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+} \ No newline at end of file diff --git a/navigation_tasks/tasks/clearpath_ridgeback/scene_15m_062__clearpath_ridgeback.json b/navigation_tasks/tasks/clearpath_ridgeback/scene_15m_062__clearpath_ridgeback.json new file mode 100644 index 0000000000000000000000000000000000000000..39ac18127cb86fcd4769a58f61f6218e1cccc94e --- /dev/null +++ b/navigation_tasks/tasks/clearpath_ridgeback/scene_15m_062__clearpath_ridgeback.json @@ -0,0 +1,1220 @@ +{ + "schema_version": "2.0", + "dataset": "navigation_tasks", + "env": "grid", + "map_id": "scene_15m_062__clearpath_ridgeback", + "robot": "clearpath_ridgeback", + "split": null, + "budget": 200, + "cell_m": 0.9500000000000001, + "size_m": 15.0, + "theme": "warehouse", + "source_scene_id": "scene_15m_062", + "source_grid_id": "scene_15m_062", + "tasks": [ + { + "id": 0, + "start": { + "x": 3.6, + "y": 11.4, + "cell": [ + 1, + 4 + ] + }, + "goal": { + "x": 6.45, + "y": 11.4, + "cell": [ + 1, + 7 + ] + }, + "geodesic_m": 2.85, + "euclidean_m": 2.85, 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a/navigation_tasks/tasks/turtlebot4/scene_02m_007__turtlebot4.json b/navigation_tasks/tasks/turtlebot4/scene_02m_007__turtlebot4.json new file mode 100644 index 0000000000000000000000000000000000000000..cec111213ac2738f3bd5da62dd07d571f41a7670 --- /dev/null +++ b/navigation_tasks/tasks/turtlebot4/scene_02m_007__turtlebot4.json @@ -0,0 +1,160 @@ +{ + "schema_version": "2.0", + "dataset": "navigation_tasks", + "env": "grid", + "map_id": "scene_02m_007__turtlebot4", + "robot": "turtlebot4", + "split": null, + "budget": 200, + "cell_m": 0.35000000000000003, + "size_m": 2.0, + "theme": "residential", + "source_scene_id": "scene_02m_007", + "source_grid_id": "scene_02m_007", + "tasks": [ + { + "id": 0, + "start": { + "x": 1.275, + "y": 1.675, + "cell": [ + 1, + 3 + ] + }, + "goal": { + "x": 1.625, + "y": 1.325, + "cell": [ + 2, + 4 + ] + }, + "geodesic_m": 0.7, + "euclidean_m": 0.494975, + "path_cells": [ + [ + 1, + 3 + ], + [ + 2, + 3 + ], + [ + 2, + 4 + ] + ], + "labels": { + "d_bfs": 2, + 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\ No newline at end of file diff --git a/navigation_tasks/tasks/turtlebot4/scene_02m_024__turtlebot4.json b/navigation_tasks/tasks/turtlebot4/scene_02m_024__turtlebot4.json new file mode 100644 index 0000000000000000000000000000000000000000..d646682359a70161b049eed4a7e281682d4d4b57 --- /dev/null +++ b/navigation_tasks/tasks/turtlebot4/scene_02m_024__turtlebot4.json @@ -0,0 +1,160 @@ +{ + "schema_version": "2.0", + "dataset": "navigation_tasks", + "env": "grid", + "map_id": "scene_02m_024__turtlebot4", + "robot": "turtlebot4", + "split": null, + "budget": 200, + "cell_m": 0.35000000000000003, + "size_m": 2.0, + "theme": "office", + "source_scene_id": "scene_02m_024", + "source_grid_id": "scene_02m_024", + "tasks": [ + { + "id": 0, + "start": { + "x": 0.425, + "y": 1.675, + "cell": [ + 1, + 1 + ] + }, + "goal": { + "x": 1.125, + "y": 1.675, + "cell": [ + 1, + 3 + ] + }, + "geodesic_m": 0.7, + "euclidean_m": 0.7, + "path_cells": [ + [ + 1, + 1 + ], + [ + 1, + 2 + ], + [ + 1, + 3 + ] + ], 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a/navigation_tasks/tasks/turtlebot4/scene_02m_044__turtlebot4.json b/navigation_tasks/tasks/turtlebot4/scene_02m_044__turtlebot4.json new file mode 100644 index 0000000000000000000000000000000000000000..5580e2a4f5ff0a2413071aaacb2e8708663efa0b --- /dev/null +++ b/navigation_tasks/tasks/turtlebot4/scene_02m_044__turtlebot4.json @@ -0,0 +1,112 @@ +{ + "schema_version": "2.0", + "dataset": "navigation_tasks", + "env": "grid", + "map_id": "scene_02m_044__turtlebot4", + "robot": "turtlebot4", + "split": null, + "budget": 200, + "cell_m": 0.35000000000000003, + "size_m": 2.0, + "theme": "office", + "source_scene_id": "scene_02m_044", + "source_grid_id": "scene_02m_044", + "tasks": [ + { + "id": 0, + "start": { + "x": 1.55, + "y": 1.075, + "cell": [ + 2, + 5 + ] + }, + "goal": { + "x": 1.55, + "y": 0.375, + "cell": [ + 4, + 5 + ] + }, + "geodesic_m": 0.7, + "euclidean_m": 0.7, + "path_cells": [ + [ + 2, + 5 + ], + [ + 3, + 5 + ], + [ + 4, + 5 + ] + ], + "labels": { + "d_bfs": 2, + "p0": 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a/navigation_tasks/tasks/turtlebot4/scene_02m_045__turtlebot4.json b/navigation_tasks/tasks/turtlebot4/scene_02m_045__turtlebot4.json new file mode 100644 index 0000000000000000000000000000000000000000..7ae0b75cb8f2e5dc075410c20bcff32548e76cce --- /dev/null +++ b/navigation_tasks/tasks/turtlebot4/scene_02m_045__turtlebot4.json @@ -0,0 +1,112 @@ +{ + "schema_version": "2.0", + "dataset": "navigation_tasks", + "env": "grid", + "map_id": "scene_02m_045__turtlebot4", + "robot": "turtlebot4", + "split": null, + "budget": 200, + "cell_m": 0.35000000000000003, + "size_m": 2.0, + "theme": "hospital", + "source_scene_id": "scene_02m_045", + "source_grid_id": "scene_02m_045", + "tasks": [ + { + "id": 0, + "start": { + "x": 1.275, + "y": 1.15, + "cell": [ + 3, + 3 + ] + }, + "goal": { + "x": 1.275, + "y": 1.85, + "cell": [ + 1, + 3 + ] + }, + "geodesic_m": 0.7, + "euclidean_m": 0.7, + "path_cells": [ + [ + 3, + 3 + ], + [ + 2, + 3 + ], + [ + 1, + 3 + ] + ], + "labels": { + "d_bfs": 2, + "p0": 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a/navigation_tasks/tasks/turtlebot4/scene_02m_082__turtlebot4.json b/navigation_tasks/tasks/turtlebot4/scene_02m_082__turtlebot4.json new file mode 100644 index 0000000000000000000000000000000000000000..88bc942f56ad27879ffa6a5bb864b5f92a91f064 --- /dev/null +++ b/navigation_tasks/tasks/turtlebot4/scene_02m_082__turtlebot4.json @@ -0,0 +1,112 @@ +{ + "schema_version": "2.0", + "dataset": "navigation_tasks", + "env": "grid", + "map_id": "scene_02m_082__turtlebot4", + "robot": "turtlebot4", + "split": null, + "budget": 200, + "cell_m": 0.35000000000000003, + "size_m": 2.0, + "theme": "warehouse", + "source_scene_id": "scene_02m_082", + "source_grid_id": "scene_02m_082", + "tasks": [ + { + "id": 0, + "start": { + "x": 1.55, + "y": 1.425, + "cell": [ + 1, + 5 + ] + }, + "goal": { + "x": 1.55, + "y": 0.725, + "cell": [ + 3, + 5 + ] + }, + "geodesic_m": 0.7, + "euclidean_m": 0.7, + "path_cells": [ + [ + 1, + 5 + ], + [ + 2, + 5 + ], + [ + 3, + 5 + ] + ], + "labels": { + "d_bfs": 2, + "p0": 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a/navigation_tasks/tasks/turtlebot4/scene_02m_090__turtlebot4.json b/navigation_tasks/tasks/turtlebot4/scene_02m_090__turtlebot4.json new file mode 100644 index 0000000000000000000000000000000000000000..ffdc0d2cf8296e4ab2e290a90bf34c2dce67efe7 --- /dev/null +++ b/navigation_tasks/tasks/turtlebot4/scene_02m_090__turtlebot4.json @@ -0,0 +1,112 @@ +{ + "schema_version": "2.0", + "dataset": "navigation_tasks", + "env": "grid", + "map_id": "scene_02m_090__turtlebot4", + "robot": "turtlebot4", + "split": null, + "budget": 200, + "cell_m": 0.35000000000000003, + "size_m": 2.0, + "theme": "warehouse", + "source_scene_id": "scene_02m_090", + "source_grid_id": "scene_02m_090", + "tasks": [ + { + "id": 0, + "start": { + "x": 0.5, + "y": 1.325, + "cell": [ + 2, + 2 + ] + }, + "goal": { + "x": 0.15, + "y": 1.675, + "cell": [ + 1, + 1 + ] + }, + "geodesic_m": 0.7, + "euclidean_m": 0.494975, + "path_cells": [ + [ + 2, + 2 + ], + [ + 1, + 2 + ], + [ + 1, + 1 + ] + ], + "labels": { + "d_bfs": 2, + 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a/navigation_tasks/tasks/turtlebot4/scene_02m_092__turtlebot4.json b/navigation_tasks/tasks/turtlebot4/scene_02m_092__turtlebot4.json new file mode 100644 index 0000000000000000000000000000000000000000..09f1eb4bdbc99c6f6d93c93769a573b6ba9208a4 --- /dev/null +++ b/navigation_tasks/tasks/turtlebot4/scene_02m_092__turtlebot4.json @@ -0,0 +1,112 @@ +{ + "schema_version": "2.0", + "dataset": "navigation_tasks", + "env": "grid", + "map_id": "scene_02m_092__turtlebot4", + "robot": "turtlebot4", + "split": null, + "budget": 200, + "cell_m": 0.35000000000000003, + "size_m": 2.0, + "theme": "office", + "source_scene_id": "scene_02m_092", + "source_grid_id": "scene_02m_092", + "tasks": [ + { + "id": 0, + "start": { + "x": 0.425, + "y": 1.675, + "cell": [ + 1, + 1 + ] + }, + "goal": { + "x": 0.425, + "y": 0.975, + "cell": [ + 3, + 1 + ] + }, + "geodesic_m": 0.7, + "euclidean_m": 0.7, + "path_cells": [ + [ + 1, + 1 + ], + [ + 2, + 1 + ], + [ + 3, + 1 + ] + ], + "labels": { + "d_bfs": 2, + "p0": 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