Datasets:
Add balanced navigation tasks (navsim format) (part 7)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- navigation_tasks/grids/scene_08m_010__pal_tiago.npz +3 -0
- navigation_tasks/grids/scene_08m_011__clearpath_dingo.json +146 -0
- navigation_tasks/grids/scene_08m_011__clearpath_dingo.npz +3 -0
- navigation_tasks/grids/scene_08m_011__pal_tiago.json +128 -0
- navigation_tasks/grids/scene_08m_011__pal_tiago.npz +3 -0
- navigation_tasks/grids/scene_08m_012__clearpath_dingo.json +146 -0
- navigation_tasks/grids/scene_08m_012__clearpath_dingo.npz +3 -0
- navigation_tasks/grids/scene_08m_012__clearpath_jackal.json +152 -0
- navigation_tasks/grids/scene_08m_012__clearpath_jackal.npz +3 -0
- navigation_tasks/grids/scene_08m_012__pal_tiago.json +140 -0
- navigation_tasks/grids/scene_08m_012__pal_tiago.npz +3 -0
- navigation_tasks/grids/scene_08m_013__pal_tiago.json +128 -0
- navigation_tasks/grids/scene_08m_013__pal_tiago.npz +3 -0
- navigation_tasks/grids/scene_08m_014__clearpath_dingo.json +140 -0
- navigation_tasks/grids/scene_08m_014__clearpath_dingo.npz +3 -0
- navigation_tasks/grids/scene_08m_014__pal_tiago.json +140 -0
- navigation_tasks/grids/scene_08m_014__pal_tiago.npz +3 -0
- navigation_tasks/grids/scene_08m_015__clearpath_dingo.json +140 -0
- navigation_tasks/grids/scene_08m_015__clearpath_dingo.npz +3 -0
- navigation_tasks/grids/scene_08m_015__pal_tiago.json +122 -0
- navigation_tasks/grids/scene_08m_015__pal_tiago.npz +3 -0
- navigation_tasks/grids/scene_08m_016__pal_tiago.json +146 -0
- navigation_tasks/grids/scene_08m_016__pal_tiago.npz +3 -0
- navigation_tasks/grids/scene_08m_017__clearpath_dingo.json +146 -0
- navigation_tasks/grids/scene_08m_017__clearpath_dingo.npz +3 -0
- navigation_tasks/grids/scene_08m_017__pal_tiago.json +146 -0
- navigation_tasks/grids/scene_08m_017__pal_tiago.npz +3 -0
- navigation_tasks/grids/scene_08m_018__pal_tiago.json +140 -0
- navigation_tasks/grids/scene_08m_018__pal_tiago.npz +3 -0
- navigation_tasks/grids/scene_08m_019__pal_tiago.json +146 -0
- navigation_tasks/grids/scene_08m_019__pal_tiago.npz +3 -0
- navigation_tasks/grids/scene_08m_020__clearpath_dingo.json +146 -0
- navigation_tasks/grids/scene_08m_020__clearpath_dingo.npz +3 -0
- navigation_tasks/grids/scene_08m_020__pal_tiago.json +140 -0
- navigation_tasks/grids/scene_08m_020__pal_tiago.npz +3 -0
- navigation_tasks/grids/scene_08m_021__clearpath_dingo.json +158 -0
- navigation_tasks/grids/scene_08m_021__clearpath_dingo.npz +3 -0
- navigation_tasks/grids/scene_08m_021__clearpath_jackal.json +164 -0
- navigation_tasks/grids/scene_08m_021__clearpath_jackal.npz +3 -0
- navigation_tasks/grids/scene_08m_021__pal_tiago.json +176 -0
- navigation_tasks/grids/scene_08m_021__pal_tiago.npz +3 -0
- navigation_tasks/grids/scene_08m_022__clearpath_dingo.json +140 -0
- navigation_tasks/grids/scene_08m_022__clearpath_dingo.npz +3 -0
- navigation_tasks/grids/scene_08m_022__clearpath_jackal.json +158 -0
- navigation_tasks/grids/scene_08m_022__clearpath_jackal.npz +3 -0
- navigation_tasks/grids/scene_08m_022__pal_tiago.json +152 -0
- navigation_tasks/grids/scene_08m_022__pal_tiago.npz +3 -0
- navigation_tasks/grids/scene_08m_023__clearpath_dingo.json +146 -0
- navigation_tasks/grids/scene_08m_023__clearpath_dingo.npz +3 -0
- navigation_tasks/grids/scene_08m_023__pal_tiago.json +146 -0
navigation_tasks/grids/scene_08m_010__pal_tiago.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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oid sha256:7f8bc39ce15e95f79117aa2a19208293fdc3b06f4432b066d927f1b79fc983d7
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size 704
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navigation_tasks/grids/scene_08m_011__clearpath_dingo.json
ADDED
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{
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"schema_version": "isb-nav.grid-capacity/1",
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"map_id": "scene_08m_011__clearpath_dingo",
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"robot": "clearpath_dingo",
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"cell_m": 0.5750000000000001,
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"res": 0.025,
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"lo": [
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-0.2,
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-0.2,
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0
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],
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"H": 336,
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"ua": 0,
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"va": 1,
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"up": 2,
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"floor_z": 0,
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"shape": [
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12,
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15
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],
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"k": 23,
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"oy": 17,
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"ox": 17,
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"r0": 2,
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"c0": 0,
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"free_cells": 66,
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"main_cells": 61,
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"main_frac": 0.9242424242424242,
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"margin": 0.05,
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"source_pgm": "version_2/3d_scenes/scene_08m_011/top_view_map.pgm",
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"split": null,
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"closed_border": true,
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"signature": {
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"version": 1,
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"source_sha256": "9f9f4497ea40f3b69adf10baa849e741826eed75abe5173d88a8a191e92bd769",
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"settings": {
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"robots": [
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"jetauto_pro",
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"jetbot",
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"turtlebot3_burger",
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"turtlebot3_waffle_pi",
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"turtlebot4",
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"turtlebot4_lite",
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"clearpath_jackal",
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"pal_tiago",
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"clearpath_dingo",
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"clearpath_ridgeback",
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"clearpath_husky"
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],
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"min_interior": 4,
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"max_interior": 15,
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"margin": 0.05,
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"budget": 200,
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"d_min": 1,
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"slack": 20
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},
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| 57 |
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"robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a"
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},
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| 59 |
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"census_row": {
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| 60 |
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"scene_id": "scene_08m_011",
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| 61 |
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"size_m": 8.0,
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| 62 |
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"theme": "residential",
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| 63 |
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"robot": "clearpath_dingo",
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"cell_m": 0.575,
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| 65 |
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"nominal_interior": 12,
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| 66 |
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"status": "ready",
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| 67 |
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"map_id": "scene_08m_011",
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| 68 |
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"shape": [
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12,
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15
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],
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"free_cells": 66,
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"main_cells": 61,
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| 74 |
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"interior_h": 10,
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| 75 |
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"interior_w": 13,
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"pairs": 3660,
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| 77 |
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"diameter_steps": 22,
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| 78 |
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"diameter_m": 12.65,
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"min_steps": 1,
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| 80 |
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"max_steps": 22,
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"joint": [
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| 82 |
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{
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| 83 |
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"level": "easy",
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| 84 |
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"length": "short",
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"metres": "0.5-1",
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| 86 |
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"count": 166
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},
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| 88 |
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{
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| 89 |
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"level": "easy",
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| 90 |
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"length": "short",
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| 91 |
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"metres": "1-2",
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| 92 |
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"count": 508
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},
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| 94 |
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{
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| 95 |
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"level": "easy",
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| 96 |
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"length": "short",
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| 97 |
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"metres": "2-4",
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| 98 |
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"count": 820
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| 99 |
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},
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| 100 |
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{
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| 101 |
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"level": "easy",
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| 102 |
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"length": "short",
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| 103 |
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"metres": "4-8",
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| 104 |
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"count": 278
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| 105 |
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},
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| 106 |
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{
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| 107 |
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"level": "easy",
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| 108 |
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"length": "medium",
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| 109 |
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"metres": "4-8",
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| 110 |
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"count": 1273
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| 111 |
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},
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| 112 |
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{
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| 113 |
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"level": "easy",
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| 114 |
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"length": "medium",
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| 115 |
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"metres": "8-16",
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| 116 |
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"count": 49
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| 117 |
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},
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| 118 |
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{
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| 119 |
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"level": "easy",
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| 120 |
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"length": "long",
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| 121 |
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"metres": "8-16",
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| 122 |
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"count": 19
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| 123 |
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},
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| 124 |
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{
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| 125 |
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"level": "medium",
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| 126 |
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"length": "medium",
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| 127 |
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"metres": "4-8",
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| 128 |
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"count": 115
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| 129 |
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},
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| 130 |
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{
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| 131 |
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"level": "medium",
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| 132 |
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"length": "medium",
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| 133 |
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"metres": "8-16",
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| 134 |
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"count": 81
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| 135 |
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},
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{
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"level": "medium",
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| 138 |
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"length": "long",
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"metres": "8-16",
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"count": 351
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}
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| 142 |
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]
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| 143 |
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},
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| 144 |
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"source_grid_id": "scene_08m_011",
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| 145 |
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"source_scene_id": "scene_08m_011"
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| 146 |
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}
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navigation_tasks/grids/scene_08m_011__clearpath_dingo.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:19305d08533dc47b0416abf6cd18561c74ca223c2ce150d7a658f2568a70b0eb
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size 698
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navigation_tasks/grids/scene_08m_011__pal_tiago.json
ADDED
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{
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| 2 |
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"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
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"map_id": "scene_08m_011__pal_tiago",
|
| 4 |
+
"robot": "pal_tiago",
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| 5 |
+
"cell_m": 0.55,
|
| 6 |
+
"res": 0.025,
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| 7 |
+
"lo": [
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| 8 |
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-0.2,
|
| 9 |
+
-0.2,
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| 10 |
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0
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| 11 |
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],
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| 12 |
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"H": 336,
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| 13 |
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"ua": 0,
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| 14 |
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"va": 1,
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| 15 |
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"up": 2,
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| 16 |
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"floor_z": 0,
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"shape": [
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13,
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+
15
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],
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| 21 |
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"k": 22,
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| 22 |
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"oy": 6,
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| 23 |
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"ox": 0,
|
| 24 |
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"r0": 2,
|
| 25 |
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"c0": 1,
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| 26 |
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"free_cells": 68,
|
| 27 |
+
"main_cells": 64,
|
| 28 |
+
"main_frac": 0.9411764705882353,
|
| 29 |
+
"margin": 0.05,
|
| 30 |
+
"source_pgm": "version_2/3d_scenes/scene_08m_011/top_view_map.pgm",
|
| 31 |
+
"split": null,
|
| 32 |
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"closed_border": true,
|
| 33 |
+
"signature": {
|
| 34 |
+
"version": 1,
|
| 35 |
+
"source_sha256": "9f9f4497ea40f3b69adf10baa849e741826eed75abe5173d88a8a191e92bd769",
|
| 36 |
+
"settings": {
|
| 37 |
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"robots": [
|
| 38 |
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"jetauto_pro",
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| 39 |
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"jetbot",
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| 40 |
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"turtlebot3_burger",
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| 41 |
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"turtlebot3_waffle_pi",
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| 42 |
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"turtlebot4",
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| 43 |
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"turtlebot4_lite",
|
| 44 |
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"clearpath_jackal",
|
| 45 |
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"pal_tiago",
|
| 46 |
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"clearpath_dingo",
|
| 47 |
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"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
+
"budget": 200,
|
| 54 |
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"d_min": 1,
|
| 55 |
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|
| 56 |
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},
|
| 57 |
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"robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854"
|
| 58 |
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},
|
| 59 |
+
"census_row": {
|
| 60 |
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"scene_id": "scene_08m_011",
|
| 61 |
+
"size_m": 8.0,
|
| 62 |
+
"theme": "residential",
|
| 63 |
+
"robot": "pal_tiago",
|
| 64 |
+
"cell_m": 0.55,
|
| 65 |
+
"nominal_interior": 13,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_08m_011",
|
| 68 |
+
"shape": [
|
| 69 |
+
13,
|
| 70 |
+
15
|
| 71 |
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],
|
| 72 |
+
"free_cells": 68,
|
| 73 |
+
"main_cells": 64,
|
| 74 |
+
"interior_h": 11,
|
| 75 |
+
"interior_w": 13,
|
| 76 |
+
"pairs": 4032,
|
| 77 |
+
"diameter_steps": 22,
|
| 78 |
+
"diameter_m": 12.1,
|
| 79 |
+
"min_steps": 1,
|
| 80 |
+
"max_steps": 22,
|
| 81 |
+
"joint": [
|
| 82 |
+
{
|
| 83 |
+
"level": "easy",
|
| 84 |
+
"length": "short",
|
| 85 |
+
"metres": "0.5-1",
|
| 86 |
+
"count": 172
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"level": "easy",
|
| 90 |
+
"length": "short",
|
| 91 |
+
"metres": "1-2",
|
| 92 |
+
"count": 516
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "short",
|
| 97 |
+
"metres": "2-4",
|
| 98 |
+
"count": 1134
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"level": "easy",
|
| 102 |
+
"length": "medium",
|
| 103 |
+
"metres": "4-8",
|
| 104 |
+
"count": 1402
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"level": "easy",
|
| 108 |
+
"length": "long",
|
| 109 |
+
"metres": "8-16",
|
| 110 |
+
"count": 17
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"level": "medium",
|
| 114 |
+
"length": "medium",
|
| 115 |
+
"metres": "4-8",
|
| 116 |
+
"count": 352
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"level": "medium",
|
| 120 |
+
"length": "long",
|
| 121 |
+
"metres": "8-16",
|
| 122 |
+
"count": 439
|
| 123 |
+
}
|
| 124 |
+
]
|
| 125 |
+
},
|
| 126 |
+
"source_grid_id": "scene_08m_011",
|
| 127 |
+
"source_scene_id": "scene_08m_011"
|
| 128 |
+
}
|
navigation_tasks/grids/scene_08m_011__pal_tiago.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:66c037131a0bf4af3bec76a2d4d52ac733a35aaa729f7503e2ef4b6a14bb2329
|
| 3 |
+
size 704
|
navigation_tasks/grids/scene_08m_012__clearpath_dingo.json
ADDED
|
@@ -0,0 +1,146 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_08m_012__clearpath_dingo",
|
| 4 |
+
"robot": "clearpath_dingo",
|
| 5 |
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"cell_m": 0.5750000000000001,
|
| 6 |
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|
| 7 |
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"lo": [
|
| 8 |
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-0.2,
|
| 9 |
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-0.2,
|
| 10 |
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0
|
| 11 |
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],
|
| 12 |
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"H": 336,
|
| 13 |
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"ua": 0,
|
| 14 |
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"va": 1,
|
| 15 |
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"up": 2,
|
| 16 |
+
"floor_z": 0,
|
| 17 |
+
"shape": [
|
| 18 |
+
14,
|
| 19 |
+
14
|
| 20 |
+
],
|
| 21 |
+
"k": 23,
|
| 22 |
+
"oy": 6,
|
| 23 |
+
"ox": 0,
|
| 24 |
+
"r0": 0,
|
| 25 |
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"c0": 2,
|
| 26 |
+
"free_cells": 45,
|
| 27 |
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"main_cells": 39,
|
| 28 |
+
"main_frac": 0.8666666666666667,
|
| 29 |
+
"margin": 0.05,
|
| 30 |
+
"source_pgm": "version_2/3d_scenes/scene_08m_012/top_view_map.pgm",
|
| 31 |
+
"split": null,
|
| 32 |
+
"closed_border": true,
|
| 33 |
+
"signature": {
|
| 34 |
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"version": 1,
|
| 35 |
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"source_sha256": "2cf87e81e242e966974b1392636543c1cc172356403fd049117ba03e71dd80ed",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
+
"budget": 200,
|
| 54 |
+
"d_min": 1,
|
| 55 |
+
"slack": 20
|
| 56 |
+
},
|
| 57 |
+
"robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a"
|
| 58 |
+
},
|
| 59 |
+
"census_row": {
|
| 60 |
+
"scene_id": "scene_08m_012",
|
| 61 |
+
"size_m": 8.0,
|
| 62 |
+
"theme": "office",
|
| 63 |
+
"robot": "clearpath_dingo",
|
| 64 |
+
"cell_m": 0.575,
|
| 65 |
+
"nominal_interior": 12,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_08m_012",
|
| 68 |
+
"shape": [
|
| 69 |
+
14,
|
| 70 |
+
14
|
| 71 |
+
],
|
| 72 |
+
"free_cells": 45,
|
| 73 |
+
"main_cells": 39,
|
| 74 |
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"interior_h": 12,
|
| 75 |
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"interior_w": 12,
|
| 76 |
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"pairs": 1482,
|
| 77 |
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"diameter_steps": 36,
|
| 78 |
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"diameter_m": 20.7,
|
| 79 |
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"min_steps": 1,
|
| 80 |
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"max_steps": 36,
|
| 81 |
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"joint": [
|
| 82 |
+
{
|
| 83 |
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"level": "easy",
|
| 84 |
+
"length": "short",
|
| 85 |
+
"metres": "0.5-1",
|
| 86 |
+
"count": 76
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"level": "easy",
|
| 90 |
+
"length": "short",
|
| 91 |
+
"metres": "1-2",
|
| 92 |
+
"count": 154
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "short",
|
| 97 |
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"metres": "2-4",
|
| 98 |
+
"count": 212
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"level": "easy",
|
| 102 |
+
"length": "short",
|
| 103 |
+
"metres": "4-8",
|
| 104 |
+
"count": 366
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"level": "easy",
|
| 108 |
+
"length": "medium",
|
| 109 |
+
"metres": "4-8",
|
| 110 |
+
"count": 52
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"level": "easy",
|
| 114 |
+
"length": "medium",
|
| 115 |
+
"metres": "8-16",
|
| 116 |
+
"count": 148
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"level": "medium",
|
| 120 |
+
"length": "medium",
|
| 121 |
+
"metres": "8-16",
|
| 122 |
+
"count": 294
|
| 123 |
+
},
|
| 124 |
+
{
|
| 125 |
+
"level": "medium",
|
| 126 |
+
"length": "long",
|
| 127 |
+
"metres": "8-16",
|
| 128 |
+
"count": 76
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"level": "medium",
|
| 132 |
+
"length": "long",
|
| 133 |
+
"metres": "16-32",
|
| 134 |
+
"count": 83
|
| 135 |
+
},
|
| 136 |
+
{
|
| 137 |
+
"level": "hard",
|
| 138 |
+
"length": "long",
|
| 139 |
+
"metres": "16-32",
|
| 140 |
+
"count": 21
|
| 141 |
+
}
|
| 142 |
+
]
|
| 143 |
+
},
|
| 144 |
+
"source_grid_id": "scene_08m_012",
|
| 145 |
+
"source_scene_id": "scene_08m_012"
|
| 146 |
+
}
|
navigation_tasks/grids/scene_08m_012__clearpath_dingo.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7a2ce7771a52b29e61d56b573594f21bfa8c3bc89ad8ad87b109738ee84d9932
|
| 3 |
+
size 679
|
navigation_tasks/grids/scene_08m_012__clearpath_jackal.json
ADDED
|
@@ -0,0 +1,152 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
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|
|
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|
|
|
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|
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|
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|
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|
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|
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|
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|
|
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|
|
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|
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|
|
|
|
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|
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|
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|
|
|
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|
|
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|
|
|
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|
|
|
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|
|
|
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|
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|
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|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_08m_012__clearpath_jackal",
|
| 4 |
+
"robot": "clearpath_jackal",
|
| 5 |
+
"cell_m": 0.525,
|
| 6 |
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"res": 0.025,
|
| 7 |
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"lo": [
|
| 8 |
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-0.2,
|
| 9 |
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-0.2,
|
| 10 |
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0
|
| 11 |
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],
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| 12 |
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"H": 336,
|
| 13 |
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"ua": 0,
|
| 14 |
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"va": 1,
|
| 15 |
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"up": 2,
|
| 16 |
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"floor_z": 0,
|
| 17 |
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"shape": [
|
| 18 |
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16,
|
| 19 |
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14
|
| 20 |
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],
|
| 21 |
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"k": 21,
|
| 22 |
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"oy": 10,
|
| 23 |
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"ox": 10,
|
| 24 |
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"r0": 0,
|
| 25 |
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"c0": 2,
|
| 26 |
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"free_cells": 56,
|
| 27 |
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"main_cells": 48,
|
| 28 |
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"main_frac": 0.8571428571428571,
|
| 29 |
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"margin": 0.05,
|
| 30 |
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"source_pgm": "version_2/3d_scenes/scene_08m_012/top_view_map.pgm",
|
| 31 |
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"split": null,
|
| 32 |
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"closed_border": true,
|
| 33 |
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"signature": {
|
| 34 |
+
"version": 1,
|
| 35 |
+
"source_sha256": "2cf87e81e242e966974b1392636543c1cc172356403fd049117ba03e71dd80ed",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
+
"budget": 200,
|
| 54 |
+
"d_min": 1,
|
| 55 |
+
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|
| 56 |
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},
|
| 57 |
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"robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981"
|
| 58 |
+
},
|
| 59 |
+
"census_row": {
|
| 60 |
+
"scene_id": "scene_08m_012",
|
| 61 |
+
"size_m": 8.0,
|
| 62 |
+
"theme": "office",
|
| 63 |
+
"robot": "clearpath_jackal",
|
| 64 |
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|
| 65 |
+
"nominal_interior": 14,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_08m_012",
|
| 68 |
+
"shape": [
|
| 69 |
+
16,
|
| 70 |
+
14
|
| 71 |
+
],
|
| 72 |
+
"free_cells": 56,
|
| 73 |
+
"main_cells": 48,
|
| 74 |
+
"interior_h": 14,
|
| 75 |
+
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|
| 76 |
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|
| 77 |
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"diameter_steps": 33,
|
| 78 |
+
"diameter_m": 17.325,
|
| 79 |
+
"min_steps": 1,
|
| 80 |
+
"max_steps": 33,
|
| 81 |
+
"joint": [
|
| 82 |
+
{
|
| 83 |
+
"level": "easy",
|
| 84 |
+
"length": "short",
|
| 85 |
+
"metres": "0.5-1",
|
| 86 |
+
"count": 98
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"level": "easy",
|
| 90 |
+
"length": "short",
|
| 91 |
+
"metres": "1-2",
|
| 92 |
+
"count": 228
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "short",
|
| 97 |
+
"metres": "2-4",
|
| 98 |
+
"count": 488
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"level": "easy",
|
| 102 |
+
"length": "short",
|
| 103 |
+
"metres": "4-8",
|
| 104 |
+
"count": 418
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"level": "easy",
|
| 108 |
+
"length": "medium",
|
| 109 |
+
"metres": "4-8",
|
| 110 |
+
"count": 271
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"level": "easy",
|
| 114 |
+
"length": "medium",
|
| 115 |
+
"metres": "8-16",
|
| 116 |
+
"count": 17
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"level": "medium",
|
| 120 |
+
"length": "medium",
|
| 121 |
+
"metres": "4-8",
|
| 122 |
+
"count": 73
|
| 123 |
+
},
|
| 124 |
+
{
|
| 125 |
+
"level": "medium",
|
| 126 |
+
"length": "medium",
|
| 127 |
+
"metres": "8-16",
|
| 128 |
+
"count": 425
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"level": "medium",
|
| 132 |
+
"length": "long",
|
| 133 |
+
"metres": "8-16",
|
| 134 |
+
"count": 222
|
| 135 |
+
},
|
| 136 |
+
{
|
| 137 |
+
"level": "medium",
|
| 138 |
+
"length": "long",
|
| 139 |
+
"metres": "16-32",
|
| 140 |
+
"count": 8
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"level": "hard",
|
| 144 |
+
"length": "long",
|
| 145 |
+
"metres": "16-32",
|
| 146 |
+
"count": 8
|
| 147 |
+
}
|
| 148 |
+
]
|
| 149 |
+
},
|
| 150 |
+
"source_grid_id": "scene_08m_012",
|
| 151 |
+
"source_scene_id": "scene_08m_012"
|
| 152 |
+
}
|
navigation_tasks/grids/scene_08m_012__clearpath_jackal.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0f729d161d01e5833136065d92727a98f40b18db17809fcd8dd050a85df3b29b
|
| 3 |
+
size 692
|
navigation_tasks/grids/scene_08m_012__pal_tiago.json
ADDED
|
@@ -0,0 +1,140 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_08m_012__pal_tiago",
|
| 4 |
+
"robot": "pal_tiago",
|
| 5 |
+
"cell_m": 0.55,
|
| 6 |
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"res": 0.025,
|
| 7 |
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"lo": [
|
| 8 |
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-0.2,
|
| 9 |
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-0.2,
|
| 10 |
+
0
|
| 11 |
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],
|
| 12 |
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"H": 336,
|
| 13 |
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"ua": 0,
|
| 14 |
+
"va": 1,
|
| 15 |
+
"up": 2,
|
| 16 |
+
"floor_z": 0,
|
| 17 |
+
"shape": [
|
| 18 |
+
13,
|
| 19 |
+
14
|
| 20 |
+
],
|
| 21 |
+
"k": 22,
|
| 22 |
+
"oy": 16,
|
| 23 |
+
"ox": 6,
|
| 24 |
+
"r0": 1,
|
| 25 |
+
"c0": 2,
|
| 26 |
+
"free_cells": 41,
|
| 27 |
+
"main_cells": 31,
|
| 28 |
+
"main_frac": 0.7560975609756098,
|
| 29 |
+
"margin": 0.05,
|
| 30 |
+
"source_pgm": "version_2/3d_scenes/scene_08m_012/top_view_map.pgm",
|
| 31 |
+
"split": null,
|
| 32 |
+
"closed_border": true,
|
| 33 |
+
"signature": {
|
| 34 |
+
"version": 1,
|
| 35 |
+
"source_sha256": "2cf87e81e242e966974b1392636543c1cc172356403fd049117ba03e71dd80ed",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
+
"budget": 200,
|
| 54 |
+
"d_min": 1,
|
| 55 |
+
"slack": 20
|
| 56 |
+
},
|
| 57 |
+
"robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854"
|
| 58 |
+
},
|
| 59 |
+
"census_row": {
|
| 60 |
+
"scene_id": "scene_08m_012",
|
| 61 |
+
"size_m": 8.0,
|
| 62 |
+
"theme": "office",
|
| 63 |
+
"robot": "pal_tiago",
|
| 64 |
+
"cell_m": 0.55,
|
| 65 |
+
"nominal_interior": 13,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_08m_012",
|
| 68 |
+
"shape": [
|
| 69 |
+
13,
|
| 70 |
+
14
|
| 71 |
+
],
|
| 72 |
+
"free_cells": 39,
|
| 73 |
+
"main_cells": 31,
|
| 74 |
+
"interior_h": 11,
|
| 75 |
+
"interior_w": 12,
|
| 76 |
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"pairs": 930,
|
| 77 |
+
"diameter_steps": 28,
|
| 78 |
+
"diameter_m": 15.4,
|
| 79 |
+
"min_steps": 1,
|
| 80 |
+
"max_steps": 28,
|
| 81 |
+
"joint": [
|
| 82 |
+
{
|
| 83 |
+
"level": "easy",
|
| 84 |
+
"length": "short",
|
| 85 |
+
"metres": "0.5-1",
|
| 86 |
+
"count": 62
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"level": "easy",
|
| 90 |
+
"length": "short",
|
| 91 |
+
"metres": "1-2",
|
| 92 |
+
"count": 122
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "short",
|
| 97 |
+
"metres": "2-4",
|
| 98 |
+
"count": 210
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"level": "easy",
|
| 102 |
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"length": "short",
|
| 103 |
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"metres": "4-8",
|
| 104 |
+
"count": 90
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"level": "easy",
|
| 108 |
+
"length": "medium",
|
| 109 |
+
"metres": "4-8",
|
| 110 |
+
"count": 190
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"level": "easy",
|
| 114 |
+
"length": "medium",
|
| 115 |
+
"metres": "8-16",
|
| 116 |
+
"count": 71
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"level": "easy",
|
| 120 |
+
"length": "long",
|
| 121 |
+
"metres": "8-16",
|
| 122 |
+
"count": 1
|
| 123 |
+
},
|
| 124 |
+
{
|
| 125 |
+
"level": "medium",
|
| 126 |
+
"length": "medium",
|
| 127 |
+
"metres": "8-16",
|
| 128 |
+
"count": 45
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"level": "medium",
|
| 132 |
+
"length": "long",
|
| 133 |
+
"metres": "8-16",
|
| 134 |
+
"count": 139
|
| 135 |
+
}
|
| 136 |
+
]
|
| 137 |
+
},
|
| 138 |
+
"source_grid_id": "scene_08m_012",
|
| 139 |
+
"source_scene_id": "scene_08m_012"
|
| 140 |
+
}
|
navigation_tasks/grids/scene_08m_012__pal_tiago.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9f80341be469e961c2f18e8564268f9ca62cc0b64ce664fd51e6594b8e6708c6
|
| 3 |
+
size 667
|
navigation_tasks/grids/scene_08m_013__pal_tiago.json
ADDED
|
@@ -0,0 +1,128 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_08m_013__pal_tiago",
|
| 4 |
+
"robot": "pal_tiago",
|
| 5 |
+
"cell_m": 0.55,
|
| 6 |
+
"res": 0.025,
|
| 7 |
+
"lo": [
|
| 8 |
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-0.2,
|
| 9 |
+
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|
| 10 |
+
0
|
| 11 |
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],
|
| 12 |
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"H": 336,
|
| 13 |
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"ua": 0,
|
| 14 |
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"va": 1,
|
| 15 |
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"up": 2,
|
| 16 |
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"floor_z": 0,
|
| 17 |
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"shape": [
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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"source_sha256": "149385a24a2ecffb7d75db2b03ff7f45edf8a6b9073e192046b8ffd21e5b3d16",
|
| 36 |
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"settings": {
|
| 37 |
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|
| 38 |
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"jetauto_pro",
|
| 39 |
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"jetbot",
|
| 40 |
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"turtlebot3_burger",
|
| 41 |
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"turtlebot3_waffle_pi",
|
| 42 |
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"turtlebot4",
|
| 43 |
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"turtlebot4_lite",
|
| 44 |
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"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
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|
| 47 |
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"clearpath_ridgeback",
|
| 48 |
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"clearpath_husky"
|
| 49 |
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],
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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| 55 |
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|
| 58 |
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| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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"theme": "hospital",
|
| 63 |
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"robot": "pal_tiago",
|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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| 72 |
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|
| 73 |
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|
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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"joint": [
|
| 82 |
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{
|
| 83 |
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"level": "easy",
|
| 84 |
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"length": "short",
|
| 85 |
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"metres": "0.5-1",
|
| 86 |
+
"count": 380
|
| 87 |
+
},
|
| 88 |
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{
|
| 89 |
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"level": "easy",
|
| 90 |
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"length": "short",
|
| 91 |
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"metres": "1-2",
|
| 92 |
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|
| 93 |
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|
| 94 |
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{
|
| 95 |
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"level": "easy",
|
| 96 |
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"length": "short",
|
| 97 |
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|
| 98 |
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|
| 99 |
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},
|
| 100 |
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{
|
| 101 |
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"level": "easy",
|
| 102 |
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"length": "medium",
|
| 103 |
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"metres": "4-8",
|
| 104 |
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"count": 4949
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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"level": "easy",
|
| 108 |
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"length": "long",
|
| 109 |
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"metres": "8-16",
|
| 110 |
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"count": 401
|
| 111 |
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},
|
| 112 |
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{
|
| 113 |
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"level": "medium",
|
| 114 |
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"length": "medium",
|
| 115 |
+
"metres": "4-8",
|
| 116 |
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"count": 7
|
| 117 |
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},
|
| 118 |
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{
|
| 119 |
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"level": "medium",
|
| 120 |
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"length": "long",
|
| 121 |
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"metres": "8-16",
|
| 122 |
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"count": 39
|
| 123 |
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}
|
| 124 |
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]
|
| 125 |
+
},
|
| 126 |
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"source_grid_id": "scene_08m_013",
|
| 127 |
+
"source_scene_id": "scene_08m_013"
|
| 128 |
+
}
|
navigation_tasks/grids/scene_08m_013__pal_tiago.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6418ae726f3c848172a038a141974f9f28b69cf39457f7b1ed46d1dcc5c5ce0f
|
| 3 |
+
size 675
|
navigation_tasks/grids/scene_08m_014__clearpath_dingo.json
ADDED
|
@@ -0,0 +1,140 @@
|
|
|
|
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|
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|
|
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|
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|
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|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
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|
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|
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|
|
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|
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|
|
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|
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|
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|
|
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|
|
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|
|
|
|
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|
|
|
|
|
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|
|
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|
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|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
|
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|
|
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|
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|
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|
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|
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|
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|
|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_08m_014__clearpath_dingo",
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
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|
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|
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|
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|
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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"split": null,
|
| 32 |
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"closed_border": true,
|
| 33 |
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"signature": {
|
| 34 |
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"version": 1,
|
| 35 |
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"source_sha256": "190cbe83830f2b72748c580421cf8b032b46f624edf4610ac16a193877600c9b",
|
| 36 |
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"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
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"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
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"margin": 0.05,
|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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"robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a"
|
| 58 |
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},
|
| 59 |
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"census_row": {
|
| 60 |
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"scene_id": "scene_08m_014",
|
| 61 |
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|
| 62 |
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"theme": "warehouse",
|
| 63 |
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"robot": "clearpath_dingo",
|
| 64 |
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"cell_m": 0.575,
|
| 65 |
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"nominal_interior": 12,
|
| 66 |
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"status": "ready",
|
| 67 |
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"map_id": "scene_08m_014",
|
| 68 |
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"shape": [
|
| 69 |
+
15,
|
| 70 |
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14
|
| 71 |
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],
|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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"diameter_m": 14.375,
|
| 79 |
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"min_steps": 1,
|
| 80 |
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|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"level": "easy",
|
| 84 |
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"length": "short",
|
| 85 |
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"metres": "0.5-1",
|
| 86 |
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"count": 132
|
| 87 |
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},
|
| 88 |
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{
|
| 89 |
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"level": "easy",
|
| 90 |
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"length": "short",
|
| 91 |
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"metres": "1-2",
|
| 92 |
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|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
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"level": "easy",
|
| 96 |
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|
| 97 |
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"metres": "2-4",
|
| 98 |
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|
| 99 |
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},
|
| 100 |
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{
|
| 101 |
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"level": "easy",
|
| 102 |
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"length": "short",
|
| 103 |
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"metres": "4-8",
|
| 104 |
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|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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"level": "easy",
|
| 108 |
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|
| 109 |
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|
| 110 |
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"count": 581
|
| 111 |
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},
|
| 112 |
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{
|
| 113 |
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"level": "easy",
|
| 114 |
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"length": "medium",
|
| 115 |
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"metres": "8-16",
|
| 116 |
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"count": 55
|
| 117 |
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},
|
| 118 |
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{
|
| 119 |
+
"level": "medium",
|
| 120 |
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"length": "medium",
|
| 121 |
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"metres": "4-8",
|
| 122 |
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"count": 83
|
| 123 |
+
},
|
| 124 |
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{
|
| 125 |
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"level": "medium",
|
| 126 |
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"length": "medium",
|
| 127 |
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"metres": "8-16",
|
| 128 |
+
"count": 237
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"level": "medium",
|
| 132 |
+
"length": "long",
|
| 133 |
+
"metres": "8-16",
|
| 134 |
+
"count": 348
|
| 135 |
+
}
|
| 136 |
+
]
|
| 137 |
+
},
|
| 138 |
+
"source_grid_id": "scene_08m_014",
|
| 139 |
+
"source_scene_id": "scene_08m_014"
|
| 140 |
+
}
|
navigation_tasks/grids/scene_08m_014__clearpath_dingo.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2ebbcfd6213b950eed109d0a53889193201014b73b2557e09736a81fe861e0ed
|
| 3 |
+
size 698
|
navigation_tasks/grids/scene_08m_014__pal_tiago.json
ADDED
|
@@ -0,0 +1,140 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
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|
|
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|
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|
|
|
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|
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|
|
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|
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|
|
|
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|
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|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
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|
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|
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|
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|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_08m_014__pal_tiago",
|
| 4 |
+
"robot": "pal_tiago",
|
| 5 |
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"cell_m": 0.55,
|
| 6 |
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"res": 0.025,
|
| 7 |
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"lo": [
|
| 8 |
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-0.2,
|
| 9 |
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|
| 10 |
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|
| 11 |
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],
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| 12 |
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"H": 336,
|
| 13 |
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"ua": 0,
|
| 14 |
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"va": 1,
|
| 15 |
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| 17 |
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| 18 |
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|
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|
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|
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|
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|
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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"turtlebot4",
|
| 43 |
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"turtlebot4_lite",
|
| 44 |
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"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
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"clearpath_ridgeback",
|
| 48 |
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"clearpath_husky"
|
| 49 |
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],
|
| 50 |
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|
| 51 |
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|
| 52 |
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| 53 |
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|
| 61 |
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|
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|
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| 66 |
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| 69 |
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|
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|
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|
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|
| 86 |
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|
| 87 |
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|
| 88 |
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{
|
| 89 |
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|
| 90 |
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| 91 |
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|
| 92 |
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| 93 |
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| 95 |
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|
| 98 |
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|
| 99 |
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| 100 |
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|
| 101 |
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|
| 102 |
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| 103 |
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| 104 |
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|
| 105 |
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|
| 106 |
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| 107 |
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|
| 108 |
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| 109 |
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| 111 |
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| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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| 117 |
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| 118 |
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{
|
| 119 |
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|
| 120 |
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| 121 |
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|
| 122 |
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| 123 |
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| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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{
|
| 131 |
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|
| 132 |
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|
| 133 |
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"metres": "8-16",
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| 134 |
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|
| 135 |
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| 136 |
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]
|
| 137 |
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| 138 |
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"source_grid_id": "scene_08m_014",
|
| 139 |
+
"source_scene_id": "scene_08m_014"
|
| 140 |
+
}
|
navigation_tasks/grids/scene_08m_014__pal_tiago.npz
ADDED
|
@@ -0,0 +1,3 @@
|
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:d4c95df90128e5c21c9d2e7b260569fc44fb12f2ff57597d3e306d9b52be29c0
|
| 3 |
+
size 695
|
navigation_tasks/grids/scene_08m_015__clearpath_dingo.json
ADDED
|
@@ -0,0 +1,140 @@
|
|
|
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|
|
|
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|
|
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
|
|
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|
|
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|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
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|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
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|
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|
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|
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|
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|
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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"source_sha256": "f7f4eb30a3dab0ffb0c3152b98af3843c8a03c80cdd7e27f4a294918e9e607bd",
|
| 36 |
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"settings": {
|
| 37 |
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"robots": [
|
| 38 |
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|
| 39 |
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"jetbot",
|
| 40 |
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"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
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"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
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"max_interior": 15,
|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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},
|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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"theme": "residential",
|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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"status": "ready",
|
| 67 |
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|
| 68 |
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"shape": [
|
| 69 |
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14,
|
| 70 |
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14
|
| 71 |
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],
|
| 72 |
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|
| 73 |
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"main_cells": 33,
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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{
|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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},
|
| 88 |
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{
|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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{
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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{
|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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{
|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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},
|
| 112 |
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{
|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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{
|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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},
|
| 124 |
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{
|
| 125 |
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"level": "medium",
|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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},
|
| 130 |
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{
|
| 131 |
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"level": "medium",
|
| 132 |
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|
| 133 |
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"metres": "8-16",
|
| 134 |
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|
| 135 |
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}
|
| 136 |
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]
|
| 137 |
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},
|
| 138 |
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"source_grid_id": "scene_08m_015",
|
| 139 |
+
"source_scene_id": "scene_08m_015"
|
| 140 |
+
}
|
navigation_tasks/grids/scene_08m_015__clearpath_dingo.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c9484acf3a15927813e8ad3f53d2e86e01f2140fe0321088d3d04d8d47bf31cb
|
| 3 |
+
size 675
|
navigation_tasks/grids/scene_08m_015__pal_tiago.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_08m_015__pal_tiago",
|
| 4 |
+
"robot": "pal_tiago",
|
| 5 |
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"cell_m": 0.55,
|
| 6 |
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"res": 0.025,
|
| 7 |
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"lo": [
|
| 8 |
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|
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|
| 10 |
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0
|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"shape": [
|
| 18 |
+
9,
|
| 19 |
+
12
|
| 20 |
+
],
|
| 21 |
+
"k": 22,
|
| 22 |
+
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|
| 23 |
+
"ox": 6,
|
| 24 |
+
"r0": 6,
|
| 25 |
+
"c0": 2,
|
| 26 |
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|
| 27 |
+
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|
| 28 |
+
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|
| 29 |
+
"margin": 0.05,
|
| 30 |
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|
| 31 |
+
"split": null,
|
| 32 |
+
"closed_border": true,
|
| 33 |
+
"signature": {
|
| 34 |
+
"version": 1,
|
| 35 |
+
"source_sha256": "f7f4eb30a3dab0ffb0c3152b98af3843c8a03c80cdd7e27f4a294918e9e607bd",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
+
"budget": 200,
|
| 54 |
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|
| 55 |
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|
| 56 |
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},
|
| 57 |
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"robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854"
|
| 58 |
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},
|
| 59 |
+
"census_row": {
|
| 60 |
+
"scene_id": "scene_08m_015",
|
| 61 |
+
"size_m": 8.0,
|
| 62 |
+
"theme": "residential",
|
| 63 |
+
"robot": "pal_tiago",
|
| 64 |
+
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|
| 65 |
+
"nominal_interior": 13,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_08m_015",
|
| 68 |
+
"shape": [
|
| 69 |
+
9,
|
| 70 |
+
12
|
| 71 |
+
],
|
| 72 |
+
"free_cells": 23,
|
| 73 |
+
"main_cells": 22,
|
| 74 |
+
"interior_h": 7,
|
| 75 |
+
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|
| 76 |
+
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|
| 77 |
+
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|
| 78 |
+
"diameter_m": 7.15,
|
| 79 |
+
"min_steps": 1,
|
| 80 |
+
"max_steps": 13,
|
| 81 |
+
"joint": [
|
| 82 |
+
{
|
| 83 |
+
"level": "easy",
|
| 84 |
+
"length": "short",
|
| 85 |
+
"metres": "0.5-1",
|
| 86 |
+
"count": 46
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"level": "easy",
|
| 90 |
+
"length": "short",
|
| 91 |
+
"metres": "1-2",
|
| 92 |
+
"count": 94
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "short",
|
| 97 |
+
"metres": "2-4",
|
| 98 |
+
"count": 48
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"level": "easy",
|
| 102 |
+
"length": "medium",
|
| 103 |
+
"metres": "2-4",
|
| 104 |
+
"count": 140
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"level": "easy",
|
| 108 |
+
"length": "medium",
|
| 109 |
+
"metres": "4-8",
|
| 110 |
+
"count": 44
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"level": "easy",
|
| 114 |
+
"length": "long",
|
| 115 |
+
"metres": "4-8",
|
| 116 |
+
"count": 90
|
| 117 |
+
}
|
| 118 |
+
]
|
| 119 |
+
},
|
| 120 |
+
"source_grid_id": "scene_08m_015",
|
| 121 |
+
"source_scene_id": "scene_08m_015"
|
| 122 |
+
}
|
navigation_tasks/grids/scene_08m_015__pal_tiago.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e253d96bc9f4a5db2599063c225275ab92e41c4bf3f76de27b5a83ce60e102c6
|
| 3 |
+
size 645
|
navigation_tasks/grids/scene_08m_016__pal_tiago.json
ADDED
|
@@ -0,0 +1,146 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_08m_016__pal_tiago",
|
| 4 |
+
"robot": "pal_tiago",
|
| 5 |
+
"cell_m": 0.55,
|
| 6 |
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"res": 0.025,
|
| 7 |
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"lo": [
|
| 8 |
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-0.2,
|
| 9 |
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-0.2,
|
| 10 |
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0
|
| 11 |
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],
|
| 12 |
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"H": 336,
|
| 13 |
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"ua": 0,
|
| 14 |
+
"va": 1,
|
| 15 |
+
"up": 2,
|
| 16 |
+
"floor_z": 0,
|
| 17 |
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"shape": [
|
| 18 |
+
14,
|
| 19 |
+
14
|
| 20 |
+
],
|
| 21 |
+
"k": 22,
|
| 22 |
+
"oy": 0,
|
| 23 |
+
"ox": 6,
|
| 24 |
+
"r0": 2,
|
| 25 |
+
"c0": 1,
|
| 26 |
+
"free_cells": 93,
|
| 27 |
+
"main_cells": 93,
|
| 28 |
+
"main_frac": 1.0,
|
| 29 |
+
"margin": 0.05,
|
| 30 |
+
"source_pgm": "version_2/3d_scenes/scene_08m_016/top_view_map.pgm",
|
| 31 |
+
"split": null,
|
| 32 |
+
"closed_border": true,
|
| 33 |
+
"signature": {
|
| 34 |
+
"version": 1,
|
| 35 |
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"source_sha256": "1fcdd33fb6e1a471c5c661d6efbe0e75dff3ac2c951c934a04b9cd467192b848",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
+
"budget": 200,
|
| 54 |
+
"d_min": 1,
|
| 55 |
+
"slack": 20
|
| 56 |
+
},
|
| 57 |
+
"robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854"
|
| 58 |
+
},
|
| 59 |
+
"census_row": {
|
| 60 |
+
"scene_id": "scene_08m_016",
|
| 61 |
+
"size_m": 8.0,
|
| 62 |
+
"theme": "office",
|
| 63 |
+
"robot": "pal_tiago",
|
| 64 |
+
"cell_m": 0.55,
|
| 65 |
+
"nominal_interior": 13,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_08m_016",
|
| 68 |
+
"shape": [
|
| 69 |
+
14,
|
| 70 |
+
14
|
| 71 |
+
],
|
| 72 |
+
"free_cells": 93,
|
| 73 |
+
"main_cells": 93,
|
| 74 |
+
"interior_h": 12,
|
| 75 |
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"interior_w": 12,
|
| 76 |
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"pairs": 8556,
|
| 77 |
+
"diameter_steps": 19,
|
| 78 |
+
"diameter_m": 10.45,
|
| 79 |
+
"min_steps": 1,
|
| 80 |
+
"max_steps": 19,
|
| 81 |
+
"joint": [
|
| 82 |
+
{
|
| 83 |
+
"level": "easy",
|
| 84 |
+
"length": "short",
|
| 85 |
+
"metres": "0.5-1",
|
| 86 |
+
"count": 308
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"level": "easy",
|
| 90 |
+
"length": "short",
|
| 91 |
+
"metres": "1-2",
|
| 92 |
+
"count": 1204
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "short",
|
| 97 |
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"metres": "2-4",
|
| 98 |
+
"count": 2488
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"level": "easy",
|
| 102 |
+
"length": "medium",
|
| 103 |
+
"metres": "2-4",
|
| 104 |
+
"count": 864
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"level": "easy",
|
| 108 |
+
"length": "medium",
|
| 109 |
+
"metres": "4-8",
|
| 110 |
+
"count": 2936
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"level": "easy",
|
| 114 |
+
"length": "long",
|
| 115 |
+
"metres": "4-8",
|
| 116 |
+
"count": 401
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"level": "easy",
|
| 120 |
+
"length": "long",
|
| 121 |
+
"metres": "8-16",
|
| 122 |
+
"count": 236
|
| 123 |
+
},
|
| 124 |
+
{
|
| 125 |
+
"level": "medium",
|
| 126 |
+
"length": "medium",
|
| 127 |
+
"metres": "4-8",
|
| 128 |
+
"count": 34
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"level": "medium",
|
| 132 |
+
"length": "long",
|
| 133 |
+
"metres": "4-8",
|
| 134 |
+
"count": 53
|
| 135 |
+
},
|
| 136 |
+
{
|
| 137 |
+
"level": "medium",
|
| 138 |
+
"length": "long",
|
| 139 |
+
"metres": "8-16",
|
| 140 |
+
"count": 32
|
| 141 |
+
}
|
| 142 |
+
]
|
| 143 |
+
},
|
| 144 |
+
"source_grid_id": "scene_08m_016",
|
| 145 |
+
"source_scene_id": "scene_08m_016"
|
| 146 |
+
}
|
navigation_tasks/grids/scene_08m_016__pal_tiago.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d9edd8375ec33be544a7f94c7aa7635085e54d418d79e22faacb549d7471dcd0
|
| 3 |
+
size 681
|
navigation_tasks/grids/scene_08m_017__clearpath_dingo.json
ADDED
|
@@ -0,0 +1,146 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
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|
|
|
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|
|
|
|
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
|
|
|
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|
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|
|
|
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|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
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|
| 4 |
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|
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| 18 |
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|
| 20 |
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| 21 |
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|
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|
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|
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|
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|
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
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|
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|
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
+
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|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
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],
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
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|
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|
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
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|
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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{
|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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},
|
| 100 |
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{
|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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},
|
| 112 |
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{
|
| 113 |
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"level": "easy",
|
| 114 |
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|
| 115 |
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"metres": "8-16",
|
| 116 |
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|
| 117 |
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},
|
| 118 |
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{
|
| 119 |
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"level": "easy",
|
| 120 |
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"length": "long",
|
| 121 |
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|
| 122 |
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"count": 123
|
| 123 |
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},
|
| 124 |
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{
|
| 125 |
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"level": "medium",
|
| 126 |
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"length": "medium",
|
| 127 |
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|
| 128 |
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|
| 129 |
+
},
|
| 130 |
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{
|
| 131 |
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"level": "medium",
|
| 132 |
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"length": "medium",
|
| 133 |
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"metres": "8-16",
|
| 134 |
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|
| 135 |
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},
|
| 136 |
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{
|
| 137 |
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"level": "medium",
|
| 138 |
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"length": "long",
|
| 139 |
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"metres": "8-16",
|
| 140 |
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"count": 519
|
| 141 |
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}
|
| 142 |
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]
|
| 143 |
+
},
|
| 144 |
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"source_grid_id": "scene_08m_017",
|
| 145 |
+
"source_scene_id": "scene_08m_017"
|
| 146 |
+
}
|
navigation_tasks/grids/scene_08m_017__clearpath_dingo.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a639de434b7450e43fe9081aad5a5fdbc631add80bc9510973b55f0c80031a6e
|
| 3 |
+
size 663
|
navigation_tasks/grids/scene_08m_017__pal_tiago.json
ADDED
|
@@ -0,0 +1,146 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
|
|
|
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
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|
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|
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|
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|
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|
|
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|
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|
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|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
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|
|
|
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|
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|
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|
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|
|
|
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|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
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"map_id": "scene_08m_017__pal_tiago",
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
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|
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|
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],
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| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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15,
|
| 19 |
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15
|
| 20 |
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],
|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"margin": 0.05,
|
| 30 |
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"source_pgm": "version_2/3d_scenes/scene_08m_017/top_view_map.pgm",
|
| 31 |
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"split": null,
|
| 32 |
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"closed_border": true,
|
| 33 |
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"signature": {
|
| 34 |
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"version": 1,
|
| 35 |
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"source_sha256": "8c003b19e53b25a90f8b685ef837536c2caf137528dd8eb9c980b2368faef7a4",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
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"min_interior": 4,
|
| 51 |
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"max_interior": 15,
|
| 52 |
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"margin": 0.05,
|
| 53 |
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"budget": 200,
|
| 54 |
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"d_min": 1,
|
| 55 |
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|
| 56 |
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},
|
| 57 |
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"robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854"
|
| 58 |
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},
|
| 59 |
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"census_row": {
|
| 60 |
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"scene_id": "scene_08m_017",
|
| 61 |
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"size_m": 8.0,
|
| 62 |
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"theme": "hospital",
|
| 63 |
+
"robot": "pal_tiago",
|
| 64 |
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"cell_m": 0.55,
|
| 65 |
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"nominal_interior": 13,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_08m_017",
|
| 68 |
+
"shape": [
|
| 69 |
+
15,
|
| 70 |
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15
|
| 71 |
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],
|
| 72 |
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"free_cells": 78,
|
| 73 |
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"main_cells": 78,
|
| 74 |
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"interior_h": 13,
|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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{
|
| 83 |
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"level": "easy",
|
| 84 |
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|
| 85 |
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"metres": "0.5-1",
|
| 86 |
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|
| 87 |
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},
|
| 88 |
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{
|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
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"level": "easy",
|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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},
|
| 100 |
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{
|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
+
},
|
| 106 |
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{
|
| 107 |
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"level": "easy",
|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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},
|
| 112 |
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{
|
| 113 |
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"level": "easy",
|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
+
},
|
| 118 |
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{
|
| 119 |
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"level": "easy",
|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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},
|
| 124 |
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{
|
| 125 |
+
"level": "medium",
|
| 126 |
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"length": "medium",
|
| 127 |
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"metres": "4-8",
|
| 128 |
+
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|
| 129 |
+
},
|
| 130 |
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{
|
| 131 |
+
"level": "medium",
|
| 132 |
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"length": "medium",
|
| 133 |
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"metres": "8-16",
|
| 134 |
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"count": 254
|
| 135 |
+
},
|
| 136 |
+
{
|
| 137 |
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"level": "medium",
|
| 138 |
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"length": "long",
|
| 139 |
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"metres": "8-16",
|
| 140 |
+
"count": 670
|
| 141 |
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}
|
| 142 |
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]
|
| 143 |
+
},
|
| 144 |
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"source_grid_id": "scene_08m_017",
|
| 145 |
+
"source_scene_id": "scene_08m_017"
|
| 146 |
+
}
|
navigation_tasks/grids/scene_08m_017__pal_tiago.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8e1a31ee62cb0ff920c19952209e76ac5a91b8445fd4fbde5a5ca3da975b8e7b
|
| 3 |
+
size 687
|
navigation_tasks/grids/scene_08m_018__pal_tiago.json
ADDED
|
@@ -0,0 +1,140 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
|
|
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|
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| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 31 |
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|
| 32 |
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|
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|
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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"turtlebot4",
|
| 43 |
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"turtlebot4_lite",
|
| 44 |
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"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
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|
| 48 |
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"clearpath_husky"
|
| 49 |
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],
|
| 50 |
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|
| 51 |
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|
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|
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|
| 60 |
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|
| 61 |
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|
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
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|
| 70 |
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|
| 71 |
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|
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|
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|
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|
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|
| 82 |
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| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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{
|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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{
|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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{
|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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{
|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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]
|
| 137 |
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|
| 138 |
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"source_grid_id": "scene_08m_018",
|
| 139 |
+
"source_scene_id": "scene_08m_018"
|
| 140 |
+
}
|
navigation_tasks/grids/scene_08m_018__pal_tiago.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
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|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:a0559afb454503b8bdc9b3047a13bfb62f7e4f1d6e57ed29907b6e2bf8c0d7f3
|
| 3 |
+
size 669
|
navigation_tasks/grids/scene_08m_019__pal_tiago.json
ADDED
|
@@ -0,0 +1,146 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
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|
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|
|
|
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|
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|
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|
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|
|
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|
|
|
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|
|
|
|
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|
|
|
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|
|
|
|
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|
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|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
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|
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|
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|
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|
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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"split": null,
|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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"settings": {
|
| 37 |
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"robots": [
|
| 38 |
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"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
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"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
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"min_interior": 4,
|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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},
|
| 57 |
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"robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854"
|
| 58 |
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|
| 59 |
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"census_row": {
|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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"status": "ready",
|
| 67 |
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"map_id": "scene_08m_019",
|
| 68 |
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"shape": [
|
| 69 |
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13,
|
| 70 |
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14
|
| 71 |
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],
|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
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|
| 99 |
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|
| 100 |
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| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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{
|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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{
|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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},
|
| 130 |
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{
|
| 131 |
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"level": "medium",
|
| 132 |
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|
| 133 |
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"metres": "4-8",
|
| 134 |
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|
| 135 |
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},
|
| 136 |
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{
|
| 137 |
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"level": "medium",
|
| 138 |
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|
| 139 |
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"metres": "8-16",
|
| 140 |
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|
| 141 |
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|
| 142 |
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]
|
| 143 |
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},
|
| 144 |
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"source_grid_id": "scene_08m_019",
|
| 145 |
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"source_scene_id": "scene_08m_019"
|
| 146 |
+
}
|
navigation_tasks/grids/scene_08m_019__pal_tiago.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d720a54622f5c50809f4fc2a167e9f6db0397c3fbe2f5dfc6b00d514fde038ac
|
| 3 |
+
size 703
|
navigation_tasks/grids/scene_08m_020__clearpath_dingo.json
ADDED
|
@@ -0,0 +1,146 @@
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
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|
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|
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|
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|
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|
|
|
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|
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|
|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
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|
| 4 |
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|
| 5 |
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| 11 |
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|
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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13,
|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
+
"settings": {
|
| 37 |
+
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|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
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|
| 51 |
+
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
+
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
+
{
|
| 83 |
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|
| 84 |
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|
| 85 |
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"metres": "0.5-1",
|
| 86 |
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|
| 87 |
+
},
|
| 88 |
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{
|
| 89 |
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"level": "easy",
|
| 90 |
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"length": "short",
|
| 91 |
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"metres": "1-2",
|
| 92 |
+
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|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "short",
|
| 97 |
+
"metres": "2-4",
|
| 98 |
+
"count": 454
|
| 99 |
+
},
|
| 100 |
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{
|
| 101 |
+
"level": "easy",
|
| 102 |
+
"length": "short",
|
| 103 |
+
"metres": "4-8",
|
| 104 |
+
"count": 176
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
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"level": "easy",
|
| 108 |
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"length": "medium",
|
| 109 |
+
"metres": "4-8",
|
| 110 |
+
"count": 777
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"level": "easy",
|
| 114 |
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"length": "medium",
|
| 115 |
+
"metres": "8-16",
|
| 116 |
+
"count": 36
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"level": "easy",
|
| 120 |
+
"length": "long",
|
| 121 |
+
"metres": "8-16",
|
| 122 |
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"count": 12
|
| 123 |
+
},
|
| 124 |
+
{
|
| 125 |
+
"level": "medium",
|
| 126 |
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"length": "medium",
|
| 127 |
+
"metres": "4-8",
|
| 128 |
+
"count": 63
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"level": "medium",
|
| 132 |
+
"length": "medium",
|
| 133 |
+
"metres": "8-16",
|
| 134 |
+
"count": 68
|
| 135 |
+
},
|
| 136 |
+
{
|
| 137 |
+
"level": "medium",
|
| 138 |
+
"length": "long",
|
| 139 |
+
"metres": "8-16",
|
| 140 |
+
"count": 342
|
| 141 |
+
}
|
| 142 |
+
]
|
| 143 |
+
},
|
| 144 |
+
"source_grid_id": "scene_08m_020",
|
| 145 |
+
"source_scene_id": "scene_08m_020"
|
| 146 |
+
}
|
navigation_tasks/grids/scene_08m_020__clearpath_dingo.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0228821a8860e09b7c8399ab84e65d622311379ee3a5b1279d2c1b8770d89cac
|
| 3 |
+
size 708
|
navigation_tasks/grids/scene_08m_020__pal_tiago.json
ADDED
|
@@ -0,0 +1,140 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_08m_020__pal_tiago",
|
| 4 |
+
"robot": "pal_tiago",
|
| 5 |
+
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|
| 6 |
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"res": 0.025,
|
| 7 |
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"lo": [
|
| 8 |
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-0.2,
|
| 9 |
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|
| 10 |
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0
|
| 11 |
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],
|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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"shape": [
|
| 18 |
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14,
|
| 19 |
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15
|
| 20 |
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],
|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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"main_frac": 0.9615384615384616,
|
| 29 |
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"margin": 0.05,
|
| 30 |
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"source_pgm": "version_2/3d_scenes/scene_08m_020/top_view_map.pgm",
|
| 31 |
+
"split": null,
|
| 32 |
+
"closed_border": true,
|
| 33 |
+
"signature": {
|
| 34 |
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"version": 1,
|
| 35 |
+
"source_sha256": "c525ac1f01b1a3ff4e95166623b9ebc78244f3bf0735a99a0bbb644552af5f60",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
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"budget": 200,
|
| 54 |
+
"d_min": 1,
|
| 55 |
+
"slack": 20
|
| 56 |
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},
|
| 57 |
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"robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854"
|
| 58 |
+
},
|
| 59 |
+
"census_row": {
|
| 60 |
+
"scene_id": "scene_08m_020",
|
| 61 |
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"size_m": 8.0,
|
| 62 |
+
"theme": "office",
|
| 63 |
+
"robot": "pal_tiago",
|
| 64 |
+
"cell_m": 0.55,
|
| 65 |
+
"nominal_interior": 13,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_08m_020",
|
| 68 |
+
"shape": [
|
| 69 |
+
14,
|
| 70 |
+
15
|
| 71 |
+
],
|
| 72 |
+
"free_cells": 52,
|
| 73 |
+
"main_cells": 50,
|
| 74 |
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"interior_h": 12,
|
| 75 |
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"interior_w": 13,
|
| 76 |
+
"pairs": 2450,
|
| 77 |
+
"diameter_steps": 23,
|
| 78 |
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"diameter_m": 12.65,
|
| 79 |
+
"min_steps": 1,
|
| 80 |
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"max_steps": 23,
|
| 81 |
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"joint": [
|
| 82 |
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{
|
| 83 |
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"level": "easy",
|
| 84 |
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"length": "short",
|
| 85 |
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"metres": "0.5-1",
|
| 86 |
+
"count": 118
|
| 87 |
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},
|
| 88 |
+
{
|
| 89 |
+
"level": "easy",
|
| 90 |
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"length": "short",
|
| 91 |
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"metres": "1-2",
|
| 92 |
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|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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},
|
| 100 |
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{
|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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"level": "easy",
|
| 108 |
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"length": "medium",
|
| 109 |
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"metres": "8-16",
|
| 110 |
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|
| 111 |
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},
|
| 112 |
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{
|
| 113 |
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"level": "easy",
|
| 114 |
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"length": "long",
|
| 115 |
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"metres": "8-16",
|
| 116 |
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"count": 2
|
| 117 |
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},
|
| 118 |
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{
|
| 119 |
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"level": "medium",
|
| 120 |
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"length": "medium",
|
| 121 |
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"metres": "4-8",
|
| 122 |
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"count": 153
|
| 123 |
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},
|
| 124 |
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{
|
| 125 |
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"level": "medium",
|
| 126 |
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"length": "medium",
|
| 127 |
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"metres": "8-16",
|
| 128 |
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"count": 85
|
| 129 |
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},
|
| 130 |
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{
|
| 131 |
+
"level": "medium",
|
| 132 |
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"length": "long",
|
| 133 |
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"metres": "8-16",
|
| 134 |
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"count": 286
|
| 135 |
+
}
|
| 136 |
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]
|
| 137 |
+
},
|
| 138 |
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"source_grid_id": "scene_08m_020",
|
| 139 |
+
"source_scene_id": "scene_08m_020"
|
| 140 |
+
}
|
navigation_tasks/grids/scene_08m_020__pal_tiago.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:11eabe300096d106c112f9831440b6b982b08e847824e7b5cb0a7e93a79a59d4
|
| 3 |
+
size 694
|
navigation_tasks/grids/scene_08m_021__clearpath_dingo.json
ADDED
|
@@ -0,0 +1,158 @@
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| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_08m_021__clearpath_dingo",
|
| 4 |
+
"robot": "clearpath_dingo",
|
| 5 |
+
"cell_m": 0.5750000000000001,
|
| 6 |
+
"res": 0.025,
|
| 7 |
+
"lo": [
|
| 8 |
+
-0.2,
|
| 9 |
+
-0.2,
|
| 10 |
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0
|
| 11 |
+
],
|
| 12 |
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"H": 336,
|
| 13 |
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"ua": 0,
|
| 14 |
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"va": 1,
|
| 15 |
+
"up": 2,
|
| 16 |
+
"floor_z": 0,
|
| 17 |
+
"shape": [
|
| 18 |
+
13,
|
| 19 |
+
14
|
| 20 |
+
],
|
| 21 |
+
"k": 23,
|
| 22 |
+
"oy": 0,
|
| 23 |
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"ox": 12,
|
| 24 |
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"r0": 2,
|
| 25 |
+
"c0": 1,
|
| 26 |
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"free_cells": 79,
|
| 27 |
+
"main_cells": 79,
|
| 28 |
+
"main_frac": 1.0,
|
| 29 |
+
"margin": 0.05,
|
| 30 |
+
"source_pgm": "version_2/3d_scenes/scene_08m_021/top_view_map.pgm",
|
| 31 |
+
"split": null,
|
| 32 |
+
"closed_border": true,
|
| 33 |
+
"signature": {
|
| 34 |
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"version": 1,
|
| 35 |
+
"source_sha256": "ec064576ee85f176419e9a4d9390177254d8a2e4a109976105091c9e367e182a",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
+
"budget": 200,
|
| 54 |
+
"d_min": 1,
|
| 55 |
+
"slack": 20
|
| 56 |
+
},
|
| 57 |
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"robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a"
|
| 58 |
+
},
|
| 59 |
+
"census_row": {
|
| 60 |
+
"scene_id": "scene_08m_021",
|
| 61 |
+
"size_m": 8.0,
|
| 62 |
+
"theme": "hospital",
|
| 63 |
+
"robot": "clearpath_dingo",
|
| 64 |
+
"cell_m": 0.575,
|
| 65 |
+
"nominal_interior": 12,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_08m_021",
|
| 68 |
+
"shape": [
|
| 69 |
+
13,
|
| 70 |
+
14
|
| 71 |
+
],
|
| 72 |
+
"free_cells": 79,
|
| 73 |
+
"main_cells": 79,
|
| 74 |
+
"interior_h": 11,
|
| 75 |
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"interior_w": 12,
|
| 76 |
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"pairs": 6162,
|
| 77 |
+
"diameter_steps": 37,
|
| 78 |
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"diameter_m": 21.275,
|
| 79 |
+
"min_steps": 1,
|
| 80 |
+
"max_steps": 37,
|
| 81 |
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"joint": [
|
| 82 |
+
{
|
| 83 |
+
"level": "easy",
|
| 84 |
+
"length": "short",
|
| 85 |
+
"metres": "0.5-1",
|
| 86 |
+
"count": 220
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"level": "easy",
|
| 90 |
+
"length": "short",
|
| 91 |
+
"metres": "1-2",
|
| 92 |
+
"count": 600
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "short",
|
| 97 |
+
"metres": "2-4",
|
| 98 |
+
"count": 860
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"level": "easy",
|
| 102 |
+
"length": "short",
|
| 103 |
+
"metres": "4-8",
|
| 104 |
+
"count": 1534
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"level": "easy",
|
| 108 |
+
"length": "medium",
|
| 109 |
+
"metres": "4-8",
|
| 110 |
+
"count": 211
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"level": "easy",
|
| 114 |
+
"length": "medium",
|
| 115 |
+
"metres": "8-16",
|
| 116 |
+
"count": 256
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"level": "medium",
|
| 120 |
+
"length": "medium",
|
| 121 |
+
"metres": "4-8",
|
| 122 |
+
"count": 15
|
| 123 |
+
},
|
| 124 |
+
{
|
| 125 |
+
"level": "medium",
|
| 126 |
+
"length": "medium",
|
| 127 |
+
"metres": "8-16",
|
| 128 |
+
"count": 1596
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"level": "medium",
|
| 132 |
+
"length": "long",
|
| 133 |
+
"metres": "8-16",
|
| 134 |
+
"count": 336
|
| 135 |
+
},
|
| 136 |
+
{
|
| 137 |
+
"level": "medium",
|
| 138 |
+
"length": "long",
|
| 139 |
+
"metres": "16-32",
|
| 140 |
+
"count": 217
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"level": "hard",
|
| 144 |
+
"length": "long",
|
| 145 |
+
"metres": "16-32",
|
| 146 |
+
"count": 314
|
| 147 |
+
},
|
| 148 |
+
{
|
| 149 |
+
"level": "starved",
|
| 150 |
+
"length": "long",
|
| 151 |
+
"metres": "16-32",
|
| 152 |
+
"count": 3
|
| 153 |
+
}
|
| 154 |
+
]
|
| 155 |
+
},
|
| 156 |
+
"source_grid_id": "scene_08m_021",
|
| 157 |
+
"source_scene_id": "scene_08m_021"
|
| 158 |
+
}
|
navigation_tasks/grids/scene_08m_021__clearpath_dingo.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2292455589736b8d0e0756d4accb3303b6b3e827ef3086d8ab98ae61f242907b
|
| 3 |
+
size 690
|
navigation_tasks/grids/scene_08m_021__clearpath_jackal.json
ADDED
|
@@ -0,0 +1,164 @@
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_08m_021__clearpath_jackal",
|
| 4 |
+
"robot": "clearpath_jackal",
|
| 5 |
+
"cell_m": 0.525,
|
| 6 |
+
"res": 0.025,
|
| 7 |
+
"lo": [
|
| 8 |
+
-0.2,
|
| 9 |
+
-0.2,
|
| 10 |
+
0
|
| 11 |
+
],
|
| 12 |
+
"H": 336,
|
| 13 |
+
"ua": 0,
|
| 14 |
+
"va": 1,
|
| 15 |
+
"up": 2,
|
| 16 |
+
"floor_z": 0,
|
| 17 |
+
"shape": [
|
| 18 |
+
14,
|
| 19 |
+
16
|
| 20 |
+
],
|
| 21 |
+
"k": 21,
|
| 22 |
+
"oy": 10,
|
| 23 |
+
"ox": 16,
|
| 24 |
+
"r0": 2,
|
| 25 |
+
"c0": 0,
|
| 26 |
+
"free_cells": 108,
|
| 27 |
+
"main_cells": 108,
|
| 28 |
+
"main_frac": 1.0,
|
| 29 |
+
"margin": 0.05,
|
| 30 |
+
"source_pgm": "version_2/3d_scenes/scene_08m_021/top_view_map.pgm",
|
| 31 |
+
"split": null,
|
| 32 |
+
"closed_border": true,
|
| 33 |
+
"signature": {
|
| 34 |
+
"version": 1,
|
| 35 |
+
"source_sha256": "ec064576ee85f176419e9a4d9390177254d8a2e4a109976105091c9e367e182a",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
+
"budget": 200,
|
| 54 |
+
"d_min": 1,
|
| 55 |
+
"slack": 20
|
| 56 |
+
},
|
| 57 |
+
"robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981"
|
| 58 |
+
},
|
| 59 |
+
"census_row": {
|
| 60 |
+
"scene_id": "scene_08m_021",
|
| 61 |
+
"size_m": 8.0,
|
| 62 |
+
"theme": "hospital",
|
| 63 |
+
"robot": "clearpath_jackal",
|
| 64 |
+
"cell_m": 0.525,
|
| 65 |
+
"nominal_interior": 14,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_08m_021",
|
| 68 |
+
"shape": [
|
| 69 |
+
14,
|
| 70 |
+
16
|
| 71 |
+
],
|
| 72 |
+
"free_cells": 108,
|
| 73 |
+
"main_cells": 108,
|
| 74 |
+
"interior_h": 12,
|
| 75 |
+
"interior_w": 14,
|
| 76 |
+
"pairs": 11556,
|
| 77 |
+
"diameter_steps": 35,
|
| 78 |
+
"diameter_m": 18.375,
|
| 79 |
+
"min_steps": 1,
|
| 80 |
+
"max_steps": 35,
|
| 81 |
+
"joint": [
|
| 82 |
+
{
|
| 83 |
+
"level": "easy",
|
| 84 |
+
"length": "short",
|
| 85 |
+
"metres": "0.5-1",
|
| 86 |
+
"count": 322
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"level": "easy",
|
| 90 |
+
"length": "short",
|
| 91 |
+
"metres": "1-2",
|
| 92 |
+
"count": 1002
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "short",
|
| 97 |
+
"metres": "2-4",
|
| 98 |
+
"count": 2358
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"level": "easy",
|
| 102 |
+
"length": "short",
|
| 103 |
+
"metres": "4-8",
|
| 104 |
+
"count": 2373
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"level": "easy",
|
| 108 |
+
"length": "medium",
|
| 109 |
+
"metres": "4-8",
|
| 110 |
+
"count": 930
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"level": "easy",
|
| 114 |
+
"length": "medium",
|
| 115 |
+
"metres": "8-16",
|
| 116 |
+
"count": 49
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"level": "medium",
|
| 120 |
+
"length": "short",
|
| 121 |
+
"metres": "4-8",
|
| 122 |
+
"count": 69
|
| 123 |
+
},
|
| 124 |
+
{
|
| 125 |
+
"level": "medium",
|
| 126 |
+
"length": "medium",
|
| 127 |
+
"metres": "4-8",
|
| 128 |
+
"count": 690
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"level": "medium",
|
| 132 |
+
"length": "medium",
|
| 133 |
+
"metres": "8-16",
|
| 134 |
+
"count": 2097
|
| 135 |
+
},
|
| 136 |
+
{
|
| 137 |
+
"level": "medium",
|
| 138 |
+
"length": "long",
|
| 139 |
+
"metres": "8-16",
|
| 140 |
+
"count": 1292
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"level": "medium",
|
| 144 |
+
"length": "long",
|
| 145 |
+
"metres": "16-32",
|
| 146 |
+
"count": 33
|
| 147 |
+
},
|
| 148 |
+
{
|
| 149 |
+
"level": "hard",
|
| 150 |
+
"length": "long",
|
| 151 |
+
"metres": "8-16",
|
| 152 |
+
"count": 156
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"level": "hard",
|
| 156 |
+
"length": "long",
|
| 157 |
+
"metres": "16-32",
|
| 158 |
+
"count": 185
|
| 159 |
+
}
|
| 160 |
+
]
|
| 161 |
+
},
|
| 162 |
+
"source_grid_id": "scene_08m_021",
|
| 163 |
+
"source_scene_id": "scene_08m_021"
|
| 164 |
+
}
|
navigation_tasks/grids/scene_08m_021__clearpath_jackal.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:55a3efedbee61a5317583c5d9b8bafd9326fbefa873d5b3276e0fa6ad3a31345
|
| 3 |
+
size 702
|
navigation_tasks/grids/scene_08m_021__pal_tiago.json
ADDED
|
@@ -0,0 +1,176 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_08m_021__pal_tiago",
|
| 4 |
+
"robot": "pal_tiago",
|
| 5 |
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"cell_m": 0.55,
|
| 6 |
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"res": 0.025,
|
| 7 |
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|
| 8 |
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|
| 9 |
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-0.2,
|
| 10 |
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0
|
| 11 |
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],
|
| 12 |
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"H": 336,
|
| 13 |
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|
| 14 |
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"va": 1,
|
| 15 |
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"up": 2,
|
| 16 |
+
"floor_z": 0,
|
| 17 |
+
"shape": [
|
| 18 |
+
14,
|
| 19 |
+
15
|
| 20 |
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],
|
| 21 |
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"k": 22,
|
| 22 |
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"oy": 0,
|
| 23 |
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"ox": 16,
|
| 24 |
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"r0": 2,
|
| 25 |
+
"c0": 0,
|
| 26 |
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"free_cells": 96,
|
| 27 |
+
"main_cells": 96,
|
| 28 |
+
"main_frac": 1.0,
|
| 29 |
+
"margin": 0.05,
|
| 30 |
+
"source_pgm": "version_2/3d_scenes/scene_08m_021/top_view_map.pgm",
|
| 31 |
+
"split": null,
|
| 32 |
+
"closed_border": true,
|
| 33 |
+
"signature": {
|
| 34 |
+
"version": 1,
|
| 35 |
+
"source_sha256": "ec064576ee85f176419e9a4d9390177254d8a2e4a109976105091c9e367e182a",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
+
"budget": 200,
|
| 54 |
+
"d_min": 1,
|
| 55 |
+
"slack": 20
|
| 56 |
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},
|
| 57 |
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"robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854"
|
| 58 |
+
},
|
| 59 |
+
"census_row": {
|
| 60 |
+
"scene_id": "scene_08m_021",
|
| 61 |
+
"size_m": 8.0,
|
| 62 |
+
"theme": "hospital",
|
| 63 |
+
"robot": "pal_tiago",
|
| 64 |
+
"cell_m": 0.55,
|
| 65 |
+
"nominal_interior": 13,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_08m_021",
|
| 68 |
+
"shape": [
|
| 69 |
+
14,
|
| 70 |
+
15
|
| 71 |
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],
|
| 72 |
+
"free_cells": 96,
|
| 73 |
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"main_cells": 96,
|
| 74 |
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"interior_h": 12,
|
| 75 |
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"interior_w": 13,
|
| 76 |
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"pairs": 9120,
|
| 77 |
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"diameter_steps": 40,
|
| 78 |
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"diameter_m": 22.0,
|
| 79 |
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"min_steps": 1,
|
| 80 |
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"max_steps": 40,
|
| 81 |
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"joint": [
|
| 82 |
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{
|
| 83 |
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"level": "easy",
|
| 84 |
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"length": "short",
|
| 85 |
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"metres": "0.5-1",
|
| 86 |
+
"count": 274
|
| 87 |
+
},
|
| 88 |
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{
|
| 89 |
+
"level": "easy",
|
| 90 |
+
"length": "short",
|
| 91 |
+
"metres": "1-2",
|
| 92 |
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"count": 806
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "short",
|
| 97 |
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"metres": "2-4",
|
| 98 |
+
"count": 1608
|
| 99 |
+
},
|
| 100 |
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{
|
| 101 |
+
"level": "easy",
|
| 102 |
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"length": "short",
|
| 103 |
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"metres": "4-8",
|
| 104 |
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"count": 2092
|
| 105 |
+
},
|
| 106 |
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{
|
| 107 |
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"level": "easy",
|
| 108 |
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"length": "medium",
|
| 109 |
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"metres": "4-8",
|
| 110 |
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"count": 183
|
| 111 |
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},
|
| 112 |
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{
|
| 113 |
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"level": "easy",
|
| 114 |
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"length": "medium",
|
| 115 |
+
"metres": "8-16",
|
| 116 |
+
"count": 149
|
| 117 |
+
},
|
| 118 |
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{
|
| 119 |
+
"level": "medium",
|
| 120 |
+
"length": "short",
|
| 121 |
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"metres": "4-8",
|
| 122 |
+
"count": 88
|
| 123 |
+
},
|
| 124 |
+
{
|
| 125 |
+
"level": "medium",
|
| 126 |
+
"length": "medium",
|
| 127 |
+
"metres": "4-8",
|
| 128 |
+
"count": 107
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"level": "medium",
|
| 132 |
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"length": "medium",
|
| 133 |
+
"metres": "8-16",
|
| 134 |
+
"count": 2538
|
| 135 |
+
},
|
| 136 |
+
{
|
| 137 |
+
"level": "medium",
|
| 138 |
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"length": "long",
|
| 139 |
+
"metres": "8-16",
|
| 140 |
+
"count": 396
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"level": "medium",
|
| 144 |
+
"length": "long",
|
| 145 |
+
"metres": "16-32",
|
| 146 |
+
"count": 59
|
| 147 |
+
},
|
| 148 |
+
{
|
| 149 |
+
"level": "hard",
|
| 150 |
+
"length": "medium",
|
| 151 |
+
"metres": "8-16",
|
| 152 |
+
"count": 1
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"level": "hard",
|
| 156 |
+
"length": "long",
|
| 157 |
+
"metres": "8-16",
|
| 158 |
+
"count": 106
|
| 159 |
+
},
|
| 160 |
+
{
|
| 161 |
+
"level": "hard",
|
| 162 |
+
"length": "long",
|
| 163 |
+
"metres": "16-32",
|
| 164 |
+
"count": 591
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"level": "starved",
|
| 168 |
+
"length": "long",
|
| 169 |
+
"metres": "16-32",
|
| 170 |
+
"count": 122
|
| 171 |
+
}
|
| 172 |
+
]
|
| 173 |
+
},
|
| 174 |
+
"source_grid_id": "scene_08m_021",
|
| 175 |
+
"source_scene_id": "scene_08m_021"
|
| 176 |
+
}
|
navigation_tasks/grids/scene_08m_021__pal_tiago.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:dcc1536d5a6989d4ddc0a7c1aafa6d4c2fa83fe80a78d4b6d2914fe6732a3eb2
|
| 3 |
+
size 705
|
navigation_tasks/grids/scene_08m_022__clearpath_dingo.json
ADDED
|
@@ -0,0 +1,140 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_08m_022__clearpath_dingo",
|
| 4 |
+
"robot": "clearpath_dingo",
|
| 5 |
+
"cell_m": 0.5750000000000001,
|
| 6 |
+
"res": 0.025,
|
| 7 |
+
"lo": [
|
| 8 |
+
-0.2,
|
| 9 |
+
-0.2,
|
| 10 |
+
0
|
| 11 |
+
],
|
| 12 |
+
"H": 336,
|
| 13 |
+
"ua": 0,
|
| 14 |
+
"va": 1,
|
| 15 |
+
"up": 2,
|
| 16 |
+
"floor_z": 0,
|
| 17 |
+
"shape": [
|
| 18 |
+
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|
| 19 |
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|
| 20 |
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],
|
| 21 |
+
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|
| 22 |
+
"oy": 12,
|
| 23 |
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"ox": 0,
|
| 24 |
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"r0": 6,
|
| 25 |
+
"c0": 1,
|
| 26 |
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"free_cells": 41,
|
| 27 |
+
"main_cells": 33,
|
| 28 |
+
"main_frac": 0.8048780487804879,
|
| 29 |
+
"margin": 0.05,
|
| 30 |
+
"source_pgm": "version_2/3d_scenes/scene_08m_022/top_view_map.pgm",
|
| 31 |
+
"split": null,
|
| 32 |
+
"closed_border": true,
|
| 33 |
+
"signature": {
|
| 34 |
+
"version": 1,
|
| 35 |
+
"source_sha256": "db809ea0dde9591bc0cd1d4bc6128a54401f4186addfe86fc6e4df22b18fbaa1",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
+
"budget": 200,
|
| 54 |
+
"d_min": 1,
|
| 55 |
+
"slack": 20
|
| 56 |
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},
|
| 57 |
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"robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a"
|
| 58 |
+
},
|
| 59 |
+
"census_row": {
|
| 60 |
+
"scene_id": "scene_08m_022",
|
| 61 |
+
"size_m": 8.0,
|
| 62 |
+
"theme": "warehouse",
|
| 63 |
+
"robot": "clearpath_dingo",
|
| 64 |
+
"cell_m": 0.575,
|
| 65 |
+
"nominal_interior": 12,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_08m_022",
|
| 68 |
+
"shape": [
|
| 69 |
+
8,
|
| 70 |
+
15
|
| 71 |
+
],
|
| 72 |
+
"free_cells": 33,
|
| 73 |
+
"main_cells": 33,
|
| 74 |
+
"interior_h": 6,
|
| 75 |
+
"interior_w": 13,
|
| 76 |
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"pairs": 1056,
|
| 77 |
+
"diameter_steps": 26,
|
| 78 |
+
"diameter_m": 14.95,
|
| 79 |
+
"min_steps": 1,
|
| 80 |
+
"max_steps": 26,
|
| 81 |
+
"joint": [
|
| 82 |
+
{
|
| 83 |
+
"level": "easy",
|
| 84 |
+
"length": "short",
|
| 85 |
+
"metres": "0.5-1",
|
| 86 |
+
"count": 70
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"level": "easy",
|
| 90 |
+
"length": "short",
|
| 91 |
+
"metres": "1-2",
|
| 92 |
+
"count": 146
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "short",
|
| 97 |
+
"metres": "2-4",
|
| 98 |
+
"count": 198
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"level": "easy",
|
| 102 |
+
"length": "short",
|
| 103 |
+
"metres": "4-8",
|
| 104 |
+
"count": 118
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"level": "easy",
|
| 108 |
+
"length": "medium",
|
| 109 |
+
"metres": "4-8",
|
| 110 |
+
"count": 250
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"level": "easy",
|
| 114 |
+
"length": "medium",
|
| 115 |
+
"metres": "8-16",
|
| 116 |
+
"count": 87
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"level": "easy",
|
| 120 |
+
"length": "long",
|
| 121 |
+
"metres": "8-16",
|
| 122 |
+
"count": 1
|
| 123 |
+
},
|
| 124 |
+
{
|
| 125 |
+
"level": "medium",
|
| 126 |
+
"length": "medium",
|
| 127 |
+
"metres": "8-16",
|
| 128 |
+
"count": 57
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"level": "medium",
|
| 132 |
+
"length": "long",
|
| 133 |
+
"metres": "8-16",
|
| 134 |
+
"count": 129
|
| 135 |
+
}
|
| 136 |
+
]
|
| 137 |
+
},
|
| 138 |
+
"source_grid_id": "scene_08m_022",
|
| 139 |
+
"source_scene_id": "scene_08m_022"
|
| 140 |
+
}
|
navigation_tasks/grids/scene_08m_022__clearpath_dingo.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:97d865bfdf672842db4495ee17f9040951be08619debedbdc34bd546d480fd52
|
| 3 |
+
size 660
|
navigation_tasks/grids/scene_08m_022__clearpath_jackal.json
ADDED
|
@@ -0,0 +1,158 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_08m_022__clearpath_jackal",
|
| 4 |
+
"robot": "clearpath_jackal",
|
| 5 |
+
"cell_m": 0.525,
|
| 6 |
+
"res": 0.025,
|
| 7 |
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"lo": [
|
| 8 |
+
-0.2,
|
| 9 |
+
-0.2,
|
| 10 |
+
0
|
| 11 |
+
],
|
| 12 |
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"H": 336,
|
| 13 |
+
"ua": 0,
|
| 14 |
+
"va": 1,
|
| 15 |
+
"up": 2,
|
| 16 |
+
"floor_z": 0,
|
| 17 |
+
"shape": [
|
| 18 |
+
14,
|
| 19 |
+
16
|
| 20 |
+
],
|
| 21 |
+
"k": 21,
|
| 22 |
+
"oy": 16,
|
| 23 |
+
"ox": 5,
|
| 24 |
+
"r0": 1,
|
| 25 |
+
"c0": 1,
|
| 26 |
+
"free_cells": 56,
|
| 27 |
+
"main_cells": 52,
|
| 28 |
+
"main_frac": 0.9285714285714286,
|
| 29 |
+
"margin": 0.05,
|
| 30 |
+
"source_pgm": "version_2/3d_scenes/scene_08m_022/top_view_map.pgm",
|
| 31 |
+
"split": null,
|
| 32 |
+
"closed_border": true,
|
| 33 |
+
"signature": {
|
| 34 |
+
"version": 1,
|
| 35 |
+
"source_sha256": "db809ea0dde9591bc0cd1d4bc6128a54401f4186addfe86fc6e4df22b18fbaa1",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
+
"budget": 200,
|
| 54 |
+
"d_min": 1,
|
| 55 |
+
"slack": 20
|
| 56 |
+
},
|
| 57 |
+
"robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981"
|
| 58 |
+
},
|
| 59 |
+
"census_row": {
|
| 60 |
+
"scene_id": "scene_08m_022",
|
| 61 |
+
"size_m": 8.0,
|
| 62 |
+
"theme": "warehouse",
|
| 63 |
+
"robot": "clearpath_jackal",
|
| 64 |
+
"cell_m": 0.525,
|
| 65 |
+
"nominal_interior": 14,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_08m_022",
|
| 68 |
+
"shape": [
|
| 69 |
+
14,
|
| 70 |
+
16
|
| 71 |
+
],
|
| 72 |
+
"free_cells": 56,
|
| 73 |
+
"main_cells": 52,
|
| 74 |
+
"interior_h": 12,
|
| 75 |
+
"interior_w": 14,
|
| 76 |
+
"pairs": 2652,
|
| 77 |
+
"diameter_steps": 33,
|
| 78 |
+
"diameter_m": 17.325,
|
| 79 |
+
"min_steps": 1,
|
| 80 |
+
"max_steps": 33,
|
| 81 |
+
"joint": [
|
| 82 |
+
{
|
| 83 |
+
"level": "easy",
|
| 84 |
+
"length": "short",
|
| 85 |
+
"metres": "0.5-1",
|
| 86 |
+
"count": 126
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"level": "easy",
|
| 90 |
+
"length": "short",
|
| 91 |
+
"metres": "1-2",
|
| 92 |
+
"count": 306
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "short",
|
| 97 |
+
"metres": "2-4",
|
| 98 |
+
"count": 490
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"level": "easy",
|
| 102 |
+
"length": "short",
|
| 103 |
+
"metres": "4-8",
|
| 104 |
+
"count": 392
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"level": "easy",
|
| 108 |
+
"length": "medium",
|
| 109 |
+
"metres": "4-8",
|
| 110 |
+
"count": 404
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"level": "easy",
|
| 114 |
+
"length": "medium",
|
| 115 |
+
"metres": "8-16",
|
| 116 |
+
"count": 27
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"level": "medium",
|
| 120 |
+
"length": "medium",
|
| 121 |
+
"metres": "4-8",
|
| 122 |
+
"count": 28
|
| 123 |
+
},
|
| 124 |
+
{
|
| 125 |
+
"level": "medium",
|
| 126 |
+
"length": "medium",
|
| 127 |
+
"metres": "8-16",
|
| 128 |
+
"count": 449
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"level": "medium",
|
| 132 |
+
"length": "long",
|
| 133 |
+
"metres": "8-16",
|
| 134 |
+
"count": 369
|
| 135 |
+
},
|
| 136 |
+
{
|
| 137 |
+
"level": "medium",
|
| 138 |
+
"length": "long",
|
| 139 |
+
"metres": "16-32",
|
| 140 |
+
"count": 33
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"level": "hard",
|
| 144 |
+
"length": "long",
|
| 145 |
+
"metres": "8-16",
|
| 146 |
+
"count": 1
|
| 147 |
+
},
|
| 148 |
+
{
|
| 149 |
+
"level": "hard",
|
| 150 |
+
"length": "long",
|
| 151 |
+
"metres": "16-32",
|
| 152 |
+
"count": 27
|
| 153 |
+
}
|
| 154 |
+
]
|
| 155 |
+
},
|
| 156 |
+
"source_grid_id": "scene_08m_022",
|
| 157 |
+
"source_scene_id": "scene_08m_022"
|
| 158 |
+
}
|
navigation_tasks/grids/scene_08m_022__clearpath_jackal.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:325f6f15acaa63aa2dbf93b4e6e9fba8d175d8ef376e6fec72eb512d0cda127f
|
| 3 |
+
size 697
|
navigation_tasks/grids/scene_08m_022__pal_tiago.json
ADDED
|
@@ -0,0 +1,152 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
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| 18 |
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|
| 20 |
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| 21 |
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|
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|
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|
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|
| 31 |
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|
| 32 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
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],
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
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|
| 56 |
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| 58 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
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|
| 77 |
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|
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|
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|
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|
| 81 |
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|
| 82 |
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| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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{
|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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{
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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{
|
| 101 |
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"level": "easy",
|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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{
|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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{
|
| 119 |
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"level": "medium",
|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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{
|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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},
|
| 130 |
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{
|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
+
},
|
| 136 |
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{
|
| 137 |
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|
| 138 |
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|
| 139 |
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"metres": "16-32",
|
| 140 |
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|
| 141 |
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},
|
| 142 |
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{
|
| 143 |
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"level": "hard",
|
| 144 |
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"length": "long",
|
| 145 |
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"metres": "16-32",
|
| 146 |
+
"count": 19
|
| 147 |
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}
|
| 148 |
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]
|
| 149 |
+
},
|
| 150 |
+
"source_grid_id": "scene_08m_022",
|
| 151 |
+
"source_scene_id": "scene_08m_022"
|
| 152 |
+
}
|
navigation_tasks/grids/scene_08m_022__pal_tiago.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
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|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3d650ee264a4783d22ccac93af6b300f7fdb3f9588a8ff4980a7233675188555
|
| 3 |
+
size 691
|
navigation_tasks/grids/scene_08m_023__clearpath_dingo.json
ADDED
|
@@ -0,0 +1,146 @@
|
|
|
|
|
|
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|
|
|
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|
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|
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|
|
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|
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|
|
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|
|
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|
|
|
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|
|
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|
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|
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|
|
|
|
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|
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|
|
|
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|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
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|
|
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|
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|
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|
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|
|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_08m_023__clearpath_dingo",
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
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|
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|
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|
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],
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|
| 13 |
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|
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|
| 15 |
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|
| 16 |
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|
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|
| 18 |
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|
| 19 |
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|
| 20 |
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],
|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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"margin": 0.05,
|
| 30 |
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"source_pgm": "version_2/3d_scenes/scene_08m_023/top_view_map.pgm",
|
| 31 |
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"split": null,
|
| 32 |
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"closed_border": true,
|
| 33 |
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"signature": {
|
| 34 |
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|
| 35 |
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"source_sha256": "414b2a54836caa4053c5701f8a6757f44e3f24f3fbb9736d0e6c54e323900cbd",
|
| 36 |
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"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
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"min_interior": 4,
|
| 51 |
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"max_interior": 15,
|
| 52 |
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"margin": 0.05,
|
| 53 |
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"budget": 200,
|
| 54 |
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"d_min": 1,
|
| 55 |
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|
| 56 |
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},
|
| 57 |
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"robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a"
|
| 58 |
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},
|
| 59 |
+
"census_row": {
|
| 60 |
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"scene_id": "scene_08m_023",
|
| 61 |
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|
| 62 |
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"theme": "residential",
|
| 63 |
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"robot": "clearpath_dingo",
|
| 64 |
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"cell_m": 0.575,
|
| 65 |
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"nominal_interior": 12,
|
| 66 |
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"status": "ready",
|
| 67 |
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"map_id": "scene_08m_023",
|
| 68 |
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"shape": [
|
| 69 |
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15,
|
| 70 |
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15
|
| 71 |
+
],
|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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{
|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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{
|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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{
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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{
|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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},
|
| 112 |
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{
|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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{
|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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},
|
| 124 |
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{
|
| 125 |
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|
| 126 |
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|
| 127 |
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"metres": "4-8",
|
| 128 |
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|
| 129 |
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},
|
| 130 |
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{
|
| 131 |
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"level": "medium",
|
| 132 |
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|
| 133 |
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"metres": "8-16",
|
| 134 |
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"count": 185
|
| 135 |
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},
|
| 136 |
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{
|
| 137 |
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"level": "medium",
|
| 138 |
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|
| 139 |
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"metres": "8-16",
|
| 140 |
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|
| 141 |
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}
|
| 142 |
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]
|
| 143 |
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},
|
| 144 |
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"source_grid_id": "scene_08m_023",
|
| 145 |
+
"source_scene_id": "scene_08m_023"
|
| 146 |
+
}
|
navigation_tasks/grids/scene_08m_023__clearpath_dingo.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c296f9ad95b3a0b3cac6bed21f52370afd7e87e3b833543d8be4ff103596b35c
|
| 3 |
+
size 666
|
navigation_tasks/grids/scene_08m_023__pal_tiago.json
ADDED
|
@@ -0,0 +1,146 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_08m_023__pal_tiago",
|
| 4 |
+
"robot": "pal_tiago",
|
| 5 |
+
"cell_m": 0.55,
|
| 6 |
+
"res": 0.025,
|
| 7 |
+
"lo": [
|
| 8 |
+
-0.2,
|
| 9 |
+
-0.2,
|
| 10 |
+
0
|
| 11 |
+
],
|
| 12 |
+
"H": 336,
|
| 13 |
+
"ua": 0,
|
| 14 |
+
"va": 1,
|
| 15 |
+
"up": 2,
|
| 16 |
+
"floor_z": 0,
|
| 17 |
+
"shape": [
|
| 18 |
+
15,
|
| 19 |
+
16
|
| 20 |
+
],
|
| 21 |
+
"k": 22,
|
| 22 |
+
"oy": 0,
|
| 23 |
+
"ox": 0,
|
| 24 |
+
"r0": 1,
|
| 25 |
+
"c0": 1,
|
| 26 |
+
"free_cells": 143,
|
| 27 |
+
"main_cells": 143,
|
| 28 |
+
"main_frac": 1.0,
|
| 29 |
+
"margin": 0.05,
|
| 30 |
+
"source_pgm": "version_2/3d_scenes/scene_08m_023/top_view_map.pgm",
|
| 31 |
+
"split": null,
|
| 32 |
+
"closed_border": true,
|
| 33 |
+
"signature": {
|
| 34 |
+
"version": 1,
|
| 35 |
+
"source_sha256": "414b2a54836caa4053c5701f8a6757f44e3f24f3fbb9736d0e6c54e323900cbd",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
+
"budget": 200,
|
| 54 |
+
"d_min": 1,
|
| 55 |
+
"slack": 20
|
| 56 |
+
},
|
| 57 |
+
"robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854"
|
| 58 |
+
},
|
| 59 |
+
"census_row": {
|
| 60 |
+
"scene_id": "scene_08m_023",
|
| 61 |
+
"size_m": 8.0,
|
| 62 |
+
"theme": "residential",
|
| 63 |
+
"robot": "pal_tiago",
|
| 64 |
+
"cell_m": 0.55,
|
| 65 |
+
"nominal_interior": 13,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_08m_023",
|
| 68 |
+
"shape": [
|
| 69 |
+
15,
|
| 70 |
+
16
|
| 71 |
+
],
|
| 72 |
+
"free_cells": 143,
|
| 73 |
+
"main_cells": 143,
|
| 74 |
+
"interior_h": 13,
|
| 75 |
+
"interior_w": 14,
|
| 76 |
+
"pairs": 20306,
|
| 77 |
+
"diameter_steps": 24,
|
| 78 |
+
"diameter_m": 13.2,
|
| 79 |
+
"min_steps": 1,
|
| 80 |
+
"max_steps": 24,
|
| 81 |
+
"joint": [
|
| 82 |
+
{
|
| 83 |
+
"level": "easy",
|
| 84 |
+
"length": "short",
|
| 85 |
+
"metres": "0.5-1",
|
| 86 |
+
"count": 502
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"level": "easy",
|
| 90 |
+
"length": "short",
|
| 91 |
+
"metres": "1-2",
|
| 92 |
+
"count": 2118
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "short",
|
| 97 |
+
"metres": "2-4",
|
| 98 |
+
"count": 6570
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"level": "easy",
|
| 102 |
+
"length": "short",
|
| 103 |
+
"metres": "4-8",
|
| 104 |
+
"count": 1738
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"level": "easy",
|
| 108 |
+
"length": "medium",
|
| 109 |
+
"metres": "4-8",
|
| 110 |
+
"count": 7388
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"level": "easy",
|
| 114 |
+
"length": "medium",
|
| 115 |
+
"metres": "8-16",
|
| 116 |
+
"count": 893
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"level": "easy",
|
| 120 |
+
"length": "long",
|
| 121 |
+
"metres": "8-16",
|
| 122 |
+
"count": 570
|
| 123 |
+
},
|
| 124 |
+
{
|
| 125 |
+
"level": "medium",
|
| 126 |
+
"length": "medium",
|
| 127 |
+
"metres": "4-8",
|
| 128 |
+
"count": 156
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"level": "medium",
|
| 132 |
+
"length": "medium",
|
| 133 |
+
"metres": "8-16",
|
| 134 |
+
"count": 131
|
| 135 |
+
},
|
| 136 |
+
{
|
| 137 |
+
"level": "medium",
|
| 138 |
+
"length": "long",
|
| 139 |
+
"metres": "8-16",
|
| 140 |
+
"count": 240
|
| 141 |
+
}
|
| 142 |
+
]
|
| 143 |
+
},
|
| 144 |
+
"source_grid_id": "scene_08m_023",
|
| 145 |
+
"source_scene_id": "scene_08m_023"
|
| 146 |
+
}
|