office-complex.xml

<!--
  Copyright (c) 2009-2015  Glen Berseth, Mubbasir Kapadia, Shawn Singh, Petros Faloutsos, Glenn Reinman
  See license.txt for complete license.
--><!--
  Copyright (c) 2009 Shawn Singh, Mubbasir Kapadia, Petros Faloutsos, Glenn Reinman
  See license.txt for complete license.
-->

<SteerBenchTestCase xmlns="http://www.magix.ucla.edu/steerbench"
                    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
                    xsi:schemaLocation="http://www.magix.ucla.edu/steerbench 
                                        TestCaseSchema.xsd">

  <header>
    <version>1.0</version>
    <name>office evac</name>
    <worldBounds>
      <xmin>-100</xmin>
      <xmax>100</xmax>
      <ymin>0</ymin>
      <ymax>0</ymax>
      <zmin>-100</zmin>
      <zmax>100</zmax>
    </worldBounds>
  </header>
  
  <suggestedCameraView>
    <position> <x>0</x> <y>100</y> <z>-30</z> </position>
    <lookat> <x>0</x> <y>0</y> <z>0</z> </lookat>
    <up> <x>0</x> <y>1</y> <z>0</z> </up>
    <fovy>45</fovy>
  </suggestedCameraView>

  <obstacle>
    <xmin>-70</xmin>
    <xmax>-40</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>53.5</zmin>
    <zmax>54</zmax>
  </obstacle>

	<obstacle>
    <xmin>-40</xmin>
    <xmax>-7.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>50</zmin>
    <zmax>50.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>7.5</xmin>
    <xmax>40</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>50</zmin>
    <zmax>50.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>40</xmin>
    <xmax>70</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>53.5</zmin>
    <zmax>54</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-70</xmin>
    <xmax>-40</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-54</zmin>
    <zmax>-53.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-40</xmin>
    <xmax>-7.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-50</zmin>
    <zmax>-49.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>7.5</xmin>
    <xmax>40</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-50</zmin>
    <zmax>-49.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>40</xmin>
    <xmax>70</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-54</zmin>
    <zmax>-53.5</zmax>
  </obstacle>

	<obstacle>
    <xmin>-70.5</xmin>
    <xmax>-70</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-54</zmin>
    <zmax>54</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>70</xmin>
    <xmax>70.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-54</zmin>
    <zmax>54</zmax>
  </obstacle>
  
  <!-- Inside rectangle -->
    <obstacle>
    <xmin>-60</xmin>
    <xmax>-56</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>40</zmin>
    <zmax>40.5</zmax>
  </obstacle>
  <obstacle>
    <xmin>-53</xmin>
    <xmax>-48</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>40</zmin>
    <zmax>40.5</zmax>
  </obstacle>
  <obstacle>
    <xmin>-45</xmin>
    <xmax>-39</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>40</zmin>
    <zmax>40.5</zmax>
  </obstacle>
  <obstacle>
    <xmin>-36</xmin>
    <xmax>-31</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>40</zmin>
    <zmax>40.5</zmax>
  </obstacle>
  <obstacle>
    <xmin>-28</xmin>
    <xmax>-20</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>40</zmin>
    <zmax>40.5</zmax>
  </obstacle>
  <obstacle>
    <xmin>-17</xmin>
    <xmax>-12</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>40</zmin>
    <zmax>40.5</zmax>
  </obstacle>
  <obstacle>
    <xmin>-9</xmin>
    <xmax>-0</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>40</zmin>
    <zmax>40.5</zmax>
  </obstacle>
  <obstacle>
    <xmin>7</xmin>
    <xmax>12</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>40</zmin>
    <zmax>40.5</zmax>
  </obstacle>
  <obstacle>
    <xmin>15</xmin>
    <xmax>20</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>40</zmin>
    <zmax>40.5</zmax>
  </obstacle>
  <obstacle>
    <xmin>27</xmin>
    <xmax>32.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>40</zmin>
    <zmax>40.5</zmax>
  </obstacle>
  <obstacle>
    <xmin>35.5</xmin>
    <xmax>40.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>40</zmin>
    <zmax>40.5</zmax>
  </obstacle>
  <obstacle>
    <xmin>43.5</xmin>
    <xmax>50.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>40</zmin>
    <zmax>40.5</zmax>
  </obstacle>
  <obstacle>
    <xmin>53.5</xmin>
    <xmax>60</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>40</zmin>
    <zmax>40.5</zmax>
  </obstacle>

  <obstacle>
    <xmin>-57</xmin>
    <xmax>-48.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-40.5</zmin>
    <zmax>-40</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-45.5</xmin>
    <xmax>-39</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-40.5</zmin>
    <zmax>-40</zmax>
  </obstacle>
  <obstacle>
    <xmin>-36</xmin>
    <xmax>-31</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-40.5</zmin>
    <zmax>-40</zmax>
  </obstacle>
  <obstacle>
    <xmin>-28</xmin>
    <xmax>-22</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-40.5</zmin>
    <zmax>-40</zmax>
  </obstacle>
  <obstacle>
    <xmin>-19</xmin>
    <xmax>-15</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-40.5</zmin>
    <zmax>-40</zmax>
  </obstacle>
  <obstacle>
    <xmin>-12</xmin>
    <xmax>0</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-40.5</zmin>
    <zmax>-40</zmax>
  </obstacle>
  <obstacle>
    <xmin>7.5</xmin>
    <xmax>12</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-40.5</zmin>
    <zmax>-40</zmax>
  </obstacle>
  <obstacle>
    <xmin>15</xmin>
    <xmax>20</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-40.5</zmin>
    <zmax>-40</zmax>
  </obstacle>
  <obstacle>
    <xmin>23</xmin>
    <xmax>24.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-40.5</zmin>
    <zmax>-40</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>27.5</xmin>
    <xmax>32.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-40.5</zmin>
    <zmax>-40</zmax>
  </obstacle>
  <obstacle>
    <xmin> 35.5</xmin>
    <xmax>41</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-40.5</zmin>
    <zmax>-40</zmax>
  </obstacle>
  <obstacle>
    <xmin>44</xmin>
    <xmax>49</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-40.5</zmin>
    <zmax>-40</zmax>
  </obstacle>
  <obstacle>
    <xmin>52</xmin>
    <xmax>57</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-40.5</zmin>
    <zmax>-40</zmax>
  </obstacle>

	<obstacle>
    <xmin>-60.5</xmin>
    <xmax>-60</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-36</zmin>
    <zmax>-27.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-60.5</xmin>
    <xmax>-60</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-24.5</zmin>
    <zmax>-19</zmax>
  </obstacle>
  <obstacle>
    <xmin>-60.5</xmin>
    <xmax>-60</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-12</zmin>
    <zmax>-4</zmax>
  </obstacle>
  <obstacle>
    <xmin>-60.5</xmin>
    <xmax>-60</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-1</zmin>
    <zmax>10</zmax>
  </obstacle>
  <obstacle>
    <xmin>-60.5</xmin>
    <xmax>-60</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>13</zmin>
    <zmax>20</zmax>
  </obstacle>
  <obstacle>
    <xmin>-60.5</xmin>
    <xmax>-60</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>24</zmin>
    <zmax>35.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>60</xmin>
    <xmax>60.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-36</zmin>
    <zmax>-35</zmax>
  </obstacle>
  <obstacle>
    <xmin>60</xmin>
    <xmax>60.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-32</zmin>
    <zmax>-22</zmax>
  </obstacle>
  <obstacle>
    <xmin>60</xmin>
    <xmax>60.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-19</zmin>
    <zmax>-12</zmax>
  </obstacle>
  <obstacle>
    <xmin>60</xmin>
    <xmax>60.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-9</zmin>
    <zmax>4</zmax>
  </obstacle>
  <obstacle>
    <xmin>60</xmin>
    <xmax>60.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>7</zmin>
    <zmax>14</zmax>
  </obstacle>
  <obstacle>
    <xmin>60</xmin>
    <xmax>60.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>17</zmin>
    <zmax>28</zmax>
  </obstacle>
  <obstacle>
    <xmin>60</xmin>
    <xmax>60.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>31</zmin>
    <zmax>35</zmax>
  </obstacle>
  <obstacle>
    <xmin>65</xmin>
    <xmax>65.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>32</zmin>
    <zmax>35</zmax>
  </obstacle>
  <obstacle>
    <xmin>63</xmin>
    <xmax>65.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>35</zmin>
    <zmax>35.5</zmax>
  </obstacle>
  <obstacle>
    <xmin>60</xmin>
    <xmax>61</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>35</zmin>
    <zmax>35.5</zmax>
  </obstacle>
  <obstacle>
    <xmin>60</xmin>
    <xmax>65.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-36.5</zmin>
    <zmax>-36</zmax>
  </obstacle>
  <obstacle>
    <xmin>60</xmin>
    <xmax>65.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-32</zmin>
    <zmax>-31.5</zmax>
  </obstacle>
  <obstacle>
    <xmin>65.5</xmin>
    <xmax>66</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-36.5</zmin>
    <zmax>-31.5</zmax>
  </obstacle>

  <obstacle>
    <xmin>-56</xmin>
    <xmax>-55.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-20</zmin>
    <zmax>-4</zmax>
  </obstacle>
  <obstacle>
    <xmin>-56</xmin>
    <xmax>-55.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-1</zmin>
    <zmax>1</zmax>
  </obstacle>
  <obstacle>
    <xmin>-56</xmin>
    <xmax>-55.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>4</zmin>
    <zmax>20</zmax>
  </obstacle>

  <obstacle>
    <xmin>-50</xmin>
    <xmax>-49.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-36</zmin>
    <zmax>-23</zmax>
  </obstacle>
  <obstacle>
    <xmin>-50</xmin>
    <xmax>-49.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-20</zmin>
    <zmax>20</zmax>
  </obstacle>
  <obstacle>
    <xmin>-50</xmin>
    <xmax>-49.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>23</zmin>
    <zmax>32</zmax>
  </obstacle>
  
  
  <obstacle>
    <xmin>-43</xmin>
    <xmax>-42.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-36</zmin>
    <zmax>-20</zmax>
  </obstacle>
  <obstacle>
    <xmin>-43</xmin>
    <xmax>-42.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>20</zmin>
    <zmax>36</zmax>
  </obstacle>
  <obstacle>
    <xmin>-35.5</xmin>
    <xmax>-35</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-36</zmin>
    <zmax>-28</zmax>
  </obstacle>
  <obstacle>
    <xmin>-35.5</xmin>
    <xmax>-35</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-25</zmin>
    <zmax>-15</zmax>
  </obstacle>
  <obstacle>
    <xmin>-35.5</xmin>
    <xmax>-35</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-12</zmin>
    <zmax>2</zmax>
  </obstacle>
  <obstacle>
    <xmin>-35.5</xmin>
    <xmax>-35</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>5</zmin>
    <zmax>12</zmax>
  </obstacle>
  <obstacle>
    <xmin>-35.5</xmin>
    <xmax>-35</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>15</zmin>
    <zmax>21</zmax>
  </obstacle>
  <obstacle>
    <xmin>-35.5</xmin>
    <xmax>-35</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>24</zmin>
    <zmax>28.5</zmax>
  </obstacle>
  <obstacle>
    <xmin>-35.5</xmin>
    <xmax>-35</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>31</zmin>
    <zmax>36</zmax>
  </obstacle>

    <obstacle>
    <xmin>-31.5</xmin>
    <xmax>-31</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-36</zmin>
    <zmax>-20</zmax>
  </obstacle>
  <obstacle>
    <xmin>-31.5</xmin>
    <xmax>-31</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-17.5</zmin>
    <zmax>-16.5</zmax>
  </obstacle>
  <obstacle>
    <xmin>-31.5</xmin>
    <xmax>-31</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-13.5</zmin>
    <zmax>5</zmax>
  </obstacle>
  <obstacle>
    <xmin>-31.5</xmin>
    <xmax>-31</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>8</zmin>
    <zmax>13</zmax>
  </obstacle>
  <obstacle>
    <xmin>-31.5</xmin>
    <xmax>-31</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>16</zmin>
    <zmax>21</zmax>
  </obstacle>
  <obstacle>
    <xmin>-31.5</xmin>
    <xmax>-31</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>24</zmin>
    <zmax>32</zmax>
  </obstacle>
  <obstacle>
    <xmin>-31.5</xmin>
    <xmax>-31</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>35</zmin>
    <zmax>36</zmax>
  </obstacle>

  <obstacle>
    <xmin>-31</xmin>
    <xmax>-29</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-36</zmin>
    <zmax>-35.5</zmax>
  </obstacle>
  <obstacle>
    <xmin>-26</xmin>
    <xmax>8</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-36</zmin>
    <zmax>-35.5</zmax>
  </obstacle>
  <obstacle>
    <xmin>11</xmin>
    <xmax>55.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-36</zmin>
    <zmax>-35.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-31</xmin>
    <xmax>2</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>35.5</zmin>
    <zmax>36</zmax>
  </obstacle>
  <obstacle>
    <xmin>5</xmin>
    <xmax>11</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>35.5</zmin>
    <zmax>36</zmax>
  </obstacle>
	<obstacle>
    <xmin>14</xmin>
    <xmax>15</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>35.5</zmin>
    <zmax>36</zmax>
  </obstacle>
  <obstacle>
    <xmin>18</xmin>
    <xmax>56</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>35.5</zmin>
    <zmax>36</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-31</xmin>
    <xmax>0</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-0.25</zmin>
    <zmax>0.25</zmax>
  </obstacle>
  <obstacle>
    <xmin>3</xmin>
    <xmax>11</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-0.25</zmin>
    <zmax>0.25</zmax>
  </obstacle>
  <obstacle>
    <xmin>14</xmin>
    <xmax>16</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-0.25</zmin>
    <zmax>0.25</zmax>
  </obstacle>
  <obstacle>
    <xmin>19</xmin>
    <xmax>30</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-0.25</zmin>
    <zmax>0.25</zmax>
  </obstacle>
  <obstacle>
    <xmin>33</xmin>
    <xmax>42</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-0.25</zmin>
    <zmax>0.25</zmax>
  </obstacle>
  <obstacle>
    <xmin>45</xmin>
    <xmax>56</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-0.25</zmin>
    <zmax>0.25</zmax>
  </obstacle>    

	<obstacle>
    <xmin>-8.5</xmin>
    <xmax>-8</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-36</zmin>
    <zmax>10.25</zmax>
  </obstacle>  
  
  <obstacle>
    <xmin>28</xmin>
    <xmax>28.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-36</zmin>
    <zmax>-0.25</zmax>
  </obstacle>

	<obstacle>
    <xmin>14.25</xmin>
    <xmax>14.75</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>0.25</zmin>
    <zmax>28</zmax>
  </obstacle>
  
  <!-- Now mostly single walls -->    
  
  <obstacle>
    <xmin>-70</xmin>
    <xmax>-63</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-40.5</zmin>
    <zmax>-40</zmax>
  </obstacle>

  <obstacle>
    <xmin>-70</xmin>
    <xmax>-60</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>40</zmin>
    <zmax>40.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-70</xmin>
    <xmax>-67</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-0.25</zmin>
    <zmax>0.25</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-64</xmin>
    <xmax>-60</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-0.25</zmin>
    <zmax>0.25</zmax>
  </obstacle>


  <obstacle>
    <xmin>-70</xmin>
    <xmax>-66</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>16</zmin>
    <zmax>16.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-63</xmin>
    <xmax>-60</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>16</zmin>
    <zmax>16.5</zmax>
  </obstacle>

  <obstacle>
    <xmin>-70</xmin>
    <xmax>-67</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>24.5</zmin>
    <zmax>25</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-64</xmin>
    <xmax>-60</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>24.5</zmin>
    <zmax>25</zmax>
  </obstacle> 
  
    <obstacle>
    <xmin>-70</xmin>
    <xmax>-60</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-9.5</zmin>
    <zmax>-9</zmax>
  </obstacle> 

    <obstacle>
    <xmin>-70</xmin>
    <xmax>-60</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-20.5</zmin>
    <zmax>-20</zmax>
  </obstacle>
  
      <obstacle>
    <xmin>-70</xmin>
    <xmax>-60</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-28.5</zmin>
    <zmax>-28</zmax>
  </obstacle>

	<obstacle>
    <xmin>63</xmin>
    <xmax>70</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>40</zmin>
    <zmax>40.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>60</xmin>
    <xmax>70</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>32</zmin>
    <zmax>32.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>60</xmin>
    <xmax>70</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>8</zmin>
    <zmax>8.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>60</xmin>
    <xmax>70</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>18</zmin>
    <zmax>18.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>60</xmin>
    <xmax>70</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-8.5</zmin>
    <zmax>-8</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>60</xmin>
    <xmax>70</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-18.5</zmin>
    <zmax>-18</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>60</xmin>
    <xmax>70</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-29.5</zmin>
    <zmax>-29</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>60</xmin>
    <xmax>66.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-40.5</zmin>
    <zmax>-40</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>62.5</xmin>
    <xmax>63</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-54</zmin>
    <zmax>-40.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>55.5</xmin>
    <xmax>56</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-54</zmin>
    <zmax>-40.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>47.5</xmin>
    <xmax>48</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-54</zmin>
    <zmax>-40.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>39.5</xmin>
    <xmax>40</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-54</zmin>
    <zmax>-40.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>31.5</xmin>
    <xmax>32</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-54</zmin>
    <zmax>-40.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>23.5</xmin>
    <xmax>24</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-54</zmin>
    <zmax>-40.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>15.5</xmin>
    <xmax>16</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-54</zmin>
    <zmax>-40.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>7.5</xmin>
    <xmax>8</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-54</zmin>
    <zmax>-40.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-8</xmin>
    <xmax>-7.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-54</zmin>
    <zmax>-40.5</zmax>
  </obstacle>   

	<obstacle>
    <xmin>-16</xmin>
    <xmax>-15.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-54</zmin>
    <zmax>-40.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-24</xmin>
    <xmax>-23.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-54</zmin>
    <zmax>-40.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-32</xmin>
    <xmax>-31.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-54</zmin>
    <zmax>-40.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-40</xmin>
    <xmax>-39.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-54</zmin>
    <zmax>-40.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-50</xmin>
    <xmax>-49.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-54</zmin>
    <zmax>-40.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-60</xmin>
    <xmax>-59.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-54</zmin>
    <zmax>-40.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-8</xmin>
    <xmax>-7.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>40.5</zmin>
    <zmax>54</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-16</xmin>
    <xmax>-15.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>40.5</zmin>
    <zmax>54</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-32</xmin>
    <xmax>-31.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>40.5</zmin>
    <zmax>54</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-40</xmin>
    <xmax>-39.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>40.5</zmin>
    <zmax>54</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>7.5</xmin>
    <xmax>8</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>40.5</zmin>
    <zmax>54</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>15.5</xmin>
    <xmax>16</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>40.5</zmin>
    <zmax>54</zmax>
  </obstacle>

	<obstacle>
    <xmin>31.5</xmin>
    <xmax>32</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>40.5</zmin>
    <zmax>54</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>39.5</xmin>
    <xmax>40</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>40.5</zmin>
    <zmax>54</zmax>
  </obstacle>  
  
  <obstacle>
    <xmin>49.5</xmin>
    <xmax>50</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>40.5</zmin>
    <zmax>54</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>59.5</xmin>
    <xmax>60</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>40.5</zmin>
    <zmax>54</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-56</xmin>
    <xmax>-50</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>15.5</zmin>
    <zmax>16</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-56</xmin>
    <xmax>-50</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-16</zmin>
    <zmax>-15.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-56</xmin>
    <xmax>-52.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>19.5</zmin>
    <zmax>20</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-56</xmin>
    <xmax>-52.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-20</zmin>
    <zmax>-19.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-56</xmin>
    <xmax>-50</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-1</zmin>
    <zmax>-0.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-49.5</xmin>
    <xmax>-40</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-1</zmin>
    <zmax>-0.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-46.5</xmin>
    <xmax>-42</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-36</zmin>
    <zmax>-35.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-39.5</xmin>
    <xmax>-35</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-36</zmin>
    <zmax>-35.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-42.5</xmin>
    <xmax>-35.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-29</zmin>
    <zmax>-28.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-49.5</xmin>
    <xmax>-35.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-20</zmin>
    <zmax>-19.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-49.5</xmin>
    <xmax>-35.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>19.5</zmin>
    <zmax>20</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-45</xmin>
    <xmax>-44.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>18</zmin>
    <zmax>20</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-45</xmin>
    <xmax>-44.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-20</zmin>
    <zmax>-18</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-40</xmin>
    <xmax>-35.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-11.5</zmin>
    <zmax>-11</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-40</xmin>
    <xmax>-35.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>11</zmin>
    <zmax>11.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-40</xmin>
    <xmax>-35.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-6</zmin>
    <zmax>-5.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-40</xmin>
    <xmax>-35.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>5.5</zmin>
    <zmax>6</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-40.5</xmin>
    <xmax>-40</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-6.5</zmin>
    <zmax>6.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-50</xmin>
    <xmax>-35.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>27.5</zmin>
    <zmax>28</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-50</xmin>
    <xmax>-42</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>35.5</zmin>
    <zmax>36</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-43</xmin>
    <xmax>-35.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>31</zmin>
    <zmax>31.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-50</xmin>
    <xmax>-43</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-26</zmin>
    <zmax>-25.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-31</xmin>
    <xmax>-17</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-25.5</zmin>
    <zmax>-25</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-31</xmin>
    <xmax>-8.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-17</zmin>
    <zmax>-16.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-31</xmin>
    <xmax>-8.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>8</zmin>
    <zmax>8.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-6.5</xmin>
    <xmax>0</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>11</zmin>
    <zmax>11.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-6.5</xmin>
    <xmax>-4</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>19</zmin>
    <zmax>19.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-1</xmin>
    <xmax>0</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>19</zmin>
    <zmax>19.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>-7</xmin>
    <xmax>-6.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>11</zmin>
    <zmax>19.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>0</xmin>
    <xmax>0.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>14.5</zmin>
    <zmax>19.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>6.5</xmin>
    <xmax>7</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>23</zmin>
    <zmax>36</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>6.5</xmin>
    <xmax>14.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>13.5</zmin>
    <zmax>14</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>4</xmin>
    <xmax>7</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>14</zmin>
    <zmax>14.5</zmax>
  </obstacle>
  
   <obstacle>
    <xmin>24</xmin>
    <xmax>24.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>25</zmin>
    <zmax>36</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>42</xmin>
    <xmax>42.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>25</zmin>
    <zmax>31</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>55.5</xmin>
    <xmax>56</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>25</zmin>
    <zmax>36</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>55.5</xmin>
    <xmax>56</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>0.25</zmin>
    <zmax>20</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>33.5</xmin>
    <xmax>34</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>0.25</zmin>
    <zmax>20</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>55.5</xmin>
    <xmax>56</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-36</zmin>
    <zmax>-6.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>28.5</xmin>
    <xmax>29</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>5.25</zmin>
    <zmax>16</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>28.5</xmin>
    <xmax>29</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>0.25</zmin>
    <zmax>1.25</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>18</xmin>
    <xmax>30</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>16</zmin>
    <zmax>16.5</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>42.5</xmin>
    <xmax>43</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-35.5</zmin>
    <zmax>-18</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>37.5</xmin>
    <xmax>48</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-18.5</zmin>
    <zmax>-18</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>52</xmin>
    <xmax>55.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-18.5</zmin>
    <zmax>-18</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>28.5</xmin>
    <xmax>33</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>-18.5</zmin>
    <zmax>-18</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>6.5</xmin>
    <xmax>37</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>24.5</zmin>
    <zmax>25</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>41.5</xmin>
    <xmax>43</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>24.5</zmin>
    <zmax>25</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>46</xmin>
    <xmax>49.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>24.5</zmin>
    <zmax>25</zmax>
  </obstacle>
  
  <obstacle>
    <xmin>54</xmin>
    <xmax>55.5</xmax>
    <ymin>0</ymin>
    <ymax>1</ymax>
    <zmin>24.5</zmin>
    <zmax>25</zmax>
  </obstacle>
  
  <agentRegion>
    <numAgents>400</numAgents>
    <regionBounds>
      <xmin>-70</xmin>
      <xmax>70</xmax>
      <ymin>0</ymin>
      <ymax>0</ymax>
      <zmin>-40</zmin>
      <zmax>0</zmax>
    </regionBounds>
    <initialConditions>
      <direction> <x>1</x> <y>0</y> <z>0</z> </direction>
      <radius>0.5</radius>
      <speed>0</speed>
    </initialConditions>
    <goalSequence>
      <seekStaticTarget>
        <targetLocation> <x>0</x> <y>0</y> <z>-60</z> </targetLocation>
        <desiredSpeed>1.3</desiredSpeed>
        <timeDuration>1000.0</timeDuration>
      </seekStaticTarget>
    </goalSequence>

  </agentRegion>
  <agentRegion>
    <numAgents>50</numAgents>
    <regionBounds>
      <xmin>-70</xmin>
      <xmax>-8</xmax>
      <ymin>0</ymin>
      <ymax>0</ymax>
      <zmin>-40</zmin>
      <zmax>-50</zmax>
    </regionBounds>
    <initialConditions>
      <direction> <x>1</x> <y>0</y> <z>0</z> </direction>
      <radius>0.5</radius>
      <speed>0</speed>
    </initialConditions>
    <goalSequence>
      <seekStaticTarget>
        <targetLocation> <x>0</x> <y>0</y> <z>-60</z> </targetLocation>
        <desiredSpeed>1.3</desiredSpeed>
        <timeDuration>1000.0</timeDuration>
      </seekStaticTarget>
    </goalSequence>

  </agentRegion>
  <agentRegion>
    <numAgents>50</numAgents>
    <regionBounds>
      <xmin>8</xmin>
      <xmax>70</xmax>
      <ymin>0</ymin>
      <ymax>0</ymax>
      <zmin>-40</zmin>
      <zmax>-50</zmax>
    </regionBounds>
    <initialConditions>
      <direction> <x>1</x> <y>0</y> <z>0</z> </direction>
      <radius>0.5</radius>
      <speed>0</speed>
    </initialConditions>
    <goalSequence>
      <seekStaticTarget>
        <targetLocation> <x>0</x> <y>0</y> <z>-60</z> </targetLocation>
        <desiredSpeed>1.3</desiredSpeed>
        <timeDuration>1000.0</timeDuration>
      </seekStaticTarget>
    </goalSequence>

  </agentRegion>

  <agentRegion>
    <numAgents>400</numAgents>
    <regionBounds>
      <xmin>-70</xmin>
      <xmax>70</xmax>
      <ymin>0</ymin>
      <ymax>0</ymax>
      <zmin>0</zmin>
      <zmax>40</zmax>
    </regionBounds>
    <initialConditions>
      <direction> <x>-1</x> <y>0</y> <z>0</z> </direction>
      <radius>0.5</radius>
      <speed>0</speed>
    </initialConditions>
    <goalSequence>
      <seekStaticTarget>
        <targetLocation> <x>0</x> <y>0</y> <z>60</z> </targetLocation>
        <desiredSpeed>1.3</desiredSpeed>
        <timeDuration>1000.0</timeDuration>
      </seekStaticTarget>
    </goalSequence>

  </agentRegion>
  <agentRegion>
    <numAgents>50</numAgents>
    <regionBounds>
      <xmin>-70</xmin>
      <xmax>-8</xmax>
      <ymin>0</ymin>
      <ymax>0</ymax>
      <zmin>40</zmin>
      <zmax>50</zmax>
    </regionBounds>
    <initialConditions>
      <direction> <x>-1</x> <y>0</y> <z>0</z> </direction>
      <radius>0.5</radius>
      <speed>0</speed>
    </initialConditions>
    <goalSequence>
      <seekStaticTarget>
        <targetLocation> <x>0</x> <y>0</y> <z>60</z> </targetLocation>
        <desiredSpeed>1.3</desiredSpeed>
        <timeDuration>1000.0</timeDuration>
      </seekStaticTarget>
    </goalSequence>

  </agentRegion>
  <agentRegion>
    <numAgents>50</numAgents>
    <regionBounds>
      <xmin>8</xmin>
      <xmax>70</xmax>
      <ymin>0</ymin>
      <ymax>0</ymax>
      <zmin>40</zmin>
      <zmax>50</zmax>
    </regionBounds>
    <initialConditions>
      <direction> <x>-1</x> <y>0</y> <z>0</z> </direction>
      <radius>0.5</radius>
      <speed>0</speed>
    </initialConditions>
    <goalSequence>
      <seekStaticTarget>
        <targetLocation> <x>0</x> <y>0</y> <z>60</z> </targetLocation>
        <desiredSpeed>1.3</desiredSpeed>
        <timeDuration>1000.0</timeDuration>
      </seekStaticTarget>
    </goalSequence>

  </agentRegion>

</SteerBenchTestCase>