from aim_fsm import *

class Lab5a(StateMachineProgram):
    def __init__(self):
        pf = SLAMParticleFilter(robot, landmark_test = SLAMSensorModel.is_solo_aruco_landmark)

        super().__init__(wall_marker_dict=dict(),
                         particle_filter=pf,
                         launch_particle_viewer=True,
                         launch_path_viewer=True,
                         speech=False)