diff --git a/navigation_tasks/grids/scene_06m_019__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_019__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..02a4bf44aff4044476e518fafcae9f0e405cbb3e --- /dev/null +++ b/navigation_tasks/grids/scene_06m_019__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a819a20778f869220bb0abae8dedeca38cc187323cb208b3f10a27996427207e +size 650 diff --git a/navigation_tasks/grids/scene_06m_019__pal_tiago.json b/navigation_tasks/grids/scene_06m_019__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..695c55569b5909b7a506228d25ec1e2f2cf8bffc --- /dev/null +++ b/navigation_tasks/grids/scene_06m_019__pal_tiago.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_019__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 10 + ], + "k": 22, + "oy": 16, + "ox": 11, + "r0": 0, + "c0": 2, + "free_cells": 21, + "main_cells": 21, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_019/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "0b9a881a35fb9e81ba58e607aae2fafd50251b88d03f6c7be594b188b6fda34e", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_019", + "size_m": 6.0, + "theme": "residential", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_019", + "shape": [ + 11, + 10 + ], + "free_cells": 21, + "main_cells": 21, + "interior_h": 9, + "interior_w": 8, + "pairs": 420, + "diameter_steps": 18, + "diameter_m": 9.9, + "min_steps": 1, + "max_steps": 18, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 44 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 88 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 108 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 32 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 106 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 22 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 20 + } + ] + }, + "source_grid_id": "scene_06m_019", + "source_scene_id": "scene_06m_019" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_019__pal_tiago.npz b/navigation_tasks/grids/scene_06m_019__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..107eb0137a7a519db7a67980b1267ea864c5c0f0 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_019__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e923b2d4ff0ae973bfe796933a54e1e1e5f472fb449afbd6ff4470fb43f4518a +size 644 diff --git a/navigation_tasks/grids/scene_06m_020__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_020__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..38409d04cc80b899061ad9f8a915762cc9da8d60 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_020__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_020__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 11 + ], + "k": 23, + "oy": 6, + "ox": 6, + "r0": 2, + "c0": 1, + "free_cells": 32, + "main_cells": 31, + "main_frac": 0.96875, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_020/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "cf4d8a5386cfcc71c9494caf8605d64a44a76415b36cde1ef391ea36d3796258", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_020", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_020", + "shape": [ + 10, + 11 + ], + "free_cells": 31, + "main_cells": 31, + "interior_h": 8, + "interior_w": 9, + "pairs": 930, + "diameter_steps": 19, + "diameter_m": 10.925, + "min_steps": 1, + "max_steps": 19, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 76 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 188 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 236 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 322 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 36 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 62 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 10 + } + ] + }, + "source_grid_id": "scene_06m_020", + "source_scene_id": "scene_06m_020" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_020__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_020__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..d352e50515bb48aea9490a0e3aaaf400c42219ed --- /dev/null +++ b/navigation_tasks/grids/scene_06m_020__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52e54e12e7a6e0be82b9f8ed1ed5b34f62bff78983c0879232742ee08e9c1bab +size 639 diff --git a/navigation_tasks/grids/scene_06m_020__clearpath_husky.json b/navigation_tasks/grids/scene_06m_020__clearpath_husky.json new file mode 100644 index 0000000000000000000000000000000000000000..ce89c4a12d2f0194d46fcfc25d34674b22572fb5 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_020__clearpath_husky.json @@ -0,0 +1,98 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_020__clearpath_husky", + "robot": "clearpath_husky", + "cell_m": 1.0, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 4, + 4 + ], + "k": 40, + "oy": 0, + "ox": 0, + "r0": 3, + "c0": 4, + "free_cells": 4, + "main_cells": 3, + "main_frac": 0.75, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_020/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "cf4d8a5386cfcc71c9494caf8605d64a44a76415b36cde1ef391ea36d3796258", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "f296a47b6da49fcfc60cdb0df640f45c6d5551e5bea4a594d397ff0a42571ea8" + }, + "census_row": { + "scene_id": "scene_06m_020", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_husky", + "cell_m": 1.0, + "nominal_interior": 4, + "status": "ready", + "map_id": "scene_06m_020", + "shape": [ + 4, + 4 + ], + "free_cells": 3, + "main_cells": 3, + "interior_h": 2, + "interior_w": 2, + "pairs": 6, + "diameter_steps": 2, + "diameter_m": 2.0, + "min_steps": 1, + "max_steps": 2, + "joint": [ + { + "level": "easy", + "length": "medium", + "metres": "1-2", + "count": 4 + }, + { + "level": "easy", + "length": "long", + "metres": "2-4", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_020", + "source_scene_id": "scene_06m_020" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_020__clearpath_husky.npz b/navigation_tasks/grids/scene_06m_020__clearpath_husky.npz new file mode 100644 index 0000000000000000000000000000000000000000..e10f8cb247d295e82a4d40978cc3584713a1fd5e --- /dev/null +++ b/navigation_tasks/grids/scene_06m_020__clearpath_husky.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62af17c85798082d0b64c1283d8f486221b5ddd2b0f7bc123184863a8c071a1d +size 594 diff --git a/navigation_tasks/grids/scene_06m_020__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_020__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..ee0329f6747d4bd36b5b086dae19a0bd66b2eb20 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_020__clearpath_jackal.json @@ -0,0 +1,146 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_020__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 12 + ], + "k": 21, + "oy": 16, + "ox": 10, + "r0": 2, + "c0": 1, + "free_cells": 37, + "main_cells": 36, + "main_frac": 0.972972972972973, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_020/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "cf4d8a5386cfcc71c9494caf8605d64a44a76415b36cde1ef391ea36d3796258", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_020", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_020", + "shape": [ + 10, + 12 + ], + "free_cells": 36, + "main_cells": 36, + "interior_h": 8, + "interior_w": 10, + "pairs": 1260, + "diameter_steps": 20, + "diameter_m": 10.5, + "min_steps": 1, + "max_steps": 20, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 88 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 258 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 366 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 94 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 355 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 38 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 14 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 9 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 16 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 22 + } + ] + }, + "source_grid_id": "scene_06m_020", + "source_scene_id": "scene_06m_020" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_020__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_020__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..180fca33fa62369d4afeee110cf018fde4826a8d --- /dev/null +++ b/navigation_tasks/grids/scene_06m_020__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:553d8b307002e77f3fc2aaa2c0c4ba26b8ec1797963716db31fb8e9655a17793 +size 660 diff --git a/navigation_tasks/grids/scene_06m_020__pal_tiago.json b/navigation_tasks/grids/scene_06m_020__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..06586e146e7fa2033f9235d1126b23a55f5c885c --- /dev/null +++ b/navigation_tasks/grids/scene_06m_020__pal_tiago.json @@ -0,0 +1,134 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_020__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 12 + ], + "k": 22, + "oy": 11, + "ox": 16, + "r0": 2, + "c0": 0, + "free_cells": 31, + "main_cells": 30, + "main_frac": 0.967741935483871, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_020/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "cf4d8a5386cfcc71c9494caf8605d64a44a76415b36cde1ef391ea36d3796258", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_020", + "size_m": 6.0, + "theme": "office", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_020", + "shape": [ + 10, + 12 + ], + "free_cells": 31, + "main_cells": 30, + "interior_h": 8, + "interior_w": 10, + "pairs": 870, + "diameter_steps": 18, + "diameter_m": 9.9, + "min_steps": 1, + "max_steps": 18, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 72 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 192 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 232 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 64 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 242 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 44 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 20 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 4 + } + ] + }, + "source_grid_id": "scene_06m_020", + "source_scene_id": "scene_06m_020" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_020__pal_tiago.npz b/navigation_tasks/grids/scene_06m_020__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..4501fe695013153bd3c46e05bc628be263b9ab8a --- /dev/null +++ b/navigation_tasks/grids/scene_06m_020__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae4da3490a8cc8f8cd82f69c2e5a3e48c9e000d977a832d653df3934ef454fde +size 659 diff --git a/navigation_tasks/grids/scene_06m_021__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_021__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..aa0ee0a2e5eabe0e60c5f141e439d0b3db6ba6ad --- /dev/null +++ b/navigation_tasks/grids/scene_06m_021__clearpath_dingo.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_021__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 11 + ], + "k": 23, + "oy": 6, + "ox": 12, + "r0": 1, + "c0": 1, + "free_cells": 21, + "main_cells": 21, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_021/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "ea9e9cb9c1c59dec387613c6416c99a847778f2106da5184a7d2116e834bda5a", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_021", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_021", + "shape": [ + 10, + 11 + ], + "free_cells": 21, + "main_cells": 21, + "interior_h": 8, + "interior_w": 9, + "pairs": 420, + "diameter_steps": 12, + "diameter_m": 6.9, + "min_steps": 1, + "max_steps": 12, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 40 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 106 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 54 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 78 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 76 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 66 + } + ] + }, + "source_grid_id": "scene_06m_021", + "source_scene_id": "scene_06m_021" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_021__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_021__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..b5b1460e3d2b064f70dc57351391c4c14fe3ba78 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_021__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:184cc9611fbf6193248b0f9b768824f6a8d89222e7beb98fbd79982e37011fe6 +size 627 diff --git a/navigation_tasks/grids/scene_06m_021__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_021__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..0ed2407fc5e8055f1a54b86722f15a6b2c3e4274 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_021__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_021__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 12 + ], + "k": 21, + "oy": 10, + "ox": 10, + "r0": 1, + "c0": 1, + "free_cells": 25, + "main_cells": 20, + "main_frac": 0.8, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_021/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "ea9e9cb9c1c59dec387613c6416c99a847778f2106da5184a7d2116e834bda5a", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_021", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_021", + "shape": [ + 10, + 12 + ], + "free_cells": 24, + "main_cells": 20, + "interior_h": 8, + "interior_w": 10, + "pairs": 380, + "diameter_steps": 13, + "diameter_m": 6.825, + "min_steps": 1, + "max_steps": 13, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 38 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 92 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 48 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 96 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 28 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 78 + } + ] + }, + "source_grid_id": "scene_06m_021", + "source_scene_id": "scene_06m_021" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_021__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_021__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..5f8ff2160855037ec4fa33106329624efda3dad9 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_021__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0416aede65f5a838a495bb4e769926894c76a1713394abc2528023f3b7c8f3e +size 628 diff --git a/navigation_tasks/grids/scene_06m_022__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_022__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..05015427be45c95bbf1e1e5be5a4f07cde077922 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_022__clearpath_jackal.json @@ -0,0 +1,134 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_022__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 11 + ], + "k": 21, + "oy": 10, + "ox": 10, + "r0": 3, + "c0": 2, + "free_cells": 24, + "main_cells": 23, + "main_frac": 0.9583333333333334, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_022/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "631b4d6609d4928b2d50fa10fd705c7707c256419f1a6de4b33210e65b50f6cb", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_022", + "size_m": 6.0, + "theme": "warehouse", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_022", + "shape": [ + 10, + 11 + ], + "free_cells": 24, + "main_cells": 23, + "interior_h": 8, + "interior_w": 9, + "pairs": 506, + "diameter_steps": 19, + "diameter_m": 9.975, + "min_steps": 1, + "max_steps": 19, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 46 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 90 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 120 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 36 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 138 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 50 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 18 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 8 + } + ] + }, + "source_grid_id": "scene_06m_022", + "source_scene_id": "scene_06m_022" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_022__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_022__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..b0693f944380b575bcd0f70c9a73ddc7225e7901 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_022__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8aabeff9f396e7bb907f8fc9cb6c199e40e999cc68aa199e7b4f3374479b9ed +size 644 diff --git a/navigation_tasks/grids/scene_06m_022__pal_tiago.json b/navigation_tasks/grids/scene_06m_022__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..e76d8d5a3e62e086bc9b25151905f0200187d240 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_022__pal_tiago.json @@ -0,0 +1,134 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_022__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 9, + 11 + ], + "k": 22, + "oy": 6, + "ox": 0, + "r0": 3, + "c0": 2, + "free_cells": 25, + "main_cells": 22, + "main_frac": 0.88, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_022/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "631b4d6609d4928b2d50fa10fd705c7707c256419f1a6de4b33210e65b50f6cb", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_022", + "size_m": 6.0, + "theme": "warehouse", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_022", + "shape": [ + 9, + 11 + ], + "free_cells": 22, + "main_cells": 22, + "interior_h": 7, + "interior_w": 9, + "pairs": 462, + "diameter_steps": 19, + "diameter_m": 10.45, + "min_steps": 1, + "max_steps": 19, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 44 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 84 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 108 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 32 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 124 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 32 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 34 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 4 + } + ] + }, + "source_grid_id": "scene_06m_022", + "source_scene_id": "scene_06m_022" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_022__pal_tiago.npz b/navigation_tasks/grids/scene_06m_022__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..6d5d456d0dc526e6de5a0edebf330ab5de5ba3d5 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_022__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3dfcbc15da7a7d3331a6bb438c5ba28722dc2539d6bfc2c0ddfe5715675b5758 +size 636 diff --git a/navigation_tasks/grids/scene_06m_023__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_023__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..3797b2829a382d14ef2e52fe1dee79b758218e48 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_023__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_023__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 11 + ], + "k": 23, + "oy": 0, + "ox": 0, + "r0": 1, + "c0": 1, + "free_cells": 61, + "main_cells": 61, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_023/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "0ca4c1bd8c38ff60ca546032daab5f35446f6773993faf7ab2f66fe31a4356be", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_023", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_023", + "shape": [ + 11, + 11 + ], + "free_cells": 61, + "main_cells": 61, + "interior_h": 9, + "interior_w": 9, + "pairs": 3660, + "diameter_steps": 16, + "diameter_m": 9.2, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 200 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 730 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 836 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 380 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 1112 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 352 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 50 + } + ] + }, + "source_grid_id": "scene_06m_023", + "source_scene_id": "scene_06m_023" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_023__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_023__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..86196ef868ca96e5431b2da3fee9d264d1a7cf98 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_023__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7dfd9a40ee3acec64563a30b368b0719ddf62da90d4dcc7627e88d2cc34cd147 +size 648 diff --git a/navigation_tasks/grids/scene_06m_023__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_023__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..035d8edd86a55ae9d901e76f85fed2f7c6e33ce6 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_023__clearpath_jackal.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_023__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 12 + ], + "k": 21, + "oy": 0, + "ox": 16, + "r0": 1, + "c0": 0, + "free_cells": 77, + "main_cells": 77, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_023/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "0ca4c1bd8c38ff60ca546032daab5f35446f6773993faf7ab2f66fe31a4356be", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_023", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_023", + "shape": [ + 12, + 12 + ], + "free_cells": 77, + "main_cells": 77, + "interior_h": 10, + "interior_w": 10, + "pairs": 5852, + "diameter_steps": 17, + "diameter_m": 8.925, + "min_steps": 1, + "max_steps": 17, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 260 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 994 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 1238 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 1160 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 1576 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 584 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 40 + } + ] + }, + "source_grid_id": "scene_06m_023", + "source_scene_id": "scene_06m_023" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_023__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_023__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..c407562761efdd2be969b180f47c56dc6df4466e --- /dev/null +++ b/navigation_tasks/grids/scene_06m_023__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a33e08b2a66342c88c66da374213b806ebccb7a4b84739d561083e9a33cfc755 +size 642 diff --git a/navigation_tasks/grids/scene_06m_023__pal_tiago.json b/navigation_tasks/grids/scene_06m_023__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..e88c3c71248c77ffc15f343d83d0ded7820b84b9 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_023__pal_tiago.json @@ -0,0 +1,134 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_023__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 12 + ], + "k": 22, + "oy": 16, + "ox": 0, + "r0": 0, + "c0": 1, + "free_cells": 77, + "main_cells": 77, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_023/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "0ca4c1bd8c38ff60ca546032daab5f35446f6773993faf7ab2f66fe31a4356be", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_023", + "size_m": 6.0, + "theme": "residential", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_023", + "shape": [ + 12, + 12 + ], + "free_cells": 77, + "main_cells": 77, + "interior_h": 10, + "interior_w": 10, + "pairs": 5852, + "diameter_steps": 18, + "diameter_m": 9.9, + "min_steps": 1, + "max_steps": 18, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 256 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 972 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 1822 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 554 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 1846 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 286 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 111 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 5 + } + ] + }, + "source_grid_id": "scene_06m_023", + "source_scene_id": "scene_06m_023" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_023__pal_tiago.npz b/navigation_tasks/grids/scene_06m_023__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..8e913480708fd69a0c93b75f87ffcf17e4443b06 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_023__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf771dbb3e0f94d7fdc6bf365372c07638cace74fe97d32b35c52513f047c5d8 +size 648 diff --git a/navigation_tasks/grids/scene_06m_024__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_024__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..ea7fd8d071a19451a8c6e8469c36b1173a854580 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_024__clearpath_dingo.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_024__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 9, + 11 + ], + "k": 23, + "oy": 6, + "ox": 12, + "r0": 1, + "c0": 1, + "free_cells": 24, + "main_cells": 23, + "main_frac": 0.9583333333333334, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_024/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "0121f71a312d813d6c8afb381bcac77ca96f8068b9d6d99adc40bb839790a3a9", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_024", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_024", + "shape": [ + 9, + 11 + ], + "free_cells": 24, + "main_cells": 23, + "interior_h": 7, + "interior_w": 9, + "pairs": 506, + "diameter_steps": 13, + "diameter_m": 7.475, + "min_steps": 1, + "max_steps": 13, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 46 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 118 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 62 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 100 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 90 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 90 + } + ] + }, + "source_grid_id": "scene_06m_024", + "source_scene_id": "scene_06m_024" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_024__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_024__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..8c2150a4ad8e14670062da8d94eca59bcc94eb64 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_024__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd502b52dba0cde65151bfc484fe807aaf6edd27ba2f5fb6bf9325064a4ec594 +size 640 diff --git a/navigation_tasks/grids/scene_06m_024__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_024__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..40cf280da28ad8567181bcc6dfffa96c0d8856d2 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_024__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_024__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 11 + ], + "k": 21, + "oy": 16, + "ox": 10, + "r0": 0, + "c0": 2, + "free_cells": 32, + "main_cells": 26, + "main_frac": 0.8125, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_024/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "0121f71a312d813d6c8afb381bcac77ca96f8068b9d6d99adc40bb839790a3a9", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_024", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_024", + "shape": [ + 10, + 11 + ], + "free_cells": 32, + "main_cells": 26, + "interior_h": 8, + "interior_w": 9, + "pairs": 650, + "diameter_steps": 15, + "diameter_m": 7.875, + "min_steps": 1, + "max_steps": 15, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 56 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 128 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 130 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 132 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 134 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 70 + } + ] + }, + "source_grid_id": "scene_06m_024", + "source_scene_id": "scene_06m_024" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_024__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_024__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..e3ba9604816423811f0d6e6edc7ee6a408d6cc34 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_024__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:537f8fdcec55a6d9bdc0cd8f86f8d921efcf3003d18ec6495efbe929915e2467 +size 656 diff --git a/navigation_tasks/grids/scene_06m_025__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_025__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..23a591cede148be2330150d518b1f0cd277aa26e --- /dev/null +++ b/navigation_tasks/grids/scene_06m_025__clearpath_dingo.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_025__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 9, + 11 + ], + "k": 23, + "oy": 12, + "ox": 0, + "r0": 1, + "c0": 1, + "free_cells": 19, + "main_cells": 18, + "main_frac": 0.9473684210526315, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_025/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "2eccfc64893b4308dae85ac88fddcaa77e2b66c3698e132c80a315e8543c6689", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_025", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_025", + "shape": [ + 9, + 11 + ], + "free_cells": 19, + "main_cells": 18, + "interior_h": 7, + "interior_w": 9, + "pairs": 306, + "diameter_steps": 12, + "diameter_m": 6.9, + "min_steps": 1, + "max_steps": 12, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 34 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 80 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 38 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 66 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 54 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 34 + } + ] + }, + "source_grid_id": "scene_06m_025", + "source_scene_id": "scene_06m_025" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_025__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_025__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..eab86a14c67360459386c4df290f9d66906ae82b --- /dev/null +++ b/navigation_tasks/grids/scene_06m_025__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:118f9723f83e7c919c2038d1e76e803f33976bfa0c56c468da099d334dd1ea97 +size 624 diff --git a/navigation_tasks/grids/scene_06m_025__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_025__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..9b3e5612449703d36358dc599651b27ee4671f20 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_025__clearpath_jackal.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_025__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 13 + ], + "k": 21, + "oy": 10, + "ox": 16, + "r0": 1, + "c0": 0, + "free_cells": 28, + "main_cells": 26, + "main_frac": 0.9285714285714286, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_025/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "2eccfc64893b4308dae85ac88fddcaa77e2b66c3698e132c80a315e8543c6689", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_025", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_025", + "shape": [ + 10, + 13 + ], + "free_cells": 26, + "main_cells": 26, + "interior_h": 8, + "interior_w": 11, + "pairs": 650, + "diameter_steps": 16, + "diameter_m": 8.4, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 56 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 140 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 136 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 124 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 128 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 64 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_025", + "source_scene_id": "scene_06m_025" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_025__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_025__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..0928abe17829480643fa8cdf34d0cb4d50832d28 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_025__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e380d912cd0080632e05910763c344916cb69c639617206e4c3a39a2f61bd8d5 +size 648 diff --git a/navigation_tasks/grids/scene_06m_026__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_026__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..0901e72d48a38a35cb267fc722d0c79a8722b94d --- /dev/null +++ b/navigation_tasks/grids/scene_06m_026__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_026__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 9 + ], + "k": 23, + "oy": 6, + "ox": 12, + "r0": 0, + "c0": 3, + "free_cells": 36, + "main_cells": 36, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_026/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "ae0dfebbc3e27a8b23718586b1b2b8599cf801053ec608fd0a52d0a8c04ae882", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_026", + "size_m": 6.0, + "theme": "warehouse", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_026", + "shape": [ + 12, + 9 + ], + "free_cells": 36, + "main_cells": 36, + "interior_h": 10, + "interior_w": 7, + "pairs": 1260, + "diameter_steps": 17, + "diameter_m": 9.775, + "min_steps": 1, + "max_steps": 17, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 96 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 260 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 228 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 100 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 370 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 114 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 92 + } + ] + }, + "source_grid_id": "scene_06m_026", + "source_scene_id": "scene_06m_026" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_026__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_026__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..f63d617cae0b81c959f42f8d0af804fcf0389e53 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_026__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5557950bb32d6bd2c5aec1bbc03b855fbac53ce2393f6de80a9689ae2278b4a4 +size 654 diff --git a/navigation_tasks/grids/scene_06m_026__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_026__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..9c8b0bbf04c18571a737cecdf212cf164872f6a7 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_026__clearpath_jackal.json @@ -0,0 +1,146 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_026__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 10 + ], + "k": 21, + "oy": 16, + "ox": 10, + "r0": 0, + "c0": 3, + "free_cells": 45, + "main_cells": 45, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_026/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "ae0dfebbc3e27a8b23718586b1b2b8599cf801053ec608fd0a52d0a8c04ae882", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_026", + "size_m": 6.0, + "theme": "warehouse", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_026", + "shape": [ + 12, + 10 + ], + "free_cells": 45, + "main_cells": 45, + "interior_h": 10, + "interior_w": 8, + "pairs": 1980, + "diameter_steps": 20, + "diameter_m": 10.5, + "min_steps": 1, + "max_steps": 20, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 124 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 368 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 522 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 152 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 635 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 94 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 37 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 3 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 12 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 33 + } + ] + }, + "source_grid_id": "scene_06m_026", + "source_scene_id": "scene_06m_026" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_026__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_026__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..63287267812bc3e33393ec3ab4b9a3dcae35c947 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_026__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95d52de4df24d917b6aac93e08bfd7a028691c197021e83acbdbb6914e456896 +size 672 diff --git a/navigation_tasks/grids/scene_06m_026__pal_tiago.json b/navigation_tasks/grids/scene_06m_026__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..380e0828e93dae9443389735d46f505ffc825b61 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_026__pal_tiago.json @@ -0,0 +1,134 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_026__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 9 + ], + "k": 22, + "oy": 16, + "ox": 0, + "r0": 0, + "c0": 4, + "free_cells": 42, + "main_cells": 41, + "main_frac": 0.9761904761904762, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_026/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "ae0dfebbc3e27a8b23718586b1b2b8599cf801053ec608fd0a52d0a8c04ae882", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_026", + "size_m": 6.0, + "theme": "warehouse", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_026", + "shape": [ + 12, + 9 + ], + "free_cells": 41, + "main_cells": 41, + "interior_h": 10, + "interior_w": 7, + "pairs": 1640, + "diameter_steps": 18, + "diameter_m": 9.9, + "min_steps": 1, + "max_steps": 18, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 114 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 332 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 448 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 128 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 468 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 98 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 47 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 5 + } + ] + }, + "source_grid_id": "scene_06m_026", + "source_scene_id": "scene_06m_026" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_026__pal_tiago.npz b/navigation_tasks/grids/scene_06m_026__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..b424e9d4a410ea5e5abea1655a04fbea90f74c6b --- /dev/null +++ b/navigation_tasks/grids/scene_06m_026__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d0c87a852f3ebbfb8e9701399e139ebe24963b0ed7baea8003481688f3ab73f +size 663 diff --git a/navigation_tasks/grids/scene_06m_027__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_027__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..5f9a69c2db56a35525b99d26fad915168c4964f4 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_027__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_027__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 10 + ], + "k": 23, + "oy": 0, + "ox": 12, + "r0": 2, + "c0": 2, + "free_cells": 28, + "main_cells": 26, + "main_frac": 0.9285714285714286, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_027/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "3bf9c5cbd908f9265219634d8db29b1e205292210a74cec5d9026aee39c0ea4e", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_027", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_027", + "shape": [ + 10, + 10 + ], + "free_cells": 28, + "main_cells": 26, + "interior_h": 8, + "interior_w": 8, + "pairs": 650, + "diameter_steps": 14, + "diameter_m": 8.05, + "min_steps": 1, + "max_steps": 14, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 62 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 154 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 70 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 132 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 150 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 80 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_027", + "source_scene_id": "scene_06m_027" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_027__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_027__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..43545e5245ae2c0d36641debdd561bf1b3f4e01d --- /dev/null +++ b/navigation_tasks/grids/scene_06m_027__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7daf0f1b0e495dcc31cb9ce91329d354ea68b79565b0b9eb079a179bd45edcaf +size 644 diff --git a/navigation_tasks/grids/scene_06m_027__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_027__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..9aa85304e5e5435b79abd9c032302efce88a8de8 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_027__clearpath_jackal.json @@ -0,0 +1,134 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_027__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 11 + ], + "k": 21, + "oy": 10, + "ox": 5, + "r0": 2, + "c0": 2, + "free_cells": 36, + "main_cells": 35, + "main_frac": 0.9722222222222222, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_027/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "3bf9c5cbd908f9265219634d8db29b1e205292210a74cec5d9026aee39c0ea4e", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_027", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_027", + "shape": [ + 11, + 11 + ], + "free_cells": 36, + "main_cells": 35, + "interior_h": 9, + "interior_w": 9, + "pairs": 1190, + "diameter_steps": 16, + "diameter_m": 8.4, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 94 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 270 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 248 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 198 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 230 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 148 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 1 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 1 + } + ] + }, + "source_grid_id": "scene_06m_027", + "source_scene_id": "scene_06m_027" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_027__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_027__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..4a9617ba69c2db40ce397a49ec29a9f099742ca4 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_027__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d92c73e0de89556f16c9172dd2efdb9cf1c7efaede92800c7aba1cbab4bc0191 +size 663 diff --git a/navigation_tasks/grids/scene_06m_028__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_028__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..5744dfb06285ebd66315ac17139aa73b75e6e43c --- /dev/null +++ b/navigation_tasks/grids/scene_06m_028__clearpath_dingo.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_028__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 9, + 11 + ], + "k": 23, + "oy": 0, + "ox": 12, + "r0": 2, + "c0": 1, + "free_cells": 20, + "main_cells": 20, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_028/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "78b8fb4cd846b20465019aa5e2ce0ed69833b7a6e1ef4aa230088d8367d1ef7c", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_028", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_028", + "shape": [ + 9, + 11 + ], + "free_cells": 20, + "main_cells": 20, + "interior_h": 7, + "interior_w": 9, + "pairs": 380, + "diameter_steps": 12, + "diameter_m": 6.9, + "min_steps": 1, + "max_steps": 12, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 38 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 102 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 48 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 72 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 70 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 50 + } + ] + }, + "source_grid_id": "scene_06m_028", + "source_scene_id": "scene_06m_028" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_028__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_028__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..4d109ef79df206ab861a9e5463f5ee9e0cd966ed --- /dev/null +++ b/navigation_tasks/grids/scene_06m_028__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dcb428355a839876f6c07280f7e5fdb8ed04382b327e96f470025ed52635f219 +size 615 diff --git a/navigation_tasks/grids/scene_06m_028__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_028__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..e3c5c1df9c4e55d2bbd27b3e1d219ad6c5c7e759 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_028__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_028__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 11 + ], + "k": 21, + "oy": 10, + "ox": 10, + "r0": 2, + "c0": 2, + "free_cells": 25, + "main_cells": 22, + "main_frac": 0.88, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_028/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "78b8fb4cd846b20465019aa5e2ce0ed69833b7a6e1ef4aa230088d8367d1ef7c", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_028", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_028", + "shape": [ + 10, + 11 + ], + "free_cells": 25, + "main_cells": 22, + "interior_h": 8, + "interior_w": 9, + "pairs": 462, + "diameter_steps": 15, + "diameter_m": 7.875, + "min_steps": 1, + "max_steps": 15, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 42 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 98 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 104 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 86 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 90 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 42 + } + ] + }, + "source_grid_id": "scene_06m_028", + "source_scene_id": "scene_06m_028" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_028__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_028__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..8cc877d7b72aad55700126af1e97935fdc48f4ed --- /dev/null +++ b/navigation_tasks/grids/scene_06m_028__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f0007981ab3dcfdd21e9e73800be00c72919f393cbc9b9a38a5bb13223a6a80 +size 646 diff --git a/navigation_tasks/grids/scene_06m_029__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_029__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..b62ea4119f3baf61d0961a1206e6e4b95c3892c1 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_029__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_029__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 12 + ], + "k": 23, + "oy": 6, + "ox": 6, + "r0": 1, + "c0": 0, + "free_cells": 55, + "main_cells": 55, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_029/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "7b4e771510e88eedaeb25175d263f1c9e326384a12fa69ca4184c314b33e4135", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_029", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_029", + "shape": [ + 11, + 12 + ], + "free_cells": 55, + "main_cells": 55, + "interior_h": 9, + "interior_w": 10, + "pairs": 2970, + "diameter_steps": 14, + "diameter_m": 8.05, + "min_steps": 1, + "max_steps": 14, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 176 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 668 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 410 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 806 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 732 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 176 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_029", + "source_scene_id": "scene_06m_029" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_029__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_029__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..74dfdd272f15ba8df81595a647b714e739f0b81c --- /dev/null +++ b/navigation_tasks/grids/scene_06m_029__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9fac683756a421e31f769384e266db21e7d754f2d38392c74ab6acd243a1508a +size 669 diff --git a/navigation_tasks/grids/scene_06m_029__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_029__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..c139f3c501b085d4ee796e0109532f24b301367d --- /dev/null +++ b/navigation_tasks/grids/scene_06m_029__clearpath_jackal.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_029__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 12 + ], + "k": 21, + "oy": 0, + "ox": 0, + "r0": 1, + "c0": 1, + "free_cells": 65, + "main_cells": 65, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_029/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "7b4e771510e88eedaeb25175d263f1c9e326384a12fa69ca4184c314b33e4135", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_029", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_029", + "shape": [ + 12, + 12 + ], + "free_cells": 65, + "main_cells": 65, + "interior_h": 10, + "interior_w": 10, + "pairs": 4160, + "diameter_steps": 16, + "diameter_m": 8.4, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 218 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 852 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 1076 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 960 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 818 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 234 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_029", + "source_scene_id": "scene_06m_029" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_029__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_029__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..d639d15d2454d94eba33736522c571b8e70dba1f --- /dev/null +++ b/navigation_tasks/grids/scene_06m_029__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76709d0b9095fa4a2214332948b1da458f69f151e781ff07175da10db4b05346 +size 660 diff --git a/navigation_tasks/grids/scene_06m_031__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_031__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..5b26485718c2c1cdf0fa3b2529b38a7bf16699b3 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_031__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_031__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 9, + 10 + ], + "k": 23, + "oy": 12, + "ox": 0, + "r0": 2, + "c0": 2, + "free_cells": 23, + "main_cells": 23, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_031/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "70713824ea8e7459d4441efb544a0cdb6847aa75275e23da0d885bcf18a5e88f", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_031", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_031", + "shape": [ + 9, + 10 + ], + "free_cells": 23, + "main_cells": 23, + "interior_h": 7, + "interior_w": 8, + "pairs": 506, + "diameter_steps": 14, + "diameter_m": 8.05, + "min_steps": 1, + "max_steps": 14, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 52 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 118 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 52 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 108 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 108 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 66 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_031", + "source_scene_id": "scene_06m_031" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_031__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_031__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..b1a1889e3c8f8cfba149bfc6ee350551ae5b07c3 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_031__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df881095a6df86951b391995721dd5bbc84ed12fac81b6b5d0a0e8f679040018 +size 636 diff --git a/navigation_tasks/grids/scene_06m_031__clearpath_husky.json b/navigation_tasks/grids/scene_06m_031__clearpath_husky.json new file mode 100644 index 0000000000000000000000000000000000000000..5955d09711d4ad589179426698311b72d3590277 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_031__clearpath_husky.json @@ -0,0 +1,98 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_031__clearpath_husky", + "robot": "clearpath_husky", + "cell_m": 1.0, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 5, + 3 + ], + "k": 40, + "oy": 0, + "ox": 0, + "r0": 1, + "c0": 3, + "free_cells": 4, + "main_cells": 3, + "main_frac": 0.75, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_031/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "70713824ea8e7459d4441efb544a0cdb6847aa75275e23da0d885bcf18a5e88f", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "f296a47b6da49fcfc60cdb0df640f45c6d5551e5bea4a594d397ff0a42571ea8" + }, + "census_row": { + "scene_id": "scene_06m_031", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_husky", + "cell_m": 1.0, + "nominal_interior": 4, + "status": "ready", + "map_id": "scene_06m_031", + "shape": [ + 5, + 3 + ], + "free_cells": 3, + "main_cells": 3, + "interior_h": 3, + "interior_w": 1, + "pairs": 6, + "diameter_steps": 2, + "diameter_m": 2.0, + "min_steps": 1, + "max_steps": 2, + "joint": [ + { + "level": "easy", + "length": "medium", + "metres": "1-2", + "count": 4 + }, + { + "level": "easy", + "length": "long", + "metres": "2-4", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_031", + "source_scene_id": "scene_06m_031" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_031__clearpath_husky.npz b/navigation_tasks/grids/scene_06m_031__clearpath_husky.npz new file mode 100644 index 0000000000000000000000000000000000000000..1335ce750a8f095d79211543b215f6345cc20118 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_031__clearpath_husky.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2161958477ad2fe96a4a3c8f56762c60a9ffc52fd96fa98aee5040abed4e8ab +size 591 diff --git a/navigation_tasks/grids/scene_06m_031__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_031__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..82dc1499bf6fa7d951a2b0163ba5ac27befe38f0 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_031__clearpath_jackal.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_031__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 11 + ], + "k": 21, + "oy": 10, + "ox": 16, + "r0": 2, + "c0": 2, + "free_cells": 36, + "main_cells": 36, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_031/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "70713824ea8e7459d4441efb544a0cdb6847aa75275e23da0d885bcf18a5e88f", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_031", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_031", + "shape": [ + 11, + 11 + ], + "free_cells": 36, + "main_cells": 36, + "interior_h": 9, + "interior_w": 9, + "pairs": 1260, + "diameter_steps": 18, + "diameter_m": 9.45, + "min_steps": 1, + "max_steps": 18, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 88 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 232 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 336 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 116 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 392 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 61 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 3 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 19 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 13 + } + ] + }, + "source_grid_id": "scene_06m_031", + "source_scene_id": "scene_06m_031" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_031__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_031__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..e183ee455970114dce3f7e815d337adf30659e1e --- /dev/null +++ b/navigation_tasks/grids/scene_06m_031__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77c18250efe15a751d8ea9ee1f7cc09b56f91c04e2fece77a5974a03aa1dda71 +size 669 diff --git a/navigation_tasks/grids/scene_06m_032__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_032__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..2216769624d124e739a75bed43b4c0b6c648af5a --- /dev/null +++ b/navigation_tasks/grids/scene_06m_032__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_032__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 11 + ], + "k": 23, + "oy": 0, + "ox": 12, + "r0": 1, + "c0": 1, + "free_cells": 49, + "main_cells": 49, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_032/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "24e846f38b89f532f583898074f8d55b75fbc6f2fa0f0a6f0640a9ab354d553b", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_032", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_032", + "shape": [ + 11, + 11 + ], + "free_cells": 49, + "main_cells": 49, + "interior_h": 9, + "interior_w": 9, + "pairs": 2352, + "diameter_steps": 14, + "diameter_m": 8.05, + "min_steps": 1, + "max_steps": 14, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 154 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 548 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 322 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 618 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 534 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 174 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_032", + "source_scene_id": "scene_06m_032" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_032__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_032__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..086853fb86c0a0e418f0ffaed1d226f7224ce4bb --- /dev/null +++ b/navigation_tasks/grids/scene_06m_032__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7cd0466be4406e956e234b6be2faf9757028ba8c3e709259134f67203dda2dab +size 657 diff --git a/navigation_tasks/grids/scene_06m_032__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_032__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..af99624d10aa6172ae60d041242bfa95c7d55def --- /dev/null +++ b/navigation_tasks/grids/scene_06m_032__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_032__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 12 + ], + "k": 21, + "oy": 5, + "ox": 10, + "r0": 1, + "c0": 1, + "free_cells": 62, + "main_cells": 61, + "main_frac": 0.9838709677419355, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_032/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "24e846f38b89f532f583898074f8d55b75fbc6f2fa0f0a6f0640a9ab354d553b", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_032", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_032", + "shape": [ + 12, + 12 + ], + "free_cells": 62, + "main_cells": 61, + "interior_h": 10, + "interior_w": 10, + "pairs": 3660, + "diameter_steps": 15, + "diameter_m": 7.875, + "min_steps": 1, + "max_steps": 15, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 194 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 718 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 900 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 846 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 744 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 258 + } + ] + }, + "source_grid_id": "scene_06m_032", + "source_scene_id": "scene_06m_032" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_032__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_032__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..82211d95bcf081b7f426175c2d3c0aae3865bb7e --- /dev/null +++ b/navigation_tasks/grids/scene_06m_032__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9b4d7ad307b1028d1a4d512dcb0d4e33d860a9f920338c8ca7dfe44e35a4807 +size 665 diff --git a/navigation_tasks/grids/scene_06m_032__pal_tiago.json b/navigation_tasks/grids/scene_06m_032__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..1a1c5dcc413c7b49ff6a3d4dd6bcc426eba211a5 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_032__pal_tiago.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_032__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 12 + ], + "k": 22, + "oy": 16, + "ox": 0, + "r0": 0, + "c0": 1, + "free_cells": 59, + "main_cells": 58, + "main_frac": 0.9830508474576272, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_032/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "24e846f38b89f532f583898074f8d55b75fbc6f2fa0f0a6f0640a9ab354d553b", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_032", + "size_m": 6.0, + "theme": "office", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_032", + "shape": [ + 12, + 12 + ], + "free_cells": 59, + "main_cells": 58, + "interior_h": 10, + "interior_w": 10, + "pairs": 3306, + "diameter_steps": 16, + "diameter_m": 8.8, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 180 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 660 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 818 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 750 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 654 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 234 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 10 + } + ] + }, + "source_grid_id": "scene_06m_032", + "source_scene_id": "scene_06m_032" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_032__pal_tiago.npz b/navigation_tasks/grids/scene_06m_032__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..1e704073905b4133462d632dfd00cc4bbb22f8c4 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_032__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a15546dd236b13da86cab6e546c222df2dbcabbf02096a811406a8b59bcc5630 +size 671 diff --git a/navigation_tasks/grids/scene_06m_033__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_033__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..0d712b41f7bbef3ea213f3834fff044c6c88213a --- /dev/null +++ b/navigation_tasks/grids/scene_06m_033__clearpath_dingo.json @@ -0,0 +1,146 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_033__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 12 + ], + "k": 23, + "oy": 0, + "ox": 6, + "r0": 1, + "c0": 0, + "free_cells": 49, + "main_cells": 49, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_033/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "ed42f412ea20fef1799eed7d850c2c8e4d4d469c161991969d9c72ead698c337", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_033", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_033", + "shape": [ + 11, + 12 + ], + "free_cells": 49, + "main_cells": 49, + "interior_h": 9, + "interior_w": 10, + "pairs": 2352, + "diameter_steps": 17, + "diameter_m": 9.775, + "min_steps": 1, + "max_steps": 17, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 138 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 380 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 376 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 210 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 969 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 173 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 64 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 1 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 9 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 32 + } + ] + }, + "source_grid_id": "scene_06m_033", + "source_scene_id": "scene_06m_033" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_033__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_033__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..c32a10a79c96a932853208e324318658b79508ff --- /dev/null +++ b/navigation_tasks/grids/scene_06m_033__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a990a68c9949915f3d3ff2cb0a3e45064d09ee54e6511c26c43e6dac12e44cd +size 660 diff --git a/navigation_tasks/grids/scene_06m_033__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_033__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..a9c2457207f26912822c38e72e197673f0a2741a --- /dev/null +++ b/navigation_tasks/grids/scene_06m_033__clearpath_jackal.json @@ -0,0 +1,146 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_033__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 12 + ], + "k": 21, + "oy": 16, + "ox": 16, + "r0": 0, + "c0": 0, + "free_cells": 63, + "main_cells": 63, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_033/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "ed42f412ea20fef1799eed7d850c2c8e4d4d469c161991969d9c72ead698c337", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_033", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_033", + "shape": [ + 12, + 12 + ], + "free_cells": 63, + "main_cells": 63, + "interior_h": 10, + "interior_w": 10, + "pairs": 3906, + "diameter_steps": 18, + "diameter_m": 9.45, + "min_steps": 1, + "max_steps": 18, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 188 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 572 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 908 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 336 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 1440 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 239 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 21 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 44 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 129 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 29 + } + ] + }, + "source_grid_id": "scene_06m_033", + "source_scene_id": "scene_06m_033" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_033__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_033__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..a7d85570c4ae1b86836975840602360d64c0fc79 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_033__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e64ac5702e6887f962ba53e584ab67eb6b5faebe0ab5288e0634b86c53672dc5 +size 666 diff --git a/navigation_tasks/grids/scene_06m_033__pal_tiago.json b/navigation_tasks/grids/scene_06m_033__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..0e56c059e30ff553262bc6b8ace081bccc7b92a0 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_033__pal_tiago.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_033__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 12 + ], + "k": 22, + "oy": 6, + "ox": 11, + "r0": 1, + "c0": 0, + "free_cells": 50, + "main_cells": 50, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_033/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "ed42f412ea20fef1799eed7d850c2c8e4d4d469c161991969d9c72ead698c337", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_033", + "size_m": 6.0, + "theme": "hospital", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_033", + "shape": [ + 11, + 12 + ], + "free_cells": 50, + "main_cells": 50, + "interior_h": 9, + "interior_w": 10, + "pairs": 2450, + "diameter_steps": 17, + "diameter_m": 9.35, + "min_steps": 1, + "max_steps": 17, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 144 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 418 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 422 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 456 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 726 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 226 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 25 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 14 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 19 + } + ] + }, + "source_grid_id": "scene_06m_033", + "source_scene_id": "scene_06m_033" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_033__pal_tiago.npz b/navigation_tasks/grids/scene_06m_033__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..79fff5159ec230d551baf1d5f61751145a339a30 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_033__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d1a1b5b634f8f01c425b929b77dbcd0e077de0daa957c835a9f47cb8b1c44bc +size 657 diff --git a/navigation_tasks/grids/scene_06m_034__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_034__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..6c19fe68216afecb5408c3a7742666eaa9fcf9fb --- /dev/null +++ b/navigation_tasks/grids/scene_06m_034__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_034__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 13 + ], + "k": 21, + "oy": 16, + "ox": 16, + "r0": 0, + "c0": 0, + "free_cells": 27, + "main_cells": 27, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_034/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "b89318bcd74af9b9e6b9abba7988a9278b8aa964df1a2246457f4df1bfc7d6fe", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_034", + "size_m": 6.0, + "theme": "warehouse", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_034", + "shape": [ + 11, + 13 + ], + "free_cells": 27, + "main_cells": 27, + "interior_h": 9, + "interior_w": 11, + "pairs": 702, + "diameter_steps": 14, + "diameter_m": 7.35, + "min_steps": 1, + "max_steps": 14, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 56 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 132 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 66 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 200 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 110 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 138 + } + ] + }, + "source_grid_id": "scene_06m_034", + "source_scene_id": "scene_06m_034" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_034__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_034__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..5fe9d4f48004903092313bbc13e4986484f2919a --- /dev/null +++ b/navigation_tasks/grids/scene_06m_034__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a25c1e370b895e9714074bd4bebf9edea3abe90c561b9c5b6f4c05c012b2fd12 +size 663 diff --git a/navigation_tasks/grids/scene_06m_035__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_035__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..699f35eae1dd21579c0a4dca879415903a8f5ded --- /dev/null +++ b/navigation_tasks/grids/scene_06m_035__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_035__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 10 + ], + "k": 23, + "oy": 0, + "ox": 12, + "r0": 1, + "c0": 2, + "free_cells": 25, + "main_cells": 21, + "main_frac": 0.84, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_035/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "e8f796f9d762fe93047a2be3e5af67aa9b2fb8b6ce1afbcf23080fc94f63316f", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_035", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_035", + "shape": [ + 10, + 10 + ], + "free_cells": 24, + "main_cells": 21, + "interior_h": 8, + "interior_w": 8, + "pairs": 420, + "diameter_steps": 17, + "diameter_m": 9.775, + "min_steps": 1, + "max_steps": 17, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 42 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 88 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 80 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 36 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 126 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 28 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 20 + } + ] + }, + "source_grid_id": "scene_06m_035", + "source_scene_id": "scene_06m_035" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_035__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_035__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..a65c03de1a211114f79b20238f386ee4ab7fa877 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_035__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02bd4161f4c243e82e60ef746e26b31ce87877d8015385573f56f63df60e774b +size 650 diff --git a/navigation_tasks/grids/scene_06m_035__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_035__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..41598c1db4cf694c5998f2a59a352e47974d06fd --- /dev/null +++ b/navigation_tasks/grids/scene_06m_035__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_035__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 9 + ], + "k": 21, + "oy": 10, + "ox": 16, + "r0": 1, + "c0": 2, + "free_cells": 29, + "main_cells": 20, + "main_frac": 0.6896551724137931, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_035/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "e8f796f9d762fe93047a2be3e5af67aa9b2fb8b6ce1afbcf23080fc94f63316f", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_035", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_035", + "shape": [ + 10, + 9 + ], + "free_cells": 23, + "main_cells": 20, + "interior_h": 8, + "interior_w": 7, + "pairs": 380, + "diameter_steps": 13, + "diameter_m": 6.825, + "min_steps": 1, + "max_steps": 13, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 46 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 112 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 52 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 118 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 20 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 32 + } + ] + }, + "source_grid_id": "scene_06m_035", + "source_scene_id": "scene_06m_035" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_035__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_035__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..51424db99ccf18d17788bda86ba17d811cab9fdc --- /dev/null +++ b/navigation_tasks/grids/scene_06m_035__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d0bd99ab28c2aee70b1d79e536a201f8655aaedd02a09817b96322bd25a4a4e +size 639 diff --git a/navigation_tasks/grids/scene_06m_036__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_036__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..0709e3e344032d7996c4f18a2c3509cfd74f5568 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_036__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_036__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 10 + ], + "k": 23, + "oy": 6, + "ox": 12, + "r0": 1, + "c0": 2, + "free_cells": 33, + "main_cells": 32, + "main_frac": 0.9696969696969697, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_036/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "bda78b007194fa979aa573920d203a40af66fc6cbe06a1b6ad10b3a87de45857", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_036", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_036", + "shape": [ + 11, + 10 + ], + "free_cells": 33, + "main_cells": 32, + "interior_h": 9, + "interior_w": 8, + "pairs": 992, + "diameter_steps": 14, + "diameter_m": 8.05, + "min_steps": 1, + "max_steps": 14, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 84 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 244 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 128 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 244 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 224 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 66 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_036", + "source_scene_id": "scene_06m_036" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_036__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_036__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..4cbc7d250cd3c5cb154bfa7633c189d60862822d --- /dev/null +++ b/navigation_tasks/grids/scene_06m_036__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12f12d994dfd1ff132f3bdf38a6f8a4782ec307f3f8b48021fdd58e08d4b5977 +size 646 diff --git a/navigation_tasks/grids/scene_06m_036__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_036__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..c832f947832fba2cab351e6ba8994d66728102fa --- /dev/null +++ b/navigation_tasks/grids/scene_06m_036__clearpath_jackal.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_036__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 11 + ], + "k": 21, + "oy": 10, + "ox": 10, + "r0": 1, + "c0": 2, + "free_cells": 42, + "main_cells": 41, + "main_frac": 0.9761904761904762, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_036/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "bda78b007194fa979aa573920d203a40af66fc6cbe06a1b6ad10b3a87de45857", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_036", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_036", + "shape": [ + 12, + 11 + ], + "free_cells": 42, + "main_cells": 41, + "interior_h": 10, + "interior_w": 9, + "pairs": 1640, + "diameter_steps": 16, + "diameter_m": 8.4, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 114 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 362 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 402 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 358 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 312 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 90 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_036", + "source_scene_id": "scene_06m_036" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_036__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_036__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..adaffdbba00aeb4f3b8a0824bb18f036048b62e5 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_036__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbd53470b4e7ac2c0726baaa3fdbaaf63720d38398f65a899022752087e4b702 +size 657 diff --git a/navigation_tasks/grids/scene_06m_037__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_037__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..89fed6498d77d5657cd31aa6d7853d1cf0ed2fa2 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_037__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_037__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 9, + 12 + ], + "k": 21, + "oy": 10, + "ox": 10, + "r0": 2, + "c0": 1, + "free_cells": 22, + "main_cells": 18, + "main_frac": 0.8181818181818182, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_037/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "094b4af1913e1f040f73e0fe4ddb4f7ac41444462bd0148c7171332fc110c4ca", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_037", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_037", + "shape": [ + 9, + 12 + ], + "free_cells": 22, + "main_cells": 18, + "interior_h": 7, + "interior_w": 10, + "pairs": 306, + "diameter_steps": 12, + "diameter_m": 6.3, + "min_steps": 1, + "max_steps": 12, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 34 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 84 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 38 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 84 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 24 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 42 + } + ] + }, + "source_grid_id": "scene_06m_037", + "source_scene_id": "scene_06m_037" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_037__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_037__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..a9ac9b225d9926bc27007bafde3041576574a87e --- /dev/null +++ b/navigation_tasks/grids/scene_06m_037__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15b6c3ccb0f09eb7953ba732f75eab325680b757ef52c9784d822187a4017cf2 +size 623 diff --git a/navigation_tasks/grids/scene_06m_038__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_038__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..25cbc1f81e82e1c51c0ab1e13ca8dc2dffc28819 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_038__clearpath_dingo.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_038__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 8 + ], + "k": 23, + "oy": 17, + "ox": 12, + "r0": 0, + "c0": 2, + "free_cells": 20, + "main_cells": 20, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_038/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "e9573970c5d2f450b3550c7f3a6f86d38e43a97837b193f3de6eec51d2ef20e7", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_038", + "size_m": 6.0, + "theme": "warehouse", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_038", + "shape": [ + 10, + 8 + ], + "free_cells": 20, + "main_cells": 20, + "interior_h": 8, + "interior_w": 6, + "pairs": 380, + "diameter_steps": 19, + "diameter_m": 10.925, + "min_steps": 1, + "max_steps": 19, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 38 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 70 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 90 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 126 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 14 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 42 + } + ] + }, + "source_grid_id": "scene_06m_038", + "source_scene_id": "scene_06m_038" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_038__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_038__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..d3945c4e405e35dc8e3471b65cf329f7b496baeb --- /dev/null +++ b/navigation_tasks/grids/scene_06m_038__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ce01510110e7939bcfcd6531b1f285a21cc8f60fe0c6e3a898dd1f05c80d257 +size 621 diff --git a/navigation_tasks/grids/scene_06m_038__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_038__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..7a95f1a51c1c32592ac1f980cb3ad1f5c2030bf7 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_038__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_038__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 9 + ], + "k": 21, + "oy": 5, + "ox": 5, + "r0": 0, + "c0": 2, + "free_cells": 22, + "main_cells": 19, + "main_frac": 0.8636363636363636, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_038/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "e9573970c5d2f450b3550c7f3a6f86d38e43a97837b193f3de6eec51d2ef20e7", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_038", + "size_m": 6.0, + "theme": "warehouse", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_038", + "shape": [ + 12, + 9 + ], + "free_cells": 22, + "main_cells": 19, + "interior_h": 10, + "interior_w": 7, + "pairs": 342, + "diameter_steps": 15, + "diameter_m": 7.875, + "min_steps": 1, + "max_steps": 15, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 40 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 78 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 62 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 58 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 60 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 44 + } + ] + }, + "source_grid_id": "scene_06m_038", + "source_scene_id": "scene_06m_038" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_038__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_038__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..337e1a4426e86e93f2e9dd1c3d8296f077c74a94 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_038__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:248161320c82d82055902261f9a7c9ea628954511a6afbe43060565aa89bf29f +size 633 diff --git a/navigation_tasks/grids/scene_06m_039__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_039__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..5fb30c99aad81f9b9d5eaae65725ebc38486c564 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_039__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_039__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 12 + ], + "k": 23, + "oy": 6, + "ox": 12, + "r0": 1, + "c0": 0, + "free_cells": 61, + "main_cells": 61, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_039/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "b89d753b8dc49870b365c7687bc1d7b5245538defbbeec25905166040da24ab9", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_039", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_039", + "shape": [ + 11, + 12 + ], + "free_cells": 61, + "main_cells": 61, + "interior_h": 9, + "interior_w": 10, + "pairs": 3660, + "diameter_steps": 15, + "diameter_m": 8.625, + "min_steps": 1, + "max_steps": 15, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 198 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 762 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 944 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 450 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 1134 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 158 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 14 + } + ] + }, + "source_grid_id": "scene_06m_039", + "source_scene_id": "scene_06m_039" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_039__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_039__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..816af3ea70dcb69f5f9df8316eaac1f90538ae37 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_039__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1384b8e69a081dc5824c1fd917b2cbda113b5083b75ce0edfba894c93a872b90 +size 651 diff --git a/navigation_tasks/grids/scene_06m_039__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_039__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..bb1c7008c7163809ff356eb18f9d42287739c910 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_039__clearpath_jackal.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_039__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 12 + ], + "k": 21, + "oy": 16, + "ox": 5, + "r0": 0, + "c0": 1, + "free_cells": 75, + "main_cells": 75, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_039/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "b89d753b8dc49870b365c7687bc1d7b5245538defbbeec25905166040da24ab9", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_039", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_039", + "shape": [ + 12, + 12 + ], + "free_cells": 75, + "main_cells": 75, + "interior_h": 10, + "interior_w": 10, + "pairs": 5550, + "diameter_steps": 17, + "diameter_m": 8.925, + "min_steps": 1, + "max_steps": 17, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 246 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 950 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 1234 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 1254 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 1528 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 324 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 14 + } + ] + }, + "source_grid_id": "scene_06m_039", + "source_scene_id": "scene_06m_039" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_039__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_039__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..cf5f6519a6f2b1d6dc888110678c4d4c96bb4259 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_039__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c372d291dccc75fe8ba8023c6cabfc7372b8d8b99f0b991c3cd2811501a40ec1 +size 660 diff --git a/navigation_tasks/grids/scene_06m_039__pal_tiago.json b/navigation_tasks/grids/scene_06m_039__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..0458d19f7ad52f6c39be21e2dc5a238037f730f8 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_039__pal_tiago.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_039__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 12 + ], + "k": 22, + "oy": 16, + "ox": 16, + "r0": 0, + "c0": 0, + "free_cells": 72, + "main_cells": 71, + "main_frac": 0.9861111111111112, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_039/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "b89d753b8dc49870b365c7687bc1d7b5245538defbbeec25905166040da24ab9", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_039", + "size_m": 6.0, + "theme": "residential", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_039", + "shape": [ + 12, + 12 + ], + "free_cells": 72, + "main_cells": 71, + "interior_h": 10, + "interior_w": 10, + "pairs": 4970, + "diameter_steps": 16, + "diameter_m": 8.8, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 234 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 896 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 1136 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 1116 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 1140 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 422 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 26 + } + ] + }, + "source_grid_id": "scene_06m_039", + "source_scene_id": "scene_06m_039" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_039__pal_tiago.npz b/navigation_tasks/grids/scene_06m_039__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..b8eb2f3cdbc4a9ac69ad1d87207e99e0580ae81f --- /dev/null +++ b/navigation_tasks/grids/scene_06m_039__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4eaff17f070b0e30554dfe6248049ba0d1ac06f9db6f424e9715de415447434 +size 662 diff --git a/navigation_tasks/grids/scene_06m_040__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_040__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..ac0be77a4589adbd119f98cec07cc9c4922dadbd --- /dev/null +++ b/navigation_tasks/grids/scene_06m_040__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_040__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 9 + ], + "k": 23, + "oy": 0, + "ox": 6, + "r0": 1, + "c0": 2, + "free_cells": 29, + "main_cells": 29, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_040/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "7f1025581b34b29257ebcc21faa1e67258151a4c42347ce4a4dfa023c8f07b06", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_040", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_040", + "shape": [ + 11, + 9 + ], + "free_cells": 29, + "main_cells": 29, + "interior_h": 9, + "interior_w": 7, + "pairs": 812, + "diameter_steps": 15, + "diameter_m": 8.625, + "min_steps": 1, + "max_steps": 15, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 70 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 174 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 144 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 66 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 242 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 106 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 10 + } + ] + }, + "source_grid_id": "scene_06m_040", + "source_scene_id": "scene_06m_040" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_040__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_040__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..60830629972c87cecfc0fa37401fedbf533f5ab2 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_040__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f05636c938b1618a1086cf0a392fb3afa5b329002856b4926049b761607dcd4e +size 645 diff --git a/navigation_tasks/grids/scene_06m_040__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_040__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..b6c04aa34446a12d3193aa4c5de7b51f5efb7c53 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_040__clearpath_jackal.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_040__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 11 + ], + "k": 21, + "oy": 10, + "ox": 16, + "r0": 1, + "c0": 0, + "free_cells": 34, + "main_cells": 34, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_040/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "7f1025581b34b29257ebcc21faa1e67258151a4c42347ce4a4dfa023c8f07b06", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_040", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_040", + "shape": [ + 12, + 11 + ], + "free_cells": 34, + "main_cells": 34, + "interior_h": 10, + "interior_w": 9, + "pairs": 1122, + "diameter_steps": 15, + "diameter_m": 7.875, + "min_steps": 1, + "max_steps": 15, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 82 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 220 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 206 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 166 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 212 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 222 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 14 + } + ] + }, + "source_grid_id": "scene_06m_040", + "source_scene_id": "scene_06m_040" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_040__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_040__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..ac3fc805f8832f9e88a0410398aaf66ddc1ade54 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_040__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:564577bc22723016eea8da14eb1d8da710df430ee61cac49e459a8570e040d4c +size 660 diff --git a/navigation_tasks/grids/scene_06m_040__pal_tiago.json b/navigation_tasks/grids/scene_06m_040__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..55c18579ac4f6dbe15dcb29341e8a8a903c818d3 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_040__pal_tiago.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_040__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 9 + ], + "k": 22, + "oy": 6, + "ox": 11, + "r0": 1, + "c0": 2, + "free_cells": 31, + "main_cells": 31, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_040/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "7f1025581b34b29257ebcc21faa1e67258151a4c42347ce4a4dfa023c8f07b06", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_040", + "size_m": 6.0, + "theme": "office", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_040", + "shape": [ + 12, + 9 + ], + "free_cells": 31, + "main_cells": 31, + "interior_h": 10, + "interior_w": 7, + "pairs": 930, + "diameter_steps": 15, + "diameter_m": 8.25, + "min_steps": 1, + "max_steps": 15, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 76 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 194 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 164 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 144 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 198 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 152 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_040", + "source_scene_id": "scene_06m_040" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_040__pal_tiago.npz b/navigation_tasks/grids/scene_06m_040__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..04876ce372d2755301263260dc9fd5fa949c9200 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_040__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb461f759589eb128dd06892133d7da9401d472c5a15df482fc9ea5c4d8db4f6 +size 651 diff --git a/navigation_tasks/grids/scene_06m_041__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_041__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..6044c869fb88a3140ececd9f518109058187cfcf --- /dev/null +++ b/navigation_tasks/grids/scene_06m_041__clearpath_dingo.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_041__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 11 + ], + "k": 23, + "oy": 0, + "ox": 6, + "r0": 2, + "c0": 0, + "free_cells": 27, + "main_cells": 27, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_041/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "afffca7d026ea74dfc58552e47c5fe796f680585b7a56507546b9d4e3829e9cf", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_041", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_041", + "shape": [ + 10, + 11 + ], + "free_cells": 27, + "main_cells": 27, + "interior_h": 8, + "interior_w": 9, + "pairs": 702, + "diameter_steps": 13, + "diameter_m": 7.475, + "min_steps": 1, + "max_steps": 13, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 70 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 174 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 84 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 152 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 122 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 100 + } + ] + }, + "source_grid_id": "scene_06m_041", + "source_scene_id": "scene_06m_041" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_041__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_041__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..a9e78619b7a20b5a85ee1d94dd49941eba8866d9 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_041__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:469fe0d6801ac07fae3344450b868945ab81e6d0f7039104ca998c60ab5e7b39 +size 642 diff --git a/navigation_tasks/grids/scene_06m_041__clearpath_husky.json b/navigation_tasks/grids/scene_06m_041__clearpath_husky.json new file mode 100644 index 0000000000000000000000000000000000000000..270547e7ca23aa2a056afc3cbe571ab11504c56f --- /dev/null +++ b/navigation_tasks/grids/scene_06m_041__clearpath_husky.json @@ -0,0 +1,98 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_041__clearpath_husky", + "robot": "clearpath_husky", + "cell_m": 1.0, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 5, + 3 + ], + "k": 40, + "oy": 10, + "ox": 20, + "r0": 1, + "c0": 3, + "free_cells": 4, + "main_cells": 3, + "main_frac": 0.75, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_041/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "afffca7d026ea74dfc58552e47c5fe796f680585b7a56507546b9d4e3829e9cf", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "f296a47b6da49fcfc60cdb0df640f45c6d5551e5bea4a594d397ff0a42571ea8" + }, + "census_row": { + "scene_id": "scene_06m_041", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_husky", + "cell_m": 1.0, + "nominal_interior": 4, + "status": "ready", + "map_id": "scene_06m_041", + "shape": [ + 5, + 3 + ], + "free_cells": 3, + "main_cells": 3, + "interior_h": 3, + "interior_w": 1, + "pairs": 6, + "diameter_steps": 2, + "diameter_m": 2.0, + "min_steps": 1, + "max_steps": 2, + "joint": [ + { + "level": "easy", + "length": "medium", + "metres": "1-2", + "count": 4 + }, + { + "level": "easy", + "length": "long", + "metres": "2-4", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_041", + "source_scene_id": "scene_06m_041" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_041__clearpath_husky.npz b/navigation_tasks/grids/scene_06m_041__clearpath_husky.npz new file mode 100644 index 0000000000000000000000000000000000000000..1335ce750a8f095d79211543b215f6345cc20118 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_041__clearpath_husky.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2161958477ad2fe96a4a3c8f56762c60a9ffc52fd96fa98aee5040abed4e8ab +size 591 diff --git a/navigation_tasks/grids/scene_06m_041__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_041__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..9354decc815ef41178908984315083ffd3c18584 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_041__clearpath_jackal.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_041__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 11 + ], + "k": 21, + "oy": 10, + "ox": 16, + "r0": 2, + "c0": 0, + "free_cells": 33, + "main_cells": 33, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_041/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "afffca7d026ea74dfc58552e47c5fe796f680585b7a56507546b9d4e3829e9cf", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_041", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_041", + "shape": [ + 11, + 11 + ], + "free_cells": 33, + "main_cells": 33, + "interior_h": 9, + "interior_w": 9, + "pairs": 1056, + "diameter_steps": 17, + "diameter_m": 8.925, + "min_steps": 1, + "max_steps": 17, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 84 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 218 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 214 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 188 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 250 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 86 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 8 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 2 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 6 + } + ] + }, + "source_grid_id": "scene_06m_041", + "source_scene_id": "scene_06m_041" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_041__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_041__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..b5abd7c549ee2d3b9199ab58386a1bc56f8942f5 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_041__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9cf2b6802e89826d4bdb106c8b37dbb31ab3656652bd49680cdf2754ffec6d5d +size 660 diff --git a/navigation_tasks/grids/scene_06m_042__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_042__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..209a28043bab74541284425b2ce5ec5383706100 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_042__clearpath_dingo.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_042__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 6, + 11 + ], + "k": 23, + "oy": 17, + "ox": 6, + "r0": 0, + "c0": 1, + "free_cells": 31, + "main_cells": 23, + "main_frac": 0.7419354838709677, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_042/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "9ba39a3ccd16b1f9245ff73b97847a7fd85713235573d59e47b7c715a50be6fe", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_042", + "size_m": 6.0, + "theme": "warehouse", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_042", + "shape": [ + 6, + 11 + ], + "free_cells": 23, + "main_cells": 23, + "interior_h": 4, + "interior_w": 9, + "pairs": 506, + "diameter_steps": 13, + "diameter_m": 7.475, + "min_steps": 1, + "max_steps": 13, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 58 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 142 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 60 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 108 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 72 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 66 + } + ] + }, + "source_grid_id": "scene_06m_042", + "source_scene_id": "scene_06m_042" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_042__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_042__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..0b005e2790a34ea6e1c0aa604f884c5c3d4d862b --- /dev/null +++ b/navigation_tasks/grids/scene_06m_042__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:509a9058d48621ff88012401cecb300470b42c61eaab329081385af78172ac30 +size 624 diff --git a/navigation_tasks/grids/scene_06m_042__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_042__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..950cb3fc280a44e5fa9fab61607cebb656fdbda7 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_042__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_042__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 6, + 12 + ], + "k": 21, + "oy": 0, + "ox": 10, + "r0": 1, + "c0": 1, + "free_cells": 39, + "main_cells": 29, + "main_frac": 0.7435897435897436, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_042/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "9ba39a3ccd16b1f9245ff73b97847a7fd85713235573d59e47b7c715a50be6fe", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_042", + "size_m": 6.0, + "theme": "warehouse", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_042", + "shape": [ + 6, + 12 + ], + "free_cells": 29, + "main_cells": 29, + "interior_h": 4, + "interior_w": 10, + "pairs": 812, + "diameter_steps": 14, + "diameter_m": 7.35, + "min_steps": 1, + "max_steps": 14, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 78 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 202 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 92 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 246 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 98 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 96 + } + ] + }, + "source_grid_id": "scene_06m_042", + "source_scene_id": "scene_06m_042" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_042__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_042__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..2d77c91737fffb3477bad8bb7cfa265a879260b8 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_042__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1b92a58d4a2cd80288241ea8aedea27472e17896a7b9e27bf236ebe7124ebe8 +size 630 diff --git a/navigation_tasks/grids/scene_06m_043__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_043__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..fd73c0459438007e8b72f0e01cb570e4fde99b7d --- /dev/null +++ b/navigation_tasks/grids/scene_06m_043__clearpath_dingo.json @@ -0,0 +1,134 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_043__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 11 + ], + "k": 23, + "oy": 12, + "ox": 6, + "r0": 1, + "c0": 1, + "free_cells": 26, + "main_cells": 26, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_043/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "dba1b647a0083fc8d5c1aa99fd4db10fc740f2f17879e75bd69107f178b78103", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_043", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_043", + "shape": [ + 10, + 11 + ], + "free_cells": 26, + "main_cells": 26, + "interior_h": 8, + "interior_w": 9, + "pairs": 650, + "diameter_steps": 22, + "diameter_m": 12.65, + "min_steps": 1, + "max_steps": 22, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 54 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 110 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 142 + }, + { + "level": "easy", + "length": "short", + "metres": "4-8", + "count": 42 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 192 + }, + { + "level": "easy", + "length": "medium", + "metres": "8-16", + "count": 22 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 52 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 36 + } + ] + }, + "source_grid_id": "scene_06m_043", + "source_scene_id": "scene_06m_043" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_043__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_043__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..eaa5eade99a506f07de46e54c368a6ccc08caafa --- /dev/null +++ b/navigation_tasks/grids/scene_06m_043__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4de0ace9fb8921fe61da5a0253f3a3d616130aeb8a74244b236574ae05361a42 +size 651 diff --git a/navigation_tasks/grids/scene_06m_043__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_043__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..c1966b5b9dcf9c2edf7f137dfcf5f7b539e9b32b --- /dev/null +++ b/navigation_tasks/grids/scene_06m_043__clearpath_jackal.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_043__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 13 + ], + "k": 21, + "oy": 0, + "ox": 16, + "r0": 1, + "c0": 0, + "free_cells": 41, + "main_cells": 34, + "main_frac": 0.8292682926829268, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_043/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "dba1b647a0083fc8d5c1aa99fd4db10fc740f2f17879e75bd69107f178b78103", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_043", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_043", + "shape": [ + 11, + 13 + ], + "free_cells": 41, + "main_cells": 34, + "interior_h": 9, + "interior_w": 11, + "pairs": 1122, + "diameter_steps": 20, + "diameter_m": 10.5, + "min_steps": 1, + "max_steps": 20, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 86 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 206 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 252 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 84 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 344 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 74 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 50 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 2 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 24 + } + ] + }, + "source_grid_id": "scene_06m_043", + "source_scene_id": "scene_06m_043" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_043__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_043__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..e246a11d2ce67cd7304c6af6a5a3e32cadec5d9f --- /dev/null +++ b/navigation_tasks/grids/scene_06m_043__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1409cdb0aa9f715b312aada26f7b3d459af88f07d49107ddbb75ef6e333361e +size 662 diff --git a/navigation_tasks/grids/scene_06m_043__pal_tiago.json b/navigation_tasks/grids/scene_06m_043__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..76dd367144d9d72a256b18f6461f19dadb8e1320 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_043__pal_tiago.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_043__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 12 + ], + "k": 22, + "oy": 16, + "ox": 16, + "r0": 0, + "c0": 0, + "free_cells": 36, + "main_cells": 29, + "main_frac": 0.8055555555555556, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_043/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "dba1b647a0083fc8d5c1aa99fd4db10fc740f2f17879e75bd69107f178b78103", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_043", + "size_m": 6.0, + "theme": "residential", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_043", + "shape": [ + 10, + 12 + ], + "free_cells": 34, + "main_cells": 29, + "interior_h": 8, + "interior_w": 10, + "pairs": 812, + "diameter_steps": 18, + "diameter_m": 9.9, + "min_steps": 1, + "max_steps": 18, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 74 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 166 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 196 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 54 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 206 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 58 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 58 + } + ] + }, + "source_grid_id": "scene_06m_043", + "source_scene_id": "scene_06m_043" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_043__pal_tiago.npz b/navigation_tasks/grids/scene_06m_043__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..1ae746ec1043ac5b7e3d0d952e860c056873b57b --- /dev/null +++ b/navigation_tasks/grids/scene_06m_043__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3242d1ebf1010bbf9edfc6a2ed4bfed1ab926bb773e9c869b472a58127ea44bd +size 650 diff --git a/navigation_tasks/grids/scene_06m_044__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_044__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..28ddfb8ba5ee7a148ddeff958b4e67b521bdcb36 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_044__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_044__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 10 + ], + "k": 23, + "oy": 6, + "ox": 12, + "r0": 0, + "c0": 1, + "free_cells": 21, + "main_cells": 21, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_044/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "728fb307a9de589c47608321dbb71522702e337a0fdb510d0bf0aad09d7660c7", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_044", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_044", + "shape": [ + 12, + 10 + ], + "free_cells": 21, + "main_cells": 21, + "interior_h": 10, + "interior_w": 8, + "pairs": 420, + "diameter_steps": 14, + "diameter_m": 8.05, + "min_steps": 1, + "max_steps": 14, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 42 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 102 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 50 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 86 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 92 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 46 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_044", + "source_scene_id": "scene_06m_044" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_044__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_044__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..5a600f43f36758d206289157c2385355cf089cc6 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_044__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a027f0c36125572281e8b1f249d87962a19d7408ac710f8a6d5da05ab8c67ef +size 644 diff --git a/navigation_tasks/grids/scene_06m_044__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_044__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..8527d818c29b826a57091b5c901b1576fed07350 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_044__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_044__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 10 + ], + "k": 21, + "oy": 10, + "ox": 16, + "r0": 2, + "c0": 1, + "free_cells": 31, + "main_cells": 27, + "main_frac": 0.8709677419354839, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_044/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "728fb307a9de589c47608321dbb71522702e337a0fdb510d0bf0aad09d7660c7", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_044", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_044", + "shape": [ + 11, + 10 + ], + "free_cells": 28, + "main_cells": 27, + "interior_h": 9, + "interior_w": 8, + "pairs": 702, + "diameter_steps": 14, + "diameter_m": 7.35, + "min_steps": 1, + "max_steps": 14, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 64 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 164 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 80 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 238 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 88 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 68 + } + ] + }, + "source_grid_id": "scene_06m_044", + "source_scene_id": "scene_06m_044" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_044__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_044__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..6770f220fde109fae7f2758a1d740b0126e5fb14 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_044__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8585a70f1a523219ff5e858cf910678bb2c9fdb9714b12457db9b9f1c168780 +size 654 diff --git a/navigation_tasks/grids/scene_06m_045__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_045__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..30f9d6a32f256fc2f6b72a40ade008fb7d3a6f02 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_045__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_045__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 12 + ], + "k": 23, + "oy": 0, + "ox": 6, + "r0": 1, + "c0": 0, + "free_cells": 57, + "main_cells": 57, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_045/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "c2950ca25f5fc0d4f93faa8a187db29e26c4e211e40dd515115b0fe8f6b51d6c", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_045", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_045", + "shape": [ + 11, + 12 + ], + "free_cells": 57, + "main_cells": 57, + "interior_h": 9, + "interior_w": 10, + "pairs": 3192, + "diameter_steps": 16, + "diameter_m": 9.2, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 184 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 686 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 830 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 398 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 932 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 140 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 22 + } + ] + }, + "source_grid_id": "scene_06m_045", + "source_scene_id": "scene_06m_045" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_045__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_045__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..51f7ee2267d88a1a43184111ff87b92ac5ccdac1 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_045__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b37ad5132ea5b6b7598f0b80e6e6664e758f74484dcb0072274c2071b7b97616 +size 651 diff --git a/navigation_tasks/grids/scene_06m_045__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_045__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..69a65429fb3ae2cf6f5ede1ec4e6f4935f91b3c5 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_045__clearpath_jackal.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_045__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 12 + ], + "k": 21, + "oy": 16, + "ox": 0, + "r0": 0, + "c0": 1, + "free_cells": 70, + "main_cells": 70, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_045/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "c2950ca25f5fc0d4f93faa8a187db29e26c4e211e40dd515115b0fe8f6b51d6c", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_045", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_045", + "shape": [ + 11, + 12 + ], + "free_cells": 70, + "main_cells": 70, + "interior_h": 9, + "interior_w": 10, + "pairs": 4830, + "diameter_steps": 17, + "diameter_m": 8.925, + "min_steps": 1, + "max_steps": 17, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 236 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 914 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 1158 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 1122 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 1190 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 200 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 10 + } + ] + }, + "source_grid_id": "scene_06m_045", + "source_scene_id": "scene_06m_045" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_045__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_045__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..6bd7eaf20c2b92f64a06edc24251c0670284a70d --- /dev/null +++ b/navigation_tasks/grids/scene_06m_045__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc1dacdfafee00687fd329a8147b61ea48c3f459b2721421f7b33a164debeec7 +size 645 diff --git a/navigation_tasks/grids/scene_06m_045__pal_tiago.json b/navigation_tasks/grids/scene_06m_045__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..4e16cbe6f641ea379b446e718ac23ecefa387452 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_045__pal_tiago.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_045__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 12 + ], + "k": 22, + "oy": 16, + "ox": 16, + "r0": 0, + "c0": 0, + "free_cells": 67, + "main_cells": 67, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_045/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "c2950ca25f5fc0d4f93faa8a187db29e26c4e211e40dd515115b0fe8f6b51d6c", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_045", + "size_m": 6.0, + "theme": "hospital", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_045", + "shape": [ + 12, + 12 + ], + "free_cells": 67, + "main_cells": 67, + "interior_h": 10, + "interior_w": 10, + "pairs": 4422, + "diameter_steps": 18, + "diameter_m": 9.9, + "min_steps": 1, + "max_steps": 18, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 222 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 846 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 1590 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 480 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 1138 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 94 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 52 + } + ] + }, + "source_grid_id": "scene_06m_045", + "source_scene_id": "scene_06m_045" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_045__pal_tiago.npz b/navigation_tasks/grids/scene_06m_045__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..577c7b5253fa43309e97cdfa251b9e7a76265419 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_045__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae52ba52b47b96fdc0e9500146eec98d8411c678dbf62a316ba9f1bf6b5cd158 +size 657 diff --git a/navigation_tasks/grids/scene_06m_047__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_047__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..cbcc86c823a29300ab53d5b0ff93766b5d8adcf8 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_047__clearpath_dingo.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_047__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 9, + 11 + ], + "k": 23, + "oy": 0, + "ox": 12, + "r0": 3, + "c0": 1, + "free_cells": 21, + "main_cells": 21, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_047/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "11963007cf3294d0c71f2fdef80add9070f8c413dab4f5250eac1eff855ab343", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_047", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_047", + "shape": [ + 9, + 11 + ], + "free_cells": 21, + "main_cells": 21, + "interior_h": 7, + "interior_w": 9, + "pairs": 420, + "diameter_steps": 12, + "diameter_m": 6.9, + "min_steps": 1, + "max_steps": 12, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 40 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 106 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 54 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 80 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 74 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 66 + } + ] + }, + "source_grid_id": "scene_06m_047", + "source_scene_id": "scene_06m_047" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_047__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_047__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..cc59732a887ce9907f7bc140dc10a1fac6984076 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_047__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c6e6fbb18546674cf301ced7aee678877473a1dbba4315b3e77723f90ed3ff7 +size 636 diff --git a/navigation_tasks/grids/scene_06m_047__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_047__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..fbbd462415197ecad6da21d1efdcd4147bee9bf9 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_047__clearpath_jackal.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_047__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 12 + ], + "k": 21, + "oy": 10, + "ox": 10, + "r0": 2, + "c0": 1, + "free_cells": 32, + "main_cells": 24, + "main_frac": 0.75, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_047/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "11963007cf3294d0c71f2fdef80add9070f8c413dab4f5250eac1eff855ab343", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_047", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_047", + "shape": [ + 11, + 12 + ], + "free_cells": 32, + "main_cells": 24, + "interior_h": 9, + "interior_w": 10, + "pairs": 552, + "diameter_steps": 16, + "diameter_m": 8.4, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 46 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 108 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 110 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 96 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 124 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 66 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_047", + "source_scene_id": "scene_06m_047" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_047__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_047__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..24af53aca139569580c06951b0f3c6091d90e879 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_047__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4eef77d287c21294f7b533d9022e600b64352ce02b2431b495a6a047e2f0654 +size 653 diff --git a/navigation_tasks/grids/scene_06m_048__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_048__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..b1e65a515b46a4779ddd3839304ece70e16e8ddc --- /dev/null +++ b/navigation_tasks/grids/scene_06m_048__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_048__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 11 + ], + "k": 23, + "oy": 17, + "ox": 17, + "r0": 0, + "c0": 0, + "free_cells": 50, + "main_cells": 50, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_048/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "4946404a4ae9981d435d9f87e76fb6349088a6383adbf7b01e8d1c676524e611", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_048", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_048", + "shape": [ + 11, + 11 + ], + "free_cells": 50, + "main_cells": 50, + "interior_h": 9, + "interior_w": 9, + "pairs": 2450, + "diameter_steps": 16, + "diameter_m": 9.2, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 148 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 482 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 528 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 266 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 840 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 166 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 20 + } + ] + }, + "source_grid_id": "scene_06m_048", + "source_scene_id": "scene_06m_048" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_048__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_048__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..522ad1c1d4eecf476c6ce6ee4080a0a2fe5498c2 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_048__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c67104023381592198aa6851145342ebdfec7faefbcd2de3306efb5b9a93c067 +size 660 diff --git a/navigation_tasks/grids/scene_06m_048__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_048__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..011a0acea405a53913936ff21669f58aa008ce5e --- /dev/null +++ b/navigation_tasks/grids/scene_06m_048__clearpath_jackal.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_048__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 12 + ], + "k": 21, + "oy": 10, + "ox": 0, + "r0": 1, + "c0": 1, + "free_cells": 58, + "main_cells": 58, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_048/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "4946404a4ae9981d435d9f87e76fb6349088a6383adbf7b01e8d1c676524e611", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_048", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_048", + "shape": [ + 12, + 12 + ], + "free_cells": 58, + "main_cells": 58, + "interior_h": 10, + "interior_w": 10, + "pairs": 3306, + "diameter_steps": 18, + "diameter_m": 9.45, + "min_steps": 1, + "max_steps": 18, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 176 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 602 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 1018 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 336 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 1060 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 96 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 10 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 4 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 4 + } + ] + }, + "source_grid_id": "scene_06m_048", + "source_scene_id": "scene_06m_048" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_048__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_048__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..fce5588c07158780a28228a4f68344ef1530eea6 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_048__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a08f7611bad8f8a3ee8293cc08e77d33f5d2a7f28ba79538cd83f4ead8dd3c6 +size 669 diff --git a/navigation_tasks/grids/scene_06m_048__pal_tiago.json b/navigation_tasks/grids/scene_06m_048__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..bb8cb414186e8a81370f000776cd7872591c5b92 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_048__pal_tiago.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_048__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 12 + ], + "k": 22, + "oy": 0, + "ox": 0, + "r0": 1, + "c0": 1, + "free_cells": 53, + "main_cells": 53, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_048/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "4946404a4ae9981d435d9f87e76fb6349088a6383adbf7b01e8d1c676524e611", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_048", + "size_m": 6.0, + "theme": "office", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_048", + "shape": [ + 11, + 12 + ], + "free_cells": 53, + "main_cells": 53, + "interior_h": 9, + "interior_w": 10, + "pairs": 2756, + "diameter_steps": 17, + "diameter_m": 9.35, + "min_steps": 1, + "max_steps": 17, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 156 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 504 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 562 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 576 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 788 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 148 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 22 + } + ] + }, + "source_grid_id": "scene_06m_048", + "source_scene_id": "scene_06m_048" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_048__pal_tiago.npz b/navigation_tasks/grids/scene_06m_048__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..40ca97b3c7bf6d35dea8500b4cc82d0b92264a6d --- /dev/null +++ b/navigation_tasks/grids/scene_06m_048__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a436e2c68302e12d2c15e79d614858c8f4f4b8602552b062cc3780fca8dad71 +size 657 diff --git a/navigation_tasks/grids/scene_06m_049__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_049__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..1dd88a76adc5e0b655bd79fb2c736c0adbd80582 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_049__clearpath_dingo.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_049__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 8, + 11 + ], + "k": 23, + "oy": 6, + "ox": 6, + "r0": 2, + "c0": 1, + "free_cells": 34, + "main_cells": 34, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_049/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "5f3ccc535c5c5a43ecf3db38a5011f5754139ba2f6eb46a047b8a6786a606871", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_049", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_049", + "shape": [ + 8, + 11 + ], + "free_cells": 34, + "main_cells": 34, + "interior_h": 6, + "interior_w": 9, + "pairs": 1122, + "diameter_steps": 13, + "diameter_m": 7.475, + "min_steps": 1, + "max_steps": 13, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 98 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 294 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 152 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 280 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 182 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 116 + } + ] + }, + "source_grid_id": "scene_06m_049", + "source_scene_id": "scene_06m_049" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_049__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_049__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..87d177c1db539f45a683ac7bacfc9779ff285b97 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_049__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:266edbd060d42745dc3394271b96cf4a1d3c511525312f6a61625a5f3dd9ede5 +size 645 diff --git a/navigation_tasks/grids/scene_06m_049__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_049__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..b8d43f72da85a3b1bd28f5bce162d03e72dc86ac --- /dev/null +++ b/navigation_tasks/grids/scene_06m_049__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_049__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 8, + 13 + ], + "k": 21, + "oy": 16, + "ox": 16, + "r0": 2, + "c0": 0, + "free_cells": 38, + "main_cells": 38, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_049/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "5f3ccc535c5c5a43ecf3db38a5011f5754139ba2f6eb46a047b8a6786a606871", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_049", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_049", + "shape": [ + 8, + 13 + ], + "free_cells": 38, + "main_cells": 38, + "interior_h": 6, + "interior_w": 11, + "pairs": 1406, + "diameter_steps": 14, + "diameter_m": 7.35, + "min_steps": 1, + "max_steps": 14, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 110 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 334 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 168 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 458 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 198 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 138 + } + ] + }, + "source_grid_id": "scene_06m_049", + "source_scene_id": "scene_06m_049" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_049__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_049__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..c60e63ad84dc5f3aa9c7e162b74a0902e13f13fd --- /dev/null +++ b/navigation_tasks/grids/scene_06m_049__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c03eb2c64d941ec9ed67761eae9a79fcaac54ee37750f6050bb256a0bcc8f998 +size 642 diff --git a/navigation_tasks/grids/scene_06m_050__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_050__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..5531e019d44a36a52741ec446473f7d2fce05dce --- /dev/null +++ b/navigation_tasks/grids/scene_06m_050__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_050__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 11 + ], + "k": 21, + "oy": 10, + "ox": 10, + "r0": 0, + "c0": 2, + "free_cells": 29, + "main_cells": 27, + "main_frac": 0.9310344827586207, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_050/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "09a1b33e29b70bd8b246a8df1177f29611e6937564e26bff9dc11e969d3722e0", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_050", + "size_m": 6.0, + "theme": "warehouse", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_050", + "shape": [ + 11, + 11 + ], + "free_cells": 27, + "main_cells": 27, + "interior_h": 9, + "interior_w": 9, + "pairs": 702, + "diameter_steps": 15, + "diameter_m": 7.875, + "min_steps": 1, + "max_steps": 15, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 64 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 170 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 156 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 138 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 116 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 58 + } + ] + }, + "source_grid_id": "scene_06m_050", + "source_scene_id": "scene_06m_050" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_050__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_050__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..49524479b77814fe44d86d43c07a259e3bd6d4c7 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_050__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:899494c45801d04ca12ffb6961371626be56916d68f0324f4525f5a92f5e40da +size 666 diff --git a/navigation_tasks/grids/scene_06m_051__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_051__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..9e7e2061a5be04d0d4a6105695fa418f8bc858b1 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_051__clearpath_dingo.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_051__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 11 + ], + "k": 23, + "oy": 0, + "ox": 6, + "r0": 1, + "c0": 1, + "free_cells": 42, + "main_cells": 42, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_051/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "7abb29270d5e769a55b9ef08d312bbe1a21f03f4c9ec40efa45afa36d3f3d6a1", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_051", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_051", + "shape": [ + 11, + 11 + ], + "free_cells": 42, + "main_cells": 42, + "interior_h": 9, + "interior_w": 9, + "pairs": 1722, + "diameter_steps": 18, + "diameter_m": 10.35, + "min_steps": 1, + "max_steps": 18, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 112 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 282 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 434 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 682 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 51 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 57 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 6 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 15 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 83 + } + ] + }, + "source_grid_id": "scene_06m_051", + "source_scene_id": "scene_06m_051" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_051__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_051__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..3bacb0363c01ce1eff846bd6c7faf0b1887f3403 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_051__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4bce9a61a482ad4dff1801c3ebfadd961eff6f9d6084c58424b98034a8d58b83 +size 654 diff --git a/navigation_tasks/grids/scene_06m_051__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_051__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..2c163231972a51c4a9cf59af139db4fbcbae0752 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_051__clearpath_jackal.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_051__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 12 + ], + "k": 21, + "oy": 10, + "ox": 16, + "r0": 1, + "c0": 0, + "free_cells": 56, + "main_cells": 56, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_051/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "7abb29270d5e769a55b9ef08d312bbe1a21f03f4c9ec40efa45afa36d3f3d6a1", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_051", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_051", + "shape": [ + 12, + 12 + ], + "free_cells": 56, + "main_cells": 56, + "interior_h": 10, + "interior_w": 10, + "pairs": 3080, + "diameter_steps": 19, + "diameter_m": 9.975, + "min_steps": 1, + "max_steps": 19, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 156 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 446 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 738 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 268 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 961 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 77 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 77 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 243 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 114 + } + ] + }, + "source_grid_id": "scene_06m_051", + "source_scene_id": "scene_06m_051" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_051__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_051__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..26f508eb19fbc1ad9efeb8c124025ca69fb0d8a4 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_051__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c22a9b4321ffec2c5c692f59463412d201e00b2b0dfc9d40bd30c38f9cfd0acd +size 675 diff --git a/navigation_tasks/grids/scene_06m_051__pal_tiago.json b/navigation_tasks/grids/scene_06m_051__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..5c17c192de213da4dc8cc1d5c09bebc70bac3395 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_051__pal_tiago.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_051__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 11 + ], + "k": 22, + "oy": 11, + "ox": 11, + "r0": 1, + "c0": 1, + "free_cells": 45, + "main_cells": 45, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_051/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "7abb29270d5e769a55b9ef08d312bbe1a21f03f4c9ec40efa45afa36d3f3d6a1", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_051", + "size_m": 6.0, + "theme": "residential", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_051", + "shape": [ + 11, + 11 + ], + "free_cells": 45, + "main_cells": 45, + "interior_h": 9, + "interior_w": 9, + "pairs": 1980, + "diameter_steps": 16, + "diameter_m": 8.8, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 122 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 336 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 352 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 370 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 442 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 282 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 10 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 40 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 26 + } + ] + }, + "source_grid_id": "scene_06m_051", + "source_scene_id": "scene_06m_051" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_051__pal_tiago.npz b/navigation_tasks/grids/scene_06m_051__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..129642a62899fe225b2a7c3ee4edd0b12d517f85 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_051__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46410cc021b146763160c1a17e34a5ccf8eb4dddbc55d7c0f719e6bd22f51c27 +size 663 diff --git a/navigation_tasks/grids/scene_06m_052__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_052__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..dee81c0ead25bc03c8b4875589d9619bfd0d6ebd --- /dev/null +++ b/navigation_tasks/grids/scene_06m_052__clearpath_dingo.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_052__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 10 + ], + "k": 23, + "oy": 0, + "ox": 0, + "r0": 2, + "c0": 2, + "free_cells": 31, + "main_cells": 31, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_052/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "ab305c28e015d2617c56e5c61b24b794e81321888c6043120e841ca56992ca73", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_052", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_052", + "shape": [ + 10, + 10 + ], + "free_cells": 31, + "main_cells": 31, + "interior_h": 8, + "interior_w": 8, + "pairs": 930, + "diameter_steps": 12, + "diameter_m": 6.9, + "min_steps": 1, + "max_steps": 12, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 82 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 246 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 126 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 206 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 150 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 120 + } + ] + }, + "source_grid_id": "scene_06m_052", + "source_scene_id": "scene_06m_052" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_052__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_052__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..089456c0f7de1c6b078bae50cd360c1201d4d0a5 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_052__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b146c6bea6f8597be06f443429398fdb03c607bd0688793214ec1c13ff0dab44 +size 654 diff --git a/navigation_tasks/grids/scene_06m_052__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_052__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..36764b4f4dd944ff21a4da0f9f1414151525364f --- /dev/null +++ b/navigation_tasks/grids/scene_06m_052__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_052__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 11 + ], + "k": 21, + "oy": 16, + "ox": 10, + "r0": 2, + "c0": 2, + "free_cells": 42, + "main_cells": 41, + "main_frac": 0.9761904761904762, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_052/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "ab305c28e015d2617c56e5c61b24b794e81321888c6043120e841ca56992ca73", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_052", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_052", + "shape": [ + 10, + 11 + ], + "free_cells": 42, + "main_cells": 41, + "interior_h": 8, + "interior_w": 9, + "pairs": 1640, + "diameter_steps": 15, + "diameter_m": 7.875, + "min_steps": 1, + "max_steps": 15, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 118 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 360 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 368 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 300 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 348 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 146 + } + ] + }, + "source_grid_id": "scene_06m_052", + "source_scene_id": "scene_06m_052" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_052__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_052__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..f24d74e054eda013c8180a24b72dc661198e4615 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_052__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6cc7798b275dcbfda04a49522496e6e98a6aa05535d7263bed84d35d66324aac +size 663 diff --git a/navigation_tasks/grids/scene_06m_053__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_053__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..7e91e1ffd52bc3dd5eb5c6ec7eb7706352736936 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_053__clearpath_dingo.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_053__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 12 + ], + "k": 23, + "oy": 0, + "ox": 12, + "r0": 1, + "c0": 0, + "free_cells": 31, + "main_cells": 29, + "main_frac": 0.9354838709677419, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_053/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "20f04f3755c91ed9ecaaf1397b446af057852b0e67dd1b0c83b9bcd454ed0fc1", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_053", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_053", + "shape": [ + 10, + 12 + ], + "free_cells": 30, + "main_cells": 29, + "interior_h": 8, + "interior_w": 10, + "pairs": 812, + "diameter_steps": 16, + "diameter_m": 9.2, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 62 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 158 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 148 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 68 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 242 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 105 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 23 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 1 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 5 + } + ] + }, + "source_grid_id": "scene_06m_053", + "source_scene_id": "scene_06m_053" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_053__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_053__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..0c12003ee730f9aad8d9121211b3b4eec38e9c96 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_053__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:20c123d58d889d0c98b5d21c8149987446b2fb64eacd1b044d7b8ec6de869a20 +size 641 diff --git a/navigation_tasks/grids/scene_06m_053__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_053__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..4f63c0679d065eb68e4d9378c009b605c5ac3ae5 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_053__clearpath_jackal.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_053__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 13 + ], + "k": 21, + "oy": 10, + "ox": 10, + "r0": 1, + "c0": 0, + "free_cells": 38, + "main_cells": 29, + "main_frac": 0.7631578947368421, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_053/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "20f04f3755c91ed9ecaaf1397b446af057852b0e67dd1b0c83b9bcd454ed0fc1", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_053", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_053", + "shape": [ + 11, + 13 + ], + "free_cells": 36, + "main_cells": 29, + "interior_h": 9, + "interior_w": 11, + "pairs": 812, + "diameter_steps": 16, + "diameter_m": 8.4, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 68 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 178 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 150 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 134 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 154 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 123 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 1 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 3 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 1 + } + ] + }, + "source_grid_id": "scene_06m_053", + "source_scene_id": "scene_06m_053" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_053__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_053__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..88d95468696b474591b9265ded5dfa63d6349d1b --- /dev/null +++ b/navigation_tasks/grids/scene_06m_053__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15c1283bb276074842cd6829e7912f2e0a5dcbbcee34bdd0f481890863bf44a1 +size 649 diff --git a/navigation_tasks/grids/scene_06m_054__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_054__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..146e1bd6b7a9cad97ccef0e52dcff123fa0c6308 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_054__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_054__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 8, + 10 + ], + "k": 21, + "oy": 16, + "ox": 16, + "r0": 0, + "c0": 1, + "free_cells": 23, + "main_cells": 22, + "main_frac": 0.9565217391304348, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_054/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "47e8c0b65ef25bfdc4e454e0a9f2c1fb2fd2d1ec63ddd1e841267097d0b7e33d", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_054", + "size_m": 6.0, + "theme": "warehouse", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_054", + "shape": [ + 8, + 10 + ], + "free_cells": 22, + "main_cells": 22, + "interior_h": 6, + "interior_w": 8, + "pairs": 462, + "diameter_steps": 14, + "diameter_m": 7.35, + "min_steps": 1, + "max_steps": 14, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 50 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 110 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 48 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 126 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 58 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 70 + } + ] + }, + "source_grid_id": "scene_06m_054", + "source_scene_id": "scene_06m_054" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_054__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_054__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..7617ad32616eedac7f3c9045b3edcfe8d6798caa --- /dev/null +++ b/navigation_tasks/grids/scene_06m_054__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ee6eb4b0fe5bd32c363a3410d97b54b853addcce92589df6d75a719c1003a1c +size 645 diff --git a/navigation_tasks/grids/scene_06m_055__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_055__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..9162294c9b91f6c0da9429b006d7292bd4c72657 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_055__clearpath_dingo.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_055__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 9 + ], + "k": 23, + "oy": 6, + "ox": 12, + "r0": 2, + "c0": 1, + "free_cells": 40, + "main_cells": 40, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_055/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "647cb7e9b3cb237a9ce76012c3673461355be0faf949ed8c8349bf016258388d", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_055", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_055", + "shape": [ + 10, + 9 + ], + "free_cells": 40, + "main_cells": 40, + "interior_h": 8, + "interior_w": 7, + "pairs": 1560, + "diameter_steps": 12, + "diameter_m": 6.9, + "min_steps": 1, + "max_steps": 12, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 126 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 430 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 240 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 424 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 256 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 84 + } + ] + }, + "source_grid_id": "scene_06m_055", + "source_scene_id": "scene_06m_055" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_055__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_055__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..1f3eff761ebb62a41092ee353112dba698354c1a --- /dev/null +++ b/navigation_tasks/grids/scene_06m_055__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6182b6f390090d5cbaf1c4da0aac86699e16a59aa4e28c4b88282458cb437feb +size 639 diff --git a/navigation_tasks/grids/scene_06m_055__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_055__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..8b132d710c0b470f33afd16c53d9b60c7ec030be --- /dev/null +++ b/navigation_tasks/grids/scene_06m_055__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_055__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 11 + ], + "k": 21, + "oy": 10, + "ox": 16, + "r0": 2, + "c0": 0, + "free_cells": 51, + "main_cells": 51, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_055/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "647cb7e9b3cb237a9ce76012c3673461355be0faf949ed8c8349bf016258388d", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_055", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_055", + "shape": [ + 11, + 11 + ], + "free_cells": 51, + "main_cells": 51, + "interior_h": 9, + "interior_w": 9, + "pairs": 2550, + "diameter_steps": 14, + "diameter_m": 7.35, + "min_steps": 1, + "max_steps": 14, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 164 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 608 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 354 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 944 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 340 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 140 + } + ] + }, + "source_grid_id": "scene_06m_055", + "source_scene_id": "scene_06m_055" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_055__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_055__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..637b6d801a5d386623147d84427a3d140698e0cf --- /dev/null +++ b/navigation_tasks/grids/scene_06m_055__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4cb42ef5d18c2ae6a1388b5bea5bc337fdc020dee144e552c69a1996ad71b68e +size 648 diff --git a/navigation_tasks/grids/scene_06m_056__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_056__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..b8d3df8180335291299e0fcef03e03afbb51ea74 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_056__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_056__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 8, + 10 + ], + "k": 23, + "oy": 0, + "ox": 12, + "r0": 3, + "c0": 2, + "free_cells": 23, + "main_cells": 23, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_056/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "1119601e5d80f2f30573ae15e7eaa516b42677a5feda90165fc729418524bda7", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_056", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_056", + "shape": [ + 8, + 10 + ], + "free_cells": 23, + "main_cells": 23, + "interior_h": 6, + "interior_w": 8, + "pairs": 506, + "diameter_steps": 14, + "diameter_m": 8.05, + "min_steps": 1, + "max_steps": 14, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 46 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 108 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 58 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 100 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 120 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 72 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_056", + "source_scene_id": "scene_06m_056" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_056__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_056__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..9bd92ac75e83b932ae0a26a20aa8542553aa5d7b --- /dev/null +++ b/navigation_tasks/grids/scene_06m_056__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e58f5e605e0e512e2ac8a0b73d5683f0ce683b3d34106d3bec3c81d0825bd139 +size 630 diff --git a/navigation_tasks/grids/scene_06m_056__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_056__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..d4c6a0a2f3bbeeb6de604903193af4f4c2f57523 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_056__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_056__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 11 + ], + "k": 21, + "oy": 10, + "ox": 10, + "r0": 2, + "c0": 2, + "free_cells": 39, + "main_cells": 30, + "main_frac": 0.7692307692307693, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_056/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "1119601e5d80f2f30573ae15e7eaa516b42677a5feda90165fc729418524bda7", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_056", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_056", + "shape": [ + 11, + 11 + ], + "free_cells": 39, + "main_cells": 30, + "interior_h": 9, + "interior_w": 9, + "pairs": 870, + "diameter_steps": 15, + "diameter_m": 7.875, + "min_steps": 1, + "max_steps": 15, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 66 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 156 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 162 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 174 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 202 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 110 + } + ] + }, + "source_grid_id": "scene_06m_056", + "source_scene_id": "scene_06m_056" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_056__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_056__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..3b120ecd51158baa5cac5169180bab700c194895 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_056__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70e254cfda182774e845b8132f8c4d341cdd688d6a5715f8e1031a325455a079 +size 664 diff --git a/navigation_tasks/grids/scene_06m_057__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_057__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..cd5654f1488be7ef68e501b3d10b1b4a00bbb950 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_057__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_057__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 7, + 12 + ], + "k": 23, + "oy": 6, + "ox": 6, + "r0": 4, + "c0": 0, + "free_cells": 26, + "main_cells": 23, + "main_frac": 0.8846153846153846, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_057/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "5467c04280e806842c9232dd372601a8a87ca460febbc634eb272a9002906810", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_057", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_057", + "shape": [ + 7, + 12 + ], + "free_cells": 23, + "main_cells": 23, + "interior_h": 5, + "interior_w": 10, + "pairs": 506, + "diameter_steps": 15, + "diameter_m": 8.625, + "min_steps": 1, + "max_steps": 15, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 50 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 104 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 96 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 48 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 148 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 52 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 8 + } + ] + }, + "source_grid_id": "scene_06m_057", + "source_scene_id": "scene_06m_057" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_057__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_057__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..431a47b789c4e0033beb35a20f9f7e7d3a8fed04 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_057__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d1d191c65d5f1d56d6dc69b5b1f58a67fcb506267f4a55068e4f67c51ecd64d +size 624 diff --git a/navigation_tasks/grids/scene_06m_057__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_057__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..5cbd1aeef319b411ff296ddb28d89d4f30ce16ed --- /dev/null +++ b/navigation_tasks/grids/scene_06m_057__clearpath_jackal.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_057__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 13 + ], + "k": 21, + "oy": 16, + "ox": 10, + "r0": 0, + "c0": 0, + "free_cells": 41, + "main_cells": 30, + "main_frac": 0.7317073170731707, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_057/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "5467c04280e806842c9232dd372601a8a87ca460febbc634eb272a9002906810", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_057", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_057", + "shape": [ + 11, + 13 + ], + "free_cells": 41, + "main_cells": 30, + "interior_h": 9, + "interior_w": 11, + "pairs": 870, + "diameter_steps": 16, + "diameter_m": 8.4, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 64 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 144 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 146 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 152 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 210 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 147 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 1 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 5 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 1 + } + ] + }, + "source_grid_id": "scene_06m_057", + "source_scene_id": "scene_06m_057" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_057__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_057__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..8a5ad78079606d697b6cfe630d0bc69988a37b1e --- /dev/null +++ b/navigation_tasks/grids/scene_06m_057__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47a217e299053dd6953e5326c7e0e918de3b92d8104e80e2149bb790eda26353 +size 666 diff --git a/navigation_tasks/grids/scene_06m_058__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_058__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..4b60636d74a507470e56be9b0db4b00399d80f4b --- /dev/null +++ b/navigation_tasks/grids/scene_06m_058__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_058__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 12 + ], + "k": 23, + "oy": 17, + "ox": 12, + "r0": 0, + "c0": 0, + "free_cells": 46, + "main_cells": 33, + "main_frac": 0.717391304347826, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_058/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "1da32faf74e0e5e0eafc5c20c041fc8f705be9c1c6a6abbb8600e5e7ccecaed9", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_058", + "size_m": 6.0, + "theme": "warehouse", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_058", + "shape": [ + 11, + 12 + ], + "free_cells": 46, + "main_cells": 33, + "interior_h": 9, + "interior_w": 10, + "pairs": 1056, + "diameter_steps": 16, + "diameter_m": 9.2, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 80 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 214 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 248 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 132 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 294 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 76 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 12 + } + ] + }, + "source_grid_id": "scene_06m_058", + "source_scene_id": "scene_06m_058" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_058__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_058__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..08d03899dcc2f18e5e187a12d1cd50a2434a0315 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_058__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d3b6fe298679e434487735c5dd5408376849b5717580774931a09138b977252 +size 661 diff --git a/navigation_tasks/grids/scene_06m_058__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_058__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..609061a93476ea852b66d989506e07a539cad1ca --- /dev/null +++ b/navigation_tasks/grids/scene_06m_058__clearpath_jackal.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_058__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 12 + ], + "k": 21, + "oy": 10, + "ox": 0, + "r0": 1, + "c0": 1, + "free_cells": 57, + "main_cells": 46, + "main_frac": 0.8070175438596491, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_058/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "1da32faf74e0e5e0eafc5c20c041fc8f705be9c1c6a6abbb8600e5e7ccecaed9", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_058", + "size_m": 6.0, + "theme": "warehouse", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_058", + "shape": [ + 12, + 12 + ], + "free_cells": 57, + "main_cells": 46, + "interior_h": 10, + "interior_w": 10, + "pairs": 2070, + "diameter_steps": 16, + "diameter_m": 8.4, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 130 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 386 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 440 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 482 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 432 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 194 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 1 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 4 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 1 + } + ] + }, + "source_grid_id": "scene_06m_058", + "source_scene_id": "scene_06m_058" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_058__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_058__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..1efd22606305a13634f76f96c8006d364088ce06 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_058__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:808b8433f55dbb94a0367a0438b93e91f482e14f9afa905e4bae14e4d9771d47 +size 664 diff --git a/navigation_tasks/grids/scene_06m_058__pal_tiago.json b/navigation_tasks/grids/scene_06m_058__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..89299ab6ad40337bfd7a5a5b557ee18a64525f1a --- /dev/null +++ b/navigation_tasks/grids/scene_06m_058__pal_tiago.json @@ -0,0 +1,146 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_058__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 12 + ], + "k": 22, + "oy": 16, + "ox": 16, + "r0": 0, + "c0": 0, + "free_cells": 54, + "main_cells": 41, + "main_frac": 0.7592592592592593, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_058/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "1da32faf74e0e5e0eafc5c20c041fc8f705be9c1c6a6abbb8600e5e7ccecaed9", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_058", + "size_m": 6.0, + "theme": "warehouse", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_058", + "shape": [ + 12, + 12 + ], + "free_cells": 54, + "main_cells": 41, + "interior_h": 10, + "interior_w": 10, + "pairs": 1640, + "diameter_steps": 20, + "diameter_m": 11.0, + "min_steps": 1, + "max_steps": 20, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 106 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 278 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 376 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 136 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 570 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 37 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 11 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 12 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 13 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 101 + } + ] + }, + "source_grid_id": "scene_06m_058", + "source_scene_id": "scene_06m_058" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_058__pal_tiago.npz b/navigation_tasks/grids/scene_06m_058__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..c6ad480a91f435c78715337c09721dcbfd9112b9 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_058__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3bdda99c5e5250dfa026e04daf573d50b984ca16f09c21bd6256ae8b2ca43c2 +size 669 diff --git a/navigation_tasks/grids/scene_06m_059__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_059__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..3e8d6d3a22b320f82522849e2dbb99c04258f3a7 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_059__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_059__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 11 + ], + "k": 23, + "oy": 6, + "ox": 17, + "r0": 1, + "c0": 1, + "free_cells": 31, + "main_cells": 26, + "main_frac": 0.8387096774193549, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_059/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "8ab40e05559517f24192b003aa0c4cf151d3223a9a52cd67c9f47263dc605b7c", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_059", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_059", + "shape": [ + 11, + 11 + ], + "free_cells": 31, + "main_cells": 26, + "interior_h": 9, + "interior_w": 9, + "pairs": 650, + "diameter_steps": 16, + "diameter_m": 9.2, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 60 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 140 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 128 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 58 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 180 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 66 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 18 + } + ] + }, + "source_grid_id": "scene_06m_059", + "source_scene_id": "scene_06m_059" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_059__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_059__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..81983795d6275a2cb416d3cabf60b69c4158d627 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_059__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc426c6e0561496aa781f42d915ca4a869d3bfa93162e9c9c5e455b0d3587e39 +size 655 diff --git a/navigation_tasks/grids/scene_06m_059__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_059__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..79d8b8e7b753e27f9094e80ccfedbe0860bacfff --- /dev/null +++ b/navigation_tasks/grids/scene_06m_059__clearpath_jackal.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_059__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 11 + ], + "k": 21, + "oy": 10, + "ox": 10, + "r0": 1, + "c0": 2, + "free_cells": 36, + "main_cells": 34, + "main_frac": 0.9444444444444444, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_059/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "8ab40e05559517f24192b003aa0c4cf151d3223a9a52cd67c9f47263dc605b7c", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_059", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_059", + "shape": [ + 12, + 11 + ], + "free_cells": 35, + "main_cells": 34, + "interior_h": 10, + "interior_w": 9, + "pairs": 1122, + "diameter_steps": 19, + "diameter_m": 9.975, + "min_steps": 1, + "max_steps": 19, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 74 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 186 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 296 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 90 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 320 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 74 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 4 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 36 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 42 + } + ] + }, + "source_grid_id": "scene_06m_059", + "source_scene_id": "scene_06m_059" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_059__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_059__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..ca57742d4d853efab91a4868377faa8f5ef43e6a --- /dev/null +++ b/navigation_tasks/grids/scene_06m_059__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:20bc9f40eca090203c60c3e7fde2740c0c97ef019f54084f7c9857e8fa07248d +size 671 diff --git a/navigation_tasks/grids/scene_06m_059__pal_tiago.json b/navigation_tasks/grids/scene_06m_059__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..f5d9971728a3d5348ce2465f15e782872f33608f --- /dev/null +++ b/navigation_tasks/grids/scene_06m_059__pal_tiago.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_059__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 11 + ], + "k": 22, + "oy": 11, + "ox": 0, + "r0": 1, + "c0": 2, + "free_cells": 32, + "main_cells": 27, + "main_frac": 0.84375, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_059/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "8ab40e05559517f24192b003aa0c4cf151d3223a9a52cd67c9f47263dc605b7c", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_059", + "size_m": 6.0, + "theme": "residential", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_059", + "shape": [ + 10, + 11 + ], + "free_cells": 30, + "main_cells": 27, + "interior_h": 8, + "interior_w": 9, + "pairs": 702, + "diameter_steps": 16, + "diameter_m": 8.8, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 62 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 150 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 142 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 122 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 136 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 82 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 8 + } + ] + }, + "source_grid_id": "scene_06m_059", + "source_scene_id": "scene_06m_059" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_059__pal_tiago.npz b/navigation_tasks/grids/scene_06m_059__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..922962fa353fe33048d4c66e57a1d7a8588491ec --- /dev/null +++ b/navigation_tasks/grids/scene_06m_059__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1583073d8d36cecba3204b3784df6d196c561cd0597469575294ee2e79185da +size 656 diff --git a/navigation_tasks/grids/scene_06m_060__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_060__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..c766d7cdfa36f48d4bc83a3db6e7673ff7168907 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_060__clearpath_dingo.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_060__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 8, + 12 + ], + "k": 23, + "oy": 0, + "ox": 12, + "r0": 3, + "c0": 0, + "free_cells": 21, + "main_cells": 21, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_060/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "edd60d7eb90f27766e1a9bd25bf2cbd5fd6ef6531c5cd5bcc694e9bd9f7824f5", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_060", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_060", + "shape": [ + 8, + 12 + ], + "free_cells": 21, + "main_cells": 21, + "interior_h": 6, + "interior_w": 10, + "pairs": 420, + "diameter_steps": 12, + "diameter_m": 6.9, + "min_steps": 1, + "max_steps": 12, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 40 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 106 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 54 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 78 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 76 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 66 + } + ] + }, + "source_grid_id": "scene_06m_060", + "source_scene_id": "scene_06m_060" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_060__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_060__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..99b9e959df30655f44e03f38be3e5c3b748abe0b --- /dev/null +++ b/navigation_tasks/grids/scene_06m_060__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fde8f7b51a81e33ab2a3e02ec1e91a6f24b02e10da793d01fc3a4abe424b50fa +size 642 diff --git a/navigation_tasks/grids/scene_06m_060__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_060__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..e8a22c395af4e35be7bbcef05962e1649cc18fe8 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_060__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_060__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 7, + 13 + ], + "k": 21, + "oy": 10, + "ox": 10, + "r0": 4, + "c0": 0, + "free_cells": 22, + "main_cells": 19, + "main_frac": 0.8636363636363636, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_060/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "edd60d7eb90f27766e1a9bd25bf2cbd5fd6ef6531c5cd5bcc694e9bd9f7824f5", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_060", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_060", + "shape": [ + 7, + 13 + ], + "free_cells": 20, + "main_cells": 19, + "interior_h": 5, + "interior_w": 11, + "pairs": 342, + "diameter_steps": 12, + "diameter_m": 6.3, + "min_steps": 1, + "max_steps": 12, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 36 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 86 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 42 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 92 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 26 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 60 + } + ] + }, + "source_grid_id": "scene_06m_060", + "source_scene_id": "scene_06m_060" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_060__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_060__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..b05af672c090dfbacaa18e46c70c50b70f5dee11 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_060__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e98082916eb1f2f4ff51f5cac5e87b098041225c3c00de46fc3e0672c61b10da +size 628 diff --git a/navigation_tasks/grids/scene_06m_061__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_061__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..72aea45b553f5faddb5c45805f8fe1420ad24245 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_061__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_061__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 11 + ], + "k": 23, + "oy": 0, + "ox": 0, + "r0": 1, + "c0": 1, + "free_cells": 49, + "main_cells": 49, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_061/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "55b3a131252025e771a3a9d4a4a7daecd35239fabcb4361061c594209e8f48cc", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_061", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_061", + "shape": [ + 11, + 11 + ], + "free_cells": 49, + "main_cells": 49, + "interior_h": 9, + "interior_w": 9, + "pairs": 2352, + "diameter_steps": 14, + "diameter_m": 8.05, + "min_steps": 1, + "max_steps": 14, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 158 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 596 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 350 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 626 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 504 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 116 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_061", + "source_scene_id": "scene_06m_061" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_061__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_061__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..aa6a545d90e6e51ce144797e6a8560b1f31088a7 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_061__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60bfa6cdaa03cbfa88357f0a5cc2002738b5b8a773b9867971de4e2e20cd4de7 +size 645 diff --git a/navigation_tasks/grids/scene_06m_061__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_061__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..7a3dbc99139e353a9d5c92ea9d028084e4012309 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_061__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_061__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 12 + ], + "k": 21, + "oy": 10, + "ox": 0, + "r0": 1, + "c0": 1, + "free_cells": 59, + "main_cells": 59, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_061/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "55b3a131252025e771a3a9d4a4a7daecd35239fabcb4361061c594209e8f48cc", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_061", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_061", + "shape": [ + 12, + 12 + ], + "free_cells": 59, + "main_cells": 59, + "interior_h": 10, + "interior_w": 10, + "pairs": 3422, + "diameter_steps": 15, + "diameter_m": 7.875, + "min_steps": 1, + "max_steps": 15, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 194 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 752 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 942 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 800 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 612 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 122 + } + ] + }, + "source_grid_id": "scene_06m_061", + "source_scene_id": "scene_06m_061" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_061__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_061__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..9ff991b4b13dfeabf523b0cdc0a43de7ba2a91af --- /dev/null +++ b/navigation_tasks/grids/scene_06m_061__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68f89a83f02cec6a2154e38b6c77763346dc78dc803c45b71ddab144e7a49c22 +size 645 diff --git a/navigation_tasks/grids/scene_06m_062__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_062__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..322881eca61a8661f015ada177f1cdea5fcecb6d --- /dev/null +++ b/navigation_tasks/grids/scene_06m_062__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_062__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 11 + ], + "k": 23, + "oy": 0, + "ox": 6, + "r0": 1, + "c0": 1, + "free_cells": 33, + "main_cells": 30, + "main_frac": 0.9090909090909091, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_062/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "e7d0112c1bf649996b2144f64a0f6ad8278a43f4e956c93605876f93045431fd", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_062", + "size_m": 6.0, + "theme": "warehouse", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_062", + "shape": [ + 11, + 11 + ], + "free_cells": 33, + "main_cells": 30, + "interior_h": 9, + "interior_w": 9, + "pairs": 870, + "diameter_steps": 15, + "diameter_m": 8.625, + "min_steps": 1, + "max_steps": 15, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 72 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 182 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 178 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 84 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 266 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 80 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 8 + } + ] + }, + "source_grid_id": "scene_06m_062", + "source_scene_id": "scene_06m_062" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_062__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_062__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..1d2cd90049e590fe1d1e5a49246ef5d409007f11 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_062__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:26b0e98f688e3554b7a3dd77d2294cd7beda6ae4861595e256fbf1b616aa82e3 +size 653 diff --git a/navigation_tasks/grids/scene_06m_062__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_062__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..51a1b36be233c4c290231b94222bbed684fac902 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_062__clearpath_jackal.json @@ -0,0 +1,146 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_062__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 13 + ], + "k": 21, + "oy": 16, + "ox": 16, + "r0": 0, + "c0": 0, + "free_cells": 43, + "main_cells": 42, + "main_frac": 0.9767441860465116, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_062/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "e7d0112c1bf649996b2144f64a0f6ad8278a43f4e956c93605876f93045431fd", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_062", + "size_m": 6.0, + "theme": "warehouse", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_062", + "shape": [ + 12, + 13 + ], + "free_cells": 43, + "main_cells": 42, + "interior_h": 10, + "interior_w": 11, + "pairs": 1722, + "diameter_steps": 19, + "diameter_m": 9.975, + "min_steps": 1, + "max_steps": 19, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 98 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 244 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 406 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 138 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 577 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 130 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 13 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 3 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 64 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 49 + } + ] + }, + "source_grid_id": "scene_06m_062", + "source_scene_id": "scene_06m_062" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_062__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_062__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..6fe5372a2bde322810b7ce64e15b39147491c9a2 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_062__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ac440118311fcceef8bebf9fd9aed05681faf7f87cc0dc204461c17f27dc632 +size 659 diff --git a/navigation_tasks/grids/scene_06m_062__pal_tiago.json b/navigation_tasks/grids/scene_06m_062__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..120cc60ee8a3c56c453f103d739d3e7b0b309fad --- /dev/null +++ b/navigation_tasks/grids/scene_06m_062__pal_tiago.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_062__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 12 + ], + "k": 22, + "oy": 6, + "ox": 16, + "r0": 1, + "c0": 0, + "free_cells": 33, + "main_cells": 31, + "main_frac": 0.9393939393939394, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_062/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "e7d0112c1bf649996b2144f64a0f6ad8278a43f4e956c93605876f93045431fd", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_062", + "size_m": 6.0, + "theme": "warehouse", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_062", + "shape": [ + 11, + 12 + ], + "free_cells": 33, + "main_cells": 31, + "interior_h": 9, + "interior_w": 10, + "pairs": 930, + "diameter_steps": 15, + "diameter_m": 8.25, + "min_steps": 1, + "max_steps": 15, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 74 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 198 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 194 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 174 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 192 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 96 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_062", + "source_scene_id": "scene_06m_062" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_062__pal_tiago.npz b/navigation_tasks/grids/scene_06m_062__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..bbefbc0815a49b8b4dfe0e7c97a866628b555244 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_062__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0dc8200f474d214cc5a7fb3dfd03085eeaab2414301dbdabfc6754826bc92f20 +size 641 diff --git a/navigation_tasks/grids/scene_06m_063__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_063__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..342529b57c2f78f901a947b347cc7c2b5d7e7033 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_063__clearpath_dingo.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_063__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 9 + ], + "k": 23, + "oy": 17, + "ox": 12, + "r0": 0, + "c0": 2, + "free_cells": 29, + "main_cells": 29, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_063/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "29e8a9bed6037010d720198e88f520c534b4c1d8d2f01a5ac0702c75425c3e10", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_063", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_063", + "shape": [ + 11, + 9 + ], + "free_cells": 29, + "main_cells": 29, + "interior_h": 9, + "interior_w": 7, + "pairs": 812, + "diameter_steps": 13, + "diameter_m": 7.475, + "min_steps": 1, + "max_steps": 13, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 62 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 136 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 70 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 140 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 140 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 264 + } + ] + }, + "source_grid_id": "scene_06m_063", + "source_scene_id": "scene_06m_063" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_063__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_063__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..dbbf82aba5effa9f089165f09f4e7289dd1547c2 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_063__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:254ac377aab2bd86e50b3f2796bd56b7f16d636ef55bbcdb6c392163a6a9b2c1 +size 633 diff --git a/navigation_tasks/grids/scene_06m_063__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_063__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..c48fe8b552083e3aa00d8c2f9a0ea7257ea5dcfd --- /dev/null +++ b/navigation_tasks/grids/scene_06m_063__clearpath_jackal.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_063__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 13, + 10 + ], + "k": 21, + "oy": 10, + "ox": 5, + "r0": 0, + "c0": 2, + "free_cells": 32, + "main_cells": 25, + "main_frac": 0.78125, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_063/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "29e8a9bed6037010d720198e88f520c534b4c1d8d2f01a5ac0702c75425c3e10", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_063", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_063", + "shape": [ + 13, + 10 + ], + "free_cells": 32, + "main_cells": 25, + "interior_h": 11, + "interior_w": 8, + "pairs": 600, + "diameter_steps": 16, + "diameter_m": 8.4, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 56 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 122 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 112 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 108 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 128 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 72 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_063", + "source_scene_id": "scene_06m_063" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_063__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_063__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..49e8fea90b00d1bffc374b76f144f4bb9f63c7f6 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_063__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9942985f04f53b3069c7d61278d65b6db1a0f8f0cd43a239b285fb00e9a64f53 +size 653 diff --git a/navigation_tasks/grids/scene_06m_064__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_064__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..471d875a859cefdd692bd33bc0f0dec2a781132e --- /dev/null +++ b/navigation_tasks/grids/scene_06m_064__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_064__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 11 + ], + "k": 23, + "oy": 0, + "ox": 12, + "r0": 1, + "c0": 1, + "free_cells": 43, + "main_cells": 43, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_064/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "7d474dc8d39eecd7bac164410cbc59f396370f2eb495cfaaf7973a99999ee096", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_064", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_064", + "shape": [ + 11, + 11 + ], + "free_cells": 43, + "main_cells": 43, + "interior_h": 9, + "interior_w": 9, + "pairs": 1806, + "diameter_steps": 14, + "diameter_m": 8.05, + "min_steps": 1, + "max_steps": 14, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 120 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 382 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 214 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 438 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 512 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 138 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_064", + "source_scene_id": "scene_06m_064" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_064__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_064__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..eb38263c602868e8719f4dd68c7265e384d82d4a --- /dev/null +++ b/navigation_tasks/grids/scene_06m_064__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:990eec26da69bc7979eed64efeb9565d9d8fdbeb40a1cb68abf54b53ffb1163f +size 657 diff --git a/navigation_tasks/grids/scene_06m_064__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_064__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..ff3e21b056d8ac8d179fa1a066021fac8d016882 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_064__clearpath_jackal.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_064__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 12 + ], + "k": 21, + "oy": 10, + "ox": 10, + "r0": 2, + "c0": 1, + "free_cells": 55, + "main_cells": 55, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_064/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "7d474dc8d39eecd7bac164410cbc59f396370f2eb495cfaaf7973a99999ee096", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_064", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_064", + "shape": [ + 11, + 12 + ], + "free_cells": 55, + "main_cells": 55, + "interior_h": 9, + "interior_w": 10, + "pairs": 2970, + "diameter_steps": 16, + "diameter_m": 8.4, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 166 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 590 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 682 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 666 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 658 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 206 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_064", + "source_scene_id": "scene_06m_064" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_064__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_064__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..cfdb6ffa532bdb1df0b4a5317b5f1e3b0e67a16d --- /dev/null +++ b/navigation_tasks/grids/scene_06m_064__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:635cb2a1ae7b59df9ef78c3970bbadf13f894206c08003b3e24f159386b914aa +size 669 diff --git a/navigation_tasks/grids/scene_06m_065__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_065__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..cda195a8b8ad66fe8df2016020a03bd632fc598b --- /dev/null +++ b/navigation_tasks/grids/scene_06m_065__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_065__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 11 + ], + "k": 23, + "oy": 0, + "ox": 0, + "r0": 1, + "c0": 1, + "free_cells": 40, + "main_cells": 38, + "main_frac": 0.95, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_065/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "74e361c98b1b3a294decce1f0cbfa1afc271cb9e3a10a28a8d6665cc2c62f6b2", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_065", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_065", + "shape": [ + 11, + 11 + ], + "free_cells": 40, + "main_cells": 38, + "interior_h": 9, + "interior_w": 9, + "pairs": 1406, + "diameter_steps": 16, + "diameter_m": 9.2, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 104 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 296 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 300 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 148 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 428 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 104 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 26 + } + ] + }, + "source_grid_id": "scene_06m_065", + "source_scene_id": "scene_06m_065" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_065__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_065__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..f639d0f8e46d870de4723f98133bd58d17d237ec --- /dev/null +++ b/navigation_tasks/grids/scene_06m_065__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dfd5252ced49296cbbdd37498e29d4298f3f2240dcfd9461b661f04ac8be5f78 +size 646 diff --git a/navigation_tasks/grids/scene_06m_065__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_065__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..daa697af51a49783a94a90113b4cb402085d3bc5 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_065__clearpath_jackal.json @@ -0,0 +1,146 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_065__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 13 + ], + "k": 21, + "oy": 10, + "ox": 10, + "r0": 1, + "c0": 0, + "free_cells": 50, + "main_cells": 49, + "main_frac": 0.98, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_065/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "74e361c98b1b3a294decce1f0cbfa1afc271cb9e3a10a28a8d6665cc2c62f6b2", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_065", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_065", + "shape": [ + 12, + 13 + ], + "free_cells": 50, + "main_cells": 49, + "interior_h": 10, + "interior_w": 11, + "pairs": 2352, + "diameter_steps": 18, + "diameter_m": 9.45, + "min_steps": 1, + "max_steps": 18, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 136 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 408 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 630 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 214 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 741 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 113 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 11 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 9 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 65 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 25 + } + ] + }, + "source_grid_id": "scene_06m_065", + "source_scene_id": "scene_06m_065" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_065__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_065__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..b8ecf3ce4d23a81b455d07bfa348d840c2a429d6 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_065__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de078d4963376cc420cbd8045967c6aa16adb0535dccd050802d3b6dfa5602ba +size 669 diff --git a/navigation_tasks/grids/scene_06m_065__pal_tiago.json b/navigation_tasks/grids/scene_06m_065__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..15a95567293fc5559cf5f776c79591a8475a4a1c --- /dev/null +++ b/navigation_tasks/grids/scene_06m_065__pal_tiago.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_065__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 12 + ], + "k": 22, + "oy": 6, + "ox": 0, + "r0": 1, + "c0": 1, + "free_cells": 48, + "main_cells": 47, + "main_frac": 0.9791666666666666, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_065/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "74e361c98b1b3a294decce1f0cbfa1afc271cb9e3a10a28a8d6665cc2c62f6b2", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_065", + "size_m": 6.0, + "theme": "hospital", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_065", + "shape": [ + 11, + 12 + ], + "free_cells": 48, + "main_cells": 47, + "interior_h": 9, + "interior_w": 10, + "pairs": 2162, + "diameter_steps": 17, + "diameter_m": 9.35, + "min_steps": 1, + "max_steps": 17, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 134 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 406 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 412 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 394 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 594 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 157 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 20 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 29 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 16 + } + ] + }, + "source_grid_id": "scene_06m_065", + "source_scene_id": "scene_06m_065" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_065__pal_tiago.npz b/navigation_tasks/grids/scene_06m_065__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..a0ccb699180ed3bdb1c5c0dd60c7a850371f4ca6 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_065__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5041bc74d29cf9a43b5b84acf9712ab26ac7a261ab9e2de568345a0f1957347a +size 659 diff --git a/navigation_tasks/grids/scene_06m_066__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_066__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..01c6c49a35345148ce39ad3adfcb94493d5f3561 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_066__clearpath_dingo.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_066__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 8 + ], + "k": 23, + "oy": 17, + "ox": 12, + "r0": 0, + "c0": 2, + "free_cells": 19, + "main_cells": 14, + "main_frac": 0.7368421052631579, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_066/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "d0d70b99ac393061702dc4e0e911fd6a3a1f1c3eb0650e04baecd3383e662006", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_066", + "size_m": 6.0, + "theme": "warehouse", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_066", + "shape": [ + 10, + 8 + ], + "free_cells": 18, + "main_cells": 14, + "interior_h": 8, + "interior_w": 6, + "pairs": 182, + "diameter_steps": 12, + "diameter_m": 6.9, + "min_steps": 1, + "max_steps": 12, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 28 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 52 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 22 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 34 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 26 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 20 + } + ] + }, + "source_grid_id": "scene_06m_066", + "source_scene_id": "scene_06m_066" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_066__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_066__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..a66a5bd40885129a2c85a959dead05bfb4c7b17a --- /dev/null +++ b/navigation_tasks/grids/scene_06m_066__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57235297c027bd98edd3e84221dd5135f768c9067e42cd328dd34ce205e6dfe6 +size 626 diff --git a/navigation_tasks/grids/scene_06m_066__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_066__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..3b9123b4b0ce59a10f5bc00b1d31441b0f5b854e --- /dev/null +++ b/navigation_tasks/grids/scene_06m_066__clearpath_jackal.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_066__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 11 + ], + "k": 21, + "oy": 16, + "ox": 16, + "r0": 0, + "c0": 0, + "free_cells": 29, + "main_cells": 27, + "main_frac": 0.9310344827586207, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_066/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "d0d70b99ac393061702dc4e0e911fd6a3a1f1c3eb0650e04baecd3383e662006", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_066", + "size_m": 6.0, + "theme": "warehouse", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_066", + "shape": [ + 11, + 11 + ], + "free_cells": 29, + "main_cells": 27, + "interior_h": 9, + "interior_w": 9, + "pairs": 702, + "diameter_steps": 17, + "diameter_m": 8.925, + "min_steps": 1, + "max_steps": 17, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 58 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 134 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 124 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 130 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 168 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 69 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 6 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 3 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 10 + } + ] + }, + "source_grid_id": "scene_06m_066", + "source_scene_id": "scene_06m_066" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_066__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_066__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..4c3ffbf0fd79494364a1cbd3c64489b0453dc87e --- /dev/null +++ b/navigation_tasks/grids/scene_06m_066__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3be84282054097097f0b341e9d9e69dc1bb116dfd9b0525302f36d6858b8c04 +size 666 diff --git a/navigation_tasks/grids/scene_06m_067__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_067__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..00f4d542f4d624d44cb50776dcc567fc63e802c5 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_067__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_067__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 10 + ], + "k": 23, + "oy": 17, + "ox": 17, + "r0": 0, + "c0": 0, + "free_cells": 29, + "main_cells": 23, + "main_frac": 0.7931034482758621, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_067/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "2fe85ccb02bc9b1510a3b14b2698d78b53619f75001b92bd1dfead3077272ee8", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_067", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_067", + "shape": [ + 11, + 10 + ], + "free_cells": 29, + "main_cells": 23, + "interior_h": 9, + "interior_w": 8, + "pairs": 506, + "diameter_steps": 17, + "diameter_m": 9.775, + "min_steps": 1, + "max_steps": 17, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 50 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 102 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 86 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 42 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 152 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 36 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 38 + } + ] + }, + "source_grid_id": "scene_06m_067", + "source_scene_id": "scene_06m_067" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_067__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_067__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..ab6acf5b0f1d6c0e90a585d6cb9e141cbed8c9c1 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_067__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd85ff1b75d0bc66f4c45a35b97cca17cfac65e18657d9f085947734a347c0bd +size 653 diff --git a/navigation_tasks/grids/scene_06m_067__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_067__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..5a06c2705c1c6138c7ea0745d18d5216414f3716 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_067__clearpath_jackal.json @@ -0,0 +1,134 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_067__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 11 + ], + "k": 21, + "oy": 10, + "ox": 5, + "r0": 1, + "c0": 1, + "free_cells": 38, + "main_cells": 29, + "main_frac": 0.7631578947368421, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_067/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "2fe85ccb02bc9b1510a3b14b2698d78b53619f75001b92bd1dfead3077272ee8", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_067", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_067", + "shape": [ + 12, + 11 + ], + "free_cells": 38, + "main_cells": 29, + "interior_h": 10, + "interior_w": 9, + "pairs": 812, + "diameter_steps": 17, + "diameter_m": 8.925, + "min_steps": 1, + "max_steps": 17, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 68 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 168 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 148 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 146 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 214 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 57 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 5 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 6 + } + ] + }, + "source_grid_id": "scene_06m_067", + "source_scene_id": "scene_06m_067" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_067__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_067__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..72f8542088bf8a3918d604622a9f48b90a8400dd --- /dev/null +++ b/navigation_tasks/grids/scene_06m_067__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a272f745dfec438c7b193fc00c866b5742365935ab68de4ee33519557e512766 +size 658 diff --git a/navigation_tasks/grids/scene_06m_067__pal_tiago.json b/navigation_tasks/grids/scene_06m_067__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..a717197250a4142007c35d218ed0886c41cdab09 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_067__pal_tiago.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_067__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 10 + ], + "k": 22, + "oy": 6, + "ox": 6, + "r0": 1, + "c0": 1, + "free_cells": 35, + "main_cells": 24, + "main_frac": 0.6857142857142857, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_067/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "2fe85ccb02bc9b1510a3b14b2698d78b53619f75001b92bd1dfead3077272ee8", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_067", + "size_m": 6.0, + "theme": "residential", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_067", + "shape": [ + 11, + 10 + ], + "free_cells": 35, + "main_cells": 24, + "interior_h": 9, + "interior_w": 8, + "pairs": 552, + "diameter_steps": 15, + "diameter_m": 8.25, + "min_steps": 1, + "max_steps": 15, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 56 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 128 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 102 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 100 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 98 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 66 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_067", + "source_scene_id": "scene_06m_067" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_067__pal_tiago.npz b/navigation_tasks/grids/scene_06m_067__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..8202de2bf11a90d102e5a1a85a7c5fba66ade270 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_067__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84a7e088fcf9d6a3d39328b1298761f9558539cd6a362404d29ac88436e09727 +size 656 diff --git a/navigation_tasks/grids/scene_06m_068__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_068__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..c70cf67bd22e98862f26ad9fe518e5b11b3084fe --- /dev/null +++ b/navigation_tasks/grids/scene_06m_068__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_068__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 8, + 11 + ], + "k": 23, + "oy": 0, + "ox": 0, + "r0": 3, + "c0": 1, + "free_cells": 26, + "main_cells": 26, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_068/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "7c1fd8f709d310bf70cb4337e85eb58e628a2cdc9cc6bf9d3ea3119885e43969", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_068", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_068", + "shape": [ + 8, + 11 + ], + "free_cells": 26, + "main_cells": 26, + "interior_h": 6, + "interior_w": 9, + "pairs": 650, + "diameter_steps": 15, + "diameter_m": 8.625, + "min_steps": 1, + "max_steps": 15, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 62 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 164 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 154 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 64 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 162 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 38 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 6 + } + ] + }, + "source_grid_id": "scene_06m_068", + "source_scene_id": "scene_06m_068" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_068__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_068__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..67e165f366ac4e3b6f04d35cef1be1a8b5a012ac --- /dev/null +++ b/navigation_tasks/grids/scene_06m_068__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58ed82657fed86f3cc175e98cd43f6d8aa98f236b15f1bceb2e4bcf622206b0a +size 645 diff --git a/navigation_tasks/grids/scene_06m_068__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_068__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..f750977e3fc003c4f5b4e14f031ac9dacab83841 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_068__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_068__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 9, + 13 + ], + "k": 21, + "oy": 16, + "ox": 10, + "r0": 2, + "c0": 0, + "free_cells": 36, + "main_cells": 34, + "main_frac": 0.9444444444444444, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_068/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "7c1fd8f709d310bf70cb4337e85eb58e628a2cdc9cc6bf9d3ea3119885e43969", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_068", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_068", + "shape": [ + 9, + 13 + ], + "free_cells": 34, + "main_cells": 34, + "interior_h": 7, + "interior_w": 11, + "pairs": 1122, + "diameter_steps": 14, + "diameter_m": 7.35, + "min_steps": 1, + "max_steps": 14, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 88 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 262 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 136 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 356 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 156 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 124 + } + ] + }, + "source_grid_id": "scene_06m_068", + "source_scene_id": "scene_06m_068" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_068__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_068__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..9950a456ce1494618f82470ca54f858be732c5d6 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_068__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:420ed98ed5ab8cd24df88ddfb93796a0b65bd922f11b29ec99a53819dc0a8940 +size 657 diff --git a/navigation_tasks/grids/scene_06m_068__pal_tiago.json b/navigation_tasks/grids/scene_06m_068__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..7f0b7987bb374a55b9b92355c171434838fa098a --- /dev/null +++ b/navigation_tasks/grids/scene_06m_068__pal_tiago.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_068__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 9, + 12 + ], + "k": 22, + "oy": 6, + "ox": 0, + "r0": 2, + "c0": 1, + "free_cells": 28, + "main_cells": 28, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_068/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "7c1fd8f709d310bf70cb4337e85eb58e628a2cdc9cc6bf9d3ea3119885e43969", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_068", + "size_m": 6.0, + "theme": "office", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_068", + "shape": [ + 9, + 12 + ], + "free_cells": 28, + "main_cells": 28, + "interior_h": 7, + "interior_w": 10, + "pairs": 756, + "diameter_steps": 15, + "diameter_m": 8.25, + "min_steps": 1, + "max_steps": 15, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 70 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 186 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 160 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 132 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 138 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 68 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_068", + "source_scene_id": "scene_06m_068" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_068__pal_tiago.npz b/navigation_tasks/grids/scene_06m_068__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..ef4adbce2ebe298250d5fb5554ec8babe6fecd60 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_068__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5aa1b07643b2b3ccebb9e07706d289e863c88daf0acc38b087448f9e8e07515 +size 645 diff --git a/navigation_tasks/grids/scene_06m_069__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_069__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..5ec4218923f7801260211b39ec033c09269f9d27 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_069__clearpath_dingo.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_069__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 11 + ], + "k": 23, + "oy": 6, + "ox": 12, + "r0": 1, + "c0": 0, + "free_cells": 25, + "main_cells": 24, + "main_frac": 0.96, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_069/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "7e7deed38876c041a162f3b4bee13210db43ddd8104fbf72d02067472473c9a4", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_069", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_069", + "shape": [ + 11, + 11 + ], + "free_cells": 24, + "main_cells": 24, + "interior_h": 9, + "interior_w": 9, + "pairs": 552, + "diameter_steps": 13, + "diameter_m": 7.475, + "min_steps": 1, + "max_steps": 13, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 46 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 122 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 66 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 112 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 100 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 106 + } + ] + }, + "source_grid_id": "scene_06m_069", + "source_scene_id": "scene_06m_069" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_069__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_069__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..9d832c6ced28acaa26af2ad5ad4ce188b28872fd --- /dev/null +++ b/navigation_tasks/grids/scene_06m_069__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e288f034d348d0bc8da9c576c9867b493bb7ead5a405659978fd16319e008038 +size 645 diff --git a/navigation_tasks/grids/scene_06m_069__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_069__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..6205217e59d867c3bd80b027365c52c1e3fb3cf0 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_069__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_069__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 11 + ], + "k": 21, + "oy": 10, + "ox": 16, + "r0": 1, + "c0": 0, + "free_cells": 36, + "main_cells": 26, + "main_frac": 0.7222222222222222, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_069/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "7e7deed38876c041a162f3b4bee13210db43ddd8104fbf72d02067472473c9a4", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_069", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_069", + "shape": [ + 12, + 11 + ], + "free_cells": 35, + "main_cells": 26, + "interior_h": 10, + "interior_w": 9, + "pairs": 650, + "diameter_steps": 14, + "diameter_m": 7.35, + "min_steps": 1, + "max_steps": 14, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 54 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 128 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 70 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 228 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 102 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 68 + } + ] + }, + "source_grid_id": "scene_06m_069", + "source_scene_id": "scene_06m_069" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_069__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_069__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..95ccd7bcca618ad5d47c70a3afe431a602795fe9 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_069__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bbcea6b912cf35d21542182003bc0051e60ed7d3fbd396578fdb8d9266eff4ba +size 660 diff --git a/navigation_tasks/grids/scene_06m_070__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_070__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..175a6d5347023a41e00364cc9d66543263f314b7 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_070__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_070__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 9 + ], + "k": 23, + "oy": 6, + "ox": 12, + "r0": 0, + "c0": 1, + "free_cells": 23, + "main_cells": 22, + "main_frac": 0.9565217391304348, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_070/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "aaef527d46c7a80c9c9ef4e1456d1f91126d31aaf2c32027e0a70969eae57107", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_070", + "size_m": 6.0, + "theme": "warehouse", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_070", + "shape": [ + 12, + 9 + ], + "free_cells": 22, + "main_cells": 22, + "interior_h": 10, + "interior_w": 7, + "pairs": 462, + "diameter_steps": 15, + "diameter_m": 8.625, + "min_steps": 1, + "max_steps": 15, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 52 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 112 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 84 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 36 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 112 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 52 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 14 + } + ] + }, + "source_grid_id": "scene_06m_070", + "source_scene_id": "scene_06m_070" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_070__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_070__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..b14f06ad04e73631f2f04bcf93eef92f34b4baf9 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_070__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:20a980cad7b8da56b0842d381516cf41342c603085ffccc7fae57a7ae35eeccf +size 639 diff --git a/navigation_tasks/grids/scene_06m_070__clearpath_husky.json b/navigation_tasks/grids/scene_06m_070__clearpath_husky.json new file mode 100644 index 0000000000000000000000000000000000000000..1027f6e4d470afbf087d9b9c84522a983543de9b --- /dev/null +++ b/navigation_tasks/grids/scene_06m_070__clearpath_husky.json @@ -0,0 +1,98 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_070__clearpath_husky", + "robot": "clearpath_husky", + "cell_m": 1.0, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 4, + 4 + ], + "k": 40, + "oy": 0, + "ox": 0, + "r0": 4, + "c0": 1, + "free_cells": 3, + "main_cells": 3, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_070/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "aaef527d46c7a80c9c9ef4e1456d1f91126d31aaf2c32027e0a70969eae57107", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "f296a47b6da49fcfc60cdb0df640f45c6d5551e5bea4a594d397ff0a42571ea8" + }, + "census_row": { + "scene_id": "scene_06m_070", + "size_m": 6.0, + "theme": "warehouse", + "robot": "clearpath_husky", + "cell_m": 1.0, + "nominal_interior": 4, + "status": "ready", + "map_id": "scene_06m_070", + "shape": [ + 4, + 4 + ], + "free_cells": 3, + "main_cells": 3, + "interior_h": 2, + "interior_w": 2, + "pairs": 6, + "diameter_steps": 2, + "diameter_m": 2.0, + "min_steps": 1, + "max_steps": 2, + "joint": [ + { + "level": "easy", + "length": "medium", + "metres": "1-2", + "count": 4 + }, + { + "level": "easy", + "length": "long", + "metres": "2-4", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_070", + "source_scene_id": "scene_06m_070" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_070__clearpath_husky.npz b/navigation_tasks/grids/scene_06m_070__clearpath_husky.npz new file mode 100644 index 0000000000000000000000000000000000000000..fbb3e8cfcca16600af2359b040b63db630a07b7f --- /dev/null +++ b/navigation_tasks/grids/scene_06m_070__clearpath_husky.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9e2f176bb83604b45ae2efa65738af10b6201a2fea3800336118628d79a216c +size 594 diff --git a/navigation_tasks/grids/scene_06m_070__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_070__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..c5757c459082f28b84164cc5b5e42601c7ed8085 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_070__clearpath_jackal.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_070__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 11 + ], + "k": 21, + "oy": 10, + "ox": 16, + "r0": 1, + "c0": 0, + "free_cells": 35, + "main_cells": 35, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_070/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "aaef527d46c7a80c9c9ef4e1456d1f91126d31aaf2c32027e0a70969eae57107", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_070", + "size_m": 6.0, + "theme": "warehouse", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_070", + "shape": [ + 12, + 11 + ], + "free_cells": 35, + "main_cells": 35, + "interior_h": 10, + "interior_w": 9, + "pairs": 1190, + "diameter_steps": 17, + "diameter_m": 8.925, + "min_steps": 1, + "max_steps": 17, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 94 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 254 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 216 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 174 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 264 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 163 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 14 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 5 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 6 + } + ] + }, + "source_grid_id": "scene_06m_070", + "source_scene_id": "scene_06m_070" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_070__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_070__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..334dd4dcffa7ca2890a9cd128a7ae68c283482b3 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_070__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30ecfd43a25604b6209a60f899d48b85d0917f57496c105a9c6b940d9de3e8a9 +size 663 diff --git a/navigation_tasks/grids/scene_06m_071__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_071__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..b720cab0b7789f2f7024a02db03f5eda0d20da3b --- /dev/null +++ b/navigation_tasks/grids/scene_06m_071__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_071__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 11 + ], + "k": 23, + "oy": 6, + "ox": 0, + "r0": 1, + "c0": 1, + "free_cells": 38, + "main_cells": 37, + "main_frac": 0.9736842105263158, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_071/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "8e4d43b70e2035363d7b5c6a322fb069dbffb0406b480e92dd3c6461aa6ba175", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_071", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_071", + "shape": [ + 11, + 11 + ], + "free_cells": 38, + "main_cells": 37, + "interior_h": 9, + "interior_w": 9, + "pairs": 1332, + "diameter_steps": 15, + "diameter_m": 8.625, + "min_steps": 1, + "max_steps": 15, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 108 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 358 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 360 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 136 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 302 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 60 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 8 + } + ] + }, + "source_grid_id": "scene_06m_071", + "source_scene_id": "scene_06m_071" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_071__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_071__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..cec250d0cb17298210cdb3a4bacdcca1109fa9b0 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_071__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:736183f37efd7b794d980e187d90ef1c0a38f109cdb1a76333378588007de855 +size 645 diff --git a/navigation_tasks/grids/scene_06m_071__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_071__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..a3ddb75fb9c228a9b777f7caa6a8bd1a8c7e1c28 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_071__clearpath_jackal.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_071__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 12 + ], + "k": 21, + "oy": 0, + "ox": 10, + "r0": 1, + "c0": 1, + "free_cells": 48, + "main_cells": 47, + "main_frac": 0.9791666666666666, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_071/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "8e4d43b70e2035363d7b5c6a322fb069dbffb0406b480e92dd3c6461aa6ba175", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_071", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_071", + "shape": [ + 12, + 12 + ], + "free_cells": 48, + "main_cells": 47, + "interior_h": 10, + "interior_w": 10, + "pairs": 2162, + "diameter_steps": 16, + "diameter_m": 8.4, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 144 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 502 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 568 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 450 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 360 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 136 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_071", + "source_scene_id": "scene_06m_071" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_071__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_071__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..e2454db79b8315d465e637059cec2415b72cc441 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_071__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27202465f869c49c39a213443bd87ae0669ae405e2db8c4c2366e335b9788c83 +size 671 diff --git a/navigation_tasks/grids/scene_06m_071__pal_tiago.json b/navigation_tasks/grids/scene_06m_071__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..4674c67041bf8331b04407e85f15cadc4e29285c --- /dev/null +++ b/navigation_tasks/grids/scene_06m_071__pal_tiago.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_071__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 11 + ], + "k": 22, + "oy": 16, + "ox": 6, + "r0": 0, + "c0": 1, + "free_cells": 45, + "main_cells": 43, + "main_frac": 0.9555555555555556, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_071/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "8e4d43b70e2035363d7b5c6a322fb069dbffb0406b480e92dd3c6461aa6ba175", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_071", + "size_m": 6.0, + "theme": "residential", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_071", + "shape": [ + 12, + 11 + ], + "free_cells": 45, + "main_cells": 43, + "interior_h": 10, + "interior_w": 9, + "pairs": 1806, + "diameter_steps": 15, + "diameter_m": 8.25, + "min_steps": 1, + "max_steps": 15, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 128 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 438 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 486 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 360 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 298 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 94 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_071", + "source_scene_id": "scene_06m_071" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_071__pal_tiago.npz b/navigation_tasks/grids/scene_06m_071__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..5c6e5d7d95a87f8abffdb3ef2c6770f9d50c9213 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_071__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:19c418e5ca42074cbd4586ba1be753bf8df055462c8e81ecf4b2d3e5699183bb +size 667 diff --git a/navigation_tasks/grids/scene_06m_072__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_072__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..4284411c5ab7fcd4514226951545f4edd0f84b5e --- /dev/null +++ b/navigation_tasks/grids/scene_06m_072__clearpath_dingo.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_072__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 8, + 11 + ], + "k": 23, + "oy": 6, + "ox": 0, + "r0": 2, + "c0": 1, + "free_cells": 28, + "main_cells": 26, + "main_frac": 0.9285714285714286, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_072/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "26d00cfd7b48c5c14ba5c06cfc556cf3eca370646df0b4ec78858443001ac7c6", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_072", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_072", + "shape": [ + 8, + 11 + ], + "free_cells": 26, + "main_cells": 26, + "interior_h": 6, + "interior_w": 9, + "pairs": 650, + "diameter_steps": 12, + "diameter_m": 6.9, + "min_steps": 1, + "max_steps": 12, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 62 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 160 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 78 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 146 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 118 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 86 + } + ] + }, + "source_grid_id": "scene_06m_072", + "source_scene_id": "scene_06m_072" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_072__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_072__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..ff2fe095af1c2f5e7120c89bcc74cf1e664db21d --- /dev/null +++ b/navigation_tasks/grids/scene_06m_072__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44f8ff621fe46721887b62ae854c8d14f240ead42b33b1974c9530b0979886fa +size 645 diff --git a/navigation_tasks/grids/scene_06m_072__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_072__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..0937f7c0fca145cf0e47146ba289c63966602209 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_072__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_072__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 13 + ], + "k": 21, + "oy": 16, + "ox": 10, + "r0": 0, + "c0": 0, + "free_cells": 40, + "main_cells": 38, + "main_frac": 0.95, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_072/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "26d00cfd7b48c5c14ba5c06cfc556cf3eca370646df0b4ec78858443001ac7c6", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_072", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_072", + "shape": [ + 10, + 13 + ], + "free_cells": 39, + "main_cells": 38, + "interior_h": 8, + "interior_w": 11, + "pairs": 1406, + "diameter_steps": 14, + "diameter_m": 7.35, + "min_steps": 1, + "max_steps": 14, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 104 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 312 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 162 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 444 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 222 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 162 + } + ] + }, + "source_grid_id": "scene_06m_072", + "source_scene_id": "scene_06m_072" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_072__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_072__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..c2e465a6ad3f329cc119666cbbfcf10a8de1e223 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_072__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad9ed8d15c212f1e357f04549c0ee6f4da728cb6ebb40c9fb7f7bbde09e87d8a +size 656 diff --git a/navigation_tasks/grids/scene_06m_073__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_073__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..4be8413baf38a98192cfe5fd86eeaaf7a5aef54e --- /dev/null +++ b/navigation_tasks/grids/scene_06m_073__clearpath_dingo.json @@ -0,0 +1,134 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_073__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 12 + ], + "k": 23, + "oy": 0, + "ox": 12, + "r0": 2, + "c0": 0, + "free_cells": 29, + "main_cells": 27, + "main_frac": 0.9310344827586207, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_073/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "ee00147cd61bc166d5f33fcfa63c06579d9b446a6fa22d16102eb9cab4fc19bb", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_073", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_073", + "shape": [ + 10, + 12 + ], + "free_cells": 29, + "main_cells": 27, + "interior_h": 8, + "interior_w": 10, + "pairs": 702, + "diameter_steps": 17, + "diameter_m": 9.775, + "min_steps": 1, + "max_steps": 17, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 52 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 134 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 134 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 56 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 254 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 40 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 21 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 11 + } + ] + }, + "source_grid_id": "scene_06m_073", + "source_scene_id": "scene_06m_073" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_073__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_073__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..a809177228c7a55ef53d8bd32803dfb405df3c8d --- /dev/null +++ b/navigation_tasks/grids/scene_06m_073__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fca58fbce4633d20b4ff044340d5414303687a2f78cf5569de1e1bfb0f0d123f +size 655 diff --git a/navigation_tasks/grids/scene_06m_073__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_073__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..51b76acd1d28898a9ef66d6b7700262aa4b8aa1a --- /dev/null +++ b/navigation_tasks/grids/scene_06m_073__clearpath_jackal.json @@ -0,0 +1,146 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_073__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 13 + ], + "k": 21, + "oy": 10, + "ox": 10, + "r0": 2, + "c0": 0, + "free_cells": 37, + "main_cells": 37, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_073/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "ee00147cd61bc166d5f33fcfa63c06579d9b446a6fa22d16102eb9cab4fc19bb", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_073", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_073", + "shape": [ + 11, + 13 + ], + "free_cells": 37, + "main_cells": 37, + "interior_h": 9, + "interior_w": 11, + "pairs": 1332, + "diameter_steps": 20, + "diameter_m": 10.5, + "min_steps": 1, + "max_steps": 20, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 74 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 176 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 286 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 94 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 498 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 45 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 4 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 14 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 57 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 84 + } + ] + }, + "source_grid_id": "scene_06m_073", + "source_scene_id": "scene_06m_073" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_073__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_073__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..a36721ffa6ad2269ea3e76233ddb794eb5d44f21 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_073__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2bdaa7f8002e98a7a093863bfa6ac83ad1945796f9d176aea892486ae9742b90 +size 672 diff --git a/navigation_tasks/grids/scene_06m_073__pal_tiago.json b/navigation_tasks/grids/scene_06m_073__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..fe5e4e1a981e3ca8382c54c28f6b0d18e3e9fbfd --- /dev/null +++ b/navigation_tasks/grids/scene_06m_073__pal_tiago.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_073__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 12 + ], + "k": 22, + "oy": 6, + "ox": 0, + "r0": 2, + "c0": 1, + "free_cells": 28, + "main_cells": 24, + "main_frac": 0.8571428571428571, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_073/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "ee00147cd61bc166d5f33fcfa63c06579d9b446a6fa22d16102eb9cab4fc19bb", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_073", + "size_m": 6.0, + "theme": "hospital", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_073", + "shape": [ + 10, + 12 + ], + "free_cells": 28, + "main_cells": 24, + "interior_h": 8, + "interior_w": 10, + "pairs": 552, + "diameter_steps": 15, + "diameter_m": 8.25, + "min_steps": 1, + "max_steps": 15, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 48 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 112 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 124 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 110 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 116 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 40 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_073", + "source_scene_id": "scene_06m_073" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_073__pal_tiago.npz b/navigation_tasks/grids/scene_06m_073__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..852a8255293c2d88aed11dc07d455365fca5d233 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_073__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1323578db29f5ec1ff673841f81175a4ec5f19c6ce78278b90bdc138b077cf1e +size 658 diff --git a/navigation_tasks/grids/scene_06m_074__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_074__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..429d1b5e77aa178b115bc75dfc8e8abb9546ecf0 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_074__clearpath_dingo.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_074__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 9, + 11 + ], + "k": 23, + "oy": 17, + "ox": 6, + "r0": 0, + "c0": 1, + "free_cells": 28, + "main_cells": 27, + "main_frac": 0.9642857142857143, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_074/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "51494f9beda1194500f1522ef6730d44db24dac82270fd62f5cf746562272a8b", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_074", + "size_m": 6.0, + "theme": "warehouse", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_074", + "shape": [ + 9, + 11 + ], + "free_cells": 27, + "main_cells": 27, + "interior_h": 7, + "interior_w": 9, + "pairs": 702, + "diameter_steps": 12, + "diameter_m": 6.9, + "min_steps": 1, + "max_steps": 12, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 68 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 190 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 104 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 178 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 102 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 60 + } + ] + }, + "source_grid_id": "scene_06m_074", + "source_scene_id": "scene_06m_074" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_074__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_074__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..4aa8ce29a47cf987703af98f80cb9b2ef26a8d1d --- /dev/null +++ b/navigation_tasks/grids/scene_06m_074__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:316bf24ee210be0ae7314c70268db6f95265692227d57deaad94b2ba78df1534 +size 645 diff --git a/navigation_tasks/grids/scene_06m_074__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_074__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..b81a0cbcb22796f7e007b4a47234d01e1d70978c --- /dev/null +++ b/navigation_tasks/grids/scene_06m_074__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_074__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 12 + ], + "k": 21, + "oy": 5, + "ox": 16, + "r0": 0, + "c0": 0, + "free_cells": 47, + "main_cells": 34, + "main_frac": 0.723404255319149, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_074/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "51494f9beda1194500f1522ef6730d44db24dac82270fd62f5cf746562272a8b", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_074", + "size_m": 6.0, + "theme": "warehouse", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_074", + "shape": [ + 10, + 12 + ], + "free_cells": 37, + "main_cells": 34, + "interior_h": 8, + "interior_w": 10, + "pairs": 1122, + "diameter_steps": 13, + "diameter_m": 6.825, + "min_steps": 1, + "max_steps": 13, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 94 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 292 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 154 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 388 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 78 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 116 + } + ] + }, + "source_grid_id": "scene_06m_074", + "source_scene_id": "scene_06m_074" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_074__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_074__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..7be422013625a4fda34cac67fbb92dd11bceddc0 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_074__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a02eae62bc41a298d39f186fd2162e0c1da3516b7ea5980ae1666af3dabd18b +size 656 diff --git a/navigation_tasks/grids/scene_06m_075__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_075__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..13e073d2b63c9e38061cbb06205e194a471b45e5 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_075__clearpath_dingo.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_075__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 11 + ], + "k": 23, + "oy": 0, + "ox": 6, + "r0": 1, + "c0": 1, + "free_cells": 48, + "main_cells": 48, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_075/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "22c7a36758ab4960f95e79ab27039da38c7afab150981ecd6df2c505c44a3564", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_075", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_075", + "shape": [ + 11, + 11 + ], + "free_cells": 48, + "main_cells": 48, + "interior_h": 9, + "interior_w": 9, + "pairs": 2256, + "diameter_steps": 14, + "diameter_m": 8.05, + "min_steps": 1, + "max_steps": 14, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 140 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 452 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 232 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 404 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 580 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 429 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 15 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 3 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 1 + } + ] + }, + "source_grid_id": "scene_06m_075", + "source_scene_id": "scene_06m_075" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_075__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_075__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..53dc7a5080d3fa96bfa882acad0aabe1c5dc0aa8 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_075__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c30bd6e4215be724fc8d08aa5d0c79a95c02b70f17e37954084e14ba4b12b21 +size 651 diff --git a/navigation_tasks/grids/scene_06m_075__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_075__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..74dbecccea988ef40cbc4f98cc396f59b89274f6 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_075__clearpath_jackal.json @@ -0,0 +1,146 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_075__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 12 + ], + "k": 21, + "oy": 16, + "ox": 10, + "r0": 0, + "c0": 1, + "free_cells": 63, + "main_cells": 62, + "main_frac": 0.9841269841269841, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_075/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "22c7a36758ab4960f95e79ab27039da38c7afab150981ecd6df2c505c44a3564", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_075", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_075", + "shape": [ + 12, + 12 + ], + "free_cells": 63, + "main_cells": 62, + "interior_h": 10, + "interior_w": 10, + "pairs": 3782, + "diameter_steps": 16, + "diameter_m": 8.4, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 186 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 634 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 670 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 610 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 897 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 634 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 6 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 25 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 114 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 6 + } + ] + }, + "source_grid_id": "scene_06m_075", + "source_scene_id": "scene_06m_075" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_075__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_075__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..f54fd01c5ecf2f8c7bfb087212fd44b5a9cc5713 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_075__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb08d4ea6a21e6f3fd87c8da2d571d6464acbdb2edc658b2aa4f347191bb8444 +size 667 diff --git a/navigation_tasks/grids/scene_06m_075__pal_tiago.json b/navigation_tasks/grids/scene_06m_075__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..5a3db68f034f915b26f01b0f9666318526f3cc13 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_075__pal_tiago.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_075__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 12 + ], + "k": 22, + "oy": 11, + "ox": 0, + "r0": 1, + "c0": 1, + "free_cells": 51, + "main_cells": 51, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_075/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "22c7a36758ab4960f95e79ab27039da38c7afab150981ecd6df2c505c44a3564", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_075", + "size_m": 6.0, + "theme": "residential", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_075", + "shape": [ + 11, + 12 + ], + "free_cells": 51, + "main_cells": 51, + "interior_h": 9, + "interior_w": 10, + "pairs": 2550, + "diameter_steps": 15, + "diameter_m": 8.25, + "min_steps": 1, + "max_steps": 15, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 150 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 490 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 470 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 386 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 586 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 447 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 13 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 5 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 3 + } + ] + }, + "source_grid_id": "scene_06m_075", + "source_scene_id": "scene_06m_075" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_075__pal_tiago.npz b/navigation_tasks/grids/scene_06m_075__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..164febabbd444804ba347a30eba5227eb2b9e9bd --- /dev/null +++ b/navigation_tasks/grids/scene_06m_075__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:031bea153cb7f2aff13cc139eb45bc7e50ab0f530c680fc336a358e724430582 +size 657 diff --git a/navigation_tasks/grids/scene_06m_076__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_076__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..c1264b6732642988765109f19ff8d121f5f01b29 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_076__clearpath_dingo.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_076__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 8, + 11 + ], + "k": 23, + "oy": 0, + "ox": 12, + "r0": 3, + "c0": 1, + "free_cells": 21, + "main_cells": 17, + "main_frac": 0.8095238095238095, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_076/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "df1610ea0d10a404a73afeabe9b472f97516177693f973e0b6be43fba8cf5fb6", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_076", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_076", + "shape": [ + 8, + 11 + ], + "free_cells": 20, + "main_cells": 17, + "interior_h": 6, + "interior_w": 9, + "pairs": 272, + "diameter_steps": 12, + "diameter_m": 6.9, + "min_steps": 1, + "max_steps": 12, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 32 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 68 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 32 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 58 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 48 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 34 + } + ] + }, + "source_grid_id": "scene_06m_076", + "source_scene_id": "scene_06m_076" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_076__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_076__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..5f0595cab065697bbd70f6e2b7f432a64aee2d5a --- /dev/null +++ b/navigation_tasks/grids/scene_06m_076__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:831659d264bf9267171d00e4fa7edbcba9654233c226f6dc06b8c025ab3dc844 +size 631 diff --git a/navigation_tasks/grids/scene_06m_076__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_076__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..bdff6df84d7b45155a108c76445acd1a0e1f5147 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_076__clearpath_jackal.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_076__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 11 + ], + "k": 21, + "oy": 10, + "ox": 10, + "r0": 2, + "c0": 2, + "free_cells": 29, + "main_cells": 29, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_076/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "df1610ea0d10a404a73afeabe9b472f97516177693f973e0b6be43fba8cf5fb6", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_076", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_076", + "shape": [ + 10, + 11 + ], + "free_cells": 29, + "main_cells": 29, + "interior_h": 8, + "interior_w": 9, + "pairs": 812, + "diameter_steps": 16, + "diameter_m": 8.4, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 60 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 130 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 134 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 142 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 196 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 140 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 3 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 4 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 3 + } + ] + }, + "source_grid_id": "scene_06m_076", + "source_scene_id": "scene_06m_076" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_076__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_076__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..f12513c19cf1a59b9368a0303f64082f8f8a09d4 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_076__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e7f69732fb61c13515931a5efb04f249c781071139f78244af20746e046253c +size 651 diff --git a/navigation_tasks/grids/scene_06m_077__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_077__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..93f4062d5377519c4f59829560ccd17b68972f64 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_077__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_077__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 10 + ], + "k": 21, + "oy": 5, + "ox": 10, + "r0": 2, + "c0": 3, + "free_cells": 43, + "main_cells": 42, + "main_frac": 0.9767441860465116, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_077/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "905b46cb87929e2a2d0d6ae872cf3393ae32a221fe2497137d6dd2ca4811e915", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_077", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_077", + "shape": [ + 11, + 10 + ], + "free_cells": 42, + "main_cells": 42, + "interior_h": 9, + "interior_w": 8, + "pairs": 1722, + "diameter_steps": 13, + "diameter_m": 6.825, + "min_steps": 1, + "max_steps": 13, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 132 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 468 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 260 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 602 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 114 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 146 + } + ] + }, + "source_grid_id": "scene_06m_077", + "source_scene_id": "scene_06m_077" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_077__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_077__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..37b8c5f9408b77702a1ac4e917906dc2547b6a03 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_077__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57d13f4ba84aa375b73dbb87df52b6eb612382f688a24ba7b6413bb9d9e08cd2 +size 624 diff --git a/navigation_tasks/grids/scene_06m_078__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_078__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..eb52094abe2b1af0b8f1af03fba93481970e3425 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_078__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_078__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 8, + 11 + ], + "k": 21, + "oy": 16, + "ox": 10, + "r0": 0, + "c0": 2, + "free_cells": 22, + "main_cells": 19, + "main_frac": 0.8636363636363636, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_078/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "08f102e2b053fe21f8bc85602cbd40626f19d47989f5d7d87b398e3cd42eb56c", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_078", + "size_m": 6.0, + "theme": "warehouse", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_078", + "shape": [ + 8, + 11 + ], + "free_cells": 19, + "main_cells": 19, + "interior_h": 6, + "interior_w": 9, + "pairs": 342, + "diameter_steps": 13, + "diameter_m": 6.825, + "min_steps": 1, + "max_steps": 13, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 46 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 104 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 36 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 80 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 22 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 54 + } + ] + }, + "source_grid_id": "scene_06m_078", + "source_scene_id": "scene_06m_078" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_078__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_078__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..5b9f612471a69c5584942fa34df6ad7dbc91a74a --- /dev/null +++ b/navigation_tasks/grids/scene_06m_078__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c031fe899907569800f50dcf4eb6e70c302b54a21a6820707db61c0ee5906d2 +size 630 diff --git a/navigation_tasks/grids/scene_06m_079__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_079__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..89edca48fe1c01c602bfbb662981f32dd7763c5b --- /dev/null +++ b/navigation_tasks/grids/scene_06m_079__clearpath_dingo.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_079__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 8, + 10 + ], + "k": 23, + "oy": 12, + "ox": 0, + "r0": 2, + "c0": 2, + "free_cells": 18, + "main_cells": 18, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_079/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "fc4306aecb044ba6e7e8031417512e6e8fd6ff1e0a4b4e5553faac47737cd768", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_079", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_079", + "shape": [ + 8, + 10 + ], + "free_cells": 18, + "main_cells": 18, + "interior_h": 6, + "interior_w": 8, + "pairs": 306, + "diameter_steps": 13, + "diameter_m": 7.475, + "min_steps": 1, + "max_steps": 13, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 34 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 72 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 36 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 62 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 52 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 50 + } + ] + }, + "source_grid_id": "scene_06m_079", + "source_scene_id": "scene_06m_079" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_079__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_079__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..f6f2fd2a0cefc0ac3bf0bef9f39cd7b545125d62 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_079__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5c7b1a7adaae5b08cbac06516d04c95b9fe6cb492120c79b90964617376b90e +size 624 diff --git a/navigation_tasks/grids/scene_06m_079__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_079__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..1254178ca9a80132fe04d150c62159dfa7440a6a --- /dev/null +++ b/navigation_tasks/grids/scene_06m_079__clearpath_jackal.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_079__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 9, + 11 + ], + "k": 21, + "oy": 10, + "ox": 10, + "r0": 2, + "c0": 2, + "free_cells": 28, + "main_cells": 27, + "main_frac": 0.9642857142857143, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_079/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "fc4306aecb044ba6e7e8031417512e6e8fd6ff1e0a4b4e5553faac47737cd768", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_079", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_079", + "shape": [ + 9, + 11 + ], + "free_cells": 28, + "main_cells": 27, + "interior_h": 7, + "interior_w": 9, + "pairs": 702, + "diameter_steps": 18, + "diameter_m": 9.45, + "min_steps": 1, + "max_steps": 18, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 52 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 112 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 162 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 52 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 232 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 73 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 7 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 1 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 11 + } + ] + }, + "source_grid_id": "scene_06m_079", + "source_scene_id": "scene_06m_079" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_079__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_079__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..29599c68337fdeaa00ce36ac20b7c6619c0e84ea --- /dev/null +++ b/navigation_tasks/grids/scene_06m_079__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad0a72bf1d53929a83f4f1877cf1fd26108967e9728f439cac6d81b684399856 +size 636 diff --git a/navigation_tasks/grids/scene_06m_080__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_080__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..64d046bdd8d4375b48e43e841afc63edc627cd0d --- /dev/null +++ b/navigation_tasks/grids/scene_06m_080__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_080__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 11 + ], + "k": 23, + "oy": 17, + "ox": 12, + "r0": 0, + "c0": 1, + "free_cells": 47, + "main_cells": 45, + "main_frac": 0.9574468085106383, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_080/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "8de9747c472c904becf27c1182041a5bfaf607c3833a80cf61214e4bca73c4a9", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_080", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_080", + "shape": [ + 11, + 11 + ], + "free_cells": 47, + "main_cells": 45, + "interior_h": 9, + "interior_w": 9, + "pairs": 1980, + "diameter_steps": 15, + "diameter_m": 8.625, + "min_steps": 1, + "max_steps": 15, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 132 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 434 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 456 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 208 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 594 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 144 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 12 + } + ] + }, + "source_grid_id": "scene_06m_080", + "source_scene_id": "scene_06m_080" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_080__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_080__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..e17bbcad37e25e04b479ad4623d6dcde8ba0aa1a --- /dev/null +++ b/navigation_tasks/grids/scene_06m_080__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dfae105c350151e32988dde54267d7251b4f760d6583ad0011a86feb78ad88d9 +size 668 diff --git a/navigation_tasks/grids/scene_06m_080__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_080__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..9aa186ce1f560c4035f9a22790e2b87b5f049e6f --- /dev/null +++ b/navigation_tasks/grids/scene_06m_080__clearpath_jackal.json @@ -0,0 +1,146 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_080__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 12 + ], + "k": 21, + "oy": 16, + "ox": 10, + "r0": 0, + "c0": 1, + "free_cells": 60, + "main_cells": 60, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_080/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "8de9747c472c904becf27c1182041a5bfaf607c3833a80cf61214e4bca73c4a9", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_080", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_080", + "shape": [ + 12, + 12 + ], + "free_cells": 60, + "main_cells": 60, + "interior_h": 10, + "interior_w": 10, + "pairs": 3540, + "diameter_steps": 17, + "diameter_m": 8.925, + "min_steps": 1, + "max_steps": 17, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 180 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 612 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 734 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 678 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 1002 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 260 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 4 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 4 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 58 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 8 + } + ] + }, + "source_grid_id": "scene_06m_080", + "source_scene_id": "scene_06m_080" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_080__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_080__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..f10c77c4e1720ada913e9d7799b2e33e0d03528e --- /dev/null +++ b/navigation_tasks/grids/scene_06m_080__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65a7011624f4996320c875d15399de08e28904966f633ad20046613fcea4c322 +size 669 diff --git a/navigation_tasks/grids/scene_06m_080__pal_tiago.json b/navigation_tasks/grids/scene_06m_080__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..22a2ae71f0f86741f9f712be563b15647518a09a --- /dev/null +++ b/navigation_tasks/grids/scene_06m_080__pal_tiago.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_080__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 12 + ], + "k": 22, + "oy": 11, + "ox": 0, + "r0": 0, + "c0": 1, + "free_cells": 55, + "main_cells": 54, + "main_frac": 0.9818181818181818, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_080/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "8de9747c472c904becf27c1182041a5bfaf607c3833a80cf61214e4bca73c4a9", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_080", + "size_m": 6.0, + "theme": "office", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_080", + "shape": [ + 12, + 12 + ], + "free_cells": 55, + "main_cells": 54, + "interior_h": 10, + "interior_w": 10, + "pairs": 2862, + "diameter_steps": 16, + "diameter_m": 8.8, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 158 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 522 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 600 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 538 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 666 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 334 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 12 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 22 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 10 + } + ] + }, + "source_grid_id": "scene_06m_080", + "source_scene_id": "scene_06m_080" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_080__pal_tiago.npz b/navigation_tasks/grids/scene_06m_080__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..505379017ac0a89106714c8588515b858dbaec5c --- /dev/null +++ b/navigation_tasks/grids/scene_06m_080__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1273fce97c388a3efe0269bfe86398e0c9919d42a837f19f3b1407ae7191d3e6 +size 667 diff --git a/navigation_tasks/grids/scene_06m_081__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_081__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..94e1e92053b9483e624a2132146ceb2de1682273 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_081__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_081__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 11 + ], + "k": 23, + "oy": 0, + "ox": 0, + "r0": 1, + "c0": 1, + "free_cells": 32, + "main_cells": 32, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_081/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "9c7e9ce5ee139762bdfafb53f0a17f99aad6758e63678b505de93cfec64409cb", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_081", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_081", + "shape": [ + 10, + 11 + ], + "free_cells": 32, + "main_cells": 32, + "interior_h": 8, + "interior_w": 9, + "pairs": 992, + "diameter_steps": 15, + "diameter_m": 8.625, + "min_steps": 1, + "max_steps": 15, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 80 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 224 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 246 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 112 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 272 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 52 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 6 + } + ] + }, + "source_grid_id": "scene_06m_081", + "source_scene_id": "scene_06m_081" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_081__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_081__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..e07a5ed309e316baf1aa96487882229b687b21b1 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_081__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e8f0c932320025c278a085eb1eff23d5067b74adc83d10f1e90d87316fd7f2c +size 657 diff --git a/navigation_tasks/grids/scene_06m_081__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_081__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..488d9b38a90d7a50e2e8177eb5c653aa7125bab3 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_081__clearpath_jackal.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_081__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 12 + ], + "k": 21, + "oy": 16, + "ox": 10, + "r0": 0, + "c0": 1, + "free_cells": 37, + "main_cells": 37, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_081/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "9c7e9ce5ee139762bdfafb53f0a17f99aad6758e63678b505de93cfec64409cb", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_081", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_081", + "shape": [ + 11, + 12 + ], + "free_cells": 37, + "main_cells": 37, + "interior_h": 9, + "interior_w": 10, + "pairs": 1332, + "diameter_steps": 17, + "diameter_m": 8.925, + "min_steps": 1, + "max_steps": 17, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 96 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 272 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 288 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 246 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 324 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 94 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 6 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 4 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_081", + "source_scene_id": "scene_06m_081" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_081__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_081__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..00b04df14d5fb36b861f54212556d7a4189ff00b --- /dev/null +++ b/navigation_tasks/grids/scene_06m_081__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eeaf0cff39b64c6d8bfb2a348eb9263858afe86c8c1781a9f46a6436a93b630a +size 660 diff --git a/navigation_tasks/grids/scene_06m_081__pal_tiago.json b/navigation_tasks/grids/scene_06m_081__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..b8a1a6063c5e4943704c781a643be3a3dbc5c5dc --- /dev/null +++ b/navigation_tasks/grids/scene_06m_081__pal_tiago.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_081__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 11 + ], + "k": 22, + "oy": 6, + "ox": 6, + "r0": 0, + "c0": 1, + "free_cells": 34, + "main_cells": 34, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_081/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "9c7e9ce5ee139762bdfafb53f0a17f99aad6758e63678b505de93cfec64409cb", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_081", + "size_m": 6.0, + "theme": "hospital", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_081", + "shape": [ + 11, + 11 + ], + "free_cells": 34, + "main_cells": 34, + "interior_h": 9, + "interior_w": 9, + "pairs": 1122, + "diameter_steps": 15, + "diameter_m": 8.25, + "min_steps": 1, + "max_steps": 15, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 84 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 242 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 270 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 242 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 214 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 68 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_081", + "source_scene_id": "scene_06m_081" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_081__pal_tiago.npz b/navigation_tasks/grids/scene_06m_081__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..dc54b46e98e052bf41010480ba6f582d84b6fad2 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_081__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:801d9aa5bc9321bc34ec1b600e659abc13d7e59dfd7888caf988ea893d4bb91e +size 663 diff --git a/navigation_tasks/grids/scene_06m_082__clearpath_husky.json b/navigation_tasks/grids/scene_06m_082__clearpath_husky.json new file mode 100644 index 0000000000000000000000000000000000000000..4b472047bb2b565b5c1059cb36c823163a6282a2 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_082__clearpath_husky.json @@ -0,0 +1,98 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_082__clearpath_husky", + "robot": "clearpath_husky", + "cell_m": 1.0, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 5, + 3 + ], + "k": 40, + "oy": 20, + "ox": 0, + "r0": 0, + "c0": 1, + "free_cells": 5, + "main_cells": 3, + "main_frac": 0.6, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_082/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "4ed7c9e6de251feb215db7b8132eff2182037f2be788858ec4f237c5d1bd9594", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "f296a47b6da49fcfc60cdb0df640f45c6d5551e5bea4a594d397ff0a42571ea8" + }, + "census_row": { + "scene_id": "scene_06m_082", + "size_m": 6.0, + "theme": "warehouse", + "robot": "clearpath_husky", + "cell_m": 1.0, + "nominal_interior": 4, + "status": "ready", + "map_id": "scene_06m_082", + "shape": [ + 5, + 3 + ], + "free_cells": 3, + "main_cells": 3, + "interior_h": 3, + "interior_w": 1, + "pairs": 6, + "diameter_steps": 2, + "diameter_m": 2.0, + "min_steps": 1, + "max_steps": 2, + "joint": [ + { + "level": "easy", + "length": "medium", + "metres": "1-2", + "count": 4 + }, + { + "level": "easy", + "length": "long", + "metres": "2-4", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_082", + "source_scene_id": "scene_06m_082" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_082__clearpath_husky.npz b/navigation_tasks/grids/scene_06m_082__clearpath_husky.npz new file mode 100644 index 0000000000000000000000000000000000000000..1335ce750a8f095d79211543b215f6345cc20118 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_082__clearpath_husky.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2161958477ad2fe96a4a3c8f56762c60a9ffc52fd96fa98aee5040abed4e8ab +size 591 diff --git a/navigation_tasks/grids/scene_06m_082__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_082__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..313f5912593ac59775cc44fbb62919d0df1d1171 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_082__clearpath_jackal.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_082__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 13 + ], + "k": 21, + "oy": 10, + "ox": 16, + "r0": 1, + "c0": 0, + "free_cells": 40, + "main_cells": 34, + "main_frac": 0.85, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_082/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "4ed7c9e6de251feb215db7b8132eff2182037f2be788858ec4f237c5d1bd9594", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_082", + "size_m": 6.0, + "theme": "warehouse", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_082", + "shape": [ + 12, + 13 + ], + "free_cells": 40, + "main_cells": 34, + "interior_h": 10, + "interior_w": 11, + "pairs": 1122, + "diameter_steps": 19, + "diameter_m": 9.975, + "min_steps": 1, + "max_steps": 19, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 82 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 212 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 242 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 62 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 254 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 164 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 34 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 32 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 40 + } + ] + }, + "source_grid_id": "scene_06m_082", + "source_scene_id": "scene_06m_082" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_082__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_082__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..ae315c0671e2b614684fa6bffda5073aea5f9be6 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_082__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e07e91eed840421c6d16692c4d89fd838e2ab65ab252b36a9b056426a9132f5 +size 688 diff --git a/navigation_tasks/grids/scene_06m_083__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_083__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..a8cb6b007180591d1a676f45b5ef4d9bdc33ebe2 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_083__clearpath_dingo.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_083__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 9, + 10 + ], + "k": 23, + "oy": 12, + "ox": 0, + "r0": 1, + "c0": 2, + "free_cells": 20, + "main_cells": 19, + "main_frac": 0.95, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_083/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "e3bbad6338f7b27987b4c51c99e8d047a432db90050f5ecb1ae079286875ce17", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_083", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_083", + "shape": [ + 9, + 10 + ], + "free_cells": 20, + "main_cells": 19, + "interior_h": 7, + "interior_w": 8, + "pairs": 342, + "diameter_steps": 13, + "diameter_m": 7.475, + "min_steps": 1, + "max_steps": 13, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 38 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 80 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 40 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 70 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 60 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 54 + } + ] + }, + "source_grid_id": "scene_06m_083", + "source_scene_id": "scene_06m_083" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_083__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_083__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..aa724edf4eef68ad1be9022791de915e52c343e2 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_083__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f219a7cfb2ec51afdd78a7be03205dc940a44fa88cffb249eeb3dce40580dee8 +size 626 diff --git a/navigation_tasks/grids/scene_06m_083__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_083__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..124884bff1b3e7730b3ec9834633fd559f3a7d4d --- /dev/null +++ b/navigation_tasks/grids/scene_06m_083__clearpath_jackal.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_083__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 12 + ], + "k": 21, + "oy": 10, + "ox": 10, + "r0": 1, + "c0": 1, + "free_cells": 35, + "main_cells": 34, + "main_frac": 0.9714285714285714, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_083/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "e3bbad6338f7b27987b4c51c99e8d047a432db90050f5ecb1ae079286875ce17", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_083", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_083", + "shape": [ + 10, + 12 + ], + "free_cells": 35, + "main_cells": 34, + "interior_h": 8, + "interior_w": 10, + "pairs": 1122, + "diameter_steps": 20, + "diameter_m": 10.5, + "min_steps": 1, + "max_steps": 20, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 72 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 168 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 234 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 82 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 396 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 32 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 2 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 38 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 98 + } + ] + }, + "source_grid_id": "scene_06m_083", + "source_scene_id": "scene_06m_083" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_083__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_083__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..3153a191bb72d6377ed7c62cd77161efd40383dc --- /dev/null +++ b/navigation_tasks/grids/scene_06m_083__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e63b7756597afcfad37eac06058cbf92d78f477dbd2d5d2d38da93f4283b3976 +size 663 diff --git a/navigation_tasks/grids/scene_06m_084__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_084__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..c8e6d3cfc2cda8b67fc1ad8ee02666e29a108d66 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_084__clearpath_dingo.json @@ -0,0 +1,134 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_084__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 10 + ], + "k": 23, + "oy": 17, + "ox": 17, + "r0": 0, + "c0": 0, + "free_cells": 26, + "main_cells": 26, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_084/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "9bb8b324ed81d29a9af7b6b58e26865daa3c0d69b6ed41e6308b6a9808892fa1", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_084", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_084", + "shape": [ + 12, + 10 + ], + "free_cells": 26, + "main_cells": 26, + "interior_h": 10, + "interior_w": 8, + "pairs": 650, + "diameter_steps": 21, + "diameter_m": 12.075, + "min_steps": 1, + "max_steps": 21, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 52 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 112 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 148 + }, + { + "level": "easy", + "length": "short", + "metres": "4-8", + "count": 44 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 206 + }, + { + "level": "easy", + "length": "medium", + "metres": "8-16", + "count": 20 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 36 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 32 + } + ] + }, + "source_grid_id": "scene_06m_084", + "source_scene_id": "scene_06m_084" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_084__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_084__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..55edf57c0c313cb8094a82b4c01b462ebad651e9 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_084__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:594addab213e8104799809085910246240d2ed5f6e76262422856717177e687a +size 657 diff --git a/navigation_tasks/grids/scene_06m_084__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_084__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..357b5219157804c7c37b58f0d0acf9d4e0c835cb --- /dev/null +++ b/navigation_tasks/grids/scene_06m_084__clearpath_jackal.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_084__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 11 + ], + "k": 21, + "oy": 10, + "ox": 16, + "r0": 1, + "c0": 0, + "free_cells": 31, + "main_cells": 28, + "main_frac": 0.9032258064516129, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_084/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "9bb8b324ed81d29a9af7b6b58e26865daa3c0d69b6ed41e6308b6a9808892fa1", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_084", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_084", + "shape": [ + 12, + 11 + ], + "free_cells": 31, + "main_cells": 28, + "interior_h": 10, + "interior_w": 9, + "pairs": 756, + "diameter_steps": 17, + "diameter_m": 8.925, + "min_steps": 1, + "max_steps": 17, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 70 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 178 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 162 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 128 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 156 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 56 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 6 + } + ] + }, + "source_grid_id": "scene_06m_084", + "source_scene_id": "scene_06m_084" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_084__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_084__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..56b2faa42e5ed1beef876a8c25a9605668852eff --- /dev/null +++ b/navigation_tasks/grids/scene_06m_084__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7873c366d78f5708ad817842d9ab0a5aa70a514538ed07df3ff6e49d43a47bce +size 661 diff --git a/navigation_tasks/grids/scene_06m_084__pal_tiago.json b/navigation_tasks/grids/scene_06m_084__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..98ff392d4713b688f2d5f5138d5e46bfc0a51f93 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_084__pal_tiago.json @@ -0,0 +1,134 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_084__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 10 + ], + "k": 22, + "oy": 0, + "ox": 16, + "r0": 1, + "c0": 0, + "free_cells": 29, + "main_cells": 29, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_084/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "9bb8b324ed81d29a9af7b6b58e26865daa3c0d69b6ed41e6308b6a9808892fa1", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_084", + "size_m": 6.0, + "theme": "office", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_084", + "shape": [ + 11, + 10 + ], + "free_cells": 29, + "main_cells": 29, + "interior_h": 9, + "interior_w": 8, + "pairs": 812, + "diameter_steps": 20, + "diameter_m": 11.0, + "min_steps": 1, + "max_steps": 20, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 68 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 160 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 212 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 62 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 246 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 18 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 31 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 15 + } + ] + }, + "source_grid_id": "scene_06m_084", + "source_scene_id": "scene_06m_084" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_084__pal_tiago.npz b/navigation_tasks/grids/scene_06m_084__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..beb4a7517d8091a635c1755127c20840f1e25308 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_084__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f315d15cd060305df020f47114569fbb6c0dfeb0c181957dd31f0bed6eb8d24 +size 663 diff --git a/navigation_tasks/grids/scene_06m_085__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_085__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..6f618c15a2ce9bf0f90a6d13262b209341f16332 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_085__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_085__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 9, + 11 + ], + "k": 23, + "oy": 0, + "ox": 12, + "r0": 3, + "c0": 1, + "free_cells": 29, + "main_cells": 27, + "main_frac": 0.9310344827586207, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_085/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "705c973c462985c98541a00501092702cff520817dc15149bc40365d0e1d5249", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_085", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_085", + "shape": [ + 9, + 11 + ], + "free_cells": 29, + "main_cells": 27, + "interior_h": 7, + "interior_w": 9, + "pairs": 702, + "diameter_steps": 14, + "diameter_m": 8.05, + "min_steps": 1, + "max_steps": 14, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 58 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 140 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 78 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 138 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 166 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 120 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_085", + "source_scene_id": "scene_06m_085" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_085__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_085__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..3c78fcbc92bb4c3377866ccb066a2152a6d2517e --- /dev/null +++ b/navigation_tasks/grids/scene_06m_085__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c96bb13bd5d29c879c2246f9fecaa734f08a3470057467d262318ac3d5228663 +size 636 diff --git a/navigation_tasks/grids/scene_06m_085__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_085__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..1d8b2d12d494033093e00b116cc3c64fecb076a5 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_085__clearpath_jackal.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_085__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 13 + ], + "k": 21, + "oy": 10, + "ox": 16, + "r0": 2, + "c0": 0, + "free_cells": 39, + "main_cells": 32, + "main_frac": 0.8205128205128205, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_085/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "705c973c462985c98541a00501092702cff520817dc15149bc40365d0e1d5249", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_085", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_085", + "shape": [ + 11, + 13 + ], + "free_cells": 39, + "main_cells": 32, + "interior_h": 9, + "interior_w": 11, + "pairs": 992, + "diameter_steps": 16, + "diameter_m": 8.4, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 70 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 170 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 178 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 184 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 228 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 160 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_085", + "source_scene_id": "scene_06m_085" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_085__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_085__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..77760fcc412ace43d2923b4fdf77ace9f8475bfb --- /dev/null +++ b/navigation_tasks/grids/scene_06m_085__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ec50b99dd6b2481a00aa6e1fedff452510f1f79aa172adc8149a6aeda7948de +size 667 diff --git a/navigation_tasks/grids/scene_06m_086__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_086__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..4ff50afb6594225c4b3cfd80c0bcce2a73975df7 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_086__clearpath_dingo.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_086__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 9, + 10 + ], + "k": 23, + "oy": 12, + "ox": 12, + "r0": 1, + "c0": 2, + "free_cells": 19, + "main_cells": 19, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_086/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "871c5f0bae85e3d31854387aaaf8cf2ecae5e6efe510597e5478ee8bd177f086", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_086", + "size_m": 6.0, + "theme": "warehouse", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_086", + "shape": [ + 9, + 10 + ], + "free_cells": 19, + "main_cells": 19, + "interior_h": 7, + "interior_w": 8, + "pairs": 342, + "diameter_steps": 18, + "diameter_m": 10.35, + "min_steps": 1, + "max_steps": 18, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 36 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 66 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 84 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 114 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 12 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 30 + } + ] + }, + "source_grid_id": "scene_06m_086", + "source_scene_id": "scene_06m_086" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_086__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_086__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..9765c2e252c17dd8e79c24b0d93817c3b6e84221 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_086__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e52f4979339786c4a4dde8db9d6cc9210cb1785a1ea90adf534b2e6bab6ad389 +size 606 diff --git a/navigation_tasks/grids/scene_06m_086__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_086__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..d927a898f9ed0084e543a4fc5c1958fa7401691c --- /dev/null +++ b/navigation_tasks/grids/scene_06m_086__clearpath_jackal.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_086__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 11 + ], + "k": 21, + "oy": 10, + "ox": 10, + "r0": 2, + "c0": 2, + "free_cells": 27, + "main_cells": 24, + "main_frac": 0.8888888888888888, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_086/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "871c5f0bae85e3d31854387aaaf8cf2ecae5e6efe510597e5478ee8bd177f086", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_086", + "size_m": 6.0, + "theme": "warehouse", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_086", + "shape": [ + 11, + 11 + ], + "free_cells": 27, + "main_cells": 24, + "interior_h": 9, + "interior_w": 9, + "pairs": 552, + "diameter_steps": 16, + "diameter_m": 8.4, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 46 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 102 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 110 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 110 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 116 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 66 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_086", + "source_scene_id": "scene_06m_086" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_086__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_086__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..6a57b3590cccdaf4feea9a7793c1c944563fe3e5 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_086__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eac9216eb7b3b3286868e9032c88e8be822bbf69acba3ece8249bda776c9dd9a +size 649 diff --git a/navigation_tasks/grids/scene_06m_086__pal_tiago.json b/navigation_tasks/grids/scene_06m_086__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..e5b052210c9d0ad032af9970e6bc7a06e0c2880b --- /dev/null +++ b/navigation_tasks/grids/scene_06m_086__pal_tiago.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_086__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 9, + 11 + ], + "k": 22, + "oy": 6, + "ox": 16, + "r0": 2, + "c0": 1, + "free_cells": 23, + "main_cells": 22, + "main_frac": 0.9565217391304348, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_086/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "871c5f0bae85e3d31854387aaaf8cf2ecae5e6efe510597e5478ee8bd177f086", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_086", + "size_m": 6.0, + "theme": "warehouse", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_086", + "shape": [ + 9, + 11 + ], + "free_cells": 23, + "main_cells": 22, + "interior_h": 7, + "interior_w": 9, + "pairs": 462, + "diameter_steps": 18, + "diameter_m": 9.9, + "min_steps": 1, + "max_steps": 18, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 46 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 92 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 114 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 30 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 120 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 34 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 26 + } + ] + }, + "source_grid_id": "scene_06m_086", + "source_scene_id": "scene_06m_086" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_086__pal_tiago.npz b/navigation_tasks/grids/scene_06m_086__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..356a0ef34568e5160e4fc1f038de4d968d2427f2 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_086__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dcd2d3aff5a9a0100a8c921b4520029da002540db6015cb4644fb6589c3d6a3e +size 625 diff --git a/navigation_tasks/grids/scene_06m_087__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_087__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..39775e92ad34a8e9ea0456948c3a536cd847c03a --- /dev/null +++ b/navigation_tasks/grids/scene_06m_087__clearpath_dingo.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_087__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 10 + ], + "k": 23, + "oy": 0, + "ox": 12, + "r0": 1, + "c0": 2, + "free_cells": 46, + "main_cells": 46, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_087/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "d995888bc02905c059fd7a07a8d46e40c3976a58aa235b1d93af12b1f4eb3f99", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_087", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_087", + "shape": [ + 10, + 10 + ], + "free_cells": 46, + "main_cells": 46, + "interior_h": 8, + "interior_w": 8, + "pairs": 2070, + "diameter_steps": 13, + "diameter_m": 7.475, + "min_steps": 1, + "max_steps": 13, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 148 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 542 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 314 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 564 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 336 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 166 + } + ] + }, + "source_grid_id": "scene_06m_087", + "source_scene_id": "scene_06m_087" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_087__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_087__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..42b68fccea1a3a8ff2194cfc8f2c9734cb1f86be --- /dev/null +++ b/navigation_tasks/grids/scene_06m_087__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1dc73931eae1ef21368e83936e80b0c82536a5af5649f9b3af5136664b99f78a +size 636 diff --git a/navigation_tasks/grids/scene_06m_087__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_087__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..c60f84d273b6073d17c5cd336ae0fe3c99c34e85 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_087__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_087__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 13 + ], + "k": 21, + "oy": 16, + "ox": 16, + "r0": 0, + "c0": 0, + "free_cells": 52, + "main_cells": 52, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_087/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "d995888bc02905c059fd7a07a8d46e40c3976a58aa235b1d93af12b1f4eb3f99", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_087", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_087", + "shape": [ + 11, + 13 + ], + "free_cells": 52, + "main_cells": 52, + "interior_h": 9, + "interior_w": 11, + "pairs": 2652, + "diameter_steps": 14, + "diameter_m": 7.35, + "min_steps": 1, + "max_steps": 14, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 164 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 614 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 368 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 950 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 352 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 204 + } + ] + }, + "source_grid_id": "scene_06m_087", + "source_scene_id": "scene_06m_087" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_087__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_087__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..b13d0d762b2df22aa82cc268d6c8341aa7f69226 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_087__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92fba94968f75acdd24235e1fdec833e7883b4bba38a4c0ae974a16b42659964 +size 636 diff --git a/navigation_tasks/grids/scene_06m_088__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_088__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..8ce5492d2fdd6cd3b1a8b7b143dd70206149d7f3 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_088__clearpath_dingo.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_088__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 10 + ], + "k": 23, + "oy": 17, + "ox": 12, + "r0": 0, + "c0": 2, + "free_cells": 32, + "main_cells": 31, + "main_frac": 0.96875, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_088/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "51af93e0bda5f0988d4eaff66ff448281c9053d2fd3801f6633cfb65fac1ef69", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_088", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_088", + "shape": [ + 11, + 10 + ], + "free_cells": 32, + "main_cells": 31, + "interior_h": 9, + "interior_w": 8, + "pairs": 930, + "diameter_steps": 25, + "diameter_m": 14.375, + "min_steps": 1, + "max_steps": 25, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 64 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 134 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 174 + }, + { + "level": "easy", + "length": "short", + "metres": "4-8", + "count": 110 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 210 + }, + { + "level": "easy", + "length": "medium", + "metres": "8-16", + "count": 84 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 10 + }, + { + "level": "medium", + "length": "medium", + "metres": "8-16", + "count": 10 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 134 + } + ] + }, + "source_grid_id": "scene_06m_088", + "source_scene_id": "scene_06m_088" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_088__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_088__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..b3863a0b2214f7612ccb1edd8cb02b8f2d54dac7 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_088__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f38ed486920964b6c7a2a5a8e15d995fb4ff4a292ea6230d10e57a405320f78c +size 659 diff --git a/navigation_tasks/grids/scene_06m_088__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_088__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..d937e3a980b086fb5106be64b550730f01b424bd --- /dev/null +++ b/navigation_tasks/grids/scene_06m_088__clearpath_jackal.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_088__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 10 + ], + "k": 21, + "oy": 5, + "ox": 16, + "r0": 1, + "c0": 2, + "free_cells": 34, + "main_cells": 27, + "main_frac": 0.7941176470588235, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_088/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "51af93e0bda5f0988d4eaff66ff448281c9053d2fd3801f6633cfb65fac1ef69", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_088", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_088", + "shape": [ + 12, + 10 + ], + "free_cells": 33, + "main_cells": 27, + "interior_h": 10, + "interior_w": 8, + "pairs": 702, + "diameter_steps": 17, + "diameter_m": 8.925, + "min_steps": 1, + "max_steps": 17, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 66 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 142 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 114 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 112 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 184 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 74 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 10 + } + ] + }, + "source_grid_id": "scene_06m_088", + "source_scene_id": "scene_06m_088" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_088__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_088__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..b411347117015aa24d30e83f9fac1c1e4002f83c --- /dev/null +++ b/navigation_tasks/grids/scene_06m_088__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03e1185cbd35a8dd908d5307d4deb3f73a5ea7a577597f4200c5946c85fca889 +size 645 diff --git a/navigation_tasks/grids/scene_06m_088__pal_tiago.json b/navigation_tasks/grids/scene_06m_088__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..6c25d5dee106351a595201267f9a5ddc5a2c9ad0 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_088__pal_tiago.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_088__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 10 + ], + "k": 22, + "oy": 0, + "ox": 11, + "r0": 1, + "c0": 2, + "free_cells": 29, + "main_cells": 23, + "main_frac": 0.7931034482758621, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_088/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "51af93e0bda5f0988d4eaff66ff448281c9053d2fd3801f6633cfb65fac1ef69", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_088", + "size_m": 6.0, + "theme": "office", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_088", + "shape": [ + 11, + 10 + ], + "free_cells": 29, + "main_cells": 23, + "interior_h": 9, + "interior_w": 8, + "pairs": 506, + "diameter_steps": 16, + "diameter_m": 8.8, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 52 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 106 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 86 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 80 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 98 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 70 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 14 + } + ] + }, + "source_grid_id": "scene_06m_088", + "source_scene_id": "scene_06m_088" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_088__pal_tiago.npz b/navigation_tasks/grids/scene_06m_088__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..025433bb92d65644b1005983e98652f96d1232d7 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_088__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ceac7c1ebf511573728b2dc07b164e0cb5077c503757fe0db38228aff0dfcdfb +size 647 diff --git a/navigation_tasks/grids/scene_06m_089__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_089__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..a8d34f49055507b1544866bb9bedbcccfb4f44f4 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_089__clearpath_dingo.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_089__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 6, + 10 + ], + "k": 23, + "oy": 0, + "ox": 6, + "r0": 1, + "c0": 2, + "free_cells": 22, + "main_cells": 22, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_089/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "c47f7f4b915ba7037d42d8560a4abde35c54c9d6be0f0d556e5ebd498f52e3c5", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_089", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_089", + "shape": [ + 6, + 10 + ], + "free_cells": 22, + "main_cells": 22, + "interior_h": 4, + "interior_w": 8, + "pairs": 462, + "diameter_steps": 12, + "diameter_m": 6.9, + "min_steps": 1, + "max_steps": 12, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 54 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 138 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 58 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 98 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 74 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 40 + } + ] + }, + "source_grid_id": "scene_06m_089", + "source_scene_id": "scene_06m_089" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_089__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_089__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..fd46996b5cf966d7c28ad7b48d722884a55592f9 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_089__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3717cd176cf73148d1df5c6c0cd7c260ea2bebe57a163e0218052c7f179833ad +size 627 diff --git a/navigation_tasks/grids/scene_06m_089__clearpath_husky.json b/navigation_tasks/grids/scene_06m_089__clearpath_husky.json new file mode 100644 index 0000000000000000000000000000000000000000..94375f5cc452cae65aa7a59cc66d14d6f737e0f2 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_089__clearpath_husky.json @@ -0,0 +1,98 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_089__clearpath_husky", + "robot": "clearpath_husky", + "cell_m": 1.0, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 4, + 4 + ], + "k": 40, + "oy": 10, + "ox": 20, + "r0": 1, + "c0": 3, + "free_cells": 3, + "main_cells": 3, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_089/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "c47f7f4b915ba7037d42d8560a4abde35c54c9d6be0f0d556e5ebd498f52e3c5", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "f296a47b6da49fcfc60cdb0df640f45c6d5551e5bea4a594d397ff0a42571ea8" + }, + "census_row": { + "scene_id": "scene_06m_089", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_husky", + "cell_m": 1.0, + "nominal_interior": 4, + "status": "ready", + "map_id": "scene_06m_089", + "shape": [ + 4, + 4 + ], + "free_cells": 3, + "main_cells": 3, + "interior_h": 2, + "interior_w": 2, + "pairs": 6, + "diameter_steps": 2, + "diameter_m": 2.0, + "min_steps": 1, + "max_steps": 2, + "joint": [ + { + "level": "easy", + "length": "medium", + "metres": "1-2", + "count": 4 + }, + { + "level": "easy", + "length": "long", + "metres": "2-4", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_089", + "source_scene_id": "scene_06m_089" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_089__clearpath_husky.npz b/navigation_tasks/grids/scene_06m_089__clearpath_husky.npz new file mode 100644 index 0000000000000000000000000000000000000000..e1a0143646754d3fee1314f48d4103f44484630c --- /dev/null +++ b/navigation_tasks/grids/scene_06m_089__clearpath_husky.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:869c45f51b31033e9a34bc8bd3037532cb0fe601738571c06fcd2dcfee3d6e1a +size 597 diff --git a/navigation_tasks/grids/scene_06m_089__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_089__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..11d5ba949e2f0e5518565f56626c000b13e17b2d --- /dev/null +++ b/navigation_tasks/grids/scene_06m_089__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_089__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 7, + 12 + ], + "k": 21, + "oy": 10, + "ox": 16, + "r0": 0, + "c0": 0, + "free_cells": 27, + "main_cells": 25, + "main_frac": 0.9259259259259259, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_089/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "c47f7f4b915ba7037d42d8560a4abde35c54c9d6be0f0d556e5ebd498f52e3c5", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_089", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_089", + "shape": [ + 7, + 12 + ], + "free_cells": 25, + "main_cells": 25, + "interior_h": 5, + "interior_w": 10, + "pairs": 600, + "diameter_steps": 13, + "diameter_m": 6.825, + "min_steps": 1, + "max_steps": 13, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 60 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 162 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 74 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 174 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 44 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 86 + } + ] + }, + "source_grid_id": "scene_06m_089", + "source_scene_id": "scene_06m_089" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_089__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_089__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..d6dbe8cb60ae65d299f522ffbe44c60b9166bb40 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_089__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:585ae6424cf0c881fcf53ea9ca0de7b29f3eeac329246436500d975c246bc1ba +size 639 diff --git a/navigation_tasks/grids/scene_06m_090__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_090__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..1ae0d96e0cbb56c3a92586b12b9ce7a6cb1f9b4e --- /dev/null +++ b/navigation_tasks/grids/scene_06m_090__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_090__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 6 + ], + "k": 21, + "oy": 16, + "ox": 5, + "r0": 0, + "c0": 7, + "free_cells": 22, + "main_cells": 19, + "main_frac": 0.8636363636363636, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_090/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "4d34adb2bde674e9f0260486734a36de9b221519b9b0b9170296a694e7e377cd", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_090", + "size_m": 6.0, + "theme": "warehouse", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_090", + "shape": [ + 10, + 6 + ], + "free_cells": 19, + "main_cells": 19, + "interior_h": 8, + "interior_w": 4, + "pairs": 342, + "diameter_steps": 12, + "diameter_m": 6.3, + "min_steps": 1, + "max_steps": 12, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 46 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 104 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 36 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 90 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 26 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 40 + } + ] + }, + "source_grid_id": "scene_06m_090", + "source_scene_id": "scene_06m_090" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_090__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_090__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..c2eef94939d9f943652bc15e3d3a71cccc8f811f --- /dev/null +++ b/navigation_tasks/grids/scene_06m_090__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a07d5f79d5c434157418a6b940f9339d031d4aa5491590e7f5d377af01a78df0 +size 627 diff --git a/navigation_tasks/grids/scene_06m_091__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_091__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..190715eb3e785c2a5153b340399dd468b6759080 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_091__clearpath_jackal.json @@ -0,0 +1,146 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_091__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 13 + ], + "k": 21, + "oy": 10, + "ox": 16, + "r0": 2, + "c0": 0, + "free_cells": 44, + "main_cells": 44, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_091/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "5a0375c7b17f287e6083df59f2041b1cd40fc2dfd0a819cb2677fb08c2faa5f9", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_091", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_091", + "shape": [ + 11, + 13 + ], + "free_cells": 44, + "main_cells": 44, + "interior_h": 9, + "interior_w": 11, + "pairs": 1892, + "diameter_steps": 18, + "diameter_m": 9.45, + "min_steps": 1, + "max_steps": 18, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 116 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 352 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 580 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 180 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 524 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 66 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 5 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 6 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 46 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 17 + } + ] + }, + "source_grid_id": "scene_06m_091", + "source_scene_id": "scene_06m_091" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_091__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_091__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..82305590ff1275784d8fe0027c0540cfbafa26ce --- /dev/null +++ b/navigation_tasks/grids/scene_06m_091__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c6a7a97ed69713adcd3bd52be37b0d48350697be8035f42f9ea2d9cfec82db6 +size 669 diff --git a/navigation_tasks/grids/scene_06m_091__pal_tiago.json b/navigation_tasks/grids/scene_06m_091__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..655020c8e09c79fe1d21713968a23bce97f515ec --- /dev/null +++ b/navigation_tasks/grids/scene_06m_091__pal_tiago.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_091__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 12 + ], + "k": 22, + "oy": 6, + "ox": 16, + "r0": 1, + "c0": 0, + "free_cells": 40, + "main_cells": 40, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_091/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "5a0375c7b17f287e6083df59f2041b1cd40fc2dfd0a819cb2677fb08c2faa5f9", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_091", + "size_m": 6.0, + "theme": "residential", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_091", + "shape": [ + 11, + 12 + ], + "free_cells": 40, + "main_cells": 40, + "interior_h": 9, + "interior_w": 10, + "pairs": 1560, + "diameter_steps": 16, + "diameter_m": 8.8, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 104 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 310 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 326 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 316 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 336 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 146 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 5 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 8 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 9 + } + ] + }, + "source_grid_id": "scene_06m_091", + "source_scene_id": "scene_06m_091" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_091__pal_tiago.npz b/navigation_tasks/grids/scene_06m_091__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..ada69f7da4468386ac27eb626fa58ebafab25974 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_091__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e91284d3ae76dbefc7cce4f2b9d574223f617e8722754cd206ebb778d8b7e47 +size 657 diff --git a/navigation_tasks/grids/scene_06m_092__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_092__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..d37c268a63e8f2b3b356f2bc88a915a397d1064a --- /dev/null +++ b/navigation_tasks/grids/scene_06m_092__clearpath_jackal.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_092__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 13 + ], + "k": 21, + "oy": 10, + "ox": 10, + "r0": 2, + "c0": 0, + "free_cells": 30, + "main_cells": 26, + "main_frac": 0.8666666666666667, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_092/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "a8fa68963cead88447cb4ae18d4efd0827ec2556d5e85e98cbcb5c115c820250", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_092", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_092", + "shape": [ + 11, + 13 + ], + "free_cells": 29, + "main_cells": 26, + "interior_h": 9, + "interior_w": 11, + "pairs": 650, + "diameter_steps": 17, + "diameter_m": 8.925, + "min_steps": 1, + "max_steps": 17, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 52 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 120 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 118 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 98 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 186 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 65 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 7 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 1 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 3 + } + ] + }, + "source_grid_id": "scene_06m_092", + "source_scene_id": "scene_06m_092" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_092__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_092__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..f3b4b06e4e6b105c0d0687a61987e8621d8eeac6 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_092__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a9728e6227528eb6dedb3c0fd53c99080520fe48255ff01dad2323994dc0623 +size 656 diff --git a/navigation_tasks/grids/scene_06m_093__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_093__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..02d94b03eecf1a82e5237c0cbdf10da0cfc76948 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_093__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_093__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 11 + ], + "k": 23, + "oy": 0, + "ox": 12, + "r0": 1, + "c0": 1, + "free_cells": 58, + "main_cells": 58, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_093/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "d88207492f9846160a3163e491cd0c3a59185385d63694643c2c35bea8f86548", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_093", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_093", + "shape": [ + 11, + 11 + ], + "free_cells": 58, + "main_cells": 58, + "interior_h": 9, + "interior_w": 9, + "pairs": 3306, + "diameter_steps": 16, + "diameter_m": 9.2, + "min_steps": 1, + "max_steps": 16, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 192 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 708 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 838 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 382 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 964 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 192 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 30 + } + ] + }, + "source_grid_id": "scene_06m_093", + "source_scene_id": "scene_06m_093" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_093__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_093__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..64aaa77d34c377ec807e22e73abe86750844aa41 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_093__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5544bdb4393bb000b963f8306c3c7eaad0fe70fe7e24a32d525122ef4f538797 +size 636 diff --git a/navigation_tasks/grids/scene_06m_093__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_093__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..8c273540d5a30ce2371306941577b677e4dbf870 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_093__clearpath_jackal.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_093__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 12 + ], + "k": 21, + "oy": 0, + "ox": 10, + "r0": 1, + "c0": 1, + "free_cells": 70, + "main_cells": 70, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_093/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "d88207492f9846160a3163e491cd0c3a59185385d63694643c2c35bea8f86548", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_093", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_093", + "shape": [ + 12, + 12 + ], + "free_cells": 70, + "main_cells": 70, + "interior_h": 10, + "interior_w": 10, + "pairs": 4830, + "diameter_steps": 18, + "diameter_m": 9.45, + "min_steps": 1, + "max_steps": 18, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 234 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 870 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 1566 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 468 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 1428 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 232 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 32 + } + ] + }, + "source_grid_id": "scene_06m_093", + "source_scene_id": "scene_06m_093" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_093__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_093__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..99c60a10737bf610386310b59c67efea71d7258a --- /dev/null +++ b/navigation_tasks/grids/scene_06m_093__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92544af3d4536f5d1d57094a9f6c6f100d8e1d7880fb164214b5d71130add910 +size 639 diff --git a/navigation_tasks/grids/scene_06m_093__pal_tiago.json b/navigation_tasks/grids/scene_06m_093__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..9497f39b37b06e5bb2c8d9f599b692dd16b809b7 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_093__pal_tiago.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_093__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 12 + ], + "k": 22, + "oy": 0, + "ox": 0, + "r0": 1, + "c0": 1, + "free_cells": 67, + "main_cells": 67, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_093/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "d88207492f9846160a3163e491cd0c3a59185385d63694643c2c35bea8f86548", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_093", + "size_m": 6.0, + "theme": "hospital", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_093", + "shape": [ + 12, + 12 + ], + "free_cells": 67, + "main_cells": 67, + "interior_h": 10, + "interior_w": 10, + "pairs": 4422, + "diameter_steps": 17, + "diameter_m": 9.35, + "min_steps": 1, + "max_steps": 17, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 224 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 854 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 1034 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 924 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 1104 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 244 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 38 + } + ] + }, + "source_grid_id": "scene_06m_093", + "source_scene_id": "scene_06m_093" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_093__pal_tiago.npz b/navigation_tasks/grids/scene_06m_093__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..f6a280b846cbf33cf34c3be24bc4c3133cdd4d5f --- /dev/null +++ b/navigation_tasks/grids/scene_06m_093__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ab4ce36a4b325634943010d6d9de4ad569fe796582ad4d7dc66f555c03634d2 +size 651 diff --git a/navigation_tasks/grids/scene_06m_095__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_095__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..e00abd49e2cbd356e6d99eb97adbc68fdaa45b95 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_095__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_095__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 7, + 12 + ], + "k": 21, + "oy": 10, + "ox": 16, + "r0": 2, + "c0": 0, + "free_cells": 26, + "main_cells": 26, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_095/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "93de0935e86f2eae509c3917d026cf1b1fed30e410676bfc52333d4a81b8e6f2", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_095", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_095", + "shape": [ + 7, + 12 + ], + "free_cells": 26, + "main_cells": 26, + "interior_h": 5, + "interior_w": 10, + "pairs": 650, + "diameter_steps": 12, + "diameter_m": 6.3, + "min_steps": 1, + "max_steps": 12, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 62 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 170 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 88 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 228 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 38 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 64 + } + ] + }, + "source_grid_id": "scene_06m_095", + "source_scene_id": "scene_06m_095" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_095__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_095__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..1a686469b844ca3722f5f88f6a36b72cbbfadc74 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_095__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c6945a6d508ae59b49fb1b99884696d83b80150e3a2d7bafdd543ec099efc79 +size 639 diff --git a/navigation_tasks/grids/scene_06m_096__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_096__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..427e92c2db09bd5c12bfdc2c952f22e521ec4297 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_096__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_096__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 11 + ], + "k": 23, + "oy": 17, + "ox": 12, + "r0": 0, + "c0": 1, + "free_cells": 46, + "main_cells": 46, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_096/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "2df17ccf0f0f662b4336e2d52ce7d03d52a28f5071212d09d64abd2788d77a4c", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_096", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_096", + "shape": [ + 11, + 11 + ], + "free_cells": 46, + "main_cells": 46, + "interior_h": 9, + "interior_w": 9, + "pairs": 2070, + "diameter_steps": 14, + "diameter_m": 8.05, + "min_steps": 1, + "max_steps": 14, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 140 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 472 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 268 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 504 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 490 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 194 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 2 + } + ] + }, + "source_grid_id": "scene_06m_096", + "source_scene_id": "scene_06m_096" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_096__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_096__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..0402ca1260946d6cc572da6922819423600e00ec --- /dev/null +++ b/navigation_tasks/grids/scene_06m_096__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:78042335b6a229fc5125fd14e4a07e1b3c07fb5d28316fdd88e6751e1ae139bd +size 657 diff --git a/navigation_tasks/grids/scene_06m_096__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_096__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..5dd020a2fd6ad99bcc920f507f9f9f8a8a28d8a8 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_096__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_096__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 13, + 11 + ], + "k": 21, + "oy": 5, + "ox": 5, + "r0": 0, + "c0": 1, + "free_cells": 52, + "main_cells": 52, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_096/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "2df17ccf0f0f662b4336e2d52ce7d03d52a28f5071212d09d64abd2788d77a4c", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_096", + "size_m": 6.0, + "theme": "office", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_096", + "shape": [ + 13, + 11 + ], + "free_cells": 52, + "main_cells": 52, + "interior_h": 11, + "interior_w": 9, + "pairs": 2652, + "diameter_steps": 15, + "diameter_m": 7.875, + "min_steps": 1, + "max_steps": 15, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 160 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 566 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 638 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 556 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 536 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 196 + } + ] + }, + "source_grid_id": "scene_06m_096", + "source_scene_id": "scene_06m_096" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_096__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_096__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..3c77c1eb245739cf897eed4566ffd06fcd9c861d --- /dev/null +++ b/navigation_tasks/grids/scene_06m_096__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:75b4c67e388b7efc5d5f3bb1e185006ba568d34f0bf5b87b1281cba2d2d405fc +size 660 diff --git a/navigation_tasks/grids/scene_06m_097__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_097__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..49a18efac493ba777c7965f4734139b8943184aa --- /dev/null +++ b/navigation_tasks/grids/scene_06m_097__clearpath_jackal.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_097__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 11 + ], + "k": 21, + "oy": 16, + "ox": 5, + "r0": 0, + "c0": 2, + "free_cells": 36, + "main_cells": 35, + "main_frac": 0.9722222222222222, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_097/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "bf21d931846b9478dc342a1ebd7918b6f1aefa17da2e9b98c045c7d66f57bd26", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_097", + "size_m": 6.0, + "theme": "hospital", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_097", + "shape": [ + 10, + 11 + ], + "free_cells": 35, + "main_cells": 35, + "interior_h": 8, + "interior_w": 9, + "pairs": 1190, + "diameter_steps": 12, + "diameter_m": 6.3, + "min_steps": 1, + "max_steps": 12, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 94 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 298 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 162 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 372 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 92 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 172 + } + ] + }, + "source_grid_id": "scene_06m_097", + "source_scene_id": "scene_06m_097" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_097__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_097__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..70819c7224451ab4a796d6563e220d1c4d6f76bd --- /dev/null +++ b/navigation_tasks/grids/scene_06m_097__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:056f77693a4db96c9f22c79306175895bcc4edea9ce7bfa5d38e9cd95054abe4 +size 651 diff --git a/navigation_tasks/grids/scene_06m_098__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_098__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..7c72f1d86393ee8f2bbf29d03046783f4aca8e01 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_098__clearpath_dingo.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_098__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 12 + ], + "k": 23, + "oy": 6, + "ox": 6, + "r0": 1, + "c0": 0, + "free_cells": 36, + "main_cells": 34, + "main_frac": 0.9444444444444444, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_098/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "9db6c046d35bb916e708a5f810676b6d22a46f5b9b8a77519603912727d5d72d", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_098", + "size_m": 6.0, + "theme": "warehouse", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_098", + "shape": [ + 11, + 12 + ], + "free_cells": 36, + "main_cells": 34, + "interior_h": 9, + "interior_w": 10, + "pairs": 1122, + "diameter_steps": 17, + "diameter_m": 9.775, + "min_steps": 1, + "max_steps": 17, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 92 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 268 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 240 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 100 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 348 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 48 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 26 + } + ] + }, + "source_grid_id": "scene_06m_098", + "source_scene_id": "scene_06m_098" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_098__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_098__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..8703a83f97904a20e5b491d5e6b7ff04f3a15c55 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_098__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12b3464902fafdb89a96cd59d7cb31d7e8a3ca01d902e464f80667f010ef044a +size 670 diff --git a/navigation_tasks/grids/scene_06m_098__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_098__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..9d1be53351caf11d46d7f457fb934ca60f372814 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_098__clearpath_jackal.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_098__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 12, + 13 + ], + "k": 21, + "oy": 16, + "ox": 10, + "r0": 0, + "c0": 0, + "free_cells": 50, + "main_cells": 44, + "main_frac": 0.88, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_098/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "9db6c046d35bb916e708a5f810676b6d22a46f5b9b8a77519603912727d5d72d", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_098", + "size_m": 6.0, + "theme": "warehouse", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_098", + "shape": [ + 12, + 13 + ], + "free_cells": 50, + "main_cells": 44, + "interior_h": 10, + "interior_w": 11, + "pairs": 1892, + "diameter_steps": 18, + "diameter_m": 9.45, + "min_steps": 1, + "max_steps": 18, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 126 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 406 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 598 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 158 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 508 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 77 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 9 + }, + { + "level": "medium", + "length": "long", + "metres": "4-8", + "count": 3 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 7 + } + ] + }, + "source_grid_id": "scene_06m_098", + "source_scene_id": "scene_06m_098" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_098__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_098__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..0437d5b540c2d7cf3464915fddcd6b0d996fac01 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_098__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8634081b6cfba75b312f37c989a53dda2f3bba27bd81301c1bee6a10353885c4 +size 684 diff --git a/navigation_tasks/grids/scene_06m_098__pal_tiago.json b/navigation_tasks/grids/scene_06m_098__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..554e025d604e929ddf8234a9efe15e8a24029efa --- /dev/null +++ b/navigation_tasks/grids/scene_06m_098__pal_tiago.json @@ -0,0 +1,134 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_098__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 12 + ], + "k": 22, + "oy": 11, + "ox": 16, + "r0": 1, + "c0": 0, + "free_cells": 37, + "main_cells": 35, + "main_frac": 0.9459459459459459, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_098/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "9db6c046d35bb916e708a5f810676b6d22a46f5b9b8a77519603912727d5d72d", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_098", + "size_m": 6.0, + "theme": "warehouse", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_098", + "shape": [ + 11, + 12 + ], + "free_cells": 37, + "main_cells": 35, + "interior_h": 9, + "interior_w": 10, + "pairs": 1190, + "diameter_steps": 17, + "diameter_m": 9.35, + "min_steps": 1, + "max_steps": 17, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 94 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 276 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 232 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 186 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 302 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 78 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 18 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 4 + } + ] + }, + "source_grid_id": "scene_06m_098", + "source_scene_id": "scene_06m_098" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_098__pal_tiago.npz b/navigation_tasks/grids/scene_06m_098__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..7d2760dac7afef2545cd0306c6cee51e213561c1 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_098__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f76f86874905b1e8edfb7258ab08f17643425e397c4c71030dfc647f43a835ba +size 671 diff --git a/navigation_tasks/grids/scene_06m_099__clearpath_dingo.json b/navigation_tasks/grids/scene_06m_099__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..3951b47017ec5d9b872a81b254afbf158931d206 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_099__clearpath_dingo.json @@ -0,0 +1,122 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_099__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 7, + 10 + ], + "k": 23, + "oy": 12, + "ox": 12, + "r0": 4, + "c0": 2, + "free_cells": 25, + "main_cells": 16, + "main_frac": 0.64, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_099/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "0942376cdcb1dadb2bf06e027fd308db73bd36f37d6a5a594cfc4dc6c74e8188", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_06m_099", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_099", + "shape": [ + 7, + 10 + ], + "free_cells": 17, + "main_cells": 16, + "interior_h": 5, + "interior_w": 8, + "pairs": 240, + "diameter_steps": 12, + "diameter_m": 6.9, + "min_steps": 1, + "max_steps": 12, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 34 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 64 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 30 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 50 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 34 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 28 + } + ] + }, + "source_grid_id": "scene_06m_099", + "source_scene_id": "scene_06m_099" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_099__clearpath_dingo.npz b/navigation_tasks/grids/scene_06m_099__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..0041072bdf28ed78b63f0e4406b94fcc43098cc2 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_099__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f33e18a0e50a3d4bff7b2095b9318b5f6cdead8f5edb5772e1aad0a2721648d +size 622 diff --git a/navigation_tasks/grids/scene_06m_099__clearpath_jackal.json b/navigation_tasks/grids/scene_06m_099__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..03185a6d62b795f7de096175a705158c68d715e4 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_099__clearpath_jackal.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_099__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 12 + ], + "k": 21, + "oy": 10, + "ox": 10, + "r0": 2, + "c0": 1, + "free_cells": 41, + "main_cells": 36, + "main_frac": 0.8780487804878049, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_099/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "0942376cdcb1dadb2bf06e027fd308db73bd36f37d6a5a594cfc4dc6c74e8188", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_06m_099", + "size_m": 6.0, + "theme": "residential", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 10, + "status": "ready", + "map_id": "scene_06m_099", + "shape": [ + 11, + 12 + ], + "free_cells": 41, + "main_cells": 36, + "interior_h": 9, + "interior_w": 10, + "pairs": 1260, + "diameter_steps": 28, + "diameter_m": 14.7, + "min_steps": 1, + "max_steps": 28, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 78 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 158 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 284 + }, + { + "level": "easy", + "length": "short", + "metres": "4-8", + "count": 110 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 280 + }, + { + "level": "easy", + "length": "medium", + "metres": "8-16", + "count": 31 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 2 + }, + { + "level": "medium", + "length": "medium", + "metres": "8-16", + "count": 83 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 234 + } + ] + }, + "source_grid_id": "scene_06m_099", + "source_scene_id": "scene_06m_099" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_099__clearpath_jackal.npz b/navigation_tasks/grids/scene_06m_099__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..4929c9063585efabdf645132271af6d06bbf03c7 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_099__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3251e7a66479013c84437a6e4553b1745ae52506cc5791922668a34a6ed8ec55 +size 674 diff --git a/navigation_tasks/grids/scene_06m_099__pal_tiago.json b/navigation_tasks/grids/scene_06m_099__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..7391bc42941a2cea1bddcece9e72670860ce19ce --- /dev/null +++ b/navigation_tasks/grids/scene_06m_099__pal_tiago.json @@ -0,0 +1,134 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_06m_099__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 256, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 11 + ], + "k": 22, + "oy": 0, + "ox": 0, + "r0": 2, + "c0": 2, + "free_cells": 32, + "main_cells": 24, + "main_frac": 0.75, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_06m_099/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "0942376cdcb1dadb2bf06e027fd308db73bd36f37d6a5a594cfc4dc6c74e8188", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_06m_099", + "size_m": 6.0, + "theme": "residential", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 9, + "status": "ready", + "map_id": "scene_06m_099", + "shape": [ + 10, + 11 + ], + "free_cells": 30, + "main_cells": 24, + "interior_h": 8, + "interior_w": 9, + "pairs": 552, + "diameter_steps": 19, + "diameter_m": 10.45, + "min_steps": 1, + "max_steps": 19, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 52 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 104 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 138 + }, + { + "level": "easy", + "length": "medium", + "metres": "2-4", + "count": 40 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 152 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 30 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 32 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 4 + } + ] + }, + "source_grid_id": "scene_06m_099", + "source_scene_id": "scene_06m_099" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_06m_099__pal_tiago.npz b/navigation_tasks/grids/scene_06m_099__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..8a126630d4280f768f24741b0b45e89bf99d6254 --- /dev/null +++ b/navigation_tasks/grids/scene_06m_099__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41576ea21bb0238f9b514eadc9e6224e4c8042dac46536467a2bd54505afc239 +size 659 diff --git a/navigation_tasks/grids/scene_08m_000__clearpath_dingo.json b/navigation_tasks/grids/scene_08m_000__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..cffefcfea1e920c77a0e9abf97ddb67aeb7e237f --- /dev/null +++ b/navigation_tasks/grids/scene_08m_000__clearpath_dingo.json @@ -0,0 +1,146 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_08m_000__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 336, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 14, + 15 + ], + "k": 23, + "oy": 17, + "ox": 0, + "r0": 1, + "c0": 1, + "free_cells": 84, + "main_cells": 84, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_08m_000/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "116e37228b364acdeb6bf995cca58ff7bf4ce97e468394ef733f8c75a533605a", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_08m_000", + "size_m": 8.0, + "theme": "office", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 12, + "status": "ready", + "map_id": "scene_08m_000", + "shape": [ + 14, + 15 + ], + "free_cells": 84, + "main_cells": 84, + "interior_h": 12, + "interior_w": 13, + "pairs": 6972, + "diameter_steps": 22, + "diameter_m": 12.65, + "min_steps": 1, + "max_steps": 22, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 278 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 1104 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 2224 + }, + { + "level": "easy", + "length": "short", + "metres": "4-8", + "count": 718 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 2244 + }, + { + "level": "easy", + "length": "medium", + "metres": "8-16", + "count": 87 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 142 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 74 + }, + { + "level": "medium", + "length": "medium", + "metres": "8-16", + "count": 19 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 82 + } + ] + }, + "source_grid_id": "scene_08m_000", + "source_scene_id": "scene_08m_000" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_08m_000__clearpath_dingo.npz b/navigation_tasks/grids/scene_08m_000__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..da8e243aafce5f467eff7ce59339e075dd65292b --- /dev/null +++ b/navigation_tasks/grids/scene_08m_000__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea5354b474477e88d05a6c15a07488300355507961fcb1106ff1a290fe4f4477 +size 672 diff --git a/navigation_tasks/grids/scene_08m_000__pal_tiago.json b/navigation_tasks/grids/scene_08m_000__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..1b44efae5eedda5b6c2e37471676370485a6144d --- /dev/null +++ b/navigation_tasks/grids/scene_08m_000__pal_tiago.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_08m_000__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 336, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 15, + 15 + ], + "k": 22, + "oy": 16, + "ox": 0, + "r0": 0, + "c0": 1, + "free_cells": 96, + "main_cells": 96, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_08m_000/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "116e37228b364acdeb6bf995cca58ff7bf4ce97e468394ef733f8c75a533605a", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_08m_000", + "size_m": 8.0, + "theme": "office", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 13, + "status": "ready", + "map_id": "scene_08m_000", + "shape": [ + 15, + 15 + ], + "free_cells": 96, + "main_cells": 96, + "interior_h": 13, + "interior_w": 13, + "pairs": 9120, + "diameter_steps": 22, + "diameter_m": 12.1, + "min_steps": 1, + "max_steps": 22, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 318 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 1272 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 3588 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 3494 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 231 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 126 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 91 + } + ] + }, + "source_grid_id": "scene_08m_000", + "source_scene_id": "scene_08m_000" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_08m_000__pal_tiago.npz b/navigation_tasks/grids/scene_08m_000__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..dbb7364d36656e48664bc0e58f7d33e0c97452c9 --- /dev/null +++ b/navigation_tasks/grids/scene_08m_000__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3f6979d868d204f284275e9c801f7675e9f82a555df98d8744c3ea9e82a0653 +size 678 diff --git a/navigation_tasks/grids/scene_08m_001__clearpath_dingo.json b/navigation_tasks/grids/scene_08m_001__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..782945c204c22162226be1a6ac7aed5fbc1ea625 --- /dev/null +++ b/navigation_tasks/grids/scene_08m_001__clearpath_dingo.json @@ -0,0 +1,146 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_08m_001__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 336, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 13, + 15 + ], + "k": 23, + "oy": 6, + "ox": 6, + "r0": 2, + "c0": 1, + "free_cells": 67, + "main_cells": 64, + "main_frac": 0.9552238805970149, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_08m_001/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "73fb4e4a980c4b9c4443b78a90e6660834352cc9a4f1f5ff71fed73e97c6228b", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_08m_001", + "size_m": 8.0, + "theme": "hospital", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 12, + "status": "ready", + "map_id": "scene_08m_001", + "shape": [ + 13, + 15 + ], + "free_cells": 67, + "main_cells": 64, + "interior_h": 11, + "interior_w": 13, + "pairs": 4032, + "diameter_steps": 24, + "diameter_m": 13.8, + "min_steps": 1, + "max_steps": 24, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 178 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 536 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 806 + }, + { + "level": "easy", + "length": "short", + "metres": "4-8", + "count": 540 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 1050 + }, + { + "level": "easy", + "length": "medium", + "metres": "8-16", + "count": 76 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 5 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 132 + }, + { + "level": "medium", + "length": "medium", + "metres": "8-16", + "count": 368 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 341 + } + ] + }, + "source_grid_id": "scene_08m_001", + "source_scene_id": "scene_08m_001" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_08m_001__clearpath_dingo.npz b/navigation_tasks/grids/scene_08m_001__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..f6498ad048f93cf51be739c4efc413bab54fe0aa --- /dev/null +++ b/navigation_tasks/grids/scene_08m_001__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1b26da89599ea47ad12eb2d172bdf51da33d533559dc128213f66ba01b5a757 +size 693 diff --git a/navigation_tasks/grids/scene_08m_001__pal_tiago.json b/navigation_tasks/grids/scene_08m_001__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..22190f16f101a7395bb9a0deec5f65c6bf75f763 --- /dev/null +++ b/navigation_tasks/grids/scene_08m_001__pal_tiago.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_08m_001__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 336, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 14, + 16 + ], + "k": 22, + "oy": 6, + "ox": 0, + "r0": 2, + "c0": 1, + "free_cells": 75, + "main_cells": 73, + "main_frac": 0.9733333333333334, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_08m_001/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "73fb4e4a980c4b9c4443b78a90e6660834352cc9a4f1f5ff71fed73e97c6228b", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_08m_001", + "size_m": 8.0, + "theme": "hospital", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 13, + "status": "ready", + "map_id": "scene_08m_001", + "shape": [ + 14, + 16 + ], + "free_cells": 75, + "main_cells": 73, + "interior_h": 12, + "interior_w": 14, + "pairs": 5256, + "diameter_steps": 27, + "diameter_m": 14.85, + "min_steps": 1, + "max_steps": 27, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 200 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 624 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 1338 + }, + { + "level": "easy", + "length": "short", + "metres": "4-8", + "count": 724 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 1089 + }, + { + "level": "easy", + "length": "medium", + "metres": "8-16", + "count": 36 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 305 + }, + { + "level": "medium", + "length": "medium", + "metres": "8-16", + "count": 586 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 354 + } + ] + }, + "source_grid_id": "scene_08m_001", + "source_scene_id": "scene_08m_001" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_08m_001__pal_tiago.npz b/navigation_tasks/grids/scene_08m_001__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..5da2ad2014679eb1a8654db5001e815338d4edbe --- /dev/null +++ b/navigation_tasks/grids/scene_08m_001__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8cdfa4e814c274781f3388664edfce5b7556c2a3bd18b1e6e872b831b76040e3 +size 719 diff --git a/navigation_tasks/grids/scene_08m_002__clearpath_dingo.json b/navigation_tasks/grids/scene_08m_002__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..3fdfc5c5185cf6ba597cfeb9b7b5f2a5e9972bf9 --- /dev/null +++ b/navigation_tasks/grids/scene_08m_002__clearpath_dingo.json @@ -0,0 +1,146 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_08m_002__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 336, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 13, + 12 + ], + "k": 23, + "oy": 12, + "ox": 0, + "r0": 2, + "c0": 4, + "free_cells": 48, + "main_cells": 41, + "main_frac": 0.8541666666666666, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_08m_002/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "fc17e419f2f180f77ea4f00c586a484754d08f137b1d4d8cfa778261ad837a40", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_08m_002", + "size_m": 8.0, + "theme": "warehouse", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 12, + "status": "ready", + "map_id": "scene_08m_002", + "shape": [ + 13, + 12 + ], + "free_cells": 45, + "main_cells": 41, + "interior_h": 11, + "interior_w": 10, + "pairs": 1640, + "diameter_steps": 28, + "diameter_m": 16.1, + "min_steps": 1, + "max_steps": 28, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 98 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 230 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 306 + }, + { + "level": "easy", + "length": "short", + "metres": "4-8", + "count": 270 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 306 + }, + { + "level": "easy", + "length": "medium", + "metres": "8-16", + "count": 151 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 4 + }, + { + "level": "medium", + "length": "medium", + "metres": "8-16", + "count": 105 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 168 + }, + { + "level": "medium", + "length": "long", + "metres": "16-32", + "count": 2 + } + ] + }, + "source_grid_id": "scene_08m_002", + "source_scene_id": "scene_08m_002" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_08m_002__clearpath_dingo.npz b/navigation_tasks/grids/scene_08m_002__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..74586e91b77f3d17248a1eb762b7d8b151db7331 --- /dev/null +++ b/navigation_tasks/grids/scene_08m_002__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f5e8a32aa81ee86b61e17f77210881d8c0f5d0b997e04f1437fa16cea57b0dc +size 668 diff --git a/navigation_tasks/grids/scene_08m_002__pal_tiago.json b/navigation_tasks/grids/scene_08m_002__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..f3365b444b498f38c38f33a3f408e7873e9e44e3 --- /dev/null +++ b/navigation_tasks/grids/scene_08m_002__pal_tiago.json @@ -0,0 +1,152 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_08m_002__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 336, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 14, + 13 + ], + "k": 22, + "oy": 6, + "ox": 11, + "r0": 2, + "c0": 3, + "free_cells": 54, + "main_cells": 54, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_08m_002/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "fc17e419f2f180f77ea4f00c586a484754d08f137b1d4d8cfa778261ad837a40", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_08m_002", + "size_m": 8.0, + "theme": "warehouse", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 13, + "status": "ready", + "map_id": "scene_08m_002", + "shape": [ + 14, + 13 + ], + "free_cells": 54, + "main_cells": 54, + "interior_h": 12, + "interior_w": 11, + "pairs": 2862, + "diameter_steps": 35, + "diameter_m": 19.25, + "min_steps": 1, + "max_steps": 35, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 130 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 318 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 586 + }, + { + "level": "easy", + "length": "short", + "metres": "4-8", + "count": 494 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 334 + }, + { + "level": "easy", + "length": "medium", + "metres": "8-16", + "count": 146 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 10 + }, + { + "level": "medium", + "length": "medium", + "metres": "8-16", + "count": 554 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 224 + }, + { + "level": "medium", + "length": "long", + "metres": "16-32", + "count": 35 + }, + { + "level": "hard", + "length": "long", + "metres": "16-32", + "count": 31 + } + ] + }, + "source_grid_id": "scene_08m_002", + "source_scene_id": "scene_08m_002" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_08m_002__pal_tiago.npz b/navigation_tasks/grids/scene_08m_002__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..8b5baffbe083ecefdf7d9f96e8388fb3500bc05a --- /dev/null +++ b/navigation_tasks/grids/scene_08m_002__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5b714fc70a9af964ed5752b1d40ab2308741ea7aa6cde1db3ee67e66c621fdf +size 705 diff --git a/navigation_tasks/grids/scene_08m_003__clearpath_dingo.json b/navigation_tasks/grids/scene_08m_003__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..60986103f3ff0d19ea26ffa03c7cb062cc85e3b5 --- /dev/null +++ b/navigation_tasks/grids/scene_08m_003__clearpath_dingo.json @@ -0,0 +1,146 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_08m_003__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 336, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 13, + 14 + ], + "k": 23, + "oy": 6, + "ox": 12, + "r0": 2, + "c0": 1, + "free_cells": 35, + "main_cells": 35, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_08m_003/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "d91a06bf1c5d1c53104507a73273ffad354894b55015d494b3ff32f31be5141e", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_08m_003", + "size_m": 8.0, + "theme": "residential", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 12, + "status": "ready", + "map_id": "scene_08m_003", + "shape": [ + 13, + 14 + ], + "free_cells": 35, + "main_cells": 35, + "interior_h": 11, + "interior_w": 12, + "pairs": 1190, + "diameter_steps": 23, + "diameter_m": 13.225, + "min_steps": 1, + "max_steps": 23, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 74 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 168 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 262 + }, + { + "level": "easy", + "length": "short", + "metres": "4-8", + "count": 74 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 373 + }, + { + "level": "easy", + "length": "medium", + "metres": "8-16", + "count": 43 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 7 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 1 + }, + { + "level": "medium", + "length": "medium", + "metres": "8-16", + "count": 37 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 151 + } + ] + }, + "source_grid_id": "scene_08m_003", + "source_scene_id": "scene_08m_003" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_08m_003__clearpath_dingo.npz b/navigation_tasks/grids/scene_08m_003__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..afea8a55393d66c7e0766434f0338ff622f39819 --- /dev/null +++ b/navigation_tasks/grids/scene_08m_003__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c608465d6da0495fb985d2a0e2740d57956f968b62e4619021fe7a790f12045 +size 673 diff --git a/navigation_tasks/grids/scene_08m_003__pal_tiago.json b/navigation_tasks/grids/scene_08m_003__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..5971e83309d7e2a4e30efe1c12705bd40c03a855 --- /dev/null +++ b/navigation_tasks/grids/scene_08m_003__pal_tiago.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_08m_003__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 336, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 13, + 15 + ], + "k": 22, + "oy": 16, + "ox": 16, + "r0": 2, + "c0": 0, + "free_cells": 41, + "main_cells": 40, + "main_frac": 0.975609756097561, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_08m_003/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "d91a06bf1c5d1c53104507a73273ffad354894b55015d494b3ff32f31be5141e", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_08m_003", + "size_m": 8.0, + "theme": "residential", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 13, + "status": "ready", + "map_id": "scene_08m_003", + "shape": [ + 13, + 15 + ], + "free_cells": 40, + "main_cells": 40, + "interior_h": 11, + "interior_w": 13, + "pairs": 1560, + "diameter_steps": 23, + "diameter_m": 12.65, + "min_steps": 1, + "max_steps": 23, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 92 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 224 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 420 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 498 + }, + { + "level": "easy", + "length": "medium", + "metres": "8-16", + "count": 14 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 4 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 24 + }, + { + "level": "medium", + "length": "medium", + "metres": "8-16", + "count": 32 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 252 + } + ] + }, + "source_grid_id": "scene_08m_003", + "source_scene_id": "scene_08m_003" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_08m_003__pal_tiago.npz b/navigation_tasks/grids/scene_08m_003__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..439e952ce9e960690bd9f04ab5f144eb79529112 --- /dev/null +++ b/navigation_tasks/grids/scene_08m_003__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4cb860058111b1a6a82415dd074b6d72550fe9910620f5014d340a5d28e7a4a +size 688 diff --git a/navigation_tasks/grids/scene_08m_004__clearpath_dingo.json b/navigation_tasks/grids/scene_08m_004__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..733fefe5776ef734acece00580ee0230a11c0bc0 --- /dev/null +++ b/navigation_tasks/grids/scene_08m_004__clearpath_dingo.json @@ -0,0 +1,146 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_08m_004__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 336, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 14, + 15 + ], + "k": 23, + "oy": 0, + "ox": 0, + "r0": 1, + "c0": 1, + "free_cells": 69, + "main_cells": 69, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_08m_004/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "33f6f8a15d7431259cff9ac4793265b34af36adf5d0f35b11abd47bc58229922", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_08m_004", + "size_m": 8.0, + "theme": "office", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 12, + "status": "ready", + "map_id": "scene_08m_004", + "shape": [ + 14, + 15 + ], + "free_cells": 69, + "main_cells": 69, + "interior_h": 12, + "interior_w": 13, + "pairs": 4692, + "diameter_steps": 22, + "diameter_m": 12.65, + "min_steps": 1, + "max_steps": 22, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 194 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 626 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 1092 + }, + { + "level": "easy", + "length": "short", + "metres": "4-8", + "count": 344 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 1538 + }, + { + "level": "easy", + "length": "medium", + "metres": "8-16", + "count": 88 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 64 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 214 + }, + { + "level": "medium", + "length": "medium", + "metres": "8-16", + "count": 122 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 410 + } + ] + }, + "source_grid_id": "scene_08m_004", + "source_scene_id": "scene_08m_004" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_08m_004__clearpath_dingo.npz b/navigation_tasks/grids/scene_08m_004__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..53180cbe03776251b347cc56ce1e72d011c5b971 --- /dev/null +++ b/navigation_tasks/grids/scene_08m_004__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6db59b30b13d8487aa1b98cf43f11862c1104ac50441bf4328e2979c67ee26d8 +size 693 diff --git a/navigation_tasks/grids/scene_08m_004__pal_tiago.json b/navigation_tasks/grids/scene_08m_004__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..77cc2b5e958d015cd8dd14d045184375dbab4997 --- /dev/null +++ b/navigation_tasks/grids/scene_08m_004__pal_tiago.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_08m_004__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 336, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 14, + 15 + ], + "k": 22, + "oy": 6, + "ox": 11, + "r0": 1, + "c0": 1, + "free_cells": 70, + "main_cells": 70, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_08m_004/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "33f6f8a15d7431259cff9ac4793265b34af36adf5d0f35b11abd47bc58229922", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_08m_004", + "size_m": 8.0, + "theme": "office", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 13, + "status": "ready", + "map_id": "scene_08m_004", + "shape": [ + 14, + 15 + ], + "free_cells": 70, + "main_cells": 70, + "interior_h": 12, + "interior_w": 13, + "pairs": 4830, + "diameter_steps": 23, + "diameter_m": 12.65, + "min_steps": 1, + "max_steps": 23, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 200 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 646 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 1358 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 1656 + }, + { + "level": "easy", + "length": "medium", + "metres": "8-16", + "count": 48 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 20 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 348 + }, + { + "level": "medium", + "length": "medium", + "metres": "8-16", + "count": 146 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 408 + } + ] + }, + "source_grid_id": "scene_08m_004", + "source_scene_id": "scene_08m_004" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_08m_004__pal_tiago.npz b/navigation_tasks/grids/scene_08m_004__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..94728985759eb6cefeaa8297154b41328c984a6e --- /dev/null +++ b/navigation_tasks/grids/scene_08m_004__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5d9a84516d8af0f82192294c00afb00e2317c77cf264ab0ae78d554a944a96c +size 693 diff --git a/navigation_tasks/grids/scene_08m_005__pal_tiago.json b/navigation_tasks/grids/scene_08m_005__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..6a081f1e8728137de0f921eeb6d257196054459c --- /dev/null +++ b/navigation_tasks/grids/scene_08m_005__pal_tiago.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_08m_005__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 336, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 15, + 14 + ], + "k": 22, + "oy": 11, + "ox": 16, + "r0": 1, + "c0": 0, + "free_cells": 75, + "main_cells": 75, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_08m_005/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "74b7e3235bb6a4a42bae1039d7624c8a677735e3e221df3a3757434d79b97621", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_08m_005", + "size_m": 8.0, + "theme": "hospital", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 13, + "status": "ready", + "map_id": "scene_08m_005", + "shape": [ + 15, + 14 + ], + "free_cells": 75, + "main_cells": 75, + "interior_h": 13, + "interior_w": 12, + "pairs": 5550, + "diameter_steps": 23, + "diameter_m": 12.65, + "min_steps": 1, + "max_steps": 23, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 212 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 676 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 1636 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 2090 + }, + { + "level": "easy", + "length": "medium", + "metres": "8-16", + "count": 52 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 26 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 356 + }, + { + "level": "medium", + "length": "medium", + "metres": "8-16", + "count": 134 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 368 + } + ] + }, + "source_grid_id": "scene_08m_005", + "source_scene_id": "scene_08m_005" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_08m_005__pal_tiago.npz b/navigation_tasks/grids/scene_08m_005__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..da10202333177aeadf1f6761543142c22668a2a3 --- /dev/null +++ b/navigation_tasks/grids/scene_08m_005__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0746fd1f8782eba65ff55826ce1f94004288e93e8fc56e3d3e3e457cbc0231e +size 687 diff --git a/navigation_tasks/grids/scene_08m_006__clearpath_dingo.json b/navigation_tasks/grids/scene_08m_006__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..0c6aadb09f0c9bc91656e88879242f510cf621ec --- /dev/null +++ b/navigation_tasks/grids/scene_08m_006__clearpath_dingo.json @@ -0,0 +1,140 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_08m_006__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 336, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 10, + 15 + ], + "k": 23, + "oy": 6, + "ox": 17, + "r0": 2, + "c0": 0, + "free_cells": 56, + "main_cells": 44, + "main_frac": 0.7857142857142857, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_08m_006/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "be87ca0078dcc68ef0543504a9aefb0b4b14bf1f0be163f637e9c979b0b171aa", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_08m_006", + "size_m": 8.0, + "theme": "warehouse", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 12, + "status": "ready", + "map_id": "scene_08m_006", + "shape": [ + 10, + 15 + ], + "free_cells": 49, + "main_cells": 44, + "interior_h": 8, + "interior_w": 13, + "pairs": 1892, + "diameter_steps": 31, + "diameter_m": 17.825, + "min_steps": 1, + "max_steps": 31, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 106 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 254 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 292 + }, + { + "level": "easy", + "length": "short", + "metres": "4-8", + "count": 358 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 230 + }, + { + "level": "easy", + "length": "medium", + "metres": "8-16", + "count": 158 + }, + { + "level": "medium", + "length": "medium", + "metres": "8-16", + "count": 232 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 224 + }, + { + "level": "medium", + "length": "long", + "metres": "16-32", + "count": 38 + } + ] + }, + "source_grid_id": "scene_08m_006", + "source_scene_id": "scene_08m_006" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_08m_006__clearpath_dingo.npz b/navigation_tasks/grids/scene_08m_006__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..09cc873db80d94c813f881b5c07d1de47127768f --- /dev/null +++ b/navigation_tasks/grids/scene_08m_006__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b624293a04a384fbf52f0979a19030e79352be0d011e45332393574d1a939997 +size 678 diff --git a/navigation_tasks/grids/scene_08m_006__clearpath_jackal.json b/navigation_tasks/grids/scene_08m_006__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..14951bf09ab457f9d7bb63416f87e745e27d5eac --- /dev/null +++ b/navigation_tasks/grids/scene_08m_006__clearpath_jackal.json @@ -0,0 +1,170 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_08m_006__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 336, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 15, + 16 + ], + "k": 21, + "oy": 10, + "ox": 5, + "r0": 1, + "c0": 1, + "free_cells": 79, + "main_cells": 67, + "main_frac": 0.8481012658227848, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_08m_006/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "be87ca0078dcc68ef0543504a9aefb0b4b14bf1f0be163f637e9c979b0b171aa", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_08m_006", + "size_m": 8.0, + "theme": "warehouse", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 14, + "status": "ready", + "map_id": "scene_08m_006", + "shape": [ + 15, + 16 + ], + "free_cells": 79, + "main_cells": 67, + "interior_h": 13, + "interior_w": 14, + "pairs": 4422, + "diameter_steps": 41, + "diameter_m": 21.525, + "min_steps": 1, + "max_steps": 41, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 164 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 436 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 730 + }, + { + "level": "easy", + "length": "short", + "metres": "4-8", + "count": 924 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 158 + }, + { + "level": "easy", + "length": "medium", + "metres": "8-16", + "count": 27 + }, + { + "level": "medium", + "length": "short", + "metres": "4-8", + "count": 2 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 112 + }, + { + "level": "medium", + "length": "medium", + "metres": "8-16", + "count": 1243 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 186 + }, + { + "level": "medium", + "length": "long", + "metres": "16-32", + "count": 19 + }, + { + "level": "hard", + "length": "long", + "metres": "8-16", + "count": 46 + }, + { + "level": "hard", + "length": "long", + "metres": "16-32", + "count": 298 + }, + { + "level": "starved", + "length": "long", + "metres": "16-32", + "count": 77 + } + ] + }, + "source_grid_id": "scene_08m_006", + "source_scene_id": "scene_08m_006" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_08m_006__clearpath_jackal.npz b/navigation_tasks/grids/scene_08m_006__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..b7ef09d7f7229be60bdba7ea1b2bd9047a503c14 --- /dev/null +++ b/navigation_tasks/grids/scene_08m_006__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6284224d8280a5a115e9af369960346334e2e0d7e5310037bd2129e22fd62bdb +size 729 diff --git a/navigation_tasks/grids/scene_08m_006__pal_tiago.json b/navigation_tasks/grids/scene_08m_006__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..66a63aabe04ead24550c31bbb90fb95bae418bfc --- /dev/null +++ b/navigation_tasks/grids/scene_08m_006__pal_tiago.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_08m_006__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 336, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 11, + 15 + ], + "k": 22, + "oy": 11, + "ox": 0, + "r0": 1, + "c0": 1, + "free_cells": 64, + "main_cells": 36, + "main_frac": 0.5625, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_08m_006/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "be87ca0078dcc68ef0543504a9aefb0b4b14bf1f0be163f637e9c979b0b171aa", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_08m_006", + "size_m": 8.0, + "theme": "warehouse", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 13, + "status": "ready", + "map_id": "scene_08m_006", + "shape": [ + 11, + 15 + ], + "free_cells": 47, + "main_cells": 36, + "interior_h": 9, + "interior_w": 13, + "pairs": 1260, + "diameter_steps": 22, + "diameter_m": 12.1, + "min_steps": 1, + "max_steps": 22, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 86 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 216 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 326 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 436 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 29 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 16 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 151 + } + ] + }, + "source_grid_id": "scene_08m_006", + "source_scene_id": "scene_08m_006" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_08m_006__pal_tiago.npz b/navigation_tasks/grids/scene_08m_006__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..37892d08aa8b792e59dde32d30ab5ccaee28d7f2 --- /dev/null +++ b/navigation_tasks/grids/scene_08m_006__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:419ddbd15781135f62fe6ba5b2cd5b8ce8e869746b36527752e2740863ca51d6 +size 667 diff --git a/navigation_tasks/grids/scene_08m_007__clearpath_dingo.json b/navigation_tasks/grids/scene_08m_007__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..976e5c6aa54845ad8ae7042f1d6eca3451341ae7 --- /dev/null +++ b/navigation_tasks/grids/scene_08m_007__clearpath_dingo.json @@ -0,0 +1,146 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_08m_007__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 336, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 15, + 15 + ], + "k": 23, + "oy": 0, + "ox": 17, + "r0": 1, + "c0": 0, + "free_cells": 95, + "main_cells": 95, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_08m_007/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "bc937b1bce99bfa6fb73c6e1500507119663e2dd51774755acf242647a6a561b", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_08m_007", + "size_m": 8.0, + "theme": "residential", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 12, + "status": "ready", + "map_id": "scene_08m_007", + "shape": [ + 15, + 15 + ], + "free_cells": 95, + "main_cells": 95, + "interior_h": 13, + "interior_w": 13, + "pairs": 8930, + "diameter_steps": 21, + "diameter_m": 12.075, + "min_steps": 1, + "max_steps": 21, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 320 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 1298 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 2750 + }, + { + "level": "easy", + "length": "short", + "metres": "4-8", + "count": 906 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 3186 + }, + { + "level": "easy", + "length": "medium", + "metres": "8-16", + "count": 177 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 240 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 12 + }, + { + "level": "medium", + "length": "medium", + "metres": "8-16", + "count": 7 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 34 + } + ] + }, + "source_grid_id": "scene_08m_007", + "source_scene_id": "scene_08m_007" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_08m_007__clearpath_dingo.npz b/navigation_tasks/grids/scene_08m_007__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..fb2d5ba2c1b06918272461b4395d6a1a5c37f69d --- /dev/null +++ b/navigation_tasks/grids/scene_08m_007__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11ac53c29efa1858451017ff0727bbda2c9ef346ebe33622a10bad3a620ce67f +size 678 diff --git a/navigation_tasks/grids/scene_08m_007__pal_tiago.json b/navigation_tasks/grids/scene_08m_007__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..b26184a06350a7ce396476728ff0445146e60385 --- /dev/null +++ b/navigation_tasks/grids/scene_08m_007__pal_tiago.json @@ -0,0 +1,128 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_08m_007__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 336, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 15, + 15 + ], + "k": 22, + "oy": 6, + "ox": 0, + "r0": 1, + "c0": 1, + "free_cells": 109, + "main_cells": 109, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_08m_007/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "bc937b1bce99bfa6fb73c6e1500507119663e2dd51774755acf242647a6a561b", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_08m_007", + "size_m": 8.0, + "theme": "residential", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 13, + "status": "ready", + "map_id": "scene_08m_007", + "shape": [ + 15, + 15 + ], + "free_cells": 109, + "main_cells": 109, + "interior_h": 13, + "interior_w": 13, + "pairs": 11772, + "diameter_steps": 21, + "diameter_m": 11.55, + "min_steps": 1, + "max_steps": 21, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 372 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 1532 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 4506 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 4799 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 393 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 89 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 81 + } + ] + }, + "source_grid_id": "scene_08m_007", + "source_scene_id": "scene_08m_007" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_08m_007__pal_tiago.npz b/navigation_tasks/grids/scene_08m_007__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..fdf074d30aba923dbf39b2fc10b97c9976cfec0b --- /dev/null +++ b/navigation_tasks/grids/scene_08m_007__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a7e71c3b1845a31a562b775b1d1c2a845a707accb0dcc364b82080b5ff185ee9 +size 675 diff --git a/navigation_tasks/grids/scene_08m_008__pal_tiago.json b/navigation_tasks/grids/scene_08m_008__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..b23054e891868378a73ffd6363a3fce92ba7b0e6 --- /dev/null +++ b/navigation_tasks/grids/scene_08m_008__pal_tiago.json @@ -0,0 +1,146 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_08m_008__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 336, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 14, + 15 + ], + "k": 22, + "oy": 11, + "ox": 11, + "r0": 1, + "c0": 1, + "free_cells": 86, + "main_cells": 69, + "main_frac": 0.8023255813953488, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_08m_008/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "227da24304586ea62ccb0180c98e668913490182416b3ab8c8caf3edbd8c640b", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_08m_008", + "size_m": 8.0, + "theme": "office", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 13, + "status": "ready", + "map_id": "scene_08m_008", + "shape": [ + 14, + 15 + ], + "free_cells": 86, + "main_cells": 69, + "interior_h": 12, + "interior_w": 13, + "pairs": 4692, + "diameter_steps": 25, + "diameter_m": 13.75, + "min_steps": 1, + "max_steps": 25, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 206 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 692 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 1596 + }, + { + "level": "easy", + "length": "short", + "metres": "4-8", + "count": 360 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 1360 + }, + { + "level": "easy", + "length": "medium", + "metres": "8-16", + "count": 104 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 24 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 88 + }, + { + "level": "medium", + "length": "medium", + "metres": "8-16", + "count": 90 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 172 + } + ] + }, + "source_grid_id": "scene_08m_008", + "source_scene_id": "scene_08m_008" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_08m_008__pal_tiago.npz b/navigation_tasks/grids/scene_08m_008__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..b9282cb6a09905ec47f25e4c9552bf2b360c116e --- /dev/null +++ b/navigation_tasks/grids/scene_08m_008__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1de33257f6aa2fbede57d71bfd85e7ecbc865c5f09913917d4065ab76cf266c +size 691 diff --git a/navigation_tasks/grids/scene_08m_009__clearpath_dingo.json b/navigation_tasks/grids/scene_08m_009__clearpath_dingo.json new file mode 100644 index 0000000000000000000000000000000000000000..2d963dd8abba749cddab948a28b1f1e85f510670 --- /dev/null +++ b/navigation_tasks/grids/scene_08m_009__clearpath_dingo.json @@ -0,0 +1,146 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_08m_009__clearpath_dingo", + "robot": "clearpath_dingo", + "cell_m": 0.5750000000000001, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 336, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 13, + 15 + ], + "k": 23, + "oy": 17, + "ox": 6, + "r0": 0, + "c0": 0, + "free_cells": 101, + "main_cells": 101, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_08m_009/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "fe651df2642e78cd1a5433f670fbeff16616de9a60104a358da9ba1eda02da48", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "819c28b8acec6d4c5632091ea4adef8568080d6f52f647dce138ddd4ce06ae7a" + }, + "census_row": { + "scene_id": "scene_08m_009", + "size_m": 8.0, + "theme": "hospital", + "robot": "clearpath_dingo", + "cell_m": 0.575, + "nominal_interior": 12, + "status": "ready", + "map_id": "scene_08m_009", + "shape": [ + 13, + 15 + ], + "free_cells": 101, + "main_cells": 101, + "interior_h": 11, + "interior_w": 13, + "pairs": 10100, + "diameter_steps": 23, + "diameter_m": 13.225, + "min_steps": 1, + "max_steps": 23, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 310 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 1010 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 1746 + }, + { + "level": "easy", + "length": "short", + "metres": "4-8", + "count": 586 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 2484 + }, + { + "level": "easy", + "length": "medium", + "metres": "8-16", + "count": 97 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 11 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 1296 + }, + { + "level": "medium", + "length": "medium", + "metres": "8-16", + "count": 1147 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 1413 + } + ] + }, + "source_grid_id": "scene_08m_009", + "source_scene_id": "scene_08m_009" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_08m_009__clearpath_dingo.npz b/navigation_tasks/grids/scene_08m_009__clearpath_dingo.npz new file mode 100644 index 0000000000000000000000000000000000000000..d73a12689592a18bee23116ad696a23671c5ed0b --- /dev/null +++ b/navigation_tasks/grids/scene_08m_009__clearpath_dingo.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2c17b7961c2f57849ae5172047ec77df73af41002751af2a4a3e0ed55e8f742 +size 669 diff --git a/navigation_tasks/grids/scene_08m_009__clearpath_jackal.json b/navigation_tasks/grids/scene_08m_009__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..8aba62c8ef24e796e16efffaad2bf8dd1837d6a4 --- /dev/null +++ b/navigation_tasks/grids/scene_08m_009__clearpath_jackal.json @@ -0,0 +1,158 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_08m_009__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 336, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 15, + 16 + ], + "k": 21, + "oy": 16, + "ox": 16, + "r0": 0, + "c0": 0, + "free_cells": 137, + "main_cells": 137, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_08m_009/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "fe651df2642e78cd1a5433f670fbeff16616de9a60104a358da9ba1eda02da48", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_08m_009", + "size_m": 8.0, + "theme": "hospital", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 14, + "status": "ready", + "map_id": "scene_08m_009", + "shape": [ + 15, + 16 + ], + "free_cells": 137, + "main_cells": 137, + "interior_h": 13, + "interior_w": 14, + "pairs": 18632, + "diameter_steps": 25, + "diameter_m": 13.125, + "min_steps": 1, + "max_steps": 25, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 438 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 1536 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 3952 + }, + { + "level": "easy", + "length": "short", + "metres": "4-8", + "count": 1076 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 3968 + }, + { + "level": "easy", + "length": "medium", + "metres": "8-16", + "count": 26 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 7 + }, + { + "level": "medium", + "length": "short", + "metres": "2-4", + "count": 6 + }, + { + "level": "medium", + "length": "short", + "metres": "4-8", + "count": 26 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 3746 + }, + { + "level": "medium", + "length": "medium", + "metres": "8-16", + "count": 896 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 2955 + } + ] + }, + "source_grid_id": "scene_08m_009", + "source_scene_id": "scene_08m_009" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_08m_009__clearpath_jackal.npz b/navigation_tasks/grids/scene_08m_009__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..01f67e0ff3d2301a9549057069c902986d6a52c9 --- /dev/null +++ b/navigation_tasks/grids/scene_08m_009__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff761da7c8b3cf33af379eded09392db4e338fe615bd116546308f0f1c8bed83 +size 687 diff --git a/navigation_tasks/grids/scene_08m_009__pal_tiago.json b/navigation_tasks/grids/scene_08m_009__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..5ce36b12d83fa118e2a0bf2166f42f1eda6b30e5 --- /dev/null +++ b/navigation_tasks/grids/scene_08m_009__pal_tiago.json @@ -0,0 +1,146 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_08m_009__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 336, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 14, + 15 + ], + "k": 22, + "oy": 0, + "ox": 16, + "r0": 1, + "c0": 0, + "free_cells": 110, + "main_cells": 110, + "main_frac": 1.0, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_08m_009/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "fe651df2642e78cd1a5433f670fbeff16616de9a60104a358da9ba1eda02da48", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_08m_009", + "size_m": 8.0, + "theme": "hospital", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 13, + "status": "ready", + "map_id": "scene_08m_009", + "shape": [ + 14, + 15 + ], + "free_cells": 110, + "main_cells": 110, + "interior_h": 12, + "interior_w": 13, + "pairs": 11990, + "diameter_steps": 28, + "diameter_m": 15.4, + "min_steps": 1, + "max_steps": 28, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 342 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 1144 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 2632 + }, + { + "level": "easy", + "length": "short", + "metres": "4-8", + "count": 1204 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 1862 + }, + { + "level": "easy", + "length": "medium", + "metres": "8-16", + "count": 45 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 1056 + }, + { + "level": "medium", + "length": "medium", + "metres": "8-16", + "count": 1829 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 1870 + }, + { + "level": "hard", + "length": "long", + "metres": "8-16", + "count": 6 + } + ] + }, + "source_grid_id": "scene_08m_009", + "source_scene_id": "scene_08m_009" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_08m_009__pal_tiago.npz b/navigation_tasks/grids/scene_08m_009__pal_tiago.npz new file mode 100644 index 0000000000000000000000000000000000000000..4a39a54a3708f97a0dfaad7118829ff6ca7b4adb --- /dev/null +++ b/navigation_tasks/grids/scene_08m_009__pal_tiago.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ff2e65cd8ca2d19b39681974eff8f64d8cc288f03fa62683391804867835209 +size 684 diff --git a/navigation_tasks/grids/scene_08m_010__clearpath_jackal.json b/navigation_tasks/grids/scene_08m_010__clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..1055a3e315bcc48d8d93b5fac39d82b103359e09 --- /dev/null +++ b/navigation_tasks/grids/scene_08m_010__clearpath_jackal.json @@ -0,0 +1,152 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_08m_010__clearpath_jackal", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 336, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 16, + 16 + ], + "k": 21, + "oy": 16, + "ox": 5, + "r0": 0, + "c0": 1, + "free_cells": 69, + "main_cells": 60, + "main_frac": 0.8695652173913043, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_08m_010/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "6dfb2d3c640bf1751347384ef71401747748ca94ebf04b9f037147f08811f44a", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "7ad07b608a9a8b65b9511adb86768e67c78d5c115d8b501fc712722d9eb88981" + }, + "census_row": { + "scene_id": "scene_08m_010", + "size_m": 8.0, + "theme": "warehouse", + "robot": "clearpath_jackal", + "cell_m": 0.525, + "nominal_interior": 14, + "status": "ready", + "map_id": "scene_08m_010", + "shape": [ + 16, + 16 + ], + "free_cells": 69, + "main_cells": 60, + "interior_h": 14, + "interior_w": 14, + "pairs": 3540, + "diameter_steps": 35, + "diameter_m": 18.375, + "min_steps": 1, + "max_steps": 35, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 158 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 444 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 830 + }, + { + "level": "easy", + "length": "short", + "metres": "4-8", + "count": 580 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 428 + }, + { + "level": "easy", + "length": "medium", + "metres": "8-16", + "count": 66 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 70 + }, + { + "level": "medium", + "length": "medium", + "metres": "8-16", + "count": 688 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 244 + }, + { + "level": "medium", + "length": "long", + "metres": "16-32", + "count": 28 + }, + { + "level": "hard", + "length": "long", + "metres": "16-32", + "count": 4 + } + ] + }, + "source_grid_id": "scene_08m_010", + "source_scene_id": "scene_08m_010" +} \ No newline at end of file diff --git a/navigation_tasks/grids/scene_08m_010__clearpath_jackal.npz b/navigation_tasks/grids/scene_08m_010__clearpath_jackal.npz new file mode 100644 index 0000000000000000000000000000000000000000..dfd30a5cda1ebb70c6df62bf880f52a3693858e8 --- /dev/null +++ b/navigation_tasks/grids/scene_08m_010__clearpath_jackal.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c0c1c46277270fabe68f662e424877566920c38e404220b5943e8991f9e28be +size 713 diff --git a/navigation_tasks/grids/scene_08m_010__pal_tiago.json b/navigation_tasks/grids/scene_08m_010__pal_tiago.json new file mode 100644 index 0000000000000000000000000000000000000000..21455595f4746d6feb99d13941201bdb83a7ddfe --- /dev/null +++ b/navigation_tasks/grids/scene_08m_010__pal_tiago.json @@ -0,0 +1,146 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_08m_010__pal_tiago", + "robot": "pal_tiago", + "cell_m": 0.55, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 336, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 15, + 15 + ], + "k": 22, + "oy": 16, + "ox": 16, + "r0": 0, + "c0": 0, + "free_cells": 53, + "main_cells": 49, + "main_frac": 0.9245283018867925, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_08m_010/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "6dfb2d3c640bf1751347384ef71401747748ca94ebf04b9f037147f08811f44a", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "9d9ae0893df7bbfadddcc7d0ddf54e16d70cb7f81ae02053b1260161a7bf8854" + }, + "census_row": { + "scene_id": "scene_08m_010", + "size_m": 8.0, + "theme": "warehouse", + "robot": "pal_tiago", + "cell_m": 0.55, + "nominal_interior": 13, + "status": "ready", + "map_id": "scene_08m_010", + "shape": [ + 15, + 15 + ], + "free_cells": 53, + "main_cells": 49, + "interior_h": 13, + "interior_w": 13, + "pairs": 2352, + "diameter_steps": 30, + "diameter_m": 16.5, + "min_steps": 1, + "max_steps": 30, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "0.5-1", + "count": 118 + }, + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 304 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 610 + }, + { + "level": "easy", + "length": "short", + "metres": "4-8", + "count": 390 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 362 + }, + { + "level": "easy", + "length": "medium", + "metres": "8-16", + "count": 96 + }, + { + "level": "medium", + "length": "medium", + "metres": "4-8", + "count": 14 + }, + { + "level": "medium", + "length": "medium", + "metres": "8-16", + "count": 250 + }, + { + "level": "medium", + "length": "long", + "metres": "8-16", + "count": 206 + }, + { + "level": "medium", + "length": "long", + "metres": "16-32", + "count": 2 + } + ] + }, + "source_grid_id": "scene_08m_010", + "source_scene_id": "scene_08m_010" +} \ No newline at end of file