                "battery_level": 0.29,
                "id": 3,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.38,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 10",
                "position": [
                    -18.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 73,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0027,
                "battery_level": 0.64,
                "id": 0,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "IC Room 5",
                            [
                                [
                                    -39.44,
                                    33.98,
                                    0.0
                                ],
                                [
                                    -37,
                                    15
                                ],
                                [
                                    -38.0,
                                    21.5,
                                    0.0
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -38.0,
                                    21.5,
                                    0.0
                                ],
                                [
                                    -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"
                        ]
                    ]
                ],
                "location": "IC Room 1",
                "position": [
                    -39.44,
                    33.98,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0019,
                "battery_level": 0.53,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0022,
                "battery_level": 0.45,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0016,
                "battery_level": 0.29,
                "id": 3,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.38,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 10",
                "position": [
                    -18.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 74,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0011,
                "battery_level": 0.64,
                "id": 0,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "IC Room 2",
                            [
                                [
                                    -39.44,
                                    33.98,
                                    0.0
                                ],
                                [
                                    -37,
                                    15
                                ],
                                [
                                    -32.88,
                                    33.95,
                                    3.14
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -32.88,
                                    33.95,
                                    3.14
                                ],
                                [
                                    -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"
                        ]
                    ]
                ],
                "location": "IC Room 1",
                "position": [
                    -39.44,
                    33.98,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0018000000000000002,
                "battery_level": 0.53,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0021000000000000003,
                "battery_level": 0.45,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.29,
                "id": 3,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.002,
                "battery_level": 0.38,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 10",
                "position": [
                    -18.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 75,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0024000000000000002,
                "battery_level": 0.53,
                "id": 0,
                "local_plan": null,
                "location": "IC Room 1",
                "position": [
                    -39.44,
                    33.98,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0028,
                "battery_level": 0.23,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.21,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 4",
                            [
                                [
                                    -26.0,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -19.0,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -19.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0023,
                "battery_level": 0.61,
                "id": 3,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.24,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 10",
                "position": [
                    -18.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 76,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0027,
                "battery_level": 0.53,
                "id": 0,
                "local_plan": null,
                "location": "IC Room 1",
                "position": [
                    -39.44,
                    33.98,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0019,
                "battery_level": 0.23,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0022,
                "battery_level": 0.21,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 2",
                            [
                                [
                                    -26.0,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -27.23,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -27.23,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0016,
                "battery_level": 0.61,
                "id": 3,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.24,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 10",
                "position": [
                    -18.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 77,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0011,
                "battery_level": 0.53,
                "id": 0,
                "local_plan": null,
                "location": "IC Room 1",
                "position": [
                    -39.44,
                    33.98,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0018000000000000002,
                "battery_level": 0.23,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0021000000000000003,
                "battery_level": 0.21,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 4",
                            [
                                [
                                    -26.0,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -19.0,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -19.0,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.61,
                "id": 3,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.002,
                "battery_level": 0.24,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 10",
                "position": [
                    -18.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 78,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0024000000000000002,
                "battery_level": 0.55,
                "id": 0,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "IC Room 6",
                            [
                                [
                                    -39.44,
                                    33.98,
                                    0.0
                                ],
                                [
                                    -37,
                                    15
                                ],
                                [
                                    -38.0,
                                    10.0,
                                    0.0
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -38.0,
                                    10.0,
                                    0.0
                                ],
                                [
                                    -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"
                        ]
                    ]
                ],
                "location": "IC Room 1",
                "position": [
                    -39.44,
                    33.98,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0028,
                "battery_level": 0.54,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.89,
                "id": 2,
                "local_plan": null,
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0023,
                "battery_level": 0.43,
                "id": 3,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.15,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 10",
                "position": [
                    -18.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 79,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0027,
                "battery_level": 0.55,
                "id": 0,
                "local_plan": null,
                "location": "IC Room 1",
                "position": [
                    -39.44,
                    33.98,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0019,
                "battery_level": 0.54,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0022,
                "battery_level": 0.89,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 5",
                            [
                                [
                                    -26.0,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -13.5,
                                    18.0,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -13.5,
                                    18.0,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0016,
                "battery_level": 0.43,
                "id": 3,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0012000000000000001,
                "battery_level": 0.15,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 10",
                "position": [
                    -18.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    },
    {
        "id": 80,
        "nurses": [
            {
                "location": "PC Room 6",
                "position": [
                    -11.5,
                    18,
                    -1.57
                ]
            }
        ],
        "robots": [
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0011,
                "battery_level": 0.55,
                "id": 0,
                "local_plan": null,
                "location": "IC Room 1",
                "position": [
                    -39.44,
                    33.98,
                    0.0
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0018000000000000002,
                "battery_level": 0.54,
                "id": 1,
                "local_plan": null,
                "location": "PC Room 8",
                "position": [
                    -27.23,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0021000000000000003,
                "battery_level": 0.89,
                "id": 2,
                "local_plan": [
                    [
                        "navigation",
                        [
                            "PC Room 6",
                            [
                                [
                                    -26.0,
                                    13.0,
                                    1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    -11.5,
                                    18,
                                    -1.57
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "authenticate_person",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "nurse"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ],
                    [
                        "navigation",
                        [
                            "Pharmacy",
                            [
                                [
                                    -11.5,
                                    18,
                                    -1.57
                                ],
                                [
                                    -19,
                                    16
                                ],
                                [
                                    0,
                                    8
                                ],
                                [
                                    -2,
                                    2.6
                                ]
                            ]
                        ]
                    ],
                    [
                        "approach_robot",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "open"
                        ]
                    ],
                    [
                        "send_message",
                        [
                            "lab_arm"
                        ]
                    ],
                    [
                        "wait_message",
                        [
                            "r1"
                        ]
                    ],
                    [
                        "operate_drawer",
                        [
                            "close"
                        ]
                    ]
                ],
                "location": "PC Room 9",
                "position": [
                    -26.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.0013000000000000002,
                "battery_level": 0.43,
                "id": 3,
                "local_plan": null,
                "location": "IC Room 4",
                "position": [
                    -33.9,
                    18.93,
                    3.14
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            },
            {
                "avg_speed": 0.8,
                "battery_consumption_rate": 0.002,
                "battery_level": 0.15,
                "id": 4,
                "local_plan": null,
                "location": "PC Room 10",
                "position": [
                    -18.0,
                    13.0,
                    1.57
                ],
                "skills": [
                    "approach_person",
                    "approach_robot",
                    "authenticate_person",
                    "deposit",
                    "navigation",
                    "operate_drawer",
                    "pick_up"
                ]
            }
        ]
    }
]