Datasets:
Add balanced navigation tasks (navsim format) (part 9)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- navigation_tasks/README.md +49 -0
- navigation_tasks/grids/scene_17m_081__clearpath_husky.npz +3 -0
- navigation_tasks/grids/scene_17m_082__clearpath_husky.json +116 -0
- navigation_tasks/grids/scene_17m_082__clearpath_husky.npz +3 -0
- navigation_tasks/grids/scene_17m_083__clearpath_husky.json +104 -0
- navigation_tasks/grids/scene_17m_083__clearpath_husky.npz +3 -0
- navigation_tasks/grids/scene_17m_084__clearpath_husky.json +122 -0
- navigation_tasks/grids/scene_17m_084__clearpath_husky.npz +3 -0
- navigation_tasks/grids/scene_17m_085__clearpath_husky.json +122 -0
- navigation_tasks/grids/scene_17m_085__clearpath_husky.npz +3 -0
- navigation_tasks/grids/scene_17m_086__clearpath_husky.json +104 -0
- navigation_tasks/grids/scene_17m_086__clearpath_husky.npz +3 -0
- navigation_tasks/grids/scene_17m_087__clearpath_husky.json +128 -0
- navigation_tasks/grids/scene_17m_087__clearpath_husky.npz +3 -0
- navigation_tasks/grids/scene_17m_088__clearpath_husky.json +110 -0
- navigation_tasks/grids/scene_17m_088__clearpath_husky.npz +3 -0
- navigation_tasks/grids/scene_17m_089__clearpath_husky.json +110 -0
- navigation_tasks/grids/scene_17m_089__clearpath_husky.npz +3 -0
- navigation_tasks/grids/scene_17m_090__clearpath_husky.json +146 -0
- navigation_tasks/grids/scene_17m_090__clearpath_husky.npz +3 -0
- navigation_tasks/grids/scene_17m_092__clearpath_husky.json +104 -0
- navigation_tasks/grids/scene_17m_092__clearpath_husky.npz +3 -0
- navigation_tasks/grids/scene_17m_093__clearpath_husky.json +128 -0
- navigation_tasks/grids/scene_17m_093__clearpath_husky.npz +3 -0
- navigation_tasks/grids/scene_17m_094__clearpath_husky.json +116 -0
- navigation_tasks/grids/scene_17m_094__clearpath_husky.npz +3 -0
- navigation_tasks/grids/scene_17m_095__clearpath_husky.json +110 -0
- navigation_tasks/grids/scene_17m_095__clearpath_husky.npz +3 -0
- navigation_tasks/grids/scene_17m_096__clearpath_husky.json +128 -0
- navigation_tasks/grids/scene_17m_096__clearpath_husky.npz +3 -0
- navigation_tasks/grids/scene_17m_097__clearpath_husky.json +122 -0
- navigation_tasks/grids/scene_17m_097__clearpath_husky.npz +3 -0
- navigation_tasks/grids/scene_17m_098__clearpath_husky.json +116 -0
- navigation_tasks/grids/scene_17m_098__clearpath_husky.npz +3 -0
- navigation_tasks/grids/scene_17m_099__clearpath_husky.json +110 -0
- navigation_tasks/grids/scene_17m_099__clearpath_husky.npz +3 -0
- navigation_tasks/manifest.json +0 -0
- navigation_tasks/navsim_smoke.json +8 -0
- navigation_tasks/quotas.csv +92 -0
- navigation_tasks/robots/clearpath_dingo.json +128 -0
- navigation_tasks/robots/clearpath_husky.json +289 -0
- navigation_tasks/robots/clearpath_jackal.json +197 -0
- navigation_tasks/robots/clearpath_ridgeback.json +267 -0
- navigation_tasks/robots/jetauto_pro.json +318 -0
- navigation_tasks/robots/jetbot.json +147 -0
- navigation_tasks/robots/pal_tiago.json +367 -0
- navigation_tasks/robots/turtlebot3_burger.json +325 -0
- navigation_tasks/robots/turtlebot3_waffle_pi.json +621 -0
- navigation_tasks/robots/turtlebot4.json +265 -0
- navigation_tasks/robots/turtlebot4_lite.json +265 -0
navigation_tasks/README.md
ADDED
|
@@ -0,0 +1,49 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# ISB Nav Dataset v2: balanced grid tasks
|
| 2 |
+
|
| 3 |
+
48,180 tasks across 1,592 robot-specific grids from 836 source scenes; 11 robots. No training/validation/test splits have been assigned. The 1,000 source 3D scenes are not part of this repository.
|
| 4 |
+
|
| 5 |
+
- 4,818 tasks per physical map scale (2,3,4,5,6,8,10,12,15,17 metres).
|
| 6 |
+
- At every scale: 1,606 short, 1,606 medium, 1,606 long routes.
|
| 7 |
+
- Difficulty: 28,908 easy / 14,454 medium / 4,818 hard (60/30/10).
|
| 8 |
+
- Eight absolute distance bins: <0.5, 0.5-1, 1-2, 2-4, 4-8, 8-16, 16-32, 32+ metres; every bin has at least 482 tasks.
|
| 9 |
+
- Route length ranges from 0.325 to 38.0 metres in this sampled set.
|
| 10 |
+
- Distinct ordered start-goal pairs within each grid. Reversed routes count as different tasks.
|
| 11 |
+
|
| 12 |
+
## Read the dataset
|
| 13 |
+
|
| 14 |
+
`manifest.json` is schema 2.0. Tasks are in tasks/<robot>/<map_id>.json. Grid NPZ/JSON files and robot source snapshots are included. task_index.csv gives scene, physical scale, theme, robot, task ID, difficulty, steps and metres. quotas.csv preserves the exact selection quotas.
|
| 15 |
+
|
| 16 |
+
```python
|
| 17 |
+
from navsim.data.dataset import Dataset
|
| 18 |
+
|
| 19 |
+
ds = Dataset(r"version_2/navigation_tasks")
|
| 20 |
+
robot = "jetauto_pro"
|
| 21 |
+
map_id = ds.maps(robot, split=None)[0]
|
| 22 |
+
tasks = ds.tasks(robot, map_id)
|
| 23 |
+
path = tasks[0]["path_cells"]
|
| 24 |
+
```
|
| 25 |
+
|
| 26 |
+
Each task contains start/goal cells and metric coordinates, geodesic_m, euclidean_m and path_cells. A path includes both endpoints; the number of steps is len(path_cells)-1. Labels include d_bfs, sa_uniform, sa_persist, level, dist_bin, relative_length, diameter_steps and relative_length_fraction.
|
| 27 |
+
|
| 28 |
+
Relative length uses the graph diameter D: short d<=D/3, medium D/3<d<=2D/3, long d>2D/3. It is independent of difficulty. Absolute metre bin edges are inclusive on the lower edge and exclusive on the upper edge. Budget=200, minimum distance=1 step, maximum=180 steps.
|
| 29 |
+
|
| 30 |
+
## Trainer splitting
|
| 31 |
+
|
| 32 |
+
Use split=None when loading. All task headers have split=null; manifest splits is empty. When creating your own splits, group by source_scene_id. Exported map IDs contain a robot suffix so robot resolutions can coexist in a single flat grids/ folder; they are not independent source scenes.
|
| 33 |
+
|
| 34 |
+
## Verification
|
| 35 |
+
|
| 36 |
+
All 48,180 paths were checked for free cells, adjacent moves, BFS-optimal length, metric coordinates and exact quota agreement. No repeated ordered pair within a grid. Checksums verified. The native NavSim loader passed, and 33 oracle episodes across all 11 robots reached their goals with zero collisions.
|
| 37 |
+
|
| 38 |
+
See task_audit.json, navsim_smoke.json and export_summary.json. This verifies the conservative 2D grids; it is not an Isaac Sim physics validation. Robot snapshots preserve source definitions; grids use a conservative full-height BEV rather than robot-specific height slices.
|
| 39 |
+
|
| 40 |
+
## Reproduce
|
| 41 |
+
|
| 42 |
+
From Isaac-Scene-Builder, with the 2D_Navigation_Sim Python environment:
|
| 43 |
+
|
| 44 |
+
```powershell
|
| 45 |
+
python -B tools/export_balanced_tasks.py --out version_2/another-balanced-export
|
| 46 |
+
python -B tools/audit_balanced_tasks.py --root version_2/another-balanced-export
|
| 47 |
+
```
|
| 48 |
+
|
| 49 |
+
Seed=20261101. Selection water-fills available maps within each quota stratum, with theme interleaving and no sampling replacement. The exporter refuses to overwrite an existing completed dataset.
|
navigation_tasks/grids/scene_17m_081__clearpath_husky.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:68d3cd4a565e0dd9b940a62a8b4385e78f88847ca767757da5c9884891301605
|
| 3 |
+
size 603
|
navigation_tasks/grids/scene_17m_082__clearpath_husky.json
ADDED
|
@@ -0,0 +1,116 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_17m_082__clearpath_husky",
|
| 4 |
+
"robot": "clearpath_husky",
|
| 5 |
+
"cell_m": 1.0,
|
| 6 |
+
"res": 0.025,
|
| 7 |
+
"lo": [
|
| 8 |
+
-0.2,
|
| 9 |
+
-0.2,
|
| 10 |
+
0
|
| 11 |
+
],
|
| 12 |
+
"H": 696,
|
| 13 |
+
"ua": 0,
|
| 14 |
+
"va": 1,
|
| 15 |
+
"up": 2,
|
| 16 |
+
"floor_z": 0,
|
| 17 |
+
"shape": [
|
| 18 |
+
7,
|
| 19 |
+
8
|
| 20 |
+
],
|
| 21 |
+
"k": 40,
|
| 22 |
+
"oy": 0,
|
| 23 |
+
"ox": 10,
|
| 24 |
+
"r0": 9,
|
| 25 |
+
"c0": 7,
|
| 26 |
+
"free_cells": 40,
|
| 27 |
+
"main_cells": 12,
|
| 28 |
+
"main_frac": 0.3,
|
| 29 |
+
"margin": 0.05,
|
| 30 |
+
"source_pgm": "version_2/3d_scenes/scene_17m_082/top_view_map.pgm",
|
| 31 |
+
"split": null,
|
| 32 |
+
"closed_border": true,
|
| 33 |
+
"signature": {
|
| 34 |
+
"version": 1,
|
| 35 |
+
"source_sha256": "e558ea589d1eb2dfc5791a8af55f805b70051c1612c376c436c6d9588b64d1a3",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
+
"budget": 200,
|
| 54 |
+
"d_min": 1,
|
| 55 |
+
"slack": 20
|
| 56 |
+
},
|
| 57 |
+
"robot_sha256": "f296a47b6da49fcfc60cdb0df640f45c6d5551e5bea4a594d397ff0a42571ea8"
|
| 58 |
+
},
|
| 59 |
+
"census_row": {
|
| 60 |
+
"scene_id": "scene_17m_082",
|
| 61 |
+
"size_m": 17.0,
|
| 62 |
+
"theme": "warehouse",
|
| 63 |
+
"robot": "clearpath_husky",
|
| 64 |
+
"cell_m": 1.0,
|
| 65 |
+
"nominal_interior": 15,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_17m_082",
|
| 68 |
+
"shape": [
|
| 69 |
+
7,
|
| 70 |
+
8
|
| 71 |
+
],
|
| 72 |
+
"free_cells": 12,
|
| 73 |
+
"main_cells": 12,
|
| 74 |
+
"interior_h": 5,
|
| 75 |
+
"interior_w": 6,
|
| 76 |
+
"pairs": 132,
|
| 77 |
+
"diameter_steps": 9,
|
| 78 |
+
"diameter_m": 9.0,
|
| 79 |
+
"min_steps": 1,
|
| 80 |
+
"max_steps": 9,
|
| 81 |
+
"joint": [
|
| 82 |
+
{
|
| 83 |
+
"level": "easy",
|
| 84 |
+
"length": "short",
|
| 85 |
+
"metres": "1-2",
|
| 86 |
+
"count": 22
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"level": "easy",
|
| 90 |
+
"length": "short",
|
| 91 |
+
"metres": "2-4",
|
| 92 |
+
"count": 44
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "medium",
|
| 97 |
+
"metres": "4-8",
|
| 98 |
+
"count": 44
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"level": "easy",
|
| 102 |
+
"length": "long",
|
| 103 |
+
"metres": "4-8",
|
| 104 |
+
"count": 10
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"level": "easy",
|
| 108 |
+
"length": "long",
|
| 109 |
+
"metres": "8-16",
|
| 110 |
+
"count": 12
|
| 111 |
+
}
|
| 112 |
+
]
|
| 113 |
+
},
|
| 114 |
+
"source_grid_id": "scene_17m_082",
|
| 115 |
+
"source_scene_id": "scene_17m_082"
|
| 116 |
+
}
|
navigation_tasks/grids/scene_17m_082__clearpath_husky.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1efd08e23e6bb4e2bc52d1ab422a4a2d1df4b9ab03ef68d5a85baa79e8674749
|
| 3 |
+
size 615
|
navigation_tasks/grids/scene_17m_083__clearpath_husky.json
ADDED
|
@@ -0,0 +1,104 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_17m_083__clearpath_husky",
|
| 4 |
+
"robot": "clearpath_husky",
|
| 5 |
+
"cell_m": 1.0,
|
| 6 |
+
"res": 0.025,
|
| 7 |
+
"lo": [
|
| 8 |
+
-0.2,
|
| 9 |
+
-0.2,
|
| 10 |
+
0
|
| 11 |
+
],
|
| 12 |
+
"H": 696,
|
| 13 |
+
"ua": 0,
|
| 14 |
+
"va": 1,
|
| 15 |
+
"up": 2,
|
| 16 |
+
"floor_z": 0,
|
| 17 |
+
"shape": [
|
| 18 |
+
4,
|
| 19 |
+
7
|
| 20 |
+
],
|
| 21 |
+
"k": 40,
|
| 22 |
+
"oy": 0,
|
| 23 |
+
"ox": 20,
|
| 24 |
+
"r0": 7,
|
| 25 |
+
"c0": 10,
|
| 26 |
+
"free_cells": 23,
|
| 27 |
+
"main_cells": 7,
|
| 28 |
+
"main_frac": 0.30434782608695654,
|
| 29 |
+
"margin": 0.05,
|
| 30 |
+
"source_pgm": "version_2/3d_scenes/scene_17m_083/top_view_map.pgm",
|
| 31 |
+
"split": null,
|
| 32 |
+
"closed_border": true,
|
| 33 |
+
"signature": {
|
| 34 |
+
"version": 1,
|
| 35 |
+
"source_sha256": "3d3679a4b5929f39d42252796426e388336e106121cf377106a38a1dabbeadb2",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
+
"budget": 200,
|
| 54 |
+
"d_min": 1,
|
| 55 |
+
"slack": 20
|
| 56 |
+
},
|
| 57 |
+
"robot_sha256": "f296a47b6da49fcfc60cdb0df640f45c6d5551e5bea4a594d397ff0a42571ea8"
|
| 58 |
+
},
|
| 59 |
+
"census_row": {
|
| 60 |
+
"scene_id": "scene_17m_083",
|
| 61 |
+
"size_m": 17.0,
|
| 62 |
+
"theme": "residential",
|
| 63 |
+
"robot": "clearpath_husky",
|
| 64 |
+
"cell_m": 1.0,
|
| 65 |
+
"nominal_interior": 15,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_17m_083",
|
| 68 |
+
"shape": [
|
| 69 |
+
4,
|
| 70 |
+
7
|
| 71 |
+
],
|
| 72 |
+
"free_cells": 7,
|
| 73 |
+
"main_cells": 7,
|
| 74 |
+
"interior_h": 2,
|
| 75 |
+
"interior_w": 5,
|
| 76 |
+
"pairs": 42,
|
| 77 |
+
"diameter_steps": 5,
|
| 78 |
+
"diameter_m": 5.0,
|
| 79 |
+
"min_steps": 1,
|
| 80 |
+
"max_steps": 5,
|
| 81 |
+
"joint": [
|
| 82 |
+
{
|
| 83 |
+
"level": "easy",
|
| 84 |
+
"length": "short",
|
| 85 |
+
"metres": "1-2",
|
| 86 |
+
"count": 14
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"level": "easy",
|
| 90 |
+
"length": "medium",
|
| 91 |
+
"metres": "2-4",
|
| 92 |
+
"count": 20
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "long",
|
| 97 |
+
"metres": "4-8",
|
| 98 |
+
"count": 8
|
| 99 |
+
}
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"source_grid_id": "scene_17m_083",
|
| 103 |
+
"source_scene_id": "scene_17m_083"
|
| 104 |
+
}
|
navigation_tasks/grids/scene_17m_083__clearpath_husky.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4dcd88e9e9b4b54b170d74e6369950e66e26c1cc51bced154dcedf5576edcd3b
|
| 3 |
+
size 597
|
navigation_tasks/grids/scene_17m_084__clearpath_husky.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_17m_084__clearpath_husky",
|
| 4 |
+
"robot": "clearpath_husky",
|
| 5 |
+
"cell_m": 1.0,
|
| 6 |
+
"res": 0.025,
|
| 7 |
+
"lo": [
|
| 8 |
+
-0.2,
|
| 9 |
+
-0.2,
|
| 10 |
+
0
|
| 11 |
+
],
|
| 12 |
+
"H": 696,
|
| 13 |
+
"ua": 0,
|
| 14 |
+
"va": 1,
|
| 15 |
+
"up": 2,
|
| 16 |
+
"floor_z": 0,
|
| 17 |
+
"shape": [
|
| 18 |
+
13,
|
| 19 |
+
6
|
| 20 |
+
],
|
| 21 |
+
"k": 40,
|
| 22 |
+
"oy": 0,
|
| 23 |
+
"ox": 0,
|
| 24 |
+
"r0": 6,
|
| 25 |
+
"c0": 4,
|
| 26 |
+
"free_cells": 96,
|
| 27 |
+
"main_cells": 30,
|
| 28 |
+
"main_frac": 0.3125,
|
| 29 |
+
"margin": 0.05,
|
| 30 |
+
"source_pgm": "version_2/3d_scenes/scene_17m_084/top_view_map.pgm",
|
| 31 |
+
"split": null,
|
| 32 |
+
"closed_border": true,
|
| 33 |
+
"signature": {
|
| 34 |
+
"version": 1,
|
| 35 |
+
"source_sha256": "8c1e888bf171de11466b52bcd3e63204d2394572f9260234c56f2bd6909a2c8a",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
+
"budget": 200,
|
| 54 |
+
"d_min": 1,
|
| 55 |
+
"slack": 20
|
| 56 |
+
},
|
| 57 |
+
"robot_sha256": "f296a47b6da49fcfc60cdb0df640f45c6d5551e5bea4a594d397ff0a42571ea8"
|
| 58 |
+
},
|
| 59 |
+
"census_row": {
|
| 60 |
+
"scene_id": "scene_17m_084",
|
| 61 |
+
"size_m": 17.0,
|
| 62 |
+
"theme": "office",
|
| 63 |
+
"robot": "clearpath_husky",
|
| 64 |
+
"cell_m": 1.0,
|
| 65 |
+
"nominal_interior": 15,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_17m_084",
|
| 68 |
+
"shape": [
|
| 69 |
+
13,
|
| 70 |
+
6
|
| 71 |
+
],
|
| 72 |
+
"free_cells": 30,
|
| 73 |
+
"main_cells": 30,
|
| 74 |
+
"interior_h": 11,
|
| 75 |
+
"interior_w": 4,
|
| 76 |
+
"pairs": 870,
|
| 77 |
+
"diameter_steps": 12,
|
| 78 |
+
"diameter_m": 12.0,
|
| 79 |
+
"min_steps": 1,
|
| 80 |
+
"max_steps": 12,
|
| 81 |
+
"joint": [
|
| 82 |
+
{
|
| 83 |
+
"level": "easy",
|
| 84 |
+
"length": "short",
|
| 85 |
+
"metres": "1-2",
|
| 86 |
+
"count": 84
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"level": "easy",
|
| 90 |
+
"length": "short",
|
| 91 |
+
"metres": "2-4",
|
| 92 |
+
"count": 254
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "short",
|
| 97 |
+
"metres": "4-8",
|
| 98 |
+
"count": 126
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"level": "easy",
|
| 102 |
+
"length": "medium",
|
| 103 |
+
"metres": "4-8",
|
| 104 |
+
"count": 262
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"level": "easy",
|
| 108 |
+
"length": "medium",
|
| 109 |
+
"metres": "8-16",
|
| 110 |
+
"count": 58
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"level": "easy",
|
| 114 |
+
"length": "long",
|
| 115 |
+
"metres": "8-16",
|
| 116 |
+
"count": 86
|
| 117 |
+
}
|
| 118 |
+
]
|
| 119 |
+
},
|
| 120 |
+
"source_grid_id": "scene_17m_084",
|
| 121 |
+
"source_scene_id": "scene_17m_084"
|
| 122 |
+
}
|
navigation_tasks/grids/scene_17m_084__clearpath_husky.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ae47a55b1025d02e58df2323b99ecd3586cbf47be45556a4c80bf8bfb767e7e5
|
| 3 |
+
size 633
|
navigation_tasks/grids/scene_17m_085__clearpath_husky.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_17m_085__clearpath_husky",
|
| 4 |
+
"robot": "clearpath_husky",
|
| 5 |
+
"cell_m": 1.0,
|
| 6 |
+
"res": 0.025,
|
| 7 |
+
"lo": [
|
| 8 |
+
-0.2,
|
| 9 |
+
-0.2,
|
| 10 |
+
0
|
| 11 |
+
],
|
| 12 |
+
"H": 696,
|
| 13 |
+
"ua": 0,
|
| 14 |
+
"va": 1,
|
| 15 |
+
"up": 2,
|
| 16 |
+
"floor_z": 0,
|
| 17 |
+
"shape": [
|
| 18 |
+
9,
|
| 19 |
+
5
|
| 20 |
+
],
|
| 21 |
+
"k": 40,
|
| 22 |
+
"oy": 30,
|
| 23 |
+
"ox": 20,
|
| 24 |
+
"r0": 2,
|
| 25 |
+
"c0": 8,
|
| 26 |
+
"free_cells": 89,
|
| 27 |
+
"main_cells": 15,
|
| 28 |
+
"main_frac": 0.16853932584269662,
|
| 29 |
+
"margin": 0.05,
|
| 30 |
+
"source_pgm": "version_2/3d_scenes/scene_17m_085/top_view_map.pgm",
|
| 31 |
+
"split": null,
|
| 32 |
+
"closed_border": true,
|
| 33 |
+
"signature": {
|
| 34 |
+
"version": 1,
|
| 35 |
+
"source_sha256": "40acac6b63dda3b013e5eba755e0ea88b06b8a65d8cebfaf5477ef1486f5abf6",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
+
"budget": 200,
|
| 54 |
+
"d_min": 1,
|
| 55 |
+
"slack": 20
|
| 56 |
+
},
|
| 57 |
+
"robot_sha256": "f296a47b6da49fcfc60cdb0df640f45c6d5551e5bea4a594d397ff0a42571ea8"
|
| 58 |
+
},
|
| 59 |
+
"census_row": {
|
| 60 |
+
"scene_id": "scene_17m_085",
|
| 61 |
+
"size_m": 17.0,
|
| 62 |
+
"theme": "hospital",
|
| 63 |
+
"robot": "clearpath_husky",
|
| 64 |
+
"cell_m": 1.0,
|
| 65 |
+
"nominal_interior": 15,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_17m_085",
|
| 68 |
+
"shape": [
|
| 69 |
+
9,
|
| 70 |
+
5
|
| 71 |
+
],
|
| 72 |
+
"free_cells": 15,
|
| 73 |
+
"main_cells": 15,
|
| 74 |
+
"interior_h": 7,
|
| 75 |
+
"interior_w": 3,
|
| 76 |
+
"pairs": 210,
|
| 77 |
+
"diameter_steps": 8,
|
| 78 |
+
"diameter_m": 8.0,
|
| 79 |
+
"min_steps": 1,
|
| 80 |
+
"max_steps": 8,
|
| 81 |
+
"joint": [
|
| 82 |
+
{
|
| 83 |
+
"level": "easy",
|
| 84 |
+
"length": "short",
|
| 85 |
+
"metres": "1-2",
|
| 86 |
+
"count": 38
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"level": "easy",
|
| 90 |
+
"length": "short",
|
| 91 |
+
"metres": "2-4",
|
| 92 |
+
"count": 44
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "medium",
|
| 97 |
+
"metres": "2-4",
|
| 98 |
+
"count": 36
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"level": "easy",
|
| 102 |
+
"length": "medium",
|
| 103 |
+
"metres": "4-8",
|
| 104 |
+
"count": 54
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"level": "easy",
|
| 108 |
+
"length": "long",
|
| 109 |
+
"metres": "4-8",
|
| 110 |
+
"count": 34
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"level": "easy",
|
| 114 |
+
"length": "long",
|
| 115 |
+
"metres": "8-16",
|
| 116 |
+
"count": 4
|
| 117 |
+
}
|
| 118 |
+
]
|
| 119 |
+
},
|
| 120 |
+
"source_grid_id": "scene_17m_085",
|
| 121 |
+
"source_scene_id": "scene_17m_085"
|
| 122 |
+
}
|
navigation_tasks/grids/scene_17m_085__clearpath_husky.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a06031f0ecc6145db5862822898a264fb36d25362f5fe1ec5d349da1c25cabba
|
| 3 |
+
size 624
|
navigation_tasks/grids/scene_17m_086__clearpath_husky.json
ADDED
|
@@ -0,0 +1,104 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_17m_086__clearpath_husky",
|
| 4 |
+
"robot": "clearpath_husky",
|
| 5 |
+
"cell_m": 1.0,
|
| 6 |
+
"res": 0.025,
|
| 7 |
+
"lo": [
|
| 8 |
+
-0.2,
|
| 9 |
+
-0.2,
|
| 10 |
+
0
|
| 11 |
+
],
|
| 12 |
+
"H": 696,
|
| 13 |
+
"ua": 0,
|
| 14 |
+
"va": 1,
|
| 15 |
+
"up": 2,
|
| 16 |
+
"floor_z": 0,
|
| 17 |
+
"shape": [
|
| 18 |
+
4,
|
| 19 |
+
7
|
| 20 |
+
],
|
| 21 |
+
"k": 40,
|
| 22 |
+
"oy": 20,
|
| 23 |
+
"ox": 0,
|
| 24 |
+
"r0": 9,
|
| 25 |
+
"c0": 12,
|
| 26 |
+
"free_cells": 30,
|
| 27 |
+
"main_cells": 8,
|
| 28 |
+
"main_frac": 0.26666666666666666,
|
| 29 |
+
"margin": 0.05,
|
| 30 |
+
"source_pgm": "version_2/3d_scenes/scene_17m_086/top_view_map.pgm",
|
| 31 |
+
"split": null,
|
| 32 |
+
"closed_border": true,
|
| 33 |
+
"signature": {
|
| 34 |
+
"version": 1,
|
| 35 |
+
"source_sha256": "a49890b4cb3da95eac2e768885539d1b0fd7f1614a156ed2ed49a81cd59534e4",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
+
"budget": 200,
|
| 54 |
+
"d_min": 1,
|
| 55 |
+
"slack": 20
|
| 56 |
+
},
|
| 57 |
+
"robot_sha256": "f296a47b6da49fcfc60cdb0df640f45c6d5551e5bea4a594d397ff0a42571ea8"
|
| 58 |
+
},
|
| 59 |
+
"census_row": {
|
| 60 |
+
"scene_id": "scene_17m_086",
|
| 61 |
+
"size_m": 17.0,
|
| 62 |
+
"theme": "warehouse",
|
| 63 |
+
"robot": "clearpath_husky",
|
| 64 |
+
"cell_m": 1.0,
|
| 65 |
+
"nominal_interior": 15,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_17m_086",
|
| 68 |
+
"shape": [
|
| 69 |
+
4,
|
| 70 |
+
7
|
| 71 |
+
],
|
| 72 |
+
"free_cells": 8,
|
| 73 |
+
"main_cells": 8,
|
| 74 |
+
"interior_h": 2,
|
| 75 |
+
"interior_w": 5,
|
| 76 |
+
"pairs": 56,
|
| 77 |
+
"diameter_steps": 5,
|
| 78 |
+
"diameter_m": 5.0,
|
| 79 |
+
"min_steps": 1,
|
| 80 |
+
"max_steps": 5,
|
| 81 |
+
"joint": [
|
| 82 |
+
{
|
| 83 |
+
"level": "easy",
|
| 84 |
+
"length": "short",
|
| 85 |
+
"metres": "1-2",
|
| 86 |
+
"count": 18
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"level": "easy",
|
| 90 |
+
"length": "medium",
|
| 91 |
+
"metres": "2-4",
|
| 92 |
+
"count": 30
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "long",
|
| 97 |
+
"metres": "4-8",
|
| 98 |
+
"count": 8
|
| 99 |
+
}
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"source_grid_id": "scene_17m_086",
|
| 103 |
+
"source_scene_id": "scene_17m_086"
|
| 104 |
+
}
|
navigation_tasks/grids/scene_17m_086__clearpath_husky.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e8e54cdf582a8dfd0ec388b84a4dec397a280471dc65a59d2cf5f7410a0ad081
|
| 3 |
+
size 600
|
navigation_tasks/grids/scene_17m_087__clearpath_husky.json
ADDED
|
@@ -0,0 +1,128 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_17m_087__clearpath_husky",
|
| 4 |
+
"robot": "clearpath_husky",
|
| 5 |
+
"cell_m": 1.0,
|
| 6 |
+
"res": 0.025,
|
| 7 |
+
"lo": [
|
| 8 |
+
-0.2,
|
| 9 |
+
-0.2,
|
| 10 |
+
0
|
| 11 |
+
],
|
| 12 |
+
"H": 696,
|
| 13 |
+
"ua": 0,
|
| 14 |
+
"va": 1,
|
| 15 |
+
"up": 2,
|
| 16 |
+
"floor_z": 0,
|
| 17 |
+
"shape": [
|
| 18 |
+
11,
|
| 19 |
+
12
|
| 20 |
+
],
|
| 21 |
+
"k": 40,
|
| 22 |
+
"oy": 10,
|
| 23 |
+
"ox": 10,
|
| 24 |
+
"r0": 7,
|
| 25 |
+
"c0": 1,
|
| 26 |
+
"free_cells": 134,
|
| 27 |
+
"main_cells": 75,
|
| 28 |
+
"main_frac": 0.5597014925373134,
|
| 29 |
+
"margin": 0.05,
|
| 30 |
+
"source_pgm": "version_2/3d_scenes/scene_17m_087/top_view_map.pgm",
|
| 31 |
+
"split": null,
|
| 32 |
+
"closed_border": true,
|
| 33 |
+
"signature": {
|
| 34 |
+
"version": 1,
|
| 35 |
+
"source_sha256": "40bcaa744ee40d8c253df2e5268c845c32488e3ea862e6b973859ab232359d00",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
+
"budget": 200,
|
| 54 |
+
"d_min": 1,
|
| 55 |
+
"slack": 20
|
| 56 |
+
},
|
| 57 |
+
"robot_sha256": "f296a47b6da49fcfc60cdb0df640f45c6d5551e5bea4a594d397ff0a42571ea8"
|
| 58 |
+
},
|
| 59 |
+
"census_row": {
|
| 60 |
+
"scene_id": "scene_17m_087",
|
| 61 |
+
"size_m": 17.0,
|
| 62 |
+
"theme": "residential",
|
| 63 |
+
"robot": "clearpath_husky",
|
| 64 |
+
"cell_m": 1.0,
|
| 65 |
+
"nominal_interior": 15,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_17m_087",
|
| 68 |
+
"shape": [
|
| 69 |
+
11,
|
| 70 |
+
12
|
| 71 |
+
],
|
| 72 |
+
"free_cells": 76,
|
| 73 |
+
"main_cells": 75,
|
| 74 |
+
"interior_h": 9,
|
| 75 |
+
"interior_w": 10,
|
| 76 |
+
"pairs": 5550,
|
| 77 |
+
"diameter_steps": 17,
|
| 78 |
+
"diameter_m": 17.0,
|
| 79 |
+
"min_steps": 1,
|
| 80 |
+
"max_steps": 17,
|
| 81 |
+
"joint": [
|
| 82 |
+
{
|
| 83 |
+
"level": "easy",
|
| 84 |
+
"length": "short",
|
| 85 |
+
"metres": "1-2",
|
| 86 |
+
"count": 256
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"level": "easy",
|
| 90 |
+
"length": "short",
|
| 91 |
+
"metres": "2-4",
|
| 92 |
+
"count": 1008
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "short",
|
| 97 |
+
"metres": "4-8",
|
| 98 |
+
"count": 1302
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"level": "easy",
|
| 102 |
+
"length": "medium",
|
| 103 |
+
"metres": "4-8",
|
| 104 |
+
"count": 1264
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"level": "easy",
|
| 108 |
+
"length": "medium",
|
| 109 |
+
"metres": "8-16",
|
| 110 |
+
"count": 1416
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"level": "easy",
|
| 114 |
+
"length": "long",
|
| 115 |
+
"metres": "8-16",
|
| 116 |
+
"count": 292
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"level": "easy",
|
| 120 |
+
"length": "long",
|
| 121 |
+
"metres": "16-32",
|
| 122 |
+
"count": 12
|
| 123 |
+
}
|
| 124 |
+
]
|
| 125 |
+
},
|
| 126 |
+
"source_grid_id": "scene_17m_087",
|
| 127 |
+
"source_scene_id": "scene_17m_087"
|
| 128 |
+
}
|
navigation_tasks/grids/scene_17m_087__clearpath_husky.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:68b88463cf32a0159d19adc8c819aeb6d1bd009c8df154685ddb988763e567e3
|
| 3 |
+
size 643
|
navigation_tasks/grids/scene_17m_088__clearpath_husky.json
ADDED
|
@@ -0,0 +1,110 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_17m_088__clearpath_husky",
|
| 4 |
+
"robot": "clearpath_husky",
|
| 5 |
+
"cell_m": 1.0,
|
| 6 |
+
"res": 0.025,
|
| 7 |
+
"lo": [
|
| 8 |
+
-0.2,
|
| 9 |
+
-0.2,
|
| 10 |
+
0
|
| 11 |
+
],
|
| 12 |
+
"H": 696,
|
| 13 |
+
"ua": 0,
|
| 14 |
+
"va": 1,
|
| 15 |
+
"up": 2,
|
| 16 |
+
"floor_z": 0,
|
| 17 |
+
"shape": [
|
| 18 |
+
5,
|
| 19 |
+
5
|
| 20 |
+
],
|
| 21 |
+
"k": 40,
|
| 22 |
+
"oy": 0,
|
| 23 |
+
"ox": 0,
|
| 24 |
+
"r0": 7,
|
| 25 |
+
"c0": 2,
|
| 26 |
+
"free_cells": 34,
|
| 27 |
+
"main_cells": 6,
|
| 28 |
+
"main_frac": 0.17647058823529413,
|
| 29 |
+
"margin": 0.05,
|
| 30 |
+
"source_pgm": "version_2/3d_scenes/scene_17m_088/top_view_map.pgm",
|
| 31 |
+
"split": null,
|
| 32 |
+
"closed_border": true,
|
| 33 |
+
"signature": {
|
| 34 |
+
"version": 1,
|
| 35 |
+
"source_sha256": "5010402d85cd33e2cf3eb71af2a1e72d28443c41f922e00c5925e40fb4d58665",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
+
"budget": 200,
|
| 54 |
+
"d_min": 1,
|
| 55 |
+
"slack": 20
|
| 56 |
+
},
|
| 57 |
+
"robot_sha256": "f296a47b6da49fcfc60cdb0df640f45c6d5551e5bea4a594d397ff0a42571ea8"
|
| 58 |
+
},
|
| 59 |
+
"census_row": {
|
| 60 |
+
"scene_id": "scene_17m_088",
|
| 61 |
+
"size_m": 17.0,
|
| 62 |
+
"theme": "office",
|
| 63 |
+
"robot": "clearpath_husky",
|
| 64 |
+
"cell_m": 1.0,
|
| 65 |
+
"nominal_interior": 15,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_17m_088",
|
| 68 |
+
"shape": [
|
| 69 |
+
5,
|
| 70 |
+
5
|
| 71 |
+
],
|
| 72 |
+
"free_cells": 6,
|
| 73 |
+
"main_cells": 6,
|
| 74 |
+
"interior_h": 3,
|
| 75 |
+
"interior_w": 3,
|
| 76 |
+
"pairs": 30,
|
| 77 |
+
"diameter_steps": 4,
|
| 78 |
+
"diameter_m": 4.0,
|
| 79 |
+
"min_steps": 1,
|
| 80 |
+
"max_steps": 4,
|
| 81 |
+
"joint": [
|
| 82 |
+
{
|
| 83 |
+
"level": "easy",
|
| 84 |
+
"length": "short",
|
| 85 |
+
"metres": "1-2",
|
| 86 |
+
"count": 12
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"level": "easy",
|
| 90 |
+
"length": "medium",
|
| 91 |
+
"metres": "2-4",
|
| 92 |
+
"count": 10
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "long",
|
| 97 |
+
"metres": "2-4",
|
| 98 |
+
"count": 6
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"level": "easy",
|
| 102 |
+
"length": "long",
|
| 103 |
+
"metres": "4-8",
|
| 104 |
+
"count": 2
|
| 105 |
+
}
|
| 106 |
+
]
|
| 107 |
+
},
|
| 108 |
+
"source_grid_id": "scene_17m_088",
|
| 109 |
+
"source_scene_id": "scene_17m_088"
|
| 110 |
+
}
|
navigation_tasks/grids/scene_17m_088__clearpath_husky.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1aa3f418e18fb8e476e6a83c9558cf80d3f2d89770a05cd4bda12bcac740b0ec
|
| 3 |
+
size 600
|
navigation_tasks/grids/scene_17m_089__clearpath_husky.json
ADDED
|
@@ -0,0 +1,110 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_17m_089__clearpath_husky",
|
| 4 |
+
"robot": "clearpath_husky",
|
| 5 |
+
"cell_m": 1.0,
|
| 6 |
+
"res": 0.025,
|
| 7 |
+
"lo": [
|
| 8 |
+
-0.2,
|
| 9 |
+
-0.2,
|
| 10 |
+
0
|
| 11 |
+
],
|
| 12 |
+
"H": 696,
|
| 13 |
+
"ua": 0,
|
| 14 |
+
"va": 1,
|
| 15 |
+
"up": 2,
|
| 16 |
+
"floor_z": 0,
|
| 17 |
+
"shape": [
|
| 18 |
+
6,
|
| 19 |
+
6
|
| 20 |
+
],
|
| 21 |
+
"k": 40,
|
| 22 |
+
"oy": 0,
|
| 23 |
+
"ox": 0,
|
| 24 |
+
"r0": 9,
|
| 25 |
+
"c0": 6,
|
| 26 |
+
"free_cells": 35,
|
| 27 |
+
"main_cells": 9,
|
| 28 |
+
"main_frac": 0.2571428571428571,
|
| 29 |
+
"margin": 0.05,
|
| 30 |
+
"source_pgm": "version_2/3d_scenes/scene_17m_089/top_view_map.pgm",
|
| 31 |
+
"split": null,
|
| 32 |
+
"closed_border": true,
|
| 33 |
+
"signature": {
|
| 34 |
+
"version": 1,
|
| 35 |
+
"source_sha256": "adfa853328e6c64bfc918bc9095ecca9e3fc5e8c36d1a636de090cdcd0b40c62",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
+
"budget": 200,
|
| 54 |
+
"d_min": 1,
|
| 55 |
+
"slack": 20
|
| 56 |
+
},
|
| 57 |
+
"robot_sha256": "f296a47b6da49fcfc60cdb0df640f45c6d5551e5bea4a594d397ff0a42571ea8"
|
| 58 |
+
},
|
| 59 |
+
"census_row": {
|
| 60 |
+
"scene_id": "scene_17m_089",
|
| 61 |
+
"size_m": 17.0,
|
| 62 |
+
"theme": "hospital",
|
| 63 |
+
"robot": "clearpath_husky",
|
| 64 |
+
"cell_m": 1.0,
|
| 65 |
+
"nominal_interior": 15,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_17m_089",
|
| 68 |
+
"shape": [
|
| 69 |
+
6,
|
| 70 |
+
6
|
| 71 |
+
],
|
| 72 |
+
"free_cells": 9,
|
| 73 |
+
"main_cells": 9,
|
| 74 |
+
"interior_h": 4,
|
| 75 |
+
"interior_w": 4,
|
| 76 |
+
"pairs": 72,
|
| 77 |
+
"diameter_steps": 4,
|
| 78 |
+
"diameter_m": 4.0,
|
| 79 |
+
"min_steps": 1,
|
| 80 |
+
"max_steps": 4,
|
| 81 |
+
"joint": [
|
| 82 |
+
{
|
| 83 |
+
"level": "easy",
|
| 84 |
+
"length": "short",
|
| 85 |
+
"metres": "1-2",
|
| 86 |
+
"count": 20
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"level": "easy",
|
| 90 |
+
"length": "medium",
|
| 91 |
+
"metres": "2-4",
|
| 92 |
+
"count": 26
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "long",
|
| 97 |
+
"metres": "2-4",
|
| 98 |
+
"count": 20
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"level": "easy",
|
| 102 |
+
"length": "long",
|
| 103 |
+
"metres": "4-8",
|
| 104 |
+
"count": 6
|
| 105 |
+
}
|
| 106 |
+
]
|
| 107 |
+
},
|
| 108 |
+
"source_grid_id": "scene_17m_089",
|
| 109 |
+
"source_scene_id": "scene_17m_089"
|
| 110 |
+
}
|
navigation_tasks/grids/scene_17m_089__clearpath_husky.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:197d1c19625f9519dc1a1f2beaa2bec7c218c5523aa4b22c09f5fa665973e5a2
|
| 3 |
+
size 606
|
navigation_tasks/grids/scene_17m_090__clearpath_husky.json
ADDED
|
@@ -0,0 +1,146 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_17m_090__clearpath_husky",
|
| 4 |
+
"robot": "clearpath_husky",
|
| 5 |
+
"cell_m": 1.0,
|
| 6 |
+
"res": 0.025,
|
| 7 |
+
"lo": [
|
| 8 |
+
-0.2,
|
| 9 |
+
-0.2,
|
| 10 |
+
0
|
| 11 |
+
],
|
| 12 |
+
"H": 696,
|
| 13 |
+
"ua": 0,
|
| 14 |
+
"va": 1,
|
| 15 |
+
"up": 2,
|
| 16 |
+
"floor_z": 0,
|
| 17 |
+
"shape": [
|
| 18 |
+
17,
|
| 19 |
+
9
|
| 20 |
+
],
|
| 21 |
+
"k": 40,
|
| 22 |
+
"oy": 10,
|
| 23 |
+
"ox": 20,
|
| 24 |
+
"r0": 1,
|
| 25 |
+
"c0": 9,
|
| 26 |
+
"free_cells": 95,
|
| 27 |
+
"main_cells": 79,
|
| 28 |
+
"main_frac": 0.8315789473684211,
|
| 29 |
+
"margin": 0.05,
|
| 30 |
+
"source_pgm": "version_2/3d_scenes/scene_17m_090/top_view_map.pgm",
|
| 31 |
+
"split": null,
|
| 32 |
+
"closed_border": true,
|
| 33 |
+
"signature": {
|
| 34 |
+
"version": 1,
|
| 35 |
+
"source_sha256": "9a56c240b4eba3a72333ecd699c22e107d1ccddd95675db134ddf7c67fc5a7e3",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
+
"budget": 200,
|
| 54 |
+
"d_min": 1,
|
| 55 |
+
"slack": 20
|
| 56 |
+
},
|
| 57 |
+
"robot_sha256": "f296a47b6da49fcfc60cdb0df640f45c6d5551e5bea4a594d397ff0a42571ea8"
|
| 58 |
+
},
|
| 59 |
+
"census_row": {
|
| 60 |
+
"scene_id": "scene_17m_090",
|
| 61 |
+
"size_m": 17.0,
|
| 62 |
+
"theme": "warehouse",
|
| 63 |
+
"robot": "clearpath_husky",
|
| 64 |
+
"cell_m": 1.0,
|
| 65 |
+
"nominal_interior": 15,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_17m_090",
|
| 68 |
+
"shape": [
|
| 69 |
+
17,
|
| 70 |
+
9
|
| 71 |
+
],
|
| 72 |
+
"free_cells": 79,
|
| 73 |
+
"main_cells": 79,
|
| 74 |
+
"interior_h": 15,
|
| 75 |
+
"interior_w": 7,
|
| 76 |
+
"pairs": 6162,
|
| 77 |
+
"diameter_steps": 18,
|
| 78 |
+
"diameter_m": 18.0,
|
| 79 |
+
"min_steps": 1,
|
| 80 |
+
"max_steps": 18,
|
| 81 |
+
"joint": [
|
| 82 |
+
{
|
| 83 |
+
"level": "easy",
|
| 84 |
+
"length": "short",
|
| 85 |
+
"metres": "1-2",
|
| 86 |
+
"count": 262
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"level": "easy",
|
| 90 |
+
"length": "short",
|
| 91 |
+
"metres": "2-4",
|
| 92 |
+
"count": 1010
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "short",
|
| 97 |
+
"metres": "4-8",
|
| 98 |
+
"count": 1876
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"level": "easy",
|
| 102 |
+
"length": "medium",
|
| 103 |
+
"metres": "4-8",
|
| 104 |
+
"count": 560
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"level": "easy",
|
| 108 |
+
"length": "medium",
|
| 109 |
+
"metres": "8-16",
|
| 110 |
+
"count": 1894
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"level": "easy",
|
| 114 |
+
"length": "long",
|
| 115 |
+
"metres": "8-16",
|
| 116 |
+
"count": 409
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"level": "easy",
|
| 120 |
+
"length": "long",
|
| 121 |
+
"metres": "16-32",
|
| 122 |
+
"count": 77
|
| 123 |
+
},
|
| 124 |
+
{
|
| 125 |
+
"level": "medium",
|
| 126 |
+
"length": "medium",
|
| 127 |
+
"metres": "8-16",
|
| 128 |
+
"count": 2
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"level": "medium",
|
| 132 |
+
"length": "long",
|
| 133 |
+
"metres": "8-16",
|
| 134 |
+
"count": 33
|
| 135 |
+
},
|
| 136 |
+
{
|
| 137 |
+
"level": "medium",
|
| 138 |
+
"length": "long",
|
| 139 |
+
"metres": "16-32",
|
| 140 |
+
"count": 39
|
| 141 |
+
}
|
| 142 |
+
]
|
| 143 |
+
},
|
| 144 |
+
"source_grid_id": "scene_17m_090",
|
| 145 |
+
"source_scene_id": "scene_17m_090"
|
| 146 |
+
}
|
navigation_tasks/grids/scene_17m_090__clearpath_husky.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:62e1405b9897ba74c275fb08203463855e68250550fd64f01d9cf27ef8e98d69
|
| 3 |
+
size 648
|
navigation_tasks/grids/scene_17m_092__clearpath_husky.json
ADDED
|
@@ -0,0 +1,104 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_17m_092__clearpath_husky",
|
| 4 |
+
"robot": "clearpath_husky",
|
| 5 |
+
"cell_m": 1.0,
|
| 6 |
+
"res": 0.025,
|
| 7 |
+
"lo": [
|
| 8 |
+
-0.2,
|
| 9 |
+
-0.2,
|
| 10 |
+
0
|
| 11 |
+
],
|
| 12 |
+
"H": 696,
|
| 13 |
+
"ua": 0,
|
| 14 |
+
"va": 1,
|
| 15 |
+
"up": 2,
|
| 16 |
+
"floor_z": 0,
|
| 17 |
+
"shape": [
|
| 18 |
+
4,
|
| 19 |
+
5
|
| 20 |
+
],
|
| 21 |
+
"k": 40,
|
| 22 |
+
"oy": 0,
|
| 23 |
+
"ox": 0,
|
| 24 |
+
"r0": 5,
|
| 25 |
+
"c0": 14,
|
| 26 |
+
"free_cells": 34,
|
| 27 |
+
"main_cells": 5,
|
| 28 |
+
"main_frac": 0.14705882352941177,
|
| 29 |
+
"margin": 0.05,
|
| 30 |
+
"source_pgm": "version_2/3d_scenes/scene_17m_092/top_view_map.pgm",
|
| 31 |
+
"split": null,
|
| 32 |
+
"closed_border": true,
|
| 33 |
+
"signature": {
|
| 34 |
+
"version": 1,
|
| 35 |
+
"source_sha256": "4f94ae3813247bd245145adb1c88865dbc0b827ae0aae2a973c52827922e0e62",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
+
"budget": 200,
|
| 54 |
+
"d_min": 1,
|
| 55 |
+
"slack": 20
|
| 56 |
+
},
|
| 57 |
+
"robot_sha256": "f296a47b6da49fcfc60cdb0df640f45c6d5551e5bea4a594d397ff0a42571ea8"
|
| 58 |
+
},
|
| 59 |
+
"census_row": {
|
| 60 |
+
"scene_id": "scene_17m_092",
|
| 61 |
+
"size_m": 17.0,
|
| 62 |
+
"theme": "office",
|
| 63 |
+
"robot": "clearpath_husky",
|
| 64 |
+
"cell_m": 1.0,
|
| 65 |
+
"nominal_interior": 15,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_17m_092",
|
| 68 |
+
"shape": [
|
| 69 |
+
4,
|
| 70 |
+
5
|
| 71 |
+
],
|
| 72 |
+
"free_cells": 5,
|
| 73 |
+
"main_cells": 5,
|
| 74 |
+
"interior_h": 2,
|
| 75 |
+
"interior_w": 3,
|
| 76 |
+
"pairs": 20,
|
| 77 |
+
"diameter_steps": 3,
|
| 78 |
+
"diameter_m": 3.0,
|
| 79 |
+
"min_steps": 1,
|
| 80 |
+
"max_steps": 3,
|
| 81 |
+
"joint": [
|
| 82 |
+
{
|
| 83 |
+
"level": "easy",
|
| 84 |
+
"length": "short",
|
| 85 |
+
"metres": "1-2",
|
| 86 |
+
"count": 10
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"level": "easy",
|
| 90 |
+
"length": "medium",
|
| 91 |
+
"metres": "2-4",
|
| 92 |
+
"count": 8
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "long",
|
| 97 |
+
"metres": "2-4",
|
| 98 |
+
"count": 2
|
| 99 |
+
}
|
| 100 |
+
]
|
| 101 |
+
},
|
| 102 |
+
"source_grid_id": "scene_17m_092",
|
| 103 |
+
"source_scene_id": "scene_17m_092"
|
| 104 |
+
}
|
navigation_tasks/grids/scene_17m_092__clearpath_husky.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c037ba0436e01aae3fab254be1fafb44c300e68ccdb9e390cf4d69b61036db68
|
| 3 |
+
size 600
|
navigation_tasks/grids/scene_17m_093__clearpath_husky.json
ADDED
|
@@ -0,0 +1,128 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_17m_093__clearpath_husky",
|
| 4 |
+
"robot": "clearpath_husky",
|
| 5 |
+
"cell_m": 1.0,
|
| 6 |
+
"res": 0.025,
|
| 7 |
+
"lo": [
|
| 8 |
+
-0.2,
|
| 9 |
+
-0.2,
|
| 10 |
+
0
|
| 11 |
+
],
|
| 12 |
+
"H": 696,
|
| 13 |
+
"ua": 0,
|
| 14 |
+
"va": 1,
|
| 15 |
+
"up": 2,
|
| 16 |
+
"floor_z": 0,
|
| 17 |
+
"shape": [
|
| 18 |
+
16,
|
| 19 |
+
11
|
| 20 |
+
],
|
| 21 |
+
"k": 40,
|
| 22 |
+
"oy": 30,
|
| 23 |
+
"ox": 30,
|
| 24 |
+
"r0": 1,
|
| 25 |
+
"c0": 7,
|
| 26 |
+
"free_cells": 133,
|
| 27 |
+
"main_cells": 102,
|
| 28 |
+
"main_frac": 0.7669172932330827,
|
| 29 |
+
"margin": 0.05,
|
| 30 |
+
"source_pgm": "version_2/3d_scenes/scene_17m_093/top_view_map.pgm",
|
| 31 |
+
"split": null,
|
| 32 |
+
"closed_border": true,
|
| 33 |
+
"signature": {
|
| 34 |
+
"version": 1,
|
| 35 |
+
"source_sha256": "597c408ab53d3c45575621d3ab2b0769ecf0b8e9c038810ef572c164a239c1a0",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
+
"budget": 200,
|
| 54 |
+
"d_min": 1,
|
| 55 |
+
"slack": 20
|
| 56 |
+
},
|
| 57 |
+
"robot_sha256": "f296a47b6da49fcfc60cdb0df640f45c6d5551e5bea4a594d397ff0a42571ea8"
|
| 58 |
+
},
|
| 59 |
+
"census_row": {
|
| 60 |
+
"scene_id": "scene_17m_093",
|
| 61 |
+
"size_m": 17.0,
|
| 62 |
+
"theme": "hospital",
|
| 63 |
+
"robot": "clearpath_husky",
|
| 64 |
+
"cell_m": 1.0,
|
| 65 |
+
"nominal_interior": 15,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_17m_093",
|
| 68 |
+
"shape": [
|
| 69 |
+
16,
|
| 70 |
+
11
|
| 71 |
+
],
|
| 72 |
+
"free_cells": 102,
|
| 73 |
+
"main_cells": 102,
|
| 74 |
+
"interior_h": 14,
|
| 75 |
+
"interior_w": 9,
|
| 76 |
+
"pairs": 10302,
|
| 77 |
+
"diameter_steps": 20,
|
| 78 |
+
"diameter_m": 20.0,
|
| 79 |
+
"min_steps": 1,
|
| 80 |
+
"max_steps": 20,
|
| 81 |
+
"joint": [
|
| 82 |
+
{
|
| 83 |
+
"level": "easy",
|
| 84 |
+
"length": "short",
|
| 85 |
+
"metres": "1-2",
|
| 86 |
+
"count": 360
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"level": "easy",
|
| 90 |
+
"length": "short",
|
| 91 |
+
"metres": "2-4",
|
| 92 |
+
"count": 1490
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "short",
|
| 97 |
+
"metres": "4-8",
|
| 98 |
+
"count": 3068
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"level": "easy",
|
| 102 |
+
"length": "medium",
|
| 103 |
+
"metres": "4-8",
|
| 104 |
+
"count": 986
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"level": "easy",
|
| 108 |
+
"length": "medium",
|
| 109 |
+
"metres": "8-16",
|
| 110 |
+
"count": 3760
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"level": "easy",
|
| 114 |
+
"length": "long",
|
| 115 |
+
"metres": "8-16",
|
| 116 |
+
"count": 432
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"level": "easy",
|
| 120 |
+
"length": "long",
|
| 121 |
+
"metres": "16-32",
|
| 122 |
+
"count": 206
|
| 123 |
+
}
|
| 124 |
+
]
|
| 125 |
+
},
|
| 126 |
+
"source_grid_id": "scene_17m_093",
|
| 127 |
+
"source_scene_id": "scene_17m_093"
|
| 128 |
+
}
|
navigation_tasks/grids/scene_17m_093__clearpath_husky.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a87490623ccfdd7a60a9037998174d1b1d83692c1bb87dd79dd313a43009d55b
|
| 3 |
+
size 642
|
navigation_tasks/grids/scene_17m_094__clearpath_husky.json
ADDED
|
@@ -0,0 +1,116 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_17m_094__clearpath_husky",
|
| 4 |
+
"robot": "clearpath_husky",
|
| 5 |
+
"cell_m": 1.0,
|
| 6 |
+
"res": 0.025,
|
| 7 |
+
"lo": [
|
| 8 |
+
-0.2,
|
| 9 |
+
-0.2,
|
| 10 |
+
0
|
| 11 |
+
],
|
| 12 |
+
"H": 696,
|
| 13 |
+
"ua": 0,
|
| 14 |
+
"va": 1,
|
| 15 |
+
"up": 2,
|
| 16 |
+
"floor_z": 0,
|
| 17 |
+
"shape": [
|
| 18 |
+
5,
|
| 19 |
+
10
|
| 20 |
+
],
|
| 21 |
+
"k": 40,
|
| 22 |
+
"oy": 0,
|
| 23 |
+
"ox": 20,
|
| 24 |
+
"r0": 1,
|
| 25 |
+
"c0": 8,
|
| 26 |
+
"free_cells": 68,
|
| 27 |
+
"main_cells": 18,
|
| 28 |
+
"main_frac": 0.2647058823529412,
|
| 29 |
+
"margin": 0.05,
|
| 30 |
+
"source_pgm": "version_2/3d_scenes/scene_17m_094/top_view_map.pgm",
|
| 31 |
+
"split": null,
|
| 32 |
+
"closed_border": true,
|
| 33 |
+
"signature": {
|
| 34 |
+
"version": 1,
|
| 35 |
+
"source_sha256": "73e2faaad796d4efdc19179aa5b2eed20b03317576d0fb1c97ed50991aa6f4c2",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
+
"budget": 200,
|
| 54 |
+
"d_min": 1,
|
| 55 |
+
"slack": 20
|
| 56 |
+
},
|
| 57 |
+
"robot_sha256": "f296a47b6da49fcfc60cdb0df640f45c6d5551e5bea4a594d397ff0a42571ea8"
|
| 58 |
+
},
|
| 59 |
+
"census_row": {
|
| 60 |
+
"scene_id": "scene_17m_094",
|
| 61 |
+
"size_m": 17.0,
|
| 62 |
+
"theme": "warehouse",
|
| 63 |
+
"robot": "clearpath_husky",
|
| 64 |
+
"cell_m": 1.0,
|
| 65 |
+
"nominal_interior": 15,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_17m_094",
|
| 68 |
+
"shape": [
|
| 69 |
+
5,
|
| 70 |
+
10
|
| 71 |
+
],
|
| 72 |
+
"free_cells": 18,
|
| 73 |
+
"main_cells": 18,
|
| 74 |
+
"interior_h": 3,
|
| 75 |
+
"interior_w": 8,
|
| 76 |
+
"pairs": 306,
|
| 77 |
+
"diameter_steps": 9,
|
| 78 |
+
"diameter_m": 9.0,
|
| 79 |
+
"min_steps": 1,
|
| 80 |
+
"max_steps": 9,
|
| 81 |
+
"joint": [
|
| 82 |
+
{
|
| 83 |
+
"level": "easy",
|
| 84 |
+
"length": "short",
|
| 85 |
+
"metres": "1-2",
|
| 86 |
+
"count": 46
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"level": "easy",
|
| 90 |
+
"length": "short",
|
| 91 |
+
"metres": "2-4",
|
| 92 |
+
"count": 112
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "medium",
|
| 97 |
+
"metres": "4-8",
|
| 98 |
+
"count": 104
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"level": "easy",
|
| 102 |
+
"length": "long",
|
| 103 |
+
"metres": "4-8",
|
| 104 |
+
"count": 26
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"level": "easy",
|
| 108 |
+
"length": "long",
|
| 109 |
+
"metres": "8-16",
|
| 110 |
+
"count": 18
|
| 111 |
+
}
|
| 112 |
+
]
|
| 113 |
+
},
|
| 114 |
+
"source_grid_id": "scene_17m_094",
|
| 115 |
+
"source_scene_id": "scene_17m_094"
|
| 116 |
+
}
|
navigation_tasks/grids/scene_17m_094__clearpath_husky.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6eb4c17281996248345b4b9e576d99367350c0958dd6cc226f1bccccb74c3052
|
| 3 |
+
size 624
|
navigation_tasks/grids/scene_17m_095__clearpath_husky.json
ADDED
|
@@ -0,0 +1,110 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_17m_095__clearpath_husky",
|
| 4 |
+
"robot": "clearpath_husky",
|
| 5 |
+
"cell_m": 1.0,
|
| 6 |
+
"res": 0.025,
|
| 7 |
+
"lo": [
|
| 8 |
+
-0.2,
|
| 9 |
+
-0.2,
|
| 10 |
+
0
|
| 11 |
+
],
|
| 12 |
+
"H": 696,
|
| 13 |
+
"ua": 0,
|
| 14 |
+
"va": 1,
|
| 15 |
+
"up": 2,
|
| 16 |
+
"floor_z": 0,
|
| 17 |
+
"shape": [
|
| 18 |
+
5,
|
| 19 |
+
5
|
| 20 |
+
],
|
| 21 |
+
"k": 40,
|
| 22 |
+
"oy": 0,
|
| 23 |
+
"ox": 20,
|
| 24 |
+
"r0": 7,
|
| 25 |
+
"c0": 12,
|
| 26 |
+
"free_cells": 23,
|
| 27 |
+
"main_cells": 5,
|
| 28 |
+
"main_frac": 0.21739130434782608,
|
| 29 |
+
"margin": 0.05,
|
| 30 |
+
"source_pgm": "version_2/3d_scenes/scene_17m_095/top_view_map.pgm",
|
| 31 |
+
"split": null,
|
| 32 |
+
"closed_border": true,
|
| 33 |
+
"signature": {
|
| 34 |
+
"version": 1,
|
| 35 |
+
"source_sha256": "4e0170e6752b183501623ea5138edf69eb966d87ee20cc720eb970fd95ba6d2e",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
+
"budget": 200,
|
| 54 |
+
"d_min": 1,
|
| 55 |
+
"slack": 20
|
| 56 |
+
},
|
| 57 |
+
"robot_sha256": "f296a47b6da49fcfc60cdb0df640f45c6d5551e5bea4a594d397ff0a42571ea8"
|
| 58 |
+
},
|
| 59 |
+
"census_row": {
|
| 60 |
+
"scene_id": "scene_17m_095",
|
| 61 |
+
"size_m": 17.0,
|
| 62 |
+
"theme": "residential",
|
| 63 |
+
"robot": "clearpath_husky",
|
| 64 |
+
"cell_m": 1.0,
|
| 65 |
+
"nominal_interior": 15,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_17m_095",
|
| 68 |
+
"shape": [
|
| 69 |
+
5,
|
| 70 |
+
5
|
| 71 |
+
],
|
| 72 |
+
"free_cells": 5,
|
| 73 |
+
"main_cells": 5,
|
| 74 |
+
"interior_h": 3,
|
| 75 |
+
"interior_w": 3,
|
| 76 |
+
"pairs": 20,
|
| 77 |
+
"diameter_steps": 4,
|
| 78 |
+
"diameter_m": 4.0,
|
| 79 |
+
"min_steps": 1,
|
| 80 |
+
"max_steps": 4,
|
| 81 |
+
"joint": [
|
| 82 |
+
{
|
| 83 |
+
"level": "easy",
|
| 84 |
+
"length": "short",
|
| 85 |
+
"metres": "1-2",
|
| 86 |
+
"count": 8
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"level": "easy",
|
| 90 |
+
"length": "medium",
|
| 91 |
+
"metres": "2-4",
|
| 92 |
+
"count": 6
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "long",
|
| 97 |
+
"metres": "2-4",
|
| 98 |
+
"count": 4
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"level": "easy",
|
| 102 |
+
"length": "long",
|
| 103 |
+
"metres": "4-8",
|
| 104 |
+
"count": 2
|
| 105 |
+
}
|
| 106 |
+
]
|
| 107 |
+
},
|
| 108 |
+
"source_grid_id": "scene_17m_095",
|
| 109 |
+
"source_scene_id": "scene_17m_095"
|
| 110 |
+
}
|
navigation_tasks/grids/scene_17m_095__clearpath_husky.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2b2bba7628609ad5008c762d325fd27e0d0e4e46d17bfaac743d60f2812c9a31
|
| 3 |
+
size 603
|
navigation_tasks/grids/scene_17m_096__clearpath_husky.json
ADDED
|
@@ -0,0 +1,128 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_17m_096__clearpath_husky",
|
| 4 |
+
"robot": "clearpath_husky",
|
| 5 |
+
"cell_m": 1.0,
|
| 6 |
+
"res": 0.025,
|
| 7 |
+
"lo": [
|
| 8 |
+
-0.2,
|
| 9 |
+
-0.2,
|
| 10 |
+
0
|
| 11 |
+
],
|
| 12 |
+
"H": 696,
|
| 13 |
+
"ua": 0,
|
| 14 |
+
"va": 1,
|
| 15 |
+
"up": 2,
|
| 16 |
+
"floor_z": 0,
|
| 17 |
+
"shape": [
|
| 18 |
+
17,
|
| 19 |
+
9
|
| 20 |
+
],
|
| 21 |
+
"k": 40,
|
| 22 |
+
"oy": 20,
|
| 23 |
+
"ox": 0,
|
| 24 |
+
"r0": 1,
|
| 25 |
+
"c0": 7,
|
| 26 |
+
"free_cells": 108,
|
| 27 |
+
"main_cells": 72,
|
| 28 |
+
"main_frac": 0.6666666666666666,
|
| 29 |
+
"margin": 0.05,
|
| 30 |
+
"source_pgm": "version_2/3d_scenes/scene_17m_096/top_view_map.pgm",
|
| 31 |
+
"split": null,
|
| 32 |
+
"closed_border": true,
|
| 33 |
+
"signature": {
|
| 34 |
+
"version": 1,
|
| 35 |
+
"source_sha256": "46235ba65b5c23d2c2ae7549c8bd27128d79cd2f28685b4abcea46f7ab15b49d",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
+
"budget": 200,
|
| 54 |
+
"d_min": 1,
|
| 55 |
+
"slack": 20
|
| 56 |
+
},
|
| 57 |
+
"robot_sha256": "f296a47b6da49fcfc60cdb0df640f45c6d5551e5bea4a594d397ff0a42571ea8"
|
| 58 |
+
},
|
| 59 |
+
"census_row": {
|
| 60 |
+
"scene_id": "scene_17m_096",
|
| 61 |
+
"size_m": 17.0,
|
| 62 |
+
"theme": "office",
|
| 63 |
+
"robot": "clearpath_husky",
|
| 64 |
+
"cell_m": 1.0,
|
| 65 |
+
"nominal_interior": 15,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_17m_096",
|
| 68 |
+
"shape": [
|
| 69 |
+
17,
|
| 70 |
+
9
|
| 71 |
+
],
|
| 72 |
+
"free_cells": 72,
|
| 73 |
+
"main_cells": 72,
|
| 74 |
+
"interior_h": 15,
|
| 75 |
+
"interior_w": 7,
|
| 76 |
+
"pairs": 5112,
|
| 77 |
+
"diameter_steps": 17,
|
| 78 |
+
"diameter_m": 17.0,
|
| 79 |
+
"min_steps": 1,
|
| 80 |
+
"max_steps": 17,
|
| 81 |
+
"joint": [
|
| 82 |
+
{
|
| 83 |
+
"level": "easy",
|
| 84 |
+
"length": "short",
|
| 85 |
+
"metres": "1-2",
|
| 86 |
+
"count": 236
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"level": "easy",
|
| 90 |
+
"length": "short",
|
| 91 |
+
"metres": "2-4",
|
| 92 |
+
"count": 910
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "short",
|
| 97 |
+
"metres": "4-8",
|
| 98 |
+
"count": 1122
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"level": "easy",
|
| 102 |
+
"length": "medium",
|
| 103 |
+
"metres": "4-8",
|
| 104 |
+
"count": 1018
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"level": "easy",
|
| 108 |
+
"length": "medium",
|
| 109 |
+
"metres": "8-16",
|
| 110 |
+
"count": 1398
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"level": "easy",
|
| 114 |
+
"length": "long",
|
| 115 |
+
"metres": "8-16",
|
| 116 |
+
"count": 406
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"level": "easy",
|
| 120 |
+
"length": "long",
|
| 121 |
+
"metres": "16-32",
|
| 122 |
+
"count": 22
|
| 123 |
+
}
|
| 124 |
+
]
|
| 125 |
+
},
|
| 126 |
+
"source_grid_id": "scene_17m_096",
|
| 127 |
+
"source_scene_id": "scene_17m_096"
|
| 128 |
+
}
|
navigation_tasks/grids/scene_17m_096__clearpath_husky.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0a2327486b5cad6019e69818a09e9e9356dee874b114aba04b3f5a5c17defc45
|
| 3 |
+
size 675
|
navigation_tasks/grids/scene_17m_097__clearpath_husky.json
ADDED
|
@@ -0,0 +1,122 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_17m_097__clearpath_husky",
|
| 4 |
+
"robot": "clearpath_husky",
|
| 5 |
+
"cell_m": 1.0,
|
| 6 |
+
"res": 0.025,
|
| 7 |
+
"lo": [
|
| 8 |
+
-0.2,
|
| 9 |
+
-0.2,
|
| 10 |
+
0
|
| 11 |
+
],
|
| 12 |
+
"H": 696,
|
| 13 |
+
"ua": 0,
|
| 14 |
+
"va": 1,
|
| 15 |
+
"up": 2,
|
| 16 |
+
"floor_z": 0,
|
| 17 |
+
"shape": [
|
| 18 |
+
3,
|
| 19 |
+
16
|
| 20 |
+
],
|
| 21 |
+
"k": 40,
|
| 22 |
+
"oy": 0,
|
| 23 |
+
"ox": 0,
|
| 24 |
+
"r0": 16,
|
| 25 |
+
"c0": 3,
|
| 26 |
+
"free_cells": 45,
|
| 27 |
+
"main_cells": 14,
|
| 28 |
+
"main_frac": 0.3111111111111111,
|
| 29 |
+
"margin": 0.05,
|
| 30 |
+
"source_pgm": "version_2/3d_scenes/scene_17m_097/top_view_map.pgm",
|
| 31 |
+
"split": null,
|
| 32 |
+
"closed_border": true,
|
| 33 |
+
"signature": {
|
| 34 |
+
"version": 1,
|
| 35 |
+
"source_sha256": "b01ac190c4a30c4781c8058d1d512cf71d6b11568ea721ef993ddbb88d5c9fc0",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
+
"budget": 200,
|
| 54 |
+
"d_min": 1,
|
| 55 |
+
"slack": 20
|
| 56 |
+
},
|
| 57 |
+
"robot_sha256": "f296a47b6da49fcfc60cdb0df640f45c6d5551e5bea4a594d397ff0a42571ea8"
|
| 58 |
+
},
|
| 59 |
+
"census_row": {
|
| 60 |
+
"scene_id": "scene_17m_097",
|
| 61 |
+
"size_m": 17.0,
|
| 62 |
+
"theme": "hospital",
|
| 63 |
+
"robot": "clearpath_husky",
|
| 64 |
+
"cell_m": 1.0,
|
| 65 |
+
"nominal_interior": 15,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_17m_097",
|
| 68 |
+
"shape": [
|
| 69 |
+
3,
|
| 70 |
+
16
|
| 71 |
+
],
|
| 72 |
+
"free_cells": 14,
|
| 73 |
+
"main_cells": 14,
|
| 74 |
+
"interior_h": 1,
|
| 75 |
+
"interior_w": 14,
|
| 76 |
+
"pairs": 182,
|
| 77 |
+
"diameter_steps": 13,
|
| 78 |
+
"diameter_m": 13.0,
|
| 79 |
+
"min_steps": 1,
|
| 80 |
+
"max_steps": 13,
|
| 81 |
+
"joint": [
|
| 82 |
+
{
|
| 83 |
+
"level": "easy",
|
| 84 |
+
"length": "short",
|
| 85 |
+
"metres": "1-2",
|
| 86 |
+
"count": 26
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"level": "easy",
|
| 90 |
+
"length": "short",
|
| 91 |
+
"metres": "2-4",
|
| 92 |
+
"count": 46
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "short",
|
| 97 |
+
"metres": "4-8",
|
| 98 |
+
"count": 20
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"level": "easy",
|
| 102 |
+
"length": "medium",
|
| 103 |
+
"metres": "4-8",
|
| 104 |
+
"count": 48
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"level": "easy",
|
| 108 |
+
"length": "medium",
|
| 109 |
+
"metres": "8-16",
|
| 110 |
+
"count": 12
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"level": "easy",
|
| 114 |
+
"length": "long",
|
| 115 |
+
"metres": "8-16",
|
| 116 |
+
"count": 30
|
| 117 |
+
}
|
| 118 |
+
]
|
| 119 |
+
},
|
| 120 |
+
"source_grid_id": "scene_17m_097",
|
| 121 |
+
"source_scene_id": "scene_17m_097"
|
| 122 |
+
}
|
navigation_tasks/grids/scene_17m_097__clearpath_husky.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:92ad78880e25db91772ec88e6a1e641515d803efb554d057a34e688480c29260
|
| 3 |
+
size 594
|
navigation_tasks/grids/scene_17m_098__clearpath_husky.json
ADDED
|
@@ -0,0 +1,116 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_17m_098__clearpath_husky",
|
| 4 |
+
"robot": "clearpath_husky",
|
| 5 |
+
"cell_m": 1.0,
|
| 6 |
+
"res": 0.025,
|
| 7 |
+
"lo": [
|
| 8 |
+
-0.2,
|
| 9 |
+
-0.2,
|
| 10 |
+
0
|
| 11 |
+
],
|
| 12 |
+
"H": 696,
|
| 13 |
+
"ua": 0,
|
| 14 |
+
"va": 1,
|
| 15 |
+
"up": 2,
|
| 16 |
+
"floor_z": 0,
|
| 17 |
+
"shape": [
|
| 18 |
+
8,
|
| 19 |
+
4
|
| 20 |
+
],
|
| 21 |
+
"k": 40,
|
| 22 |
+
"oy": 0,
|
| 23 |
+
"ox": 10,
|
| 24 |
+
"r0": 1,
|
| 25 |
+
"c0": 7,
|
| 26 |
+
"free_cells": 44,
|
| 27 |
+
"main_cells": 10,
|
| 28 |
+
"main_frac": 0.22727272727272727,
|
| 29 |
+
"margin": 0.05,
|
| 30 |
+
"source_pgm": "version_2/3d_scenes/scene_17m_098/top_view_map.pgm",
|
| 31 |
+
"split": null,
|
| 32 |
+
"closed_border": true,
|
| 33 |
+
"signature": {
|
| 34 |
+
"version": 1,
|
| 35 |
+
"source_sha256": "7faf9cfeba82c423823c7ceb70486e09bc0ac019ca5d77e4d39f17fa4e7121da",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
+
"budget": 200,
|
| 54 |
+
"d_min": 1,
|
| 55 |
+
"slack": 20
|
| 56 |
+
},
|
| 57 |
+
"robot_sha256": "f296a47b6da49fcfc60cdb0df640f45c6d5551e5bea4a594d397ff0a42571ea8"
|
| 58 |
+
},
|
| 59 |
+
"census_row": {
|
| 60 |
+
"scene_id": "scene_17m_098",
|
| 61 |
+
"size_m": 17.0,
|
| 62 |
+
"theme": "warehouse",
|
| 63 |
+
"robot": "clearpath_husky",
|
| 64 |
+
"cell_m": 1.0,
|
| 65 |
+
"nominal_interior": 15,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_17m_098",
|
| 68 |
+
"shape": [
|
| 69 |
+
8,
|
| 70 |
+
4
|
| 71 |
+
],
|
| 72 |
+
"free_cells": 10,
|
| 73 |
+
"main_cells": 10,
|
| 74 |
+
"interior_h": 6,
|
| 75 |
+
"interior_w": 2,
|
| 76 |
+
"pairs": 90,
|
| 77 |
+
"diameter_steps": 6,
|
| 78 |
+
"diameter_m": 6.0,
|
| 79 |
+
"min_steps": 1,
|
| 80 |
+
"max_steps": 6,
|
| 81 |
+
"joint": [
|
| 82 |
+
{
|
| 83 |
+
"level": "easy",
|
| 84 |
+
"length": "short",
|
| 85 |
+
"metres": "1-2",
|
| 86 |
+
"count": 24
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"level": "easy",
|
| 90 |
+
"length": "short",
|
| 91 |
+
"metres": "2-4",
|
| 92 |
+
"count": 28
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "medium",
|
| 97 |
+
"metres": "2-4",
|
| 98 |
+
"count": 20
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"level": "easy",
|
| 102 |
+
"length": "medium",
|
| 103 |
+
"metres": "4-8",
|
| 104 |
+
"count": 12
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"level": "easy",
|
| 108 |
+
"length": "long",
|
| 109 |
+
"metres": "4-8",
|
| 110 |
+
"count": 6
|
| 111 |
+
}
|
| 112 |
+
]
|
| 113 |
+
},
|
| 114 |
+
"source_grid_id": "scene_17m_098",
|
| 115 |
+
"source_scene_id": "scene_17m_098"
|
| 116 |
+
}
|
navigation_tasks/grids/scene_17m_098__clearpath_husky.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9f6eb82e1f7a2541ce09897eca981dca8777eb1533d174887dede8aa8c6a62e4
|
| 3 |
+
size 606
|
navigation_tasks/grids/scene_17m_099__clearpath_husky.json
ADDED
|
@@ -0,0 +1,110 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "isb-nav.grid-capacity/1",
|
| 3 |
+
"map_id": "scene_17m_099__clearpath_husky",
|
| 4 |
+
"robot": "clearpath_husky",
|
| 5 |
+
"cell_m": 1.0,
|
| 6 |
+
"res": 0.025,
|
| 7 |
+
"lo": [
|
| 8 |
+
-0.2,
|
| 9 |
+
-0.2,
|
| 10 |
+
0
|
| 11 |
+
],
|
| 12 |
+
"H": 696,
|
| 13 |
+
"ua": 0,
|
| 14 |
+
"va": 1,
|
| 15 |
+
"up": 2,
|
| 16 |
+
"floor_z": 0,
|
| 17 |
+
"shape": [
|
| 18 |
+
6,
|
| 19 |
+
5
|
| 20 |
+
],
|
| 21 |
+
"k": 40,
|
| 22 |
+
"oy": 20,
|
| 23 |
+
"ox": 20,
|
| 24 |
+
"r0": 6,
|
| 25 |
+
"c0": 0,
|
| 26 |
+
"free_cells": 24,
|
| 27 |
+
"main_cells": 6,
|
| 28 |
+
"main_frac": 0.25,
|
| 29 |
+
"margin": 0.05,
|
| 30 |
+
"source_pgm": "version_2/3d_scenes/scene_17m_099/top_view_map.pgm",
|
| 31 |
+
"split": null,
|
| 32 |
+
"closed_border": true,
|
| 33 |
+
"signature": {
|
| 34 |
+
"version": 1,
|
| 35 |
+
"source_sha256": "17c5912865424c7289f048c102eb35ed336b398765dfefcff0d84639be2323c2",
|
| 36 |
+
"settings": {
|
| 37 |
+
"robots": [
|
| 38 |
+
"jetauto_pro",
|
| 39 |
+
"jetbot",
|
| 40 |
+
"turtlebot3_burger",
|
| 41 |
+
"turtlebot3_waffle_pi",
|
| 42 |
+
"turtlebot4",
|
| 43 |
+
"turtlebot4_lite",
|
| 44 |
+
"clearpath_jackal",
|
| 45 |
+
"pal_tiago",
|
| 46 |
+
"clearpath_dingo",
|
| 47 |
+
"clearpath_ridgeback",
|
| 48 |
+
"clearpath_husky"
|
| 49 |
+
],
|
| 50 |
+
"min_interior": 4,
|
| 51 |
+
"max_interior": 15,
|
| 52 |
+
"margin": 0.05,
|
| 53 |
+
"budget": 200,
|
| 54 |
+
"d_min": 1,
|
| 55 |
+
"slack": 20
|
| 56 |
+
},
|
| 57 |
+
"robot_sha256": "f296a47b6da49fcfc60cdb0df640f45c6d5551e5bea4a594d397ff0a42571ea8"
|
| 58 |
+
},
|
| 59 |
+
"census_row": {
|
| 60 |
+
"scene_id": "scene_17m_099",
|
| 61 |
+
"size_m": 17.0,
|
| 62 |
+
"theme": "residential",
|
| 63 |
+
"robot": "clearpath_husky",
|
| 64 |
+
"cell_m": 1.0,
|
| 65 |
+
"nominal_interior": 15,
|
| 66 |
+
"status": "ready",
|
| 67 |
+
"map_id": "scene_17m_099",
|
| 68 |
+
"shape": [
|
| 69 |
+
6,
|
| 70 |
+
5
|
| 71 |
+
],
|
| 72 |
+
"free_cells": 6,
|
| 73 |
+
"main_cells": 6,
|
| 74 |
+
"interior_h": 4,
|
| 75 |
+
"interior_w": 3,
|
| 76 |
+
"pairs": 30,
|
| 77 |
+
"diameter_steps": 4,
|
| 78 |
+
"diameter_m": 4.0,
|
| 79 |
+
"min_steps": 1,
|
| 80 |
+
"max_steps": 4,
|
| 81 |
+
"joint": [
|
| 82 |
+
{
|
| 83 |
+
"level": "easy",
|
| 84 |
+
"length": "short",
|
| 85 |
+
"metres": "1-2",
|
| 86 |
+
"count": 10
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"level": "easy",
|
| 90 |
+
"length": "medium",
|
| 91 |
+
"metres": "2-4",
|
| 92 |
+
"count": 10
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"level": "easy",
|
| 96 |
+
"length": "long",
|
| 97 |
+
"metres": "2-4",
|
| 98 |
+
"count": 6
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"level": "easy",
|
| 102 |
+
"length": "long",
|
| 103 |
+
"metres": "4-8",
|
| 104 |
+
"count": 4
|
| 105 |
+
}
|
| 106 |
+
]
|
| 107 |
+
},
|
| 108 |
+
"source_grid_id": "scene_17m_099",
|
| 109 |
+
"source_scene_id": "scene_17m_099"
|
| 110 |
+
}
|
navigation_tasks/grids/scene_17m_099__clearpath_husky.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bc276fe8f46401cdc6649f33c88e7873a9c39ae320321d26f1e4920cf19debd9
|
| 3 |
+
size 603
|
navigation_tasks/manifest.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
navigation_tasks/navsim_smoke.json
ADDED
|
@@ -0,0 +1,8 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"status": "passed",
|
| 3 |
+
"dataset_loader": "navsim_4NLP",
|
| 4 |
+
"robots": 11,
|
| 5 |
+
"oracle_episodes": 33,
|
| 6 |
+
"collisions": 0,
|
| 7 |
+
"split": null
|
| 8 |
+
}
|
navigation_tasks/quotas.csv
ADDED
|
@@ -0,0 +1,92 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
size_m,robot,level,length,metres,pairs,quota
|
| 2 |
+
2.0,jetbot,medium,long,2-4,966,482
|
| 3 |
+
2.0,turtlebot3_waffle_pi,easy,long,1-2,966,966
|
| 4 |
+
2.0,turtlebot3_waffle_pi,easy,long,2-4,1532,158
|
| 5 |
+
2.0,turtlebot3_waffle_pi,easy,medium,0.5-1,2624,1606
|
| 6 |
+
2.0,turtlebot3_waffle_pi,easy,short,<0.5,3840,482
|
| 7 |
+
2.0,turtlebot4,easy,short,0.5-1,2496,148
|
| 8 |
+
2.0,turtlebot4_lite,easy,short,0.5-1,2496,482
|
| 9 |
+
2.0,turtlebot4_lite,easy,short,1-2,494,494
|
| 10 |
+
3.0,clearpath_jackal,easy,short,1-2,950,950
|
| 11 |
+
3.0,jetauto_pro,medium,long,4-8,40,40
|
| 12 |
+
3.0,pal_tiago,easy,short,0.5-1,1382,57
|
| 13 |
+
3.0,pal_tiago,easy,short,1-2,470,470
|
| 14 |
+
3.0,turtlebot3_burger,hard,long,4-8,1077,707
|
| 15 |
+
3.0,turtlebot3_burger,hard,long,8-16,43,43
|
| 16 |
+
3.0,turtlebot3_burger,medium,long,2-4,16743,718
|
| 17 |
+
3.0,turtlebot3_burger,medium,short,1-2,11,11
|
| 18 |
+
3.0,turtlebot3_burger,medium,short,2-4,118,118
|
| 19 |
+
3.0,turtlebot3_waffle_pi,easy,medium,2-4,12563,1606
|
| 20 |
+
3.0,turtlebot3_waffle_pi,medium,long,2-4,10,10
|
| 21 |
+
3.0,turtlebot3_waffle_pi,medium,long,4-8,40,40
|
| 22 |
+
3.0,turtlebot4_lite,medium,long,4-8,48,48
|
| 23 |
+
4.0,clearpath_dingo,easy,short,0.5-1,2430,1606
|
| 24 |
+
4.0,turtlebot3_waffle_pi,medium,long,4-8,6092,1606
|
| 25 |
+
4.0,turtlebot3_waffle_pi,medium,medium,4-8,1953,1281
|
| 26 |
+
4.0,turtlebot4_lite,medium,medium,4-8,325,325
|
| 27 |
+
5.0,jetauto_pro,hard,long,8-16,1774,938
|
| 28 |
+
5.0,jetauto_pro,hard,medium,8-16,2,2
|
| 29 |
+
5.0,jetauto_pro,medium,medium,8-16,2838,192
|
| 30 |
+
5.0,jetauto_pro,medium,short,4-8,518,476
|
| 31 |
+
5.0,turtlebot3_waffle_pi,hard,medium,8-16,2,2
|
| 32 |
+
5.0,turtlebot3_waffle_pi,medium,short,2-4,612,612
|
| 33 |
+
5.0,turtlebot3_waffle_pi,medium,short,4-8,518,518
|
| 34 |
+
5.0,turtlebot4,hard,long,8-16,334,334
|
| 35 |
+
5.0,turtlebot4_lite,hard,long,8-16,334,334
|
| 36 |
+
5.0,turtlebot4_lite,medium,medium,8-16,1410,1410
|
| 37 |
+
6.0,clearpath_dingo,easy,long,8-16,1040,1040
|
| 38 |
+
6.0,clearpath_dingo,easy,short,2-4,15646,1606
|
| 39 |
+
6.0,clearpath_dingo,medium,medium,4-8,7,7
|
| 40 |
+
6.0,clearpath_dingo,medium,medium,8-16,10,10
|
| 41 |
+
6.0,clearpath_husky,easy,medium,1-2,38,38
|
| 42 |
+
6.0,clearpath_jackal,easy,medium,4-8,34421,1211
|
| 43 |
+
6.0,clearpath_jackal,medium,medium,4-8,245,245
|
| 44 |
+
6.0,clearpath_jackal,medium,medium,8-16,83,83
|
| 45 |
+
6.0,pal_tiago,easy,long,8-16,734,566
|
| 46 |
+
6.0,pal_tiago,medium,medium,4-8,12,12
|
| 47 |
+
8.0,clearpath_dingo,hard,long,16-32,362,362
|
| 48 |
+
8.0,clearpath_dingo,medium,medium,8-16,17583,1605
|
| 49 |
+
8.0,clearpath_dingo,medium,short,4-8,24,24
|
| 50 |
+
8.0,clearpath_jackal,hard,long,16-32,655,655
|
| 51 |
+
8.0,clearpath_jackal,medium,short,2-4,9,9
|
| 52 |
+
8.0,clearpath_jackal,medium,short,4-8,265,265
|
| 53 |
+
8.0,pal_tiago,easy,short,0.5-1,20110,1185
|
| 54 |
+
8.0,pal_tiago,hard,long,16-32,937,452
|
| 55 |
+
8.0,pal_tiago,hard,long,8-16,137,137
|
| 56 |
+
8.0,pal_tiago,hard,medium,8-16,1,1
|
| 57 |
+
8.0,pal_tiago,medium,short,2-4,1,1
|
| 58 |
+
8.0,pal_tiago,medium,short,4-8,122,122
|
| 59 |
+
10.0,clearpath_husky,easy,medium,2-4,1066,1066
|
| 60 |
+
10.0,clearpath_ridgeback,easy,long,4-8,1918,1606
|
| 61 |
+
10.0,clearpath_ridgeback,easy,medium,4-8,9184,410
|
| 62 |
+
10.0,clearpath_ridgeback,easy,medium,8-16,130,130
|
| 63 |
+
10.0,clearpath_ridgeback,easy,short,2-4,6244,1606
|
| 64 |
+
12.0,clearpath_husky,easy,long,16-32,30,30
|
| 65 |
+
12.0,clearpath_husky,easy,long,2-4,86,86
|
| 66 |
+
12.0,clearpath_husky,easy,medium,4-8,14802,1601
|
| 67 |
+
12.0,clearpath_husky,easy,short,1-2,4482,1606
|
| 68 |
+
12.0,clearpath_husky,medium,long,16-32,4,4
|
| 69 |
+
12.0,clearpath_ridgeback,easy,long,0.5-1,4,4
|
| 70 |
+
12.0,clearpath_ridgeback,easy,long,16-32,29,29
|
| 71 |
+
12.0,clearpath_ridgeback,easy,long,2-4,104,104
|
| 72 |
+
12.0,clearpath_ridgeback,easy,long,8-16,3858,1336
|
| 73 |
+
12.0,clearpath_ridgeback,medium,long,16-32,49,3
|
| 74 |
+
12.0,clearpath_ridgeback,medium,long,8-16,10,10
|
| 75 |
+
12.0,clearpath_ridgeback,medium,medium,8-16,5,5
|
| 76 |
+
15.0,clearpath_husky,medium,long,16-32,2224,754
|
| 77 |
+
15.0,clearpath_ridgeback,easy,short,2-4,70214,1557
|
| 78 |
+
15.0,clearpath_ridgeback,hard,long,16-32,370,370
|
| 79 |
+
15.0,clearpath_ridgeback,hard,long,32+,481,481
|
| 80 |
+
15.0,clearpath_ridgeback,medium,long,32+,1,1
|
| 81 |
+
15.0,clearpath_ridgeback,medium,medium,16-32,3616,1606
|
| 82 |
+
15.0,clearpath_ridgeback,medium,short,8-16,49,49
|
| 83 |
+
17.0,clearpath_husky,easy,long,2-4,98,98
|
| 84 |
+
17.0,clearpath_husky,easy,long,4-8,594,594
|
| 85 |
+
17.0,clearpath_husky,easy,medium,1-2,6,6
|
| 86 |
+
17.0,clearpath_husky,easy,medium,16-32,1573,763
|
| 87 |
+
17.0,clearpath_husky,easy,short,1-2,8486,1605
|
| 88 |
+
17.0,clearpath_husky,medium,long,16-32,889,889
|
| 89 |
+
17.0,clearpath_husky,medium,long,8-16,44,25
|
| 90 |
+
17.0,clearpath_husky,medium,medium,16-32,167,167
|
| 91 |
+
17.0,clearpath_husky,medium,medium,8-16,670,670
|
| 92 |
+
17.0,clearpath_husky,medium,short,8-16,1,1
|
navigation_tasks/robots/clearpath_dingo.json
ADDED
|
@@ -0,0 +1,128 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "1.0",
|
| 3 |
+
"id": "clearpath_dingo",
|
| 4 |
+
"name": "Clearpath Dingo-D (differential)",
|
| 5 |
+
"footprint": {
|
| 6 |
+
"type": "polygon",
|
| 7 |
+
"points": [
|
| 8 |
+
[
|
| 9 |
+
0.1734,
|
| 10 |
+
-0.2586
|
| 11 |
+
],
|
| 12 |
+
[
|
| 13 |
+
0.2754,
|
| 14 |
+
-0.1576
|
| 15 |
+
],
|
| 16 |
+
[
|
| 17 |
+
0.2754,
|
| 18 |
+
0.1574
|
| 19 |
+
],
|
| 20 |
+
[
|
| 21 |
+
0.1734,
|
| 22 |
+
0.2584
|
| 23 |
+
],
|
| 24 |
+
[
|
| 25 |
+
-0.1736,
|
| 26 |
+
0.2584
|
| 27 |
+
],
|
| 28 |
+
[
|
| 29 |
+
-0.2756,
|
| 30 |
+
0.1574
|
| 31 |
+
],
|
| 32 |
+
[
|
| 33 |
+
-0.2756,
|
| 34 |
+
0.0674
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.2736,
|
| 38 |
+
0.0664
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
-0.2736,
|
| 42 |
+
-0.0666
|
| 43 |
+
],
|
| 44 |
+
[
|
| 45 |
+
-0.2756,
|
| 46 |
+
-0.0676
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
-0.2756,
|
| 50 |
+
-0.1576
|
| 51 |
+
],
|
| 52 |
+
[
|
| 53 |
+
-0.1736,
|
| 54 |
+
-0.2586
|
| 55 |
+
]
|
| 56 |
+
]
|
| 57 |
+
},
|
| 58 |
+
"height": 0.11,
|
| 59 |
+
"height_class": "h36",
|
| 60 |
+
"drive": "differential",
|
| 61 |
+
"limits": {
|
| 62 |
+
"v_max": 1.3,
|
| 63 |
+
"v_min": -1.3,
|
| 64 |
+
"vy_max": 0.0,
|
| 65 |
+
"w_max": 1.0
|
| 66 |
+
},
|
| 67 |
+
"lidar": {
|
| 68 |
+
"model": "SLAMTEC RPLIDAR A1M8",
|
| 69 |
+
"range_min": 0.15,
|
| 70 |
+
"range_max": 12.0,
|
| 71 |
+
"fov": 6.2832,
|
| 72 |
+
"beams": 360
|
| 73 |
+
},
|
| 74 |
+
"sources": {
|
| 75 |
+
"footprint": {
|
| 76 |
+
"kind": "official",
|
| 77 |
+
"url": "https://github.com/dingo-cpr/dingo/blob/noetic-devel/dingo_description/urdf/dingo.urdf.xacro",
|
| 78 |
+
"method": "all URDF visual geometry (joints = 0) projected onto the floor of frame 'base_link' at 1 mm, outer contour, simplified by 1 mm (hm3d robots import-urdf)"
|
| 79 |
+
},
|
| 80 |
+
"height": {
|
| 81 |
+
"kind": "official",
|
| 82 |
+
"url": "https://docs.clearpathrobotics.com/docs_robots/legacy/ros1_robots/indoor_robots/dingo/user_manual_dingo",
|
| 83 |
+
"note": "Dingo-D: 110 mm chassis, without payload"
|
| 84 |
+
},
|
| 85 |
+
"limits.v_max": {
|
| 86 |
+
"kind": "official",
|
| 87 |
+
"url": "https://docs.clearpathrobotics.com/docs_robots/legacy/ros1_robots/indoor_robots/dingo/user_manual_dingo",
|
| 88 |
+
"note": "1.3 m/s"
|
| 89 |
+
},
|
| 90 |
+
"limits.v_min": {
|
| 91 |
+
"kind": "estimated",
|
| 92 |
+
"method": "The manufacturer only publishes the maximum speed; the maximum reverse speed is assumed equal to it."
|
| 93 |
+
},
|
| 94 |
+
"limits.vy_max": {
|
| 95 |
+
"kind": "official",
|
| 96 |
+
"url": "https://docs.clearpathrobotics.com/docs_robots/legacy/ros1_robots/indoor_robots/dingo/user_manual_dingo",
|
| 97 |
+
"note": "Dingo-D: differential drive (Dingo-O is the omnidirectional version)"
|
| 98 |
+
},
|
| 99 |
+
"limits.w_max": {
|
| 100 |
+
"kind": "estimated",
|
| 101 |
+
"method": "The manufacturer does not publish the maximum angular velocity; a conservative 1.0 rad/s is used, in line with TurtleBot3 Waffle Pi (1.82) and TurtleBot 4 (1.90). The kinematic bound 2*v_max/track width is not used because it far exceeds the practical safe limit."
|
| 102 |
+
},
|
| 103 |
+
"lidar": {
|
| 104 |
+
"kind": "estimated",
|
| 105 |
+
"method": "The robot ships without a LiDAR (the manual lists only battery status, wheel odometry, motor currents and an IMU); the common 2D LiDAR RPLIDAR A1M8 is assumed (0.15-12 m, 360 degrees per the SLAMTEC datasheet)."
|
| 106 |
+
},
|
| 107 |
+
"lidar.beams": {
|
| 108 |
+
"kind": "estimated",
|
| 109 |
+
"method": "1 beam per degree, close to the ~1 degree angular resolution of low-cost 2D LiDARs; the environment resamples to n_beams beams."
|
| 110 |
+
},
|
| 111 |
+
"footprint_simple": {
|
| 112 |
+
"kind": "official",
|
| 113 |
+
"url": "https://docs.clearpathrobotics.com/docs_robots/legacy/ros1_robots/indoor_robots/dingo/user_manual_dingo",
|
| 114 |
+
"note": "Dingo-D: 551 x 517 x 110 mm (Dingo-O: 686 x 517 x 114 mm)"
|
| 115 |
+
},
|
| 116 |
+
"import": {
|
| 117 |
+
"kind": "navsim",
|
| 118 |
+
"file": "clearpath_dingo.json"
|
| 119 |
+
}
|
| 120 |
+
},
|
| 121 |
+
"footprint_simple": {
|
| 122 |
+
"type": "rectangle",
|
| 123 |
+
"length": 0.551,
|
| 124 |
+
"width": 0.517
|
| 125 |
+
},
|
| 126 |
+
"r_circ": 0.3175,
|
| 127 |
+
"r_insc": 0.2584
|
| 128 |
+
}
|
navigation_tasks/robots/clearpath_husky.json
ADDED
|
@@ -0,0 +1,289 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "1.0",
|
| 3 |
+
"id": "clearpath_husky",
|
| 4 |
+
"name": "Clearpath Husky A200 UGV",
|
| 5 |
+
"footprint": {
|
| 6 |
+
"type": "polygon",
|
| 7 |
+
"points": [
|
| 8 |
+
[
|
| 9 |
+
-0.0817,
|
| 10 |
+
-0.3346
|
| 11 |
+
],
|
| 12 |
+
[
|
| 13 |
+
-0.0797,
|
| 14 |
+
-0.3326
|
| 15 |
+
],
|
| 16 |
+
[
|
| 17 |
+
-0.0807,
|
| 18 |
+
-0.3046
|
| 19 |
+
],
|
| 20 |
+
[
|
| 21 |
+
-0.0797,
|
| 22 |
+
-0.2996
|
| 23 |
+
],
|
| 24 |
+
[
|
| 25 |
+
-0.0767,
|
| 26 |
+
-0.2976
|
| 27 |
+
],
|
| 28 |
+
[
|
| 29 |
+
0.0763,
|
| 30 |
+
-0.2976
|
| 31 |
+
],
|
| 32 |
+
[
|
| 33 |
+
0.0803,
|
| 34 |
+
-0.3006
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.0813,
|
| 38 |
+
-0.3066
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0813,
|
| 42 |
+
-0.3346
|
| 43 |
+
],
|
| 44 |
+
[
|
| 45 |
+
0.4303,
|
| 46 |
+
-0.3346
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.4323,
|
| 50 |
+
-0.3326
|
| 51 |
+
],
|
| 52 |
+
[
|
| 53 |
+
0.4313,
|
| 54 |
+
-0.3046
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.4333,
|
| 58 |
+
-0.2956
|
| 59 |
+
],
|
| 60 |
+
[
|
| 61 |
+
0.4333,
|
| 62 |
+
-0.2556
|
| 63 |
+
],
|
| 64 |
+
[
|
| 65 |
+
0.4363,
|
| 66 |
+
-0.2536
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.4533,
|
| 70 |
+
-0.2666
|
| 71 |
+
],
|
| 72 |
+
[
|
| 73 |
+
0.4833,
|
| 74 |
+
-0.2286
|
| 75 |
+
],
|
| 76 |
+
[
|
| 77 |
+
0.4893,
|
| 78 |
+
-0.2146
|
| 79 |
+
],
|
| 80 |
+
[
|
| 81 |
+
0.4923,
|
| 82 |
+
-0.2006
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.4923,
|
| 86 |
+
0.2004
|
| 87 |
+
],
|
| 88 |
+
[
|
| 89 |
+
0.4903,
|
| 90 |
+
0.2114
|
| 91 |
+
],
|
| 92 |
+
[
|
| 93 |
+
0.4833,
|
| 94 |
+
0.2284
|
| 95 |
+
],
|
| 96 |
+
[
|
| 97 |
+
0.4703,
|
| 98 |
+
0.2474
|
| 99 |
+
],
|
| 100 |
+
[
|
| 101 |
+
0.4533,
|
| 102 |
+
0.2674
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.4353,
|
| 106 |
+
0.2524
|
| 107 |
+
],
|
| 108 |
+
[
|
| 109 |
+
0.4323,
|
| 110 |
+
0.2544
|
| 111 |
+
],
|
| 112 |
+
[
|
| 113 |
+
0.4323,
|
| 114 |
+
0.3344
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0803,
|
| 118 |
+
0.3344
|
| 119 |
+
],
|
| 120 |
+
[
|
| 121 |
+
0.0783,
|
| 122 |
+
0.3264
|
| 123 |
+
],
|
| 124 |
+
[
|
| 125 |
+
0.0783,
|
| 126 |
+
0.2944
|
| 127 |
+
],
|
| 128 |
+
[
|
| 129 |
+
0.0753,
|
| 130 |
+
0.2924
|
| 131 |
+
],
|
| 132 |
+
[
|
| 133 |
+
-0.0757,
|
| 134 |
+
0.2924
|
| 135 |
+
],
|
| 136 |
+
[
|
| 137 |
+
-0.0787,
|
| 138 |
+
0.2944
|
| 139 |
+
],
|
| 140 |
+
[
|
| 141 |
+
-0.0797,
|
| 142 |
+
0.3344
|
| 143 |
+
],
|
| 144 |
+
[
|
| 145 |
+
-0.4317,
|
| 146 |
+
0.3344
|
| 147 |
+
],
|
| 148 |
+
[
|
| 149 |
+
-0.4337,
|
| 150 |
+
0.3264
|
| 151 |
+
],
|
| 152 |
+
[
|
| 153 |
+
-0.4327,
|
| 154 |
+
0.2554
|
| 155 |
+
],
|
| 156 |
+
[
|
| 157 |
+
-0.4357,
|
| 158 |
+
0.2534
|
| 159 |
+
],
|
| 160 |
+
[
|
| 161 |
+
-0.4527,
|
| 162 |
+
0.2674
|
| 163 |
+
],
|
| 164 |
+
[
|
| 165 |
+
-0.4787,
|
| 166 |
+
0.2364
|
| 167 |
+
],
|
| 168 |
+
[
|
| 169 |
+
-0.4877,
|
| 170 |
+
0.2174
|
| 171 |
+
],
|
| 172 |
+
[
|
| 173 |
+
-0.4927,
|
| 174 |
+
0.1984
|
| 175 |
+
],
|
| 176 |
+
[
|
| 177 |
+
-0.4927,
|
| 178 |
+
-0.1986
|
| 179 |
+
],
|
| 180 |
+
[
|
| 181 |
+
-0.4877,
|
| 182 |
+
-0.2176
|
| 183 |
+
],
|
| 184 |
+
[
|
| 185 |
+
-0.4787,
|
| 186 |
+
-0.2356
|
| 187 |
+
],
|
| 188 |
+
[
|
| 189 |
+
-0.4527,
|
| 190 |
+
-0.2666
|
| 191 |
+
],
|
| 192 |
+
[
|
| 193 |
+
-0.4407,
|
| 194 |
+
-0.2566
|
| 195 |
+
],
|
| 196 |
+
[
|
| 197 |
+
-0.4367,
|
| 198 |
+
-0.2546
|
| 199 |
+
],
|
| 200 |
+
[
|
| 201 |
+
-0.4337,
|
| 202 |
+
-0.2566
|
| 203 |
+
],
|
| 204 |
+
[
|
| 205 |
+
-0.4337,
|
| 206 |
+
-0.2936
|
| 207 |
+
],
|
| 208 |
+
[
|
| 209 |
+
-0.4307,
|
| 210 |
+
-0.3066
|
| 211 |
+
],
|
| 212 |
+
[
|
| 213 |
+
-0.4317,
|
| 214 |
+
-0.3336
|
| 215 |
+
]
|
| 216 |
+
]
|
| 217 |
+
},
|
| 218 |
+
"height": 0.39,
|
| 219 |
+
"height_class": "h63",
|
| 220 |
+
"drive": "differential",
|
| 221 |
+
"limits": {
|
| 222 |
+
"v_max": 1.0,
|
| 223 |
+
"v_min": -1.0,
|
| 224 |
+
"vy_max": 0.0,
|
| 225 |
+
"w_max": 1.0
|
| 226 |
+
},
|
| 227 |
+
"lidar": {
|
| 228 |
+
"model": "SICK LMS111",
|
| 229 |
+
"range_min": 0.5,
|
| 230 |
+
"range_max": 20.0,
|
| 231 |
+
"fov": 4.7124,
|
| 232 |
+
"beams": 270
|
| 233 |
+
},
|
| 234 |
+
"sources": {
|
| 235 |
+
"footprint": {
|
| 236 |
+
"kind": "official",
|
| 237 |
+
"url": "https://github.com/husky/husky/blob/noetic-devel/husky_description/urdf/husky.urdf.xacro",
|
| 238 |
+
"method": "all URDF visual geometry (joints = 0) projected onto the floor of frame 'base_link' at 1 mm, outer contour, simplified by 1 mm (hm3d robots import-urdf)"
|
| 239 |
+
},
|
| 240 |
+
"height": {
|
| 241 |
+
"kind": "official",
|
| 242 |
+
"url": "https://clearpathrobotics.com/husky-spec-comparison/",
|
| 243 |
+
"note": "A200: 390 mm, without sensor arch"
|
| 244 |
+
},
|
| 245 |
+
"limits.v_max": {
|
| 246 |
+
"kind": "official",
|
| 247 |
+
"url": "https://clearpathrobotics.com/husky-spec-comparison/",
|
| 248 |
+
"note": "A200: 1.0 m/s"
|
| 249 |
+
},
|
| 250 |
+
"limits.v_min": {
|
| 251 |
+
"kind": "estimated",
|
| 252 |
+
"method": "The manufacturer only publishes the maximum speed; the maximum reverse speed is assumed equal to it."
|
| 253 |
+
},
|
| 254 |
+
"limits.vy_max": {
|
| 255 |
+
"kind": "official",
|
| 256 |
+
"url": "https://clearpathrobotics.com/husky-spec-comparison/",
|
| 257 |
+
"note": "skid-steer, modelled as differential drive"
|
| 258 |
+
},
|
| 259 |
+
"limits.w_max": {
|
| 260 |
+
"kind": "estimated",
|
| 261 |
+
"method": "The manufacturer does not publish the maximum angular velocity; a conservative 1.0 rad/s is used, in line with TurtleBot3 Waffle Pi (1.82) and TurtleBot 4 (1.90). The kinematic bound 2*v_max/track width is not used because it far exceeds the practical safe limit."
|
| 262 |
+
},
|
| 263 |
+
"lidar": {
|
| 264 |
+
"kind": "official",
|
| 265 |
+
"url": "https://github.com/husky/husky/blob/noetic-devel/husky_description/urdf/husky.urdf.xacro",
|
| 266 |
+
"note": "the URDF's front laser option is a SICK LMS1xx (HUSKY_LMS1XX_ENABLED); LMS111: 0.5-20 m, 270 degrees"
|
| 267 |
+
},
|
| 268 |
+
"lidar.beams": {
|
| 269 |
+
"kind": "estimated",
|
| 270 |
+
"method": "1 beam per degree, close to the ~1 degree angular resolution of low-cost 2D LiDARs; the environment resamples to n_beams beams."
|
| 271 |
+
},
|
| 272 |
+
"footprint_simple": {
|
| 273 |
+
"kind": "official",
|
| 274 |
+
"url": "https://clearpathrobotics.com/husky-spec-comparison/",
|
| 275 |
+
"note": "A200: 990 x 670 x 390 mm"
|
| 276 |
+
},
|
| 277 |
+
"import": {
|
| 278 |
+
"kind": "navsim",
|
| 279 |
+
"file": "clearpath_husky.json"
|
| 280 |
+
}
|
| 281 |
+
},
|
| 282 |
+
"footprint_simple": {
|
| 283 |
+
"type": "rectangle",
|
| 284 |
+
"length": 0.99,
|
| 285 |
+
"width": 0.67
|
| 286 |
+
},
|
| 287 |
+
"r_circ": 0.5465,
|
| 288 |
+
"r_insc": 0.2924
|
| 289 |
+
}
|
navigation_tasks/robots/clearpath_jackal.json
ADDED
|
@@ -0,0 +1,197 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "1.0",
|
| 3 |
+
"id": "clearpath_jackal",
|
| 4 |
+
"name": "Clearpath Jackal UGV",
|
| 5 |
+
"footprint": {
|
| 6 |
+
"type": "polygon",
|
| 7 |
+
"points": [
|
| 8 |
+
[
|
| 9 |
+
-0.2133,
|
| 10 |
+
-0.215
|
| 11 |
+
],
|
| 12 |
+
[
|
| 13 |
+
0.2127,
|
| 14 |
+
-0.215
|
| 15 |
+
],
|
| 16 |
+
[
|
| 17 |
+
0.2267,
|
| 18 |
+
-0.203
|
| 19 |
+
],
|
| 20 |
+
[
|
| 21 |
+
0.2297,
|
| 22 |
+
-0.195
|
| 23 |
+
],
|
| 24 |
+
[
|
| 25 |
+
0.2327,
|
| 26 |
+
-0.192
|
| 27 |
+
],
|
| 28 |
+
[
|
| 29 |
+
0.2357,
|
| 30 |
+
-0.165
|
| 31 |
+
],
|
| 32 |
+
[
|
| 33 |
+
0.2407,
|
| 34 |
+
-0.158
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.2437,
|
| 38 |
+
-0.101
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.2557,
|
| 42 |
+
-0.013
|
| 43 |
+
],
|
| 44 |
+
[
|
| 45 |
+
0.2557,
|
| 46 |
+
0.013
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.2437,
|
| 50 |
+
0.102
|
| 51 |
+
],
|
| 52 |
+
[
|
| 53 |
+
0.2407,
|
| 54 |
+
0.158
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.2357,
|
| 58 |
+
0.165
|
| 59 |
+
],
|
| 60 |
+
[
|
| 61 |
+
0.2337,
|
| 62 |
+
0.188
|
| 63 |
+
],
|
| 64 |
+
[
|
| 65 |
+
0.2267,
|
| 66 |
+
0.203
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.2127,
|
| 70 |
+
0.215
|
| 71 |
+
],
|
| 72 |
+
[
|
| 73 |
+
-0.2133,
|
| 74 |
+
0.215
|
| 75 |
+
],
|
| 76 |
+
[
|
| 77 |
+
-0.2173,
|
| 78 |
+
0.21
|
| 79 |
+
],
|
| 80 |
+
[
|
| 81 |
+
-0.2203,
|
| 82 |
+
0.209
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.2263,
|
| 86 |
+
0.203
|
| 87 |
+
],
|
| 88 |
+
[
|
| 89 |
+
-0.2323,
|
| 90 |
+
0.192
|
| 91 |
+
],
|
| 92 |
+
[
|
| 93 |
+
-0.2363,
|
| 94 |
+
0.162
|
| 95 |
+
],
|
| 96 |
+
[
|
| 97 |
+
-0.2403,
|
| 98 |
+
0.159
|
| 99 |
+
],
|
| 100 |
+
[
|
| 101 |
+
-0.2443,
|
| 102 |
+
0.094
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.2553,
|
| 106 |
+
0.013
|
| 107 |
+
],
|
| 108 |
+
[
|
| 109 |
+
-0.2553,
|
| 110 |
+
-0.013
|
| 111 |
+
],
|
| 112 |
+
[
|
| 113 |
+
-0.2443,
|
| 114 |
+
-0.094
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
-0.2403,
|
| 118 |
+
-0.159
|
| 119 |
+
],
|
| 120 |
+
[
|
| 121 |
+
-0.2363,
|
| 122 |
+
-0.162
|
| 123 |
+
],
|
| 124 |
+
[
|
| 125 |
+
-0.2333,
|
| 126 |
+
-0.188
|
| 127 |
+
],
|
| 128 |
+
[
|
| 129 |
+
-0.2263,
|
| 130 |
+
-0.203
|
| 131 |
+
]
|
| 132 |
+
]
|
| 133 |
+
},
|
| 134 |
+
"height": 0.25,
|
| 135 |
+
"height_class": "h36",
|
| 136 |
+
"drive": "differential",
|
| 137 |
+
"limits": {
|
| 138 |
+
"v_max": 2.0,
|
| 139 |
+
"v_min": -2.0,
|
| 140 |
+
"vy_max": 0.0,
|
| 141 |
+
"w_max": 1.0
|
| 142 |
+
},
|
| 143 |
+
"lidar": {
|
| 144 |
+
"model": "generic RPLIDAR A1M8",
|
| 145 |
+
"range_min": 0.15,
|
| 146 |
+
"range_max": 12.0,
|
| 147 |
+
"fov": 6.2832,
|
| 148 |
+
"beams": 360
|
| 149 |
+
},
|
| 150 |
+
"sources": {
|
| 151 |
+
"footprint": {
|
| 152 |
+
"kind": "official",
|
| 153 |
+
"url": "https://github.com/jackal/jackal/blob/noetic-devel/jackal_description/urdf/jackal.urdf.xacro",
|
| 154 |
+
"method": "every visual geometry of the URDF (joints = 0) projected onto the floor of frame 'base_link' at 1 mm, outer outline, simplified to 1 mm (hm3d robots import-urdf)"
|
| 155 |
+
},
|
| 156 |
+
"height": {
|
| 157 |
+
"kind": "official",
|
| 158 |
+
"url": "https://www.clearpathrobotics.com/wp-content/uploads/2015/06/Jackal_Brochure_2014-web.pdf"
|
| 159 |
+
},
|
| 160 |
+
"limits.v_max": {
|
| 161 |
+
"kind": "official",
|
| 162 |
+
"url": "https://www.clearpathrobotics.com/wp-content/uploads/2015/06/Jackal_Brochure_2014-web.pdf"
|
| 163 |
+
},
|
| 164 |
+
"limits.v_min": {
|
| 165 |
+
"kind": "estimated",
|
| 166 |
+
"method": "The manufacturer only publishes the maximum speed; the maximum reverse speed is assumed equal to it."
|
| 167 |
+
},
|
| 168 |
+
"limits.vy_max": {
|
| 169 |
+
"kind": "official",
|
| 170 |
+
"url": "https://www.clearpathrobotics.com/wp-content/uploads/2015/06/Jackal_Brochure_2014-web.pdf",
|
| 171 |
+
"note": "skid-steer, modelled as differential drive"
|
| 172 |
+
},
|
| 173 |
+
"limits.w_max": {
|
| 174 |
+
"kind": "estimated",
|
| 175 |
+
"method": "The manufacturer does not publish the maximum angular velocity; a conservative 1.0 rad/s is used, in line with TurtleBot3 Waffle Pi (1.82) and TurtleBot 4 (1.90). The kinematic bound 2*v_max/track width is not used because it far exceeds the practical safe limit."
|
| 176 |
+
},
|
| 177 |
+
"lidar": {
|
| 178 |
+
"kind": "estimated",
|
| 179 |
+
"method": "The robot ships without a LiDAR; the common 2D LiDAR RPLIDAR A1M8 is assumed (0.15-12 m, 360 degrees per the SLAMTEC datasheet)."
|
| 180 |
+
},
|
| 181 |
+
"footprint_simple": {
|
| 182 |
+
"kind": "official",
|
| 183 |
+
"url": "https://www.clearpathrobotics.com/wp-content/uploads/2015/06/Jackal_Brochure_2014-web.pdf"
|
| 184 |
+
},
|
| 185 |
+
"import": {
|
| 186 |
+
"kind": "navsim",
|
| 187 |
+
"file": "clearpath_jackal.json"
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"footprint_simple": {
|
| 191 |
+
"type": "rectangle",
|
| 192 |
+
"length": 0.508,
|
| 193 |
+
"width": 0.43
|
| 194 |
+
},
|
| 195 |
+
"r_circ": 0.3043,
|
| 196 |
+
"r_insc": 0.215
|
| 197 |
+
}
|
navigation_tasks/robots/clearpath_ridgeback.json
ADDED
|
@@ -0,0 +1,267 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "1.0",
|
| 3 |
+
"id": "clearpath_ridgeback",
|
| 4 |
+
"name": "Clearpath Ridgeback (mecanum)",
|
| 5 |
+
"footprint": {
|
| 6 |
+
"type": "polygon",
|
| 7 |
+
"points": [
|
| 8 |
+
[
|
| 9 |
+
-0.3612,
|
| 10 |
+
-0.3676
|
| 11 |
+
],
|
| 12 |
+
[
|
| 13 |
+
-0.3462,
|
| 14 |
+
-0.3776
|
| 15 |
+
],
|
| 16 |
+
[
|
| 17 |
+
-0.3222,
|
| 18 |
+
-0.3886
|
| 19 |
+
],
|
| 20 |
+
[
|
| 21 |
+
-0.3042,
|
| 22 |
+
-0.3936
|
| 23 |
+
],
|
| 24 |
+
[
|
| 25 |
+
-0.2382,
|
| 26 |
+
-0.3946
|
| 27 |
+
],
|
| 28 |
+
[
|
| 29 |
+
-0.2352,
|
| 30 |
+
-0.3966
|
| 31 |
+
],
|
| 32 |
+
[
|
| 33 |
+
0.2348,
|
| 34 |
+
-0.3966
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.2378,
|
| 38 |
+
-0.3946
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.2928,
|
| 42 |
+
-0.3946
|
| 43 |
+
],
|
| 44 |
+
[
|
| 45 |
+
0.3048,
|
| 46 |
+
-0.3936
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.3258,
|
| 50 |
+
-0.3876
|
| 51 |
+
],
|
| 52 |
+
[
|
| 53 |
+
0.3458,
|
| 54 |
+
-0.3776
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.3698,
|
| 58 |
+
-0.3596
|
| 59 |
+
],
|
| 60 |
+
[
|
| 61 |
+
0.3798,
|
| 62 |
+
-0.3496
|
| 63 |
+
],
|
| 64 |
+
[
|
| 65 |
+
0.3908,
|
| 66 |
+
-0.3346
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.3998,
|
| 70 |
+
-0.3166
|
| 71 |
+
],
|
| 72 |
+
[
|
| 73 |
+
0.4068,
|
| 74 |
+
-0.2956
|
| 75 |
+
],
|
| 76 |
+
[
|
| 77 |
+
0.4628,
|
| 78 |
+
-0.0336
|
| 79 |
+
],
|
| 80 |
+
[
|
| 81 |
+
0.4658,
|
| 82 |
+
-0.0126
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.4658,
|
| 86 |
+
0.0134
|
| 87 |
+
],
|
| 88 |
+
[
|
| 89 |
+
0.4638,
|
| 90 |
+
0.0284
|
| 91 |
+
],
|
| 92 |
+
[
|
| 93 |
+
0.4088,
|
| 94 |
+
0.2874
|
| 95 |
+
],
|
| 96 |
+
[
|
| 97 |
+
0.3998,
|
| 98 |
+
0.3164
|
| 99 |
+
],
|
| 100 |
+
[
|
| 101 |
+
0.3908,
|
| 102 |
+
0.3344
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.3798,
|
| 106 |
+
0.3494
|
| 107 |
+
],
|
| 108 |
+
[
|
| 109 |
+
0.3608,
|
| 110 |
+
0.3674
|
| 111 |
+
],
|
| 112 |
+
[
|
| 113 |
+
0.3458,
|
| 114 |
+
0.3774
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.3258,
|
| 118 |
+
0.3874
|
| 119 |
+
],
|
| 120 |
+
[
|
| 121 |
+
0.3048,
|
| 122 |
+
0.3934
|
| 123 |
+
],
|
| 124 |
+
[
|
| 125 |
+
0.2868,
|
| 126 |
+
0.3954
|
| 127 |
+
],
|
| 128 |
+
[
|
| 129 |
+
-0.2872,
|
| 130 |
+
0.3954
|
| 131 |
+
],
|
| 132 |
+
[
|
| 133 |
+
-0.3042,
|
| 134 |
+
0.3934
|
| 135 |
+
],
|
| 136 |
+
[
|
| 137 |
+
-0.3252,
|
| 138 |
+
0.3874
|
| 139 |
+
],
|
| 140 |
+
[
|
| 141 |
+
-0.3462,
|
| 142 |
+
0.3774
|
| 143 |
+
],
|
| 144 |
+
[
|
| 145 |
+
-0.3612,
|
| 146 |
+
0.3674
|
| 147 |
+
],
|
| 148 |
+
[
|
| 149 |
+
-0.3792,
|
| 150 |
+
0.3494
|
| 151 |
+
],
|
| 152 |
+
[
|
| 153 |
+
-0.3912,
|
| 154 |
+
0.3334
|
| 155 |
+
],
|
| 156 |
+
[
|
| 157 |
+
-0.4012,
|
| 158 |
+
0.3134
|
| 159 |
+
],
|
| 160 |
+
[
|
| 161 |
+
-0.4072,
|
| 162 |
+
0.2954
|
| 163 |
+
],
|
| 164 |
+
[
|
| 165 |
+
-0.4632,
|
| 166 |
+
0.0334
|
| 167 |
+
],
|
| 168 |
+
[
|
| 169 |
+
-0.4662,
|
| 170 |
+
0.0134
|
| 171 |
+
],
|
| 172 |
+
[
|
| 173 |
+
-0.4662,
|
| 174 |
+
-0.0126
|
| 175 |
+
],
|
| 176 |
+
[
|
| 177 |
+
-0.4642,
|
| 178 |
+
-0.0286
|
| 179 |
+
],
|
| 180 |
+
[
|
| 181 |
+
-0.4092,
|
| 182 |
+
-0.2866
|
| 183 |
+
],
|
| 184 |
+
[
|
| 185 |
+
-0.4002,
|
| 186 |
+
-0.3156
|
| 187 |
+
],
|
| 188 |
+
[
|
| 189 |
+
-0.3912,
|
| 190 |
+
-0.3336
|
| 191 |
+
],
|
| 192 |
+
[
|
| 193 |
+
-0.3792,
|
| 194 |
+
-0.3496
|
| 195 |
+
]
|
| 196 |
+
]
|
| 197 |
+
},
|
| 198 |
+
"height": 0.311,
|
| 199 |
+
"height_class": "h36",
|
| 200 |
+
"drive": "omnidirectional",
|
| 201 |
+
"limits": {
|
| 202 |
+
"v_max": 1.1,
|
| 203 |
+
"v_min": -1.1,
|
| 204 |
+
"vy_max": 1.1,
|
| 205 |
+
"w_max": 1.0
|
| 206 |
+
},
|
| 207 |
+
"lidar": {
|
| 208 |
+
"model": "Hokuyo UST-10LX",
|
| 209 |
+
"range_min": 0.06,
|
| 210 |
+
"range_max": 10.0,
|
| 211 |
+
"fov": 4.7124,
|
| 212 |
+
"beams": 270
|
| 213 |
+
},
|
| 214 |
+
"sources": {
|
| 215 |
+
"footprint": {
|
| 216 |
+
"kind": "official",
|
| 217 |
+
"url": "https://github.com/ridgeback/ridgeback/blob/melodic-devel/ridgeback_description/urdf/ridgeback.urdf.xacro",
|
| 218 |
+
"method": "all URDF visual geometry (joints = 0) projected onto the floor of frame 'base_link' at 1 mm, outer contour, simplified by 1 mm (hm3d robots import-urdf)"
|
| 219 |
+
},
|
| 220 |
+
"height": {
|
| 221 |
+
"kind": "official",
|
| 222 |
+
"url": "https://clearpathrobotics.com/ridgeback-indoor-robot-platform/",
|
| 223 |
+
"note": "311 mm in the spec table (the feature text says 30 cm)"
|
| 224 |
+
},
|
| 225 |
+
"limits.v_max": {
|
| 226 |
+
"kind": "official",
|
| 227 |
+
"url": "https://clearpathrobotics.com/ridgeback-indoor-robot-platform/"
|
| 228 |
+
},
|
| 229 |
+
"limits.v_min": {
|
| 230 |
+
"kind": "estimated",
|
| 231 |
+
"method": "The manufacturer only publishes the maximum speed; the maximum reverse speed is assumed equal to it."
|
| 232 |
+
},
|
| 233 |
+
"limits.vy_max": {
|
| 234 |
+
"kind": "estimated",
|
| 235 |
+
"method": "Mecanum; taken equal to v_max."
|
| 236 |
+
},
|
| 237 |
+
"limits.w_max": {
|
| 238 |
+
"kind": "estimated",
|
| 239 |
+
"method": "The manufacturer does not publish the maximum angular velocity; a conservative 1.0 rad/s is used, in line with TurtleBot3 Waffle Pi (1.82) and TurtleBot 4 (1.90). The kinematic bound 2*v_max/track width is not used because it far exceeds the practical safe limit."
|
| 240 |
+
},
|
| 241 |
+
"lidar": {
|
| 242 |
+
"kind": "official",
|
| 243 |
+
"url": "https://github.com/ridgeback/ridgeback/tree/melodic-devel/ridgeback_description/meshes",
|
| 244 |
+
"note": "the standard front laser of the description package is a Hokuyo UST-10LX (0.06-10 m, 270 degrees)"
|
| 245 |
+
},
|
| 246 |
+
"lidar.beams": {
|
| 247 |
+
"kind": "estimated",
|
| 248 |
+
"method": "1 beam per degree, close to the ~1 degree angular resolution of low-cost 2D LiDARs; the environment resamples to n_beams beams."
|
| 249 |
+
},
|
| 250 |
+
"footprint_simple": {
|
| 251 |
+
"kind": "official",
|
| 252 |
+
"url": "https://clearpathrobotics.com/ridgeback-indoor-robot-platform/",
|
| 253 |
+
"note": "960 x 793 x 311 mm"
|
| 254 |
+
},
|
| 255 |
+
"import": {
|
| 256 |
+
"kind": "navsim",
|
| 257 |
+
"file": "clearpath_ridgeback.json"
|
| 258 |
+
}
|
| 259 |
+
},
|
| 260 |
+
"footprint_simple": {
|
| 261 |
+
"type": "rectangle",
|
| 262 |
+
"length": 0.96,
|
| 263 |
+
"width": 0.793
|
| 264 |
+
},
|
| 265 |
+
"r_circ": 0.5162,
|
| 266 |
+
"r_insc": 0.3954
|
| 267 |
+
}
|
navigation_tasks/robots/jetauto_pro.json
ADDED
|
@@ -0,0 +1,318 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "1.0",
|
| 3 |
+
"id": "jetauto_pro",
|
| 4 |
+
"name": "Hiwonder JetAuto Pro (mecanum)",
|
| 5 |
+
"footprint": {
|
| 6 |
+
"type": "polygon",
|
| 7 |
+
"points": [
|
| 8 |
+
[
|
| 9 |
+
-0.1669,
|
| 10 |
+
-0.0858
|
| 11 |
+
],
|
| 12 |
+
[
|
| 13 |
+
-0.1449,
|
| 14 |
+
-0.0858
|
| 15 |
+
],
|
| 16 |
+
[
|
| 17 |
+
-0.1449,
|
| 18 |
+
-0.0738
|
| 19 |
+
],
|
| 20 |
+
[
|
| 21 |
+
-0.1049,
|
| 22 |
+
-0.0738
|
| 23 |
+
],
|
| 24 |
+
[
|
| 25 |
+
-0.1049,
|
| 26 |
+
-0.0778
|
| 27 |
+
],
|
| 28 |
+
[
|
| 29 |
+
-0.1009,
|
| 30 |
+
-0.0778
|
| 31 |
+
],
|
| 32 |
+
[
|
| 33 |
+
-0.1049,
|
| 34 |
+
-0.0798
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.1049,
|
| 38 |
+
-0.0858
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
-0.1449,
|
| 42 |
+
-0.0878
|
| 43 |
+
],
|
| 44 |
+
[
|
| 45 |
+
-0.1449,
|
| 46 |
+
-0.1258
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
-0.0509,
|
| 50 |
+
-0.1278
|
| 51 |
+
],
|
| 52 |
+
[
|
| 53 |
+
-0.0469,
|
| 54 |
+
-0.1178
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
-0.0489,
|
| 58 |
+
-0.0898
|
| 59 |
+
],
|
| 60 |
+
[
|
| 61 |
+
-0.0529,
|
| 62 |
+
-0.0858
|
| 63 |
+
],
|
| 64 |
+
[
|
| 65 |
+
-0.0909,
|
| 66 |
+
-0.0858
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.0909,
|
| 70 |
+
-0.0738
|
| 71 |
+
],
|
| 72 |
+
[
|
| 73 |
+
0.0911,
|
| 74 |
+
-0.0738
|
| 75 |
+
],
|
| 76 |
+
[
|
| 77 |
+
0.0911,
|
| 78 |
+
-0.0858
|
| 79 |
+
],
|
| 80 |
+
[
|
| 81 |
+
0.0531,
|
| 82 |
+
-0.0858
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.0491,
|
| 86 |
+
-0.0898
|
| 87 |
+
],
|
| 88 |
+
[
|
| 89 |
+
0.0511,
|
| 90 |
+
-0.0938
|
| 91 |
+
],
|
| 92 |
+
[
|
| 93 |
+
0.0471,
|
| 94 |
+
-0.1178
|
| 95 |
+
],
|
| 96 |
+
[
|
| 97 |
+
0.0511,
|
| 98 |
+
-0.1278
|
| 99 |
+
],
|
| 100 |
+
[
|
| 101 |
+
0.1431,
|
| 102 |
+
-0.1278
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.1471,
|
| 106 |
+
-0.1138
|
| 107 |
+
],
|
| 108 |
+
[
|
| 109 |
+
0.1451,
|
| 110 |
+
-0.0878
|
| 111 |
+
],
|
| 112 |
+
[
|
| 113 |
+
0.1051,
|
| 114 |
+
-0.0858
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.1051,
|
| 118 |
+
-0.0798
|
| 119 |
+
],
|
| 120 |
+
[
|
| 121 |
+
0.1011,
|
| 122 |
+
-0.0778
|
| 123 |
+
],
|
| 124 |
+
[
|
| 125 |
+
0.1051,
|
| 126 |
+
-0.0778
|
| 127 |
+
],
|
| 128 |
+
[
|
| 129 |
+
0.1051,
|
| 130 |
+
-0.0738
|
| 131 |
+
],
|
| 132 |
+
[
|
| 133 |
+
0.1491,
|
| 134 |
+
-0.0738
|
| 135 |
+
],
|
| 136 |
+
[
|
| 137 |
+
0.1491,
|
| 138 |
+
0.0742
|
| 139 |
+
],
|
| 140 |
+
[
|
| 141 |
+
0.1051,
|
| 142 |
+
0.0742
|
| 143 |
+
],
|
| 144 |
+
[
|
| 145 |
+
0.1051,
|
| 146 |
+
0.0782
|
| 147 |
+
],
|
| 148 |
+
[
|
| 149 |
+
0.1011,
|
| 150 |
+
0.0802
|
| 151 |
+
],
|
| 152 |
+
[
|
| 153 |
+
0.1051,
|
| 154 |
+
0.0802
|
| 155 |
+
],
|
| 156 |
+
[
|
| 157 |
+
0.1051,
|
| 158 |
+
0.0862
|
| 159 |
+
],
|
| 160 |
+
[
|
| 161 |
+
0.1451,
|
| 162 |
+
0.0882
|
| 163 |
+
],
|
| 164 |
+
[
|
| 165 |
+
0.1451,
|
| 166 |
+
0.1262
|
| 167 |
+
],
|
| 168 |
+
[
|
| 169 |
+
0.0511,
|
| 170 |
+
0.1282
|
| 171 |
+
],
|
| 172 |
+
[
|
| 173 |
+
0.0511,
|
| 174 |
+
0.1222
|
| 175 |
+
],
|
| 176 |
+
[
|
| 177 |
+
0.0471,
|
| 178 |
+
0.1182
|
| 179 |
+
],
|
| 180 |
+
[
|
| 181 |
+
0.0511,
|
| 182 |
+
0.0942
|
| 183 |
+
],
|
| 184 |
+
[
|
| 185 |
+
0.0491,
|
| 186 |
+
0.0902
|
| 187 |
+
],
|
| 188 |
+
[
|
| 189 |
+
0.0531,
|
| 190 |
+
0.0862
|
| 191 |
+
],
|
| 192 |
+
[
|
| 193 |
+
0.0911,
|
| 194 |
+
0.0862
|
| 195 |
+
],
|
| 196 |
+
[
|
| 197 |
+
0.0911,
|
| 198 |
+
0.0742
|
| 199 |
+
],
|
| 200 |
+
[
|
| 201 |
+
-0.0909,
|
| 202 |
+
0.0742
|
| 203 |
+
],
|
| 204 |
+
[
|
| 205 |
+
-0.0909,
|
| 206 |
+
0.0862
|
| 207 |
+
],
|
| 208 |
+
[
|
| 209 |
+
-0.0489,
|
| 210 |
+
0.0882
|
| 211 |
+
],
|
| 212 |
+
[
|
| 213 |
+
-0.0469,
|
| 214 |
+
0.1162
|
| 215 |
+
],
|
| 216 |
+
[
|
| 217 |
+
-0.0529,
|
| 218 |
+
0.1282
|
| 219 |
+
],
|
| 220 |
+
[
|
| 221 |
+
-0.1449,
|
| 222 |
+
0.1262
|
| 223 |
+
],
|
| 224 |
+
[
|
| 225 |
+
-0.1449,
|
| 226 |
+
0.0882
|
| 227 |
+
],
|
| 228 |
+
[
|
| 229 |
+
-0.1049,
|
| 230 |
+
0.0862
|
| 231 |
+
],
|
| 232 |
+
[
|
| 233 |
+
-0.1049,
|
| 234 |
+
0.0802
|
| 235 |
+
],
|
| 236 |
+
[
|
| 237 |
+
-0.1009,
|
| 238 |
+
0.0802
|
| 239 |
+
],
|
| 240 |
+
[
|
| 241 |
+
-0.1009,
|
| 242 |
+
0.0762
|
| 243 |
+
],
|
| 244 |
+
[
|
| 245 |
+
-0.1449,
|
| 246 |
+
0.0742
|
| 247 |
+
],
|
| 248 |
+
[
|
| 249 |
+
-0.1449,
|
| 250 |
+
0.0862
|
| 251 |
+
],
|
| 252 |
+
[
|
| 253 |
+
-0.1669,
|
| 254 |
+
0.0862
|
| 255 |
+
]
|
| 256 |
+
]
|
| 257 |
+
},
|
| 258 |
+
"height": 0.626,
|
| 259 |
+
"height_class": "h63",
|
| 260 |
+
"drive": "omnidirectional",
|
| 261 |
+
"limits": {
|
| 262 |
+
"v_max": 0.6,
|
| 263 |
+
"v_min": -0.6,
|
| 264 |
+
"vy_max": 0.6,
|
| 265 |
+
"w_max": 1.0
|
| 266 |
+
},
|
| 267 |
+
"lidar": {
|
| 268 |
+
"model": "SLAMTEC RPLIDAR A1M8",
|
| 269 |
+
"range_min": 0.15,
|
| 270 |
+
"range_max": 12.0,
|
| 271 |
+
"fov": 6.2832,
|
| 272 |
+
"beams": 360
|
| 273 |
+
},
|
| 274 |
+
"sources": {
|
| 275 |
+
"footprint": {
|
| 276 |
+
"kind": "measured",
|
| 277 |
+
"file": "assets/JetAuto/jetauto_pro.usd",
|
| 278 |
+
"method": "Top-down outline of the robot meshes (all heights), traced at 2 mm, simplified to 2 mm.",
|
| 279 |
+
"replaces": {
|
| 280 |
+
"type": "rectangle",
|
| 281 |
+
"length": 0.324,
|
| 282 |
+
"width": 0.26
|
| 283 |
+
}
|
| 284 |
+
},
|
| 285 |
+
"height": {
|
| 286 |
+
"kind": "official",
|
| 287 |
+
"url": "https://www.hiwonder.com/products/jetauto-pro",
|
| 288 |
+
"note": "62.6 cm, arm assumed folded"
|
| 289 |
+
},
|
| 290 |
+
"limits.v_max": {
|
| 291 |
+
"kind": "official",
|
| 292 |
+
"url": "https://docs.hiwonder.com/projects/JetAuto/en/jetauto-orin-nano/docs/2.motion_control.html",
|
| 293 |
+
"note": "the manufacturer recommends staying within -0.6..0.6 m/s; this is not the top speed"
|
| 294 |
+
},
|
| 295 |
+
"limits.v_min": {
|
| 296 |
+
"kind": "official",
|
| 297 |
+
"url": "https://docs.hiwonder.com/projects/JetAuto/en/jetauto-orin-nano/docs/2.motion_control.html"
|
| 298 |
+
},
|
| 299 |
+
"limits.vy_max": {
|
| 300 |
+
"kind": "estimated",
|
| 301 |
+
"method": "Mecanum; taken equal to v_max."
|
| 302 |
+
},
|
| 303 |
+
"limits.w_max": {
|
| 304 |
+
"kind": "estimated",
|
| 305 |
+
"method": "The manufacturer does not publish the maximum angular velocity; a conservative 1.0 rad/s is used, in line with TurtleBot3 Waffle Pi (1.82) and TurtleBot 4 (1.90). The kinematic bound 2*v_max/track width is not used because it far exceeds the practical safe limit."
|
| 306 |
+
},
|
| 307 |
+
"lidar": {
|
| 308 |
+
"kind": "estimated",
|
| 309 |
+
"method": "JetAuto comes with a SLAMTEC A1 or an EAI G4 option; the A1M8 is used (0.15-12 m per the SLAMTEC datasheet)."
|
| 310 |
+
},
|
| 311 |
+
"import": {
|
| 312 |
+
"kind": "navsim",
|
| 313 |
+
"file": "jetauto_pro.json"
|
| 314 |
+
}
|
| 315 |
+
},
|
| 316 |
+
"r_circ": 0.1923,
|
| 317 |
+
"r_insc": 0.0738
|
| 318 |
+
}
|
navigation_tasks/robots/jetbot.json
ADDED
|
@@ -0,0 +1,147 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "1.0",
|
| 3 |
+
"id": "jetbot",
|
| 4 |
+
"name": "NVIDIA JetBot",
|
| 5 |
+
"drive": "differential",
|
| 6 |
+
"limits": {
|
| 7 |
+
"v_max": 0.2,
|
| 8 |
+
"v_min": -0.2,
|
| 9 |
+
"w_max": 2.0
|
| 10 |
+
},
|
| 11 |
+
"lidar": null,
|
| 12 |
+
"sources": {
|
| 13 |
+
"height": {
|
| 14 |
+
"kind": "measured",
|
| 15 |
+
"method": "Mesh z range of jetbot.usd (wheels to antennas)."
|
| 16 |
+
},
|
| 17 |
+
"limits": {
|
| 18 |
+
"kind": "estimated",
|
| 19 |
+
"method": "Isaac jetbot differential example (wheel_radius 0.03, wheel_base 0.1125)."
|
| 20 |
+
},
|
| 21 |
+
"footprint": {
|
| 22 |
+
"kind": "measured",
|
| 23 |
+
"file": "assets/JetBot/jetbot.usd",
|
| 24 |
+
"method": "Top-down outline of the robot meshes (all heights), traced at 2 mm, simplified to 2 mm."
|
| 25 |
+
}
|
| 26 |
+
},
|
| 27 |
+
"footprint": {
|
| 28 |
+
"type": "polygon",
|
| 29 |
+
"points": [
|
| 30 |
+
[
|
| 31 |
+
-0.091,
|
| 32 |
+
-0.0467
|
| 33 |
+
],
|
| 34 |
+
[
|
| 35 |
+
-0.025,
|
| 36 |
+
-0.0487
|
| 37 |
+
],
|
| 38 |
+
[
|
| 39 |
+
-0.035,
|
| 40 |
+
-0.0527
|
| 41 |
+
],
|
| 42 |
+
[
|
| 43 |
+
-0.033,
|
| 44 |
+
-0.0667
|
| 45 |
+
],
|
| 46 |
+
[
|
| 47 |
+
0.033,
|
| 48 |
+
-0.0667
|
| 49 |
+
],
|
| 50 |
+
[
|
| 51 |
+
0.033,
|
| 52 |
+
-0.0507
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
0.005,
|
| 56 |
+
-0.0487
|
| 57 |
+
],
|
| 58 |
+
[
|
| 59 |
+
0.045,
|
| 60 |
+
-0.0487
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
0.047,
|
| 64 |
+
-0.0247
|
| 65 |
+
],
|
| 66 |
+
[
|
| 67 |
+
0.051,
|
| 68 |
+
-0.0247
|
| 69 |
+
],
|
| 70 |
+
[
|
| 71 |
+
0.051,
|
| 72 |
+
-0.0147
|
| 73 |
+
],
|
| 74 |
+
[
|
| 75 |
+
0.061,
|
| 76 |
+
-0.0127
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.061,
|
| 80 |
+
-0.0067
|
| 81 |
+
],
|
| 82 |
+
[
|
| 83 |
+
0.069,
|
| 84 |
+
-0.0087
|
| 85 |
+
],
|
| 86 |
+
[
|
| 87 |
+
0.071,
|
| 88 |
+
0.0053
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.061,
|
| 92 |
+
0.0073
|
| 93 |
+
],
|
| 94 |
+
[
|
| 95 |
+
0.059,
|
| 96 |
+
0.0133
|
| 97 |
+
],
|
| 98 |
+
[
|
| 99 |
+
0.053,
|
| 100 |
+
0.0133
|
| 101 |
+
],
|
| 102 |
+
[
|
| 103 |
+
0.049,
|
| 104 |
+
0.0173
|
| 105 |
+
],
|
| 106 |
+
[
|
| 107 |
+
0.051,
|
| 108 |
+
0.0233
|
| 109 |
+
],
|
| 110 |
+
[
|
| 111 |
+
0.047,
|
| 112 |
+
0.0233
|
| 113 |
+
],
|
| 114 |
+
[
|
| 115 |
+
0.047,
|
| 116 |
+
0.0453
|
| 117 |
+
],
|
| 118 |
+
[
|
| 119 |
+
0.045,
|
| 120 |
+
0.0493
|
| 121 |
+
],
|
| 122 |
+
[
|
| 123 |
+
0.033,
|
| 124 |
+
0.0493
|
| 125 |
+
],
|
| 126 |
+
[
|
| 127 |
+
0.033,
|
| 128 |
+
0.0673
|
| 129 |
+
],
|
| 130 |
+
[
|
| 131 |
+
-0.033,
|
| 132 |
+
0.0673
|
| 133 |
+
],
|
| 134 |
+
[
|
| 135 |
+
-0.033,
|
| 136 |
+
0.0493
|
| 137 |
+
],
|
| 138 |
+
[
|
| 139 |
+
-0.089,
|
| 140 |
+
0.0493
|
| 141 |
+
]
|
| 142 |
+
]
|
| 143 |
+
},
|
| 144 |
+
"height": 0.26,
|
| 145 |
+
"r_circ": 0.1023,
|
| 146 |
+
"r_insc": 0.049
|
| 147 |
+
}
|
navigation_tasks/robots/pal_tiago.json
ADDED
|
@@ -0,0 +1,367 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "1.0",
|
| 3 |
+
"id": "pal_tiago",
|
| 4 |
+
"name": "PAL Robotics TIAGo (differential base)",
|
| 5 |
+
"footprint": {
|
| 6 |
+
"type": "polygon",
|
| 7 |
+
"points": [
|
| 8 |
+
[
|
| 9 |
+
-0.211,
|
| 10 |
+
-0.167
|
| 11 |
+
],
|
| 12 |
+
[
|
| 13 |
+
-0.208,
|
| 14 |
+
-0.172
|
| 15 |
+
],
|
| 16 |
+
[
|
| 17 |
+
-0.184,
|
| 18 |
+
-0.197
|
| 19 |
+
],
|
| 20 |
+
[
|
| 21 |
+
-0.163,
|
| 22 |
+
-0.215
|
| 23 |
+
],
|
| 24 |
+
[
|
| 25 |
+
-0.139,
|
| 26 |
+
-0.231
|
| 27 |
+
],
|
| 28 |
+
[
|
| 29 |
+
-0.11,
|
| 30 |
+
-0.246
|
| 31 |
+
],
|
| 32 |
+
[
|
| 33 |
+
-0.074,
|
| 34 |
+
-0.259
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.047,
|
| 38 |
+
-0.265
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
-0.019,
|
| 42 |
+
-0.269
|
| 43 |
+
],
|
| 44 |
+
[
|
| 45 |
+
0.03,
|
| 46 |
+
-0.268
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.082,
|
| 50 |
+
-0.257
|
| 51 |
+
],
|
| 52 |
+
[
|
| 53 |
+
0.099,
|
| 54 |
+
-0.251
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.136,
|
| 58 |
+
-0.233
|
| 59 |
+
],
|
| 60 |
+
[
|
| 61 |
+
0.164,
|
| 62 |
+
-0.214
|
| 63 |
+
],
|
| 64 |
+
[
|
| 65 |
+
0.194,
|
| 66 |
+
-0.188
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.22,
|
| 70 |
+
-0.187
|
| 71 |
+
],
|
| 72 |
+
[
|
| 73 |
+
0.252,
|
| 74 |
+
-0.18
|
| 75 |
+
],
|
| 76 |
+
[
|
| 77 |
+
0.258,
|
| 78 |
+
-0.174
|
| 79 |
+
],
|
| 80 |
+
[
|
| 81 |
+
0.262,
|
| 82 |
+
-0.15
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.262,
|
| 86 |
+
-0.119
|
| 87 |
+
],
|
| 88 |
+
[
|
| 89 |
+
0.256,
|
| 90 |
+
-0.083
|
| 91 |
+
],
|
| 92 |
+
[
|
| 93 |
+
0.265,
|
| 94 |
+
-0.051
|
| 95 |
+
],
|
| 96 |
+
[
|
| 97 |
+
0.265,
|
| 98 |
+
-0.047
|
| 99 |
+
],
|
| 100 |
+
[
|
| 101 |
+
0.261,
|
| 102 |
+
-0.045
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.263,
|
| 106 |
+
-0.029
|
| 107 |
+
],
|
| 108 |
+
[
|
| 109 |
+
0.267,
|
| 110 |
+
-0.027
|
| 111 |
+
],
|
| 112 |
+
[
|
| 113 |
+
0.268,
|
| 114 |
+
-0.02
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.268,
|
| 118 |
+
0.02
|
| 119 |
+
],
|
| 120 |
+
[
|
| 121 |
+
0.267,
|
| 122 |
+
0.027
|
| 123 |
+
],
|
| 124 |
+
[
|
| 125 |
+
0.263,
|
| 126 |
+
0.029
|
| 127 |
+
],
|
| 128 |
+
[
|
| 129 |
+
0.261,
|
| 130 |
+
0.045
|
| 131 |
+
],
|
| 132 |
+
[
|
| 133 |
+
0.265,
|
| 134 |
+
0.047
|
| 135 |
+
],
|
| 136 |
+
[
|
| 137 |
+
0.265,
|
| 138 |
+
0.051
|
| 139 |
+
],
|
| 140 |
+
[
|
| 141 |
+
0.261,
|
| 142 |
+
0.069
|
| 143 |
+
],
|
| 144 |
+
[
|
| 145 |
+
0.257,
|
| 146 |
+
0.126
|
| 147 |
+
],
|
| 148 |
+
[
|
| 149 |
+
0.25,
|
| 150 |
+
0.18
|
| 151 |
+
],
|
| 152 |
+
[
|
| 153 |
+
0.247,
|
| 154 |
+
0.192
|
| 155 |
+
],
|
| 156 |
+
[
|
| 157 |
+
0.238,
|
| 158 |
+
0.208
|
| 159 |
+
],
|
| 160 |
+
[
|
| 161 |
+
0.229,
|
| 162 |
+
0.217
|
| 163 |
+
],
|
| 164 |
+
[
|
| 165 |
+
0.219,
|
| 166 |
+
0.222
|
| 167 |
+
],
|
| 168 |
+
[
|
| 169 |
+
0.211,
|
| 170 |
+
0.221
|
| 171 |
+
],
|
| 172 |
+
[
|
| 173 |
+
0.204,
|
| 174 |
+
0.226
|
| 175 |
+
],
|
| 176 |
+
[
|
| 177 |
+
0.149,
|
| 178 |
+
0.224
|
| 179 |
+
],
|
| 180 |
+
[
|
| 181 |
+
0.136,
|
| 182 |
+
0.233
|
| 183 |
+
],
|
| 184 |
+
[
|
| 185 |
+
0.091,
|
| 186 |
+
0.254
|
| 187 |
+
],
|
| 188 |
+
[
|
| 189 |
+
0.049,
|
| 190 |
+
0.265
|
| 191 |
+
],
|
| 192 |
+
[
|
| 193 |
+
0.02,
|
| 194 |
+
0.269
|
| 195 |
+
],
|
| 196 |
+
[
|
| 197 |
+
-0.019,
|
| 198 |
+
0.269
|
| 199 |
+
],
|
| 200 |
+
[
|
| 201 |
+
-0.047,
|
| 202 |
+
0.265
|
| 203 |
+
],
|
| 204 |
+
[
|
| 205 |
+
-0.074,
|
| 206 |
+
0.259
|
| 207 |
+
],
|
| 208 |
+
[
|
| 209 |
+
-0.11,
|
| 210 |
+
0.246
|
| 211 |
+
],
|
| 212 |
+
[
|
| 213 |
+
-0.139,
|
| 214 |
+
0.231
|
| 215 |
+
],
|
| 216 |
+
[
|
| 217 |
+
-0.163,
|
| 218 |
+
0.215
|
| 219 |
+
],
|
| 220 |
+
[
|
| 221 |
+
-0.184,
|
| 222 |
+
0.197
|
| 223 |
+
],
|
| 224 |
+
[
|
| 225 |
+
-0.208,
|
| 226 |
+
0.172
|
| 227 |
+
],
|
| 228 |
+
[
|
| 229 |
+
-0.211,
|
| 230 |
+
0.167
|
| 231 |
+
],
|
| 232 |
+
[
|
| 233 |
+
-0.224,
|
| 234 |
+
0.155
|
| 235 |
+
],
|
| 236 |
+
[
|
| 237 |
+
-0.226,
|
| 238 |
+
0.151
|
| 239 |
+
],
|
| 240 |
+
[
|
| 241 |
+
-0.226,
|
| 242 |
+
0.145
|
| 243 |
+
],
|
| 244 |
+
[
|
| 245 |
+
-0.235,
|
| 246 |
+
0.132
|
| 247 |
+
],
|
| 248 |
+
[
|
| 249 |
+
-0.252,
|
| 250 |
+
0.095
|
| 251 |
+
],
|
| 252 |
+
[
|
| 253 |
+
-0.264,
|
| 254 |
+
0.054
|
| 255 |
+
],
|
| 256 |
+
[
|
| 257 |
+
-0.269,
|
| 258 |
+
0.017
|
| 259 |
+
],
|
| 260 |
+
[
|
| 261 |
+
-0.269,
|
| 262 |
+
-0.018
|
| 263 |
+
],
|
| 264 |
+
[
|
| 265 |
+
-0.264,
|
| 266 |
+
-0.054
|
| 267 |
+
],
|
| 268 |
+
[
|
| 269 |
+
-0.256,
|
| 270 |
+
-0.084
|
| 271 |
+
],
|
| 272 |
+
[
|
| 273 |
+
-0.25,
|
| 274 |
+
-0.1
|
| 275 |
+
],
|
| 276 |
+
[
|
| 277 |
+
-0.235,
|
| 278 |
+
-0.132
|
| 279 |
+
],
|
| 280 |
+
[
|
| 281 |
+
-0.226,
|
| 282 |
+
-0.145
|
| 283 |
+
],
|
| 284 |
+
[
|
| 285 |
+
-0.226,
|
| 286 |
+
-0.151
|
| 287 |
+
],
|
| 288 |
+
[
|
| 289 |
+
-0.222,
|
| 290 |
+
-0.158
|
| 291 |
+
]
|
| 292 |
+
]
|
| 293 |
+
},
|
| 294 |
+
"height": 1.45,
|
| 295 |
+
"height_class": "h145",
|
| 296 |
+
"drive": "differential",
|
| 297 |
+
"limits": {
|
| 298 |
+
"v_max": 1.0,
|
| 299 |
+
"v_min": -1.0,
|
| 300 |
+
"vy_max": 0.0,
|
| 301 |
+
"w_max": 1.0
|
| 302 |
+
},
|
| 303 |
+
"lidar": {
|
| 304 |
+
"model": "SICK TIM561",
|
| 305 |
+
"range_min": 0.05,
|
| 306 |
+
"range_max": 10.0,
|
| 307 |
+
"fov": 4.7124,
|
| 308 |
+
"beams": 360
|
| 309 |
+
},
|
| 310 |
+
"sources": {
|
| 311 |
+
"footprint": {
|
| 312 |
+
"kind": "official",
|
| 313 |
+
"url": "https://github.com/pal-robotics/tiago_robot/blob/humble-devel/tiago_description/robots/tiago.urdf.xacro",
|
| 314 |
+
"method": "every visual geometry of the URDF (joints = 0, arm folded) projected onto the floor of frame 'base_footprint' at 1 mm, outer outline, simplified to 1 mm (hm3d robots import-urdf)"
|
| 315 |
+
},
|
| 316 |
+
"height": {
|
| 317 |
+
"kind": "official",
|
| 318 |
+
"url": "https://docs.pal-robotics.com/25.01/hardware/tiago/hardware-overview.html",
|
| 319 |
+
"note": "110-145 cm; the highest setting is used (torso raised)"
|
| 320 |
+
},
|
| 321 |
+
"limits.v_max": {
|
| 322 |
+
"kind": "official",
|
| 323 |
+
"url": "https://docs.pal-robotics.com/edge/hardware/tiago/mobile-base"
|
| 324 |
+
},
|
| 325 |
+
"limits.v_min": {
|
| 326 |
+
"kind": "estimated",
|
| 327 |
+
"method": "The manufacturer only publishes the maximum speed; the maximum reverse speed is assumed equal to it."
|
| 328 |
+
},
|
| 329 |
+
"limits.vy_max": {
|
| 330 |
+
"kind": "official",
|
| 331 |
+
"url": "https://docs.pal-robotics.com/edge/hardware/tiago/mobile-base",
|
| 332 |
+
"note": "differential drive"
|
| 333 |
+
},
|
| 334 |
+
"limits.w_max": {
|
| 335 |
+
"kind": "estimated",
|
| 336 |
+
"method": "The manufacturer does not publish the maximum angular velocity; a conservative 1.0 rad/s is used, in line with TurtleBot3 Waffle Pi (1.82) and TurtleBot 4 (1.90). The kinematic bound 2*v_max/track width is not used because it far exceeds the practical safe limit."
|
| 337 |
+
},
|
| 338 |
+
"lidar": {
|
| 339 |
+
"kind": "official",
|
| 340 |
+
"url": "https://docs.pal-robotics.com/edge/hardware/tiago/mobile-base",
|
| 341 |
+
"note": "one of three laser options; the TiM561 (0.05-10 m) is used"
|
| 342 |
+
},
|
| 343 |
+
"lidar.fov": {
|
| 344 |
+
"kind": "estimated",
|
| 345 |
+
"method": "The SICK TiM5xx series scans 270 degrees; not yet checked against the datasheet."
|
| 346 |
+
},
|
| 347 |
+
"lidar.beams": {
|
| 348 |
+
"kind": "estimated",
|
| 349 |
+
"method": "1 beam per degree, close to the ~1 degree angular resolution of low-cost 2D LiDARs; the environment resamples to n_beams beams."
|
| 350 |
+
},
|
| 351 |
+
"footprint_simple": {
|
| 352 |
+
"kind": "official",
|
| 353 |
+
"url": "https://docs.pal-robotics.com/edge/hardware/tiago/mobile-base",
|
| 354 |
+
"note": "Base footprint 54 cm"
|
| 355 |
+
},
|
| 356 |
+
"import": {
|
| 357 |
+
"kind": "navsim",
|
| 358 |
+
"file": "pal_tiago.json"
|
| 359 |
+
}
|
| 360 |
+
},
|
| 361 |
+
"footprint_simple": {
|
| 362 |
+
"type": "circle",
|
| 363 |
+
"radius": 0.27
|
| 364 |
+
},
|
| 365 |
+
"r_circ": 0.3161,
|
| 366 |
+
"r_insc": 0.2646
|
| 367 |
+
}
|
navigation_tasks/robots/turtlebot3_burger.json
ADDED
|
@@ -0,0 +1,325 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "1.0",
|
| 3 |
+
"id": "turtlebot3_burger",
|
| 4 |
+
"name": "ROBOTIS TurtleBot3 Burger",
|
| 5 |
+
"footprint": {
|
| 6 |
+
"type": "polygon",
|
| 7 |
+
"points": [
|
| 8 |
+
[
|
| 9 |
+
0.0332,
|
| 10 |
+
-0.0881
|
| 11 |
+
],
|
| 12 |
+
[
|
| 13 |
+
0.0322,
|
| 14 |
+
-0.0711
|
| 15 |
+
],
|
| 16 |
+
[
|
| 17 |
+
0.0142,
|
| 18 |
+
-0.0711
|
| 19 |
+
],
|
| 20 |
+
[
|
| 21 |
+
0.0112,
|
| 22 |
+
-0.0691
|
| 23 |
+
],
|
| 24 |
+
[
|
| 25 |
+
0.0112,
|
| 26 |
+
-0.0631
|
| 27 |
+
],
|
| 28 |
+
[
|
| 29 |
+
0.0172,
|
| 30 |
+
-0.0511
|
| 31 |
+
],
|
| 32 |
+
[
|
| 33 |
+
0.0322,
|
| 34 |
+
-0.0421
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.0322,
|
| 38 |
+
-0.0311
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.0372,
|
| 42 |
+
-0.0261
|
| 43 |
+
],
|
| 44 |
+
[
|
| 45 |
+
0.0352,
|
| 46 |
+
-0.0161
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.0372,
|
| 50 |
+
-0.0141
|
| 51 |
+
],
|
| 52 |
+
[
|
| 53 |
+
0.0372,
|
| 54 |
+
-0.0101
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0322,
|
| 58 |
+
-0.0051
|
| 59 |
+
],
|
| 60 |
+
[
|
| 61 |
+
0.0322,
|
| 62 |
+
0.0049
|
| 63 |
+
],
|
| 64 |
+
[
|
| 65 |
+
0.0372,
|
| 66 |
+
0.0099
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.0352,
|
| 70 |
+
0.0199
|
| 71 |
+
],
|
| 72 |
+
[
|
| 73 |
+
0.0372,
|
| 74 |
+
0.0219
|
| 75 |
+
],
|
| 76 |
+
[
|
| 77 |
+
0.0372,
|
| 78 |
+
0.0259
|
| 79 |
+
],
|
| 80 |
+
[
|
| 81 |
+
0.0322,
|
| 82 |
+
0.0309
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.0322,
|
| 86 |
+
0.0419
|
| 87 |
+
],
|
| 88 |
+
[
|
| 89 |
+
0.0172,
|
| 90 |
+
0.0509
|
| 91 |
+
],
|
| 92 |
+
[
|
| 93 |
+
0.0112,
|
| 94 |
+
0.0629
|
| 95 |
+
],
|
| 96 |
+
[
|
| 97 |
+
0.0112,
|
| 98 |
+
0.0689
|
| 99 |
+
],
|
| 100 |
+
[
|
| 101 |
+
0.0142,
|
| 102 |
+
0.0709
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.0332,
|
| 106 |
+
0.0719
|
| 107 |
+
],
|
| 108 |
+
[
|
| 109 |
+
0.0322,
|
| 110 |
+
0.0889
|
| 111 |
+
],
|
| 112 |
+
[
|
| 113 |
+
-0.0328,
|
| 114 |
+
0.0889
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
-0.0338,
|
| 118 |
+
0.0689
|
| 119 |
+
],
|
| 120 |
+
[
|
| 121 |
+
-0.0378,
|
| 122 |
+
0.0669
|
| 123 |
+
],
|
| 124 |
+
[
|
| 125 |
+
-0.0458,
|
| 126 |
+
0.0689
|
| 127 |
+
],
|
| 128 |
+
[
|
| 129 |
+
-0.0508,
|
| 130 |
+
0.0669
|
| 131 |
+
],
|
| 132 |
+
[
|
| 133 |
+
-0.0538,
|
| 134 |
+
0.0689
|
| 135 |
+
],
|
| 136 |
+
[
|
| 137 |
+
-0.0578,
|
| 138 |
+
0.0689
|
| 139 |
+
],
|
| 140 |
+
[
|
| 141 |
+
-0.0638,
|
| 142 |
+
0.0639
|
| 143 |
+
],
|
| 144 |
+
[
|
| 145 |
+
-0.0728,
|
| 146 |
+
0.0639
|
| 147 |
+
],
|
| 148 |
+
[
|
| 149 |
+
-0.0758,
|
| 150 |
+
0.0619
|
| 151 |
+
],
|
| 152 |
+
[
|
| 153 |
+
-0.0828,
|
| 154 |
+
0.0489
|
| 155 |
+
],
|
| 156 |
+
[
|
| 157 |
+
-0.0958,
|
| 158 |
+
0.0419
|
| 159 |
+
],
|
| 160 |
+
[
|
| 161 |
+
-0.0958,
|
| 162 |
+
0.0309
|
| 163 |
+
],
|
| 164 |
+
[
|
| 165 |
+
-0.1008,
|
| 166 |
+
0.0259
|
| 167 |
+
],
|
| 168 |
+
[
|
| 169 |
+
-0.0988,
|
| 170 |
+
0.0169
|
| 171 |
+
],
|
| 172 |
+
[
|
| 173 |
+
-0.1008,
|
| 174 |
+
0.0139
|
| 175 |
+
],
|
| 176 |
+
[
|
| 177 |
+
-0.1008,
|
| 178 |
+
0.0099
|
| 179 |
+
],
|
| 180 |
+
[
|
| 181 |
+
-0.0958,
|
| 182 |
+
0.0049
|
| 183 |
+
],
|
| 184 |
+
[
|
| 185 |
+
-0.0958,
|
| 186 |
+
-0.0051
|
| 187 |
+
],
|
| 188 |
+
[
|
| 189 |
+
-0.1008,
|
| 190 |
+
-0.0101
|
| 191 |
+
],
|
| 192 |
+
[
|
| 193 |
+
-0.0988,
|
| 194 |
+
-0.0191
|
| 195 |
+
],
|
| 196 |
+
[
|
| 197 |
+
-0.1008,
|
| 198 |
+
-0.0221
|
| 199 |
+
],
|
| 200 |
+
[
|
| 201 |
+
-0.1008,
|
| 202 |
+
-0.0261
|
| 203 |
+
],
|
| 204 |
+
[
|
| 205 |
+
-0.0958,
|
| 206 |
+
-0.0311
|
| 207 |
+
],
|
| 208 |
+
[
|
| 209 |
+
-0.0958,
|
| 210 |
+
-0.0421
|
| 211 |
+
],
|
| 212 |
+
[
|
| 213 |
+
-0.0828,
|
| 214 |
+
-0.0491
|
| 215 |
+
],
|
| 216 |
+
[
|
| 217 |
+
-0.0758,
|
| 218 |
+
-0.0621
|
| 219 |
+
],
|
| 220 |
+
[
|
| 221 |
+
-0.0728,
|
| 222 |
+
-0.0641
|
| 223 |
+
],
|
| 224 |
+
[
|
| 225 |
+
-0.0638,
|
| 226 |
+
-0.0641
|
| 227 |
+
],
|
| 228 |
+
[
|
| 229 |
+
-0.0578,
|
| 230 |
+
-0.0691
|
| 231 |
+
],
|
| 232 |
+
[
|
| 233 |
+
-0.0488,
|
| 234 |
+
-0.0671
|
| 235 |
+
],
|
| 236 |
+
[
|
| 237 |
+
-0.0458,
|
| 238 |
+
-0.0691
|
| 239 |
+
],
|
| 240 |
+
[
|
| 241 |
+
-0.0418,
|
| 242 |
+
-0.0691
|
| 243 |
+
],
|
| 244 |
+
[
|
| 245 |
+
-0.0378,
|
| 246 |
+
-0.0671
|
| 247 |
+
],
|
| 248 |
+
[
|
| 249 |
+
-0.0338,
|
| 250 |
+
-0.0691
|
| 251 |
+
],
|
| 252 |
+
[
|
| 253 |
+
-0.0328,
|
| 254 |
+
-0.0891
|
| 255 |
+
]
|
| 256 |
+
]
|
| 257 |
+
},
|
| 258 |
+
"height": 0.192,
|
| 259 |
+
"height_class": "h36",
|
| 260 |
+
"drive": "differential",
|
| 261 |
+
"limits": {
|
| 262 |
+
"v_max": 0.22,
|
| 263 |
+
"v_min": -0.22,
|
| 264 |
+
"vy_max": 0.0,
|
| 265 |
+
"w_max": 2.84
|
| 266 |
+
},
|
| 267 |
+
"lidar": {
|
| 268 |
+
"model": "ROBOTIS LDS-02",
|
| 269 |
+
"range_min": 0.16,
|
| 270 |
+
"range_max": 8.0,
|
| 271 |
+
"fov": 6.2832,
|
| 272 |
+
"beams": 360
|
| 273 |
+
},
|
| 274 |
+
"sources": {
|
| 275 |
+
"footprint": {
|
| 276 |
+
"kind": "official",
|
| 277 |
+
"url": "https://github.com/ROBOTIS-GIT/turtlebot3/blob/humble/turtlebot3_description/urdf/turtlebot3_burger.urdf",
|
| 278 |
+
"method": "every visual geometry of the URDF (joints = 0) projected onto the floor of frame 'base_footprint' at 1 mm, outer outline, simplified to 1 mm (hm3d robots import-urdf)"
|
| 279 |
+
},
|
| 280 |
+
"height": {
|
| 281 |
+
"kind": "official",
|
| 282 |
+
"url": "https://emanual.robotis.com/docs/en/platform/turtlebot3/features/"
|
| 283 |
+
},
|
| 284 |
+
"limits.v_max": {
|
| 285 |
+
"kind": "official",
|
| 286 |
+
"url": "https://emanual.robotis.com/docs/en/platform/turtlebot3/features/"
|
| 287 |
+
},
|
| 288 |
+
"limits.v_min": {
|
| 289 |
+
"kind": "estimated",
|
| 290 |
+
"method": "The manufacturer only publishes the maximum speed; the maximum reverse speed is assumed equal to it."
|
| 291 |
+
},
|
| 292 |
+
"limits.vy_max": {
|
| 293 |
+
"kind": "official",
|
| 294 |
+
"url": "https://emanual.robotis.com/docs/en/platform/turtlebot3/features/",
|
| 295 |
+
"note": "differential drive"
|
| 296 |
+
},
|
| 297 |
+
"limits.w_max": {
|
| 298 |
+
"kind": "official",
|
| 299 |
+
"url": "https://emanual.robotis.com/docs/en/platform/turtlebot3/features/"
|
| 300 |
+
},
|
| 301 |
+
"lidar": {
|
| 302 |
+
"kind": "official",
|
| 303 |
+
"url": "https://emanual.robotis.com/docs/en/platform/turtlebot3/appendix_lds_02/"
|
| 304 |
+
},
|
| 305 |
+
"lidar.beams": {
|
| 306 |
+
"kind": "estimated",
|
| 307 |
+
"method": "1 beam per degree, close to the ~1 degree angular resolution of low-cost 2D LiDARs; the environment resamples to n_beams beams."
|
| 308 |
+
},
|
| 309 |
+
"footprint_simple": {
|
| 310 |
+
"kind": "official",
|
| 311 |
+
"url": "https://emanual.robotis.com/docs/en/platform/turtlebot3/features/"
|
| 312 |
+
},
|
| 313 |
+
"import": {
|
| 314 |
+
"kind": "navsim",
|
| 315 |
+
"file": "turtlebot3_burger.json"
|
| 316 |
+
}
|
| 317 |
+
},
|
| 318 |
+
"footprint_simple": {
|
| 319 |
+
"type": "rectangle",
|
| 320 |
+
"length": 0.138,
|
| 321 |
+
"width": 0.178
|
| 322 |
+
},
|
| 323 |
+
"r_circ": 0.1046,
|
| 324 |
+
"r_insc": 0.0322
|
| 325 |
+
}
|
navigation_tasks/robots/turtlebot3_waffle_pi.json
ADDED
|
@@ -0,0 +1,621 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "1.0",
|
| 3 |
+
"id": "turtlebot3_waffle_pi",
|
| 4 |
+
"name": "ROBOTIS TurtleBot3 Waffle Pi",
|
| 5 |
+
"footprint": {
|
| 6 |
+
"type": "polygon",
|
| 7 |
+
"points": [
|
| 8 |
+
[
|
| 9 |
+
-0.1598,
|
| 10 |
+
-0.1281
|
| 11 |
+
],
|
| 12 |
+
[
|
| 13 |
+
-0.1538,
|
| 14 |
+
-0.1331
|
| 15 |
+
],
|
| 16 |
+
[
|
| 17 |
+
-0.1448,
|
| 18 |
+
-0.1311
|
| 19 |
+
],
|
| 20 |
+
[
|
| 21 |
+
-0.1418,
|
| 22 |
+
-0.1331
|
| 23 |
+
],
|
| 24 |
+
[
|
| 25 |
+
-0.1378,
|
| 26 |
+
-0.1331
|
| 27 |
+
],
|
| 28 |
+
[
|
| 29 |
+
-0.1318,
|
| 30 |
+
-0.1281
|
| 31 |
+
],
|
| 32 |
+
[
|
| 33 |
+
-0.1238,
|
| 34 |
+
-0.1281
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-0.1178,
|
| 38 |
+
-0.1331
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
-0.1088,
|
| 42 |
+
-0.1311
|
| 43 |
+
],
|
| 44 |
+
[
|
| 45 |
+
-0.1058,
|
| 46 |
+
-0.1331
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
-0.1018,
|
| 50 |
+
-0.1331
|
| 51 |
+
],
|
| 52 |
+
[
|
| 53 |
+
-0.0958,
|
| 54 |
+
-0.1281
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
-0.0858,
|
| 58 |
+
-0.1281
|
| 59 |
+
],
|
| 60 |
+
[
|
| 61 |
+
-0.0768,
|
| 62 |
+
-0.1131
|
| 63 |
+
],
|
| 64 |
+
[
|
| 65 |
+
-0.0628,
|
| 66 |
+
-0.1071
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
-0.0508,
|
| 70 |
+
-0.1131
|
| 71 |
+
],
|
| 72 |
+
[
|
| 73 |
+
-0.0438,
|
| 74 |
+
-0.1261
|
| 75 |
+
],
|
| 76 |
+
[
|
| 77 |
+
-0.0348,
|
| 78 |
+
-0.1301
|
| 79 |
+
],
|
| 80 |
+
[
|
| 81 |
+
-0.0348,
|
| 82 |
+
-0.1331
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.0328,
|
| 86 |
+
-0.1341
|
| 87 |
+
],
|
| 88 |
+
[
|
| 89 |
+
-0.0328,
|
| 90 |
+
-0.1531
|
| 91 |
+
],
|
| 92 |
+
[
|
| 93 |
+
0.0332,
|
| 94 |
+
-0.1521
|
| 95 |
+
],
|
| 96 |
+
[
|
| 97 |
+
0.0332,
|
| 98 |
+
-0.1361
|
| 99 |
+
],
|
| 100 |
+
[
|
| 101 |
+
0.0292,
|
| 102 |
+
-0.1331
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
0.0292,
|
| 106 |
+
-0.1301
|
| 107 |
+
],
|
| 108 |
+
[
|
| 109 |
+
0.0322,
|
| 110 |
+
-0.1281
|
| 111 |
+
],
|
| 112 |
+
[
|
| 113 |
+
0.0422,
|
| 114 |
+
-0.1281
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
0.0512,
|
| 118 |
+
-0.1131
|
| 119 |
+
],
|
| 120 |
+
[
|
| 121 |
+
0.0642,
|
| 122 |
+
-0.1061
|
| 123 |
+
],
|
| 124 |
+
[
|
| 125 |
+
0.0642,
|
| 126 |
+
-0.0951
|
| 127 |
+
],
|
| 128 |
+
[
|
| 129 |
+
0.0692,
|
| 130 |
+
-0.0901
|
| 131 |
+
],
|
| 132 |
+
[
|
| 133 |
+
0.0672,
|
| 134 |
+
-0.0801
|
| 135 |
+
],
|
| 136 |
+
[
|
| 137 |
+
0.0692,
|
| 138 |
+
-0.0781
|
| 139 |
+
],
|
| 140 |
+
[
|
| 141 |
+
0.0692,
|
| 142 |
+
-0.0741
|
| 143 |
+
],
|
| 144 |
+
[
|
| 145 |
+
0.0642,
|
| 146 |
+
-0.0691
|
| 147 |
+
],
|
| 148 |
+
[
|
| 149 |
+
0.0642,
|
| 150 |
+
-0.0591
|
| 151 |
+
],
|
| 152 |
+
[
|
| 153 |
+
0.0692,
|
| 154 |
+
-0.0541
|
| 155 |
+
],
|
| 156 |
+
[
|
| 157 |
+
0.0672,
|
| 158 |
+
-0.0441
|
| 159 |
+
],
|
| 160 |
+
[
|
| 161 |
+
0.0692,
|
| 162 |
+
-0.0421
|
| 163 |
+
],
|
| 164 |
+
[
|
| 165 |
+
0.0692,
|
| 166 |
+
-0.0381
|
| 167 |
+
],
|
| 168 |
+
[
|
| 169 |
+
0.0642,
|
| 170 |
+
-0.0331
|
| 171 |
+
],
|
| 172 |
+
[
|
| 173 |
+
0.0642,
|
| 174 |
+
-0.0311
|
| 175 |
+
],
|
| 176 |
+
[
|
| 177 |
+
0.0692,
|
| 178 |
+
-0.0261
|
| 179 |
+
],
|
| 180 |
+
[
|
| 181 |
+
0.0672,
|
| 182 |
+
-0.0161
|
| 183 |
+
],
|
| 184 |
+
[
|
| 185 |
+
0.0702,
|
| 186 |
+
-0.0141
|
| 187 |
+
],
|
| 188 |
+
[
|
| 189 |
+
0.0762,
|
| 190 |
+
-0.0141
|
| 191 |
+
],
|
| 192 |
+
[
|
| 193 |
+
0.0772,
|
| 194 |
+
-0.0121
|
| 195 |
+
],
|
| 196 |
+
[
|
| 197 |
+
0.0772,
|
| 198 |
+
0.0119
|
| 199 |
+
],
|
| 200 |
+
[
|
| 201 |
+
0.0762,
|
| 202 |
+
0.0139
|
| 203 |
+
],
|
| 204 |
+
[
|
| 205 |
+
0.0702,
|
| 206 |
+
0.0139
|
| 207 |
+
],
|
| 208 |
+
[
|
| 209 |
+
0.0672,
|
| 210 |
+
0.0159
|
| 211 |
+
],
|
| 212 |
+
[
|
| 213 |
+
0.0692,
|
| 214 |
+
0.0259
|
| 215 |
+
],
|
| 216 |
+
[
|
| 217 |
+
0.0642,
|
| 218 |
+
0.0309
|
| 219 |
+
],
|
| 220 |
+
[
|
| 221 |
+
0.0642,
|
| 222 |
+
0.0329
|
| 223 |
+
],
|
| 224 |
+
[
|
| 225 |
+
0.0692,
|
| 226 |
+
0.0379
|
| 227 |
+
],
|
| 228 |
+
[
|
| 229 |
+
0.0672,
|
| 230 |
+
0.0479
|
| 231 |
+
],
|
| 232 |
+
[
|
| 233 |
+
0.0692,
|
| 234 |
+
0.0499
|
| 235 |
+
],
|
| 236 |
+
[
|
| 237 |
+
0.0692,
|
| 238 |
+
0.0539
|
| 239 |
+
],
|
| 240 |
+
[
|
| 241 |
+
0.0642,
|
| 242 |
+
0.0589
|
| 243 |
+
],
|
| 244 |
+
[
|
| 245 |
+
0.0642,
|
| 246 |
+
0.0689
|
| 247 |
+
],
|
| 248 |
+
[
|
| 249 |
+
0.0692,
|
| 250 |
+
0.0739
|
| 251 |
+
],
|
| 252 |
+
[
|
| 253 |
+
0.0672,
|
| 254 |
+
0.0839
|
| 255 |
+
],
|
| 256 |
+
[
|
| 257 |
+
0.0692,
|
| 258 |
+
0.0859
|
| 259 |
+
],
|
| 260 |
+
[
|
| 261 |
+
0.0692,
|
| 262 |
+
0.0899
|
| 263 |
+
],
|
| 264 |
+
[
|
| 265 |
+
0.0642,
|
| 266 |
+
0.0949
|
| 267 |
+
],
|
| 268 |
+
[
|
| 269 |
+
0.0642,
|
| 270 |
+
0.1059
|
| 271 |
+
],
|
| 272 |
+
[
|
| 273 |
+
0.0492,
|
| 274 |
+
0.1149
|
| 275 |
+
],
|
| 276 |
+
[
|
| 277 |
+
0.0422,
|
| 278 |
+
0.1279
|
| 279 |
+
],
|
| 280 |
+
[
|
| 281 |
+
0.0322,
|
| 282 |
+
0.1279
|
| 283 |
+
],
|
| 284 |
+
[
|
| 285 |
+
0.0292,
|
| 286 |
+
0.1299
|
| 287 |
+
],
|
| 288 |
+
[
|
| 289 |
+
0.0292,
|
| 290 |
+
0.1329
|
| 291 |
+
],
|
| 292 |
+
[
|
| 293 |
+
0.0332,
|
| 294 |
+
0.1359
|
| 295 |
+
],
|
| 296 |
+
[
|
| 297 |
+
0.0322,
|
| 298 |
+
0.1529
|
| 299 |
+
],
|
| 300 |
+
[
|
| 301 |
+
-0.0328,
|
| 302 |
+
0.1529
|
| 303 |
+
],
|
| 304 |
+
[
|
| 305 |
+
-0.0328,
|
| 306 |
+
0.1339
|
| 307 |
+
],
|
| 308 |
+
[
|
| 309 |
+
-0.0348,
|
| 310 |
+
0.1329
|
| 311 |
+
],
|
| 312 |
+
[
|
| 313 |
+
-0.0348,
|
| 314 |
+
0.1299
|
| 315 |
+
],
|
| 316 |
+
[
|
| 317 |
+
-0.0438,
|
| 318 |
+
0.1259
|
| 319 |
+
],
|
| 320 |
+
[
|
| 321 |
+
-0.0508,
|
| 322 |
+
0.1129
|
| 323 |
+
],
|
| 324 |
+
[
|
| 325 |
+
-0.0628,
|
| 326 |
+
0.1069
|
| 327 |
+
],
|
| 328 |
+
[
|
| 329 |
+
-0.0768,
|
| 330 |
+
0.1129
|
| 331 |
+
],
|
| 332 |
+
[
|
| 333 |
+
-0.0858,
|
| 334 |
+
0.1279
|
| 335 |
+
],
|
| 336 |
+
[
|
| 337 |
+
-0.0958,
|
| 338 |
+
0.1279
|
| 339 |
+
],
|
| 340 |
+
[
|
| 341 |
+
-0.1018,
|
| 342 |
+
0.1329
|
| 343 |
+
],
|
| 344 |
+
[
|
| 345 |
+
-0.1108,
|
| 346 |
+
0.1309
|
| 347 |
+
],
|
| 348 |
+
[
|
| 349 |
+
-0.1138,
|
| 350 |
+
0.1329
|
| 351 |
+
],
|
| 352 |
+
[
|
| 353 |
+
-0.1178,
|
| 354 |
+
0.1329
|
| 355 |
+
],
|
| 356 |
+
[
|
| 357 |
+
-0.1238,
|
| 358 |
+
0.1279
|
| 359 |
+
],
|
| 360 |
+
[
|
| 361 |
+
-0.1318,
|
| 362 |
+
0.1279
|
| 363 |
+
],
|
| 364 |
+
[
|
| 365 |
+
-0.1378,
|
| 366 |
+
0.1329
|
| 367 |
+
],
|
| 368 |
+
[
|
| 369 |
+
-0.1468,
|
| 370 |
+
0.1309
|
| 371 |
+
],
|
| 372 |
+
[
|
| 373 |
+
-0.1498,
|
| 374 |
+
0.1329
|
| 375 |
+
],
|
| 376 |
+
[
|
| 377 |
+
-0.1538,
|
| 378 |
+
0.1329
|
| 379 |
+
],
|
| 380 |
+
[
|
| 381 |
+
-0.1598,
|
| 382 |
+
0.1279
|
| 383 |
+
],
|
| 384 |
+
[
|
| 385 |
+
-0.1708,
|
| 386 |
+
0.1269
|
| 387 |
+
],
|
| 388 |
+
[
|
| 389 |
+
-0.1788,
|
| 390 |
+
0.1129
|
| 391 |
+
],
|
| 392 |
+
[
|
| 393 |
+
-0.1918,
|
| 394 |
+
0.1059
|
| 395 |
+
],
|
| 396 |
+
[
|
| 397 |
+
-0.1918,
|
| 398 |
+
0.0949
|
| 399 |
+
],
|
| 400 |
+
[
|
| 401 |
+
-0.1968,
|
| 402 |
+
0.0899
|
| 403 |
+
],
|
| 404 |
+
[
|
| 405 |
+
-0.1948,
|
| 406 |
+
0.0809
|
| 407 |
+
],
|
| 408 |
+
[
|
| 409 |
+
-0.1968,
|
| 410 |
+
0.0779
|
| 411 |
+
],
|
| 412 |
+
[
|
| 413 |
+
-0.1968,
|
| 414 |
+
0.0739
|
| 415 |
+
],
|
| 416 |
+
[
|
| 417 |
+
-0.1918,
|
| 418 |
+
0.0689
|
| 419 |
+
],
|
| 420 |
+
[
|
| 421 |
+
-0.1918,
|
| 422 |
+
0.0589
|
| 423 |
+
],
|
| 424 |
+
[
|
| 425 |
+
-0.1968,
|
| 426 |
+
0.0539
|
| 427 |
+
],
|
| 428 |
+
[
|
| 429 |
+
-0.1948,
|
| 430 |
+
0.0449
|
| 431 |
+
],
|
| 432 |
+
[
|
| 433 |
+
-0.1968,
|
| 434 |
+
0.0419
|
| 435 |
+
],
|
| 436 |
+
[
|
| 437 |
+
-0.1968,
|
| 438 |
+
0.0379
|
| 439 |
+
],
|
| 440 |
+
[
|
| 441 |
+
-0.1918,
|
| 442 |
+
0.0329
|
| 443 |
+
],
|
| 444 |
+
[
|
| 445 |
+
-0.1918,
|
| 446 |
+
0.0309
|
| 447 |
+
],
|
| 448 |
+
[
|
| 449 |
+
-0.1968,
|
| 450 |
+
0.0259
|
| 451 |
+
],
|
| 452 |
+
[
|
| 453 |
+
-0.1948,
|
| 454 |
+
0.0169
|
| 455 |
+
],
|
| 456 |
+
[
|
| 457 |
+
-0.1968,
|
| 458 |
+
0.0139
|
| 459 |
+
],
|
| 460 |
+
[
|
| 461 |
+
-0.1968,
|
| 462 |
+
0.0099
|
| 463 |
+
],
|
| 464 |
+
[
|
| 465 |
+
-0.1918,
|
| 466 |
+
0.0049
|
| 467 |
+
],
|
| 468 |
+
[
|
| 469 |
+
-0.1918,
|
| 470 |
+
-0.0051
|
| 471 |
+
],
|
| 472 |
+
[
|
| 473 |
+
-0.1968,
|
| 474 |
+
-0.0101
|
| 475 |
+
],
|
| 476 |
+
[
|
| 477 |
+
-0.1948,
|
| 478 |
+
-0.0191
|
| 479 |
+
],
|
| 480 |
+
[
|
| 481 |
+
-0.1968,
|
| 482 |
+
-0.0221
|
| 483 |
+
],
|
| 484 |
+
[
|
| 485 |
+
-0.1968,
|
| 486 |
+
-0.0261
|
| 487 |
+
],
|
| 488 |
+
[
|
| 489 |
+
-0.1918,
|
| 490 |
+
-0.0311
|
| 491 |
+
],
|
| 492 |
+
[
|
| 493 |
+
-0.1918,
|
| 494 |
+
-0.0331
|
| 495 |
+
],
|
| 496 |
+
[
|
| 497 |
+
-0.1968,
|
| 498 |
+
-0.0381
|
| 499 |
+
],
|
| 500 |
+
[
|
| 501 |
+
-0.1948,
|
| 502 |
+
-0.0471
|
| 503 |
+
],
|
| 504 |
+
[
|
| 505 |
+
-0.1968,
|
| 506 |
+
-0.0501
|
| 507 |
+
],
|
| 508 |
+
[
|
| 509 |
+
-0.1968,
|
| 510 |
+
-0.0541
|
| 511 |
+
],
|
| 512 |
+
[
|
| 513 |
+
-0.1918,
|
| 514 |
+
-0.0591
|
| 515 |
+
],
|
| 516 |
+
[
|
| 517 |
+
-0.1918,
|
| 518 |
+
-0.0691
|
| 519 |
+
],
|
| 520 |
+
[
|
| 521 |
+
-0.1968,
|
| 522 |
+
-0.0741
|
| 523 |
+
],
|
| 524 |
+
[
|
| 525 |
+
-0.1948,
|
| 526 |
+
-0.0831
|
| 527 |
+
],
|
| 528 |
+
[
|
| 529 |
+
-0.1968,
|
| 530 |
+
-0.0861
|
| 531 |
+
],
|
| 532 |
+
[
|
| 533 |
+
-0.1968,
|
| 534 |
+
-0.0901
|
| 535 |
+
],
|
| 536 |
+
[
|
| 537 |
+
-0.1918,
|
| 538 |
+
-0.0951
|
| 539 |
+
],
|
| 540 |
+
[
|
| 541 |
+
-0.1918,
|
| 542 |
+
-0.1061
|
| 543 |
+
],
|
| 544 |
+
[
|
| 545 |
+
-0.1768,
|
| 546 |
+
-0.1151
|
| 547 |
+
],
|
| 548 |
+
[
|
| 549 |
+
-0.1708,
|
| 550 |
+
-0.1271
|
| 551 |
+
]
|
| 552 |
+
]
|
| 553 |
+
},
|
| 554 |
+
"height": 0.141,
|
| 555 |
+
"height_class": "h36",
|
| 556 |
+
"drive": "differential",
|
| 557 |
+
"limits": {
|
| 558 |
+
"v_max": 0.26,
|
| 559 |
+
"v_min": -0.26,
|
| 560 |
+
"vy_max": 0.0,
|
| 561 |
+
"w_max": 1.82
|
| 562 |
+
},
|
| 563 |
+
"lidar": {
|
| 564 |
+
"model": "ROBOTIS LDS-02",
|
| 565 |
+
"range_min": 0.16,
|
| 566 |
+
"range_max": 8.0,
|
| 567 |
+
"fov": 6.2832,
|
| 568 |
+
"beams": 360
|
| 569 |
+
},
|
| 570 |
+
"sources": {
|
| 571 |
+
"footprint": {
|
| 572 |
+
"kind": "official",
|
| 573 |
+
"url": "https://github.com/ROBOTIS-GIT/turtlebot3/blob/humble/turtlebot3_description/urdf/turtlebot3_waffle_pi.urdf",
|
| 574 |
+
"method": "every visual geometry of the URDF (joints = 0) projected onto the floor of frame 'base_footprint' at 1 mm, outer outline, simplified to 1 mm (hm3d robots import-urdf)"
|
| 575 |
+
},
|
| 576 |
+
"height": {
|
| 577 |
+
"kind": "official",
|
| 578 |
+
"url": "https://emanual.robotis.com/docs/en/platform/turtlebot3/features/"
|
| 579 |
+
},
|
| 580 |
+
"limits.v_max": {
|
| 581 |
+
"kind": "official",
|
| 582 |
+
"url": "https://emanual.robotis.com/docs/en/platform/turtlebot3/features/"
|
| 583 |
+
},
|
| 584 |
+
"limits.v_min": {
|
| 585 |
+
"kind": "estimated",
|
| 586 |
+
"method": "The manufacturer only publishes the maximum speed; the maximum reverse speed is assumed equal to it."
|
| 587 |
+
},
|
| 588 |
+
"limits.vy_max": {
|
| 589 |
+
"kind": "official",
|
| 590 |
+
"url": "https://emanual.robotis.com/docs/en/platform/turtlebot3/features/",
|
| 591 |
+
"note": "differential drive"
|
| 592 |
+
},
|
| 593 |
+
"limits.w_max": {
|
| 594 |
+
"kind": "official",
|
| 595 |
+
"url": "https://emanual.robotis.com/docs/en/platform/turtlebot3/features/"
|
| 596 |
+
},
|
| 597 |
+
"lidar": {
|
| 598 |
+
"kind": "official",
|
| 599 |
+
"url": "https://emanual.robotis.com/docs/en/platform/turtlebot3/appendix_lds_02/"
|
| 600 |
+
},
|
| 601 |
+
"lidar.beams": {
|
| 602 |
+
"kind": "estimated",
|
| 603 |
+
"method": "1 beam per degree, close to the ~1 degree angular resolution of low-cost 2D LiDARs; the environment resamples to n_beams beams."
|
| 604 |
+
},
|
| 605 |
+
"footprint_simple": {
|
| 606 |
+
"kind": "official",
|
| 607 |
+
"url": "https://emanual.robotis.com/docs/en/platform/turtlebot3/features/"
|
| 608 |
+
},
|
| 609 |
+
"import": {
|
| 610 |
+
"kind": "navsim",
|
| 611 |
+
"file": "turtlebot3_waffle_pi.json"
|
| 612 |
+
}
|
| 613 |
+
},
|
| 614 |
+
"footprint_simple": {
|
| 615 |
+
"type": "rectangle",
|
| 616 |
+
"length": 0.281,
|
| 617 |
+
"width": 0.306
|
| 618 |
+
},
|
| 619 |
+
"r_circ": 0.2192,
|
| 620 |
+
"r_insc": 0.0691
|
| 621 |
+
}
|
navigation_tasks/robots/turtlebot4.json
ADDED
|
@@ -0,0 +1,265 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "1.0",
|
| 3 |
+
"id": "turtlebot4",
|
| 4 |
+
"name": "Clearpath/iRobot TurtleBot 4",
|
| 5 |
+
"footprint": {
|
| 6 |
+
"type": "polygon",
|
| 7 |
+
"points": [
|
| 8 |
+
[
|
| 9 |
+
-0.0074,
|
| 10 |
+
-0.1654
|
| 11 |
+
],
|
| 12 |
+
[
|
| 13 |
+
-0.0024,
|
| 14 |
+
-0.1614
|
| 15 |
+
],
|
| 16 |
+
[
|
| 17 |
+
0.0016,
|
| 18 |
+
-0.1644
|
| 19 |
+
],
|
| 20 |
+
[
|
| 21 |
+
0.0016,
|
| 22 |
+
-0.1664
|
| 23 |
+
],
|
| 24 |
+
[
|
| 25 |
+
0.0326,
|
| 26 |
+
-0.1704
|
| 27 |
+
],
|
| 28 |
+
[
|
| 29 |
+
0.0466,
|
| 30 |
+
-0.1704
|
| 31 |
+
],
|
| 32 |
+
[
|
| 33 |
+
0.0636,
|
| 34 |
+
-0.1664
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.0846,
|
| 38 |
+
-0.1564
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.1166,
|
| 42 |
+
-0.1334
|
| 43 |
+
],
|
| 44 |
+
[
|
| 45 |
+
0.1386,
|
| 46 |
+
-0.1114
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.1546,
|
| 50 |
+
-0.0884
|
| 51 |
+
],
|
| 52 |
+
[
|
| 53 |
+
0.1656,
|
| 54 |
+
-0.0654
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.1756,
|
| 58 |
+
-0.0274
|
| 59 |
+
],
|
| 60 |
+
[
|
| 61 |
+
0.1776,
|
| 62 |
+
-0.0054
|
| 63 |
+
],
|
| 64 |
+
[
|
| 65 |
+
0.1756,
|
| 66 |
+
0.0276
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.1656,
|
| 70 |
+
0.0656
|
| 71 |
+
],
|
| 72 |
+
[
|
| 73 |
+
0.1526,
|
| 74 |
+
0.0916
|
| 75 |
+
],
|
| 76 |
+
[
|
| 77 |
+
0.1306,
|
| 78 |
+
0.1206
|
| 79 |
+
],
|
| 80 |
+
[
|
| 81 |
+
0.1106,
|
| 82 |
+
0.1386
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.0876,
|
| 86 |
+
0.1546
|
| 87 |
+
],
|
| 88 |
+
[
|
| 89 |
+
0.0566,
|
| 90 |
+
0.1686
|
| 91 |
+
],
|
| 92 |
+
[
|
| 93 |
+
0.0326,
|
| 94 |
+
0.1706
|
| 95 |
+
],
|
| 96 |
+
[
|
| 97 |
+
0.0016,
|
| 98 |
+
0.1656
|
| 99 |
+
],
|
| 100 |
+
[
|
| 101 |
+
0.0016,
|
| 102 |
+
0.1636
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.0014,
|
| 106 |
+
0.1616
|
| 107 |
+
],
|
| 108 |
+
[
|
| 109 |
+
-0.0074,
|
| 110 |
+
0.1656
|
| 111 |
+
],
|
| 112 |
+
[
|
| 113 |
+
-0.0324,
|
| 114 |
+
0.1626
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
-0.0524,
|
| 118 |
+
0.1576
|
| 119 |
+
],
|
| 120 |
+
[
|
| 121 |
+
-0.0824,
|
| 122 |
+
0.1436
|
| 123 |
+
],
|
| 124 |
+
[
|
| 125 |
+
-0.1054,
|
| 126 |
+
0.1276
|
| 127 |
+
],
|
| 128 |
+
[
|
| 129 |
+
-0.1224,
|
| 130 |
+
0.1116
|
| 131 |
+
],
|
| 132 |
+
[
|
| 133 |
+
-0.1314,
|
| 134 |
+
0.1006
|
| 135 |
+
],
|
| 136 |
+
[
|
| 137 |
+
-0.1444,
|
| 138 |
+
0.0806
|
| 139 |
+
],
|
| 140 |
+
[
|
| 141 |
+
-0.1544,
|
| 142 |
+
0.0606
|
| 143 |
+
],
|
| 144 |
+
[
|
| 145 |
+
-0.1594,
|
| 146 |
+
0.0456
|
| 147 |
+
],
|
| 148 |
+
[
|
| 149 |
+
-0.1654,
|
| 150 |
+
0.0066
|
| 151 |
+
],
|
| 152 |
+
[
|
| 153 |
+
-0.1634,
|
| 154 |
+
-0.0254
|
| 155 |
+
],
|
| 156 |
+
[
|
| 157 |
+
-0.1594,
|
| 158 |
+
-0.0454
|
| 159 |
+
],
|
| 160 |
+
[
|
| 161 |
+
-0.1544,
|
| 162 |
+
-0.0604
|
| 163 |
+
],
|
| 164 |
+
[
|
| 165 |
+
-0.1404,
|
| 166 |
+
-0.0874
|
| 167 |
+
],
|
| 168 |
+
[
|
| 169 |
+
-0.1224,
|
| 170 |
+
-0.1114
|
| 171 |
+
],
|
| 172 |
+
[
|
| 173 |
+
-0.1054,
|
| 174 |
+
-0.1274
|
| 175 |
+
],
|
| 176 |
+
[
|
| 177 |
+
-0.0934,
|
| 178 |
+
-0.1364
|
| 179 |
+
],
|
| 180 |
+
[
|
| 181 |
+
-0.0624,
|
| 182 |
+
-0.1534
|
| 183 |
+
],
|
| 184 |
+
[
|
| 185 |
+
-0.0334,
|
| 186 |
+
-0.1624
|
| 187 |
+
]
|
| 188 |
+
]
|
| 189 |
+
},
|
| 190 |
+
"height": 0.351,
|
| 191 |
+
"height_class": "h36",
|
| 192 |
+
"drive": "differential",
|
| 193 |
+
"limits": {
|
| 194 |
+
"v_max": 0.31,
|
| 195 |
+
"v_min": -0.31,
|
| 196 |
+
"vy_max": 0.0,
|
| 197 |
+
"w_max": 1.9
|
| 198 |
+
},
|
| 199 |
+
"lidar": {
|
| 200 |
+
"model": "SLAMTEC RPLIDAR A1M8",
|
| 201 |
+
"range_min": 0.15,
|
| 202 |
+
"range_max": 12.0,
|
| 203 |
+
"fov": 6.2832,
|
| 204 |
+
"beams": 360
|
| 205 |
+
},
|
| 206 |
+
"sources": {
|
| 207 |
+
"footprint": {
|
| 208 |
+
"kind": "official",
|
| 209 |
+
"url": "https://github.com/turtlebot/turtlebot4/blob/humble/turtlebot4_description/urdf/standard/turtlebot4.urdf.xacro",
|
| 210 |
+
"method": "every visual geometry of the URDF (joints = 0) projected onto the floor of frame 'base_link' at 1 mm, outer outline, simplified to 1 mm (hm3d robots import-urdf)"
|
| 211 |
+
},
|
| 212 |
+
"height": {
|
| 213 |
+
"kind": "official",
|
| 214 |
+
"url": "https://turtlebot.github.io/turtlebot4-user-manual/overview/features.html"
|
| 215 |
+
},
|
| 216 |
+
"limits.v_max": {
|
| 217 |
+
"kind": "official",
|
| 218 |
+
"url": "https://turtlebot.github.io/turtlebot4-user-manual/overview/features.html",
|
| 219 |
+
"note": "0.31 m/s in the default safe mode; 0.46 m/s with safe mode off"
|
| 220 |
+
},
|
| 221 |
+
"limits.v_min": {
|
| 222 |
+
"kind": "estimated",
|
| 223 |
+
"method": "The manufacturer only publishes the maximum speed; the maximum reverse speed is assumed equal to it."
|
| 224 |
+
},
|
| 225 |
+
"limits.vy_max": {
|
| 226 |
+
"kind": "official",
|
| 227 |
+
"url": "https://turtlebot.github.io/turtlebot4-user-manual/overview/features.html",
|
| 228 |
+
"note": "differential drive"
|
| 229 |
+
},
|
| 230 |
+
"limits.w_max": {
|
| 231 |
+
"kind": "official",
|
| 232 |
+
"url": "https://turtlebot.github.io/turtlebot4-user-manual/overview/features.html"
|
| 233 |
+
},
|
| 234 |
+
"lidar": {
|
| 235 |
+
"kind": "official",
|
| 236 |
+
"url": "https://turtlebot.github.io/turtlebot4-user-manual/overview/features.html"
|
| 237 |
+
},
|
| 238 |
+
"lidar.range_min": {
|
| 239 |
+
"kind": "official",
|
| 240 |
+
"url": "https://bucket-download.slamtec.com/d1e428e7efbdcd65a8ea111061794fb8d4ccd3a0/LD108_SLAMTEC_rplidar_datasheet_A1M8_v3.0_en.pdf"
|
| 241 |
+
},
|
| 242 |
+
"lidar.fov": {
|
| 243 |
+
"kind": "official",
|
| 244 |
+
"url": "https://bucket-download.slamtec.com/d1e428e7efbdcd65a8ea111061794fb8d4ccd3a0/LD108_SLAMTEC_rplidar_datasheet_A1M8_v3.0_en.pdf"
|
| 245 |
+
},
|
| 246 |
+
"lidar.beams": {
|
| 247 |
+
"kind": "estimated",
|
| 248 |
+
"method": "1 beam per degree, close to the ~1 degree angular resolution of low-cost 2D LiDARs; the environment resamples to n_beams beams."
|
| 249 |
+
},
|
| 250 |
+
"footprint_simple": {
|
| 251 |
+
"kind": "estimated",
|
| 252 |
+
"method": "The Create 3 base is round; the manufacturer gives 342 x 339 mm -> a 342 mm diameter circle is used (enclosing)."
|
| 253 |
+
},
|
| 254 |
+
"import": {
|
| 255 |
+
"kind": "navsim",
|
| 256 |
+
"file": "turtlebot4.json"
|
| 257 |
+
}
|
| 258 |
+
},
|
| 259 |
+
"footprint_simple": {
|
| 260 |
+
"type": "circle",
|
| 261 |
+
"radius": 0.171
|
| 262 |
+
},
|
| 263 |
+
"r_circ": 0.1781,
|
| 264 |
+
"r_insc": 0.1614
|
| 265 |
+
}
|
navigation_tasks/robots/turtlebot4_lite.json
ADDED
|
@@ -0,0 +1,265 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": "1.0",
|
| 3 |
+
"id": "turtlebot4_lite",
|
| 4 |
+
"name": "Clearpath/iRobot TurtleBot 4 Lite",
|
| 5 |
+
"footprint": {
|
| 6 |
+
"type": "polygon",
|
| 7 |
+
"points": [
|
| 8 |
+
[
|
| 9 |
+
-0.0074,
|
| 10 |
+
-0.1654
|
| 11 |
+
],
|
| 12 |
+
[
|
| 13 |
+
-0.0024,
|
| 14 |
+
-0.1614
|
| 15 |
+
],
|
| 16 |
+
[
|
| 17 |
+
0.0016,
|
| 18 |
+
-0.1644
|
| 19 |
+
],
|
| 20 |
+
[
|
| 21 |
+
0.0016,
|
| 22 |
+
-0.1664
|
| 23 |
+
],
|
| 24 |
+
[
|
| 25 |
+
0.0326,
|
| 26 |
+
-0.1704
|
| 27 |
+
],
|
| 28 |
+
[
|
| 29 |
+
0.0466,
|
| 30 |
+
-0.1704
|
| 31 |
+
],
|
| 32 |
+
[
|
| 33 |
+
0.0636,
|
| 34 |
+
-0.1664
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.0846,
|
| 38 |
+
-0.1564
|
| 39 |
+
],
|
| 40 |
+
[
|
| 41 |
+
0.1166,
|
| 42 |
+
-0.1334
|
| 43 |
+
],
|
| 44 |
+
[
|
| 45 |
+
0.1386,
|
| 46 |
+
-0.1114
|
| 47 |
+
],
|
| 48 |
+
[
|
| 49 |
+
0.1546,
|
| 50 |
+
-0.0884
|
| 51 |
+
],
|
| 52 |
+
[
|
| 53 |
+
0.1656,
|
| 54 |
+
-0.0654
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.1756,
|
| 58 |
+
-0.0274
|
| 59 |
+
],
|
| 60 |
+
[
|
| 61 |
+
0.1776,
|
| 62 |
+
-0.0054
|
| 63 |
+
],
|
| 64 |
+
[
|
| 65 |
+
0.1756,
|
| 66 |
+
0.0276
|
| 67 |
+
],
|
| 68 |
+
[
|
| 69 |
+
0.1656,
|
| 70 |
+
0.0656
|
| 71 |
+
],
|
| 72 |
+
[
|
| 73 |
+
0.1526,
|
| 74 |
+
0.0916
|
| 75 |
+
],
|
| 76 |
+
[
|
| 77 |
+
0.1306,
|
| 78 |
+
0.1206
|
| 79 |
+
],
|
| 80 |
+
[
|
| 81 |
+
0.1106,
|
| 82 |
+
0.1386
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.0876,
|
| 86 |
+
0.1546
|
| 87 |
+
],
|
| 88 |
+
[
|
| 89 |
+
0.0566,
|
| 90 |
+
0.1686
|
| 91 |
+
],
|
| 92 |
+
[
|
| 93 |
+
0.0326,
|
| 94 |
+
0.1706
|
| 95 |
+
],
|
| 96 |
+
[
|
| 97 |
+
0.0016,
|
| 98 |
+
0.1656
|
| 99 |
+
],
|
| 100 |
+
[
|
| 101 |
+
0.0016,
|
| 102 |
+
0.1636
|
| 103 |
+
],
|
| 104 |
+
[
|
| 105 |
+
-0.0014,
|
| 106 |
+
0.1616
|
| 107 |
+
],
|
| 108 |
+
[
|
| 109 |
+
-0.0074,
|
| 110 |
+
0.1656
|
| 111 |
+
],
|
| 112 |
+
[
|
| 113 |
+
-0.0324,
|
| 114 |
+
0.1626
|
| 115 |
+
],
|
| 116 |
+
[
|
| 117 |
+
-0.0524,
|
| 118 |
+
0.1576
|
| 119 |
+
],
|
| 120 |
+
[
|
| 121 |
+
-0.0824,
|
| 122 |
+
0.1436
|
| 123 |
+
],
|
| 124 |
+
[
|
| 125 |
+
-0.1054,
|
| 126 |
+
0.1276
|
| 127 |
+
],
|
| 128 |
+
[
|
| 129 |
+
-0.1224,
|
| 130 |
+
0.1116
|
| 131 |
+
],
|
| 132 |
+
[
|
| 133 |
+
-0.1314,
|
| 134 |
+
0.1006
|
| 135 |
+
],
|
| 136 |
+
[
|
| 137 |
+
-0.1444,
|
| 138 |
+
0.0806
|
| 139 |
+
],
|
| 140 |
+
[
|
| 141 |
+
-0.1544,
|
| 142 |
+
0.0606
|
| 143 |
+
],
|
| 144 |
+
[
|
| 145 |
+
-0.1594,
|
| 146 |
+
0.0456
|
| 147 |
+
],
|
| 148 |
+
[
|
| 149 |
+
-0.1654,
|
| 150 |
+
0.0066
|
| 151 |
+
],
|
| 152 |
+
[
|
| 153 |
+
-0.1634,
|
| 154 |
+
-0.0254
|
| 155 |
+
],
|
| 156 |
+
[
|
| 157 |
+
-0.1594,
|
| 158 |
+
-0.0454
|
| 159 |
+
],
|
| 160 |
+
[
|
| 161 |
+
-0.1544,
|
| 162 |
+
-0.0604
|
| 163 |
+
],
|
| 164 |
+
[
|
| 165 |
+
-0.1404,
|
| 166 |
+
-0.0874
|
| 167 |
+
],
|
| 168 |
+
[
|
| 169 |
+
-0.1224,
|
| 170 |
+
-0.1114
|
| 171 |
+
],
|
| 172 |
+
[
|
| 173 |
+
-0.1054,
|
| 174 |
+
-0.1274
|
| 175 |
+
],
|
| 176 |
+
[
|
| 177 |
+
-0.0934,
|
| 178 |
+
-0.1364
|
| 179 |
+
],
|
| 180 |
+
[
|
| 181 |
+
-0.0624,
|
| 182 |
+
-0.1534
|
| 183 |
+
],
|
| 184 |
+
[
|
| 185 |
+
-0.0334,
|
| 186 |
+
-0.1624
|
| 187 |
+
]
|
| 188 |
+
]
|
| 189 |
+
},
|
| 190 |
+
"height": 0.192,
|
| 191 |
+
"height_class": "h36",
|
| 192 |
+
"drive": "differential",
|
| 193 |
+
"limits": {
|
| 194 |
+
"v_max": 0.31,
|
| 195 |
+
"v_min": -0.31,
|
| 196 |
+
"vy_max": 0.0,
|
| 197 |
+
"w_max": 1.9
|
| 198 |
+
},
|
| 199 |
+
"lidar": {
|
| 200 |
+
"model": "SLAMTEC RPLIDAR A1M8",
|
| 201 |
+
"range_min": 0.15,
|
| 202 |
+
"range_max": 12.0,
|
| 203 |
+
"fov": 6.2832,
|
| 204 |
+
"beams": 360
|
| 205 |
+
},
|
| 206 |
+
"sources": {
|
| 207 |
+
"footprint": {
|
| 208 |
+
"kind": "official",
|
| 209 |
+
"url": "https://github.com/turtlebot/turtlebot4/blob/humble/turtlebot4_description/urdf/lite/turtlebot4.urdf.xacro",
|
| 210 |
+
"method": "every visual geometry of the URDF (joints = 0) projected onto the floor of frame 'base_link' at 1 mm, outer outline, simplified to 1 mm (hm3d robots import-urdf)"
|
| 211 |
+
},
|
| 212 |
+
"height": {
|
| 213 |
+
"kind": "official",
|
| 214 |
+
"url": "https://turtlebot.github.io/turtlebot4-user-manual/overview/features.html"
|
| 215 |
+
},
|
| 216 |
+
"limits.v_max": {
|
| 217 |
+
"kind": "official",
|
| 218 |
+
"url": "https://turtlebot.github.io/turtlebot4-user-manual/overview/features.html",
|
| 219 |
+
"note": "default safe mode"
|
| 220 |
+
},
|
| 221 |
+
"limits.v_min": {
|
| 222 |
+
"kind": "estimated",
|
| 223 |
+
"method": "The manufacturer only publishes the maximum speed; the maximum reverse speed is assumed equal to it."
|
| 224 |
+
},
|
| 225 |
+
"limits.vy_max": {
|
| 226 |
+
"kind": "official",
|
| 227 |
+
"url": "https://turtlebot.github.io/turtlebot4-user-manual/overview/features.html",
|
| 228 |
+
"note": "differential drive"
|
| 229 |
+
},
|
| 230 |
+
"limits.w_max": {
|
| 231 |
+
"kind": "official",
|
| 232 |
+
"url": "https://turtlebot.github.io/turtlebot4-user-manual/overview/features.html"
|
| 233 |
+
},
|
| 234 |
+
"lidar": {
|
| 235 |
+
"kind": "official",
|
| 236 |
+
"url": "https://turtlebot.github.io/turtlebot4-user-manual/overview/features.html"
|
| 237 |
+
},
|
| 238 |
+
"lidar.range_min": {
|
| 239 |
+
"kind": "official",
|
| 240 |
+
"url": "https://bucket-download.slamtec.com/d1e428e7efbdcd65a8ea111061794fb8d4ccd3a0/LD108_SLAMTEC_rplidar_datasheet_A1M8_v3.0_en.pdf"
|
| 241 |
+
},
|
| 242 |
+
"lidar.fov": {
|
| 243 |
+
"kind": "official",
|
| 244 |
+
"url": "https://bucket-download.slamtec.com/d1e428e7efbdcd65a8ea111061794fb8d4ccd3a0/LD108_SLAMTEC_rplidar_datasheet_A1M8_v3.0_en.pdf"
|
| 245 |
+
},
|
| 246 |
+
"lidar.beams": {
|
| 247 |
+
"kind": "estimated",
|
| 248 |
+
"method": "1 beam per degree, close to the ~1 degree angular resolution of low-cost 2D LiDARs; the environment resamples to n_beams beams."
|
| 249 |
+
},
|
| 250 |
+
"footprint_simple": {
|
| 251 |
+
"kind": "estimated",
|
| 252 |
+
"method": "The Create 3 base is round; the manufacturer gives 342 x 339 mm -> a 342 mm diameter circle is used (enclosing)."
|
| 253 |
+
},
|
| 254 |
+
"import": {
|
| 255 |
+
"kind": "navsim",
|
| 256 |
+
"file": "turtlebot4_lite.json"
|
| 257 |
+
}
|
| 258 |
+
},
|
| 259 |
+
"footprint_simple": {
|
| 260 |
+
"type": "circle",
|
| 261 |
+
"radius": 0.171
|
| 262 |
+
},
|
| 263 |
+
"r_circ": 0.1781,
|
| 264 |
+
"r_insc": 0.1614
|
| 265 |
+
}
|