diff --git a/navigation_tasks/README.md b/navigation_tasks/README.md new file mode 100644 index 0000000000000000000000000000000000000000..fd88f310557c1d260d21dbdd7d888266ee8c78bb --- /dev/null +++ b/navigation_tasks/README.md @@ -0,0 +1,49 @@ +# ISB Nav Dataset v2: balanced grid tasks + +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. + +- 4,818 tasks per physical map scale (2,3,4,5,6,8,10,12,15,17 metres). +- At every scale: 1,606 short, 1,606 medium, 1,606 long routes. +- Difficulty: 28,908 easy / 14,454 medium / 4,818 hard (60/30/10). +- 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. +- Route length ranges from 0.325 to 38.0 metres in this sampled set. +- Distinct ordered start-goal pairs within each grid. Reversed routes count as different tasks. + +## Read the dataset + +`manifest.json` is schema 2.0. Tasks are in tasks//.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. + +```python +from navsim.data.dataset import Dataset + +ds = Dataset(r"version_2/navigation_tasks") +robot = "jetauto_pro" +map_id = ds.maps(robot, split=None)[0] +tasks = ds.tasks(robot, map_id) +path = tasks[0]["path_cells"] +``` + +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. + +Relative length uses the graph diameter D: short d<=D/3, medium D/32D/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. + +## Trainer splitting + +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. + +## Verification + +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. + +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. + +## Reproduce + +From Isaac-Scene-Builder, with the 2D_Navigation_Sim Python environment: + +```powershell +python -B tools/export_balanced_tasks.py --out version_2/another-balanced-export +python -B tools/audit_balanced_tasks.py --root version_2/another-balanced-export +``` + +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. diff --git a/navigation_tasks/grids/scene_17m_081__clearpath_husky.npz b/navigation_tasks/grids/scene_17m_081__clearpath_husky.npz new file mode 100644 index 0000000000000000000000000000000000000000..c94176a60fdb2f1b4622385ec7c9f43db59d0fdf --- /dev/null +++ b/navigation_tasks/grids/scene_17m_081__clearpath_husky.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68d3cd4a565e0dd9b940a62a8b4385e78f88847ca767757da5c9884891301605 +size 603 diff --git a/navigation_tasks/grids/scene_17m_082__clearpath_husky.json b/navigation_tasks/grids/scene_17m_082__clearpath_husky.json new file mode 100644 index 0000000000000000000000000000000000000000..4bdb60f769ba6bc5464c5fe6a21d3cf0e39a7370 --- /dev/null +++ b/navigation_tasks/grids/scene_17m_082__clearpath_husky.json @@ -0,0 +1,116 @@ +{ + "schema_version": "isb-nav.grid-capacity/1", + "map_id": "scene_17m_082__clearpath_husky", + "robot": "clearpath_husky", + "cell_m": 1.0, + "res": 0.025, + "lo": [ + -0.2, + -0.2, + 0 + ], + "H": 696, + "ua": 0, + "va": 1, + "up": 2, + "floor_z": 0, + "shape": [ + 7, + 8 + ], + "k": 40, + "oy": 0, + "ox": 10, + "r0": 9, + "c0": 7, + "free_cells": 40, + "main_cells": 12, + "main_frac": 0.3, + "margin": 0.05, + "source_pgm": "version_2/3d_scenes/scene_17m_082/top_view_map.pgm", + "split": null, + "closed_border": true, + "signature": { + "version": 1, + "source_sha256": "e558ea589d1eb2dfc5791a8af55f805b70051c1612c376c436c6d9588b64d1a3", + "settings": { + "robots": [ + "jetauto_pro", + "jetbot", + "turtlebot3_burger", + "turtlebot3_waffle_pi", + "turtlebot4", + "turtlebot4_lite", + "clearpath_jackal", + "pal_tiago", + "clearpath_dingo", + "clearpath_ridgeback", + "clearpath_husky" + ], + "min_interior": 4, + "max_interior": 15, + "margin": 0.05, + "budget": 200, + "d_min": 1, + "slack": 20 + }, + "robot_sha256": "f296a47b6da49fcfc60cdb0df640f45c6d5551e5bea4a594d397ff0a42571ea8" + }, + "census_row": { + "scene_id": "scene_17m_082", + "size_m": 17.0, + "theme": "warehouse", + "robot": "clearpath_husky", + "cell_m": 1.0, + "nominal_interior": 15, + "status": "ready", + "map_id": "scene_17m_082", + "shape": [ + 7, + 8 + ], + "free_cells": 12, + "main_cells": 12, + "interior_h": 5, + "interior_w": 6, + "pairs": 132, + "diameter_steps": 9, + "diameter_m": 9.0, + "min_steps": 1, + "max_steps": 9, + "joint": [ + { + "level": "easy", + "length": "short", + "metres": "1-2", + "count": 22 + }, + { + "level": "easy", + "length": "short", + "metres": "2-4", + "count": 44 + }, + { + "level": "easy", + "length": "medium", + "metres": "4-8", + "count": 44 + }, + { + "level": "easy", + "length": "long", + "metres": "4-8", + "count": 10 + }, + { + "level": "easy", + "length": "long", + "metres": "8-16", + "count": 12 + } + ] + }, + "source_grid_id": "scene_17m_082", + "source_scene_id": "scene_17m_082" +} \ No newline at end of file diff --git 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The kinematic bound 2*v_max/track width is not used because it far exceeds the practical safe limit." + }, + "lidar": { + "kind": "estimated", + "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)." + }, + "lidar.beams": { + "kind": "estimated", + "method": "1 beam per degree, close to the ~1 degree angular resolution of low-cost 2D LiDARs; the environment resamples to n_beams beams." + }, + "footprint_simple": { + "kind": "official", + "url": "https://docs.clearpathrobotics.com/docs_robots/legacy/ros1_robots/indoor_robots/dingo/user_manual_dingo", + "note": "Dingo-D: 551 x 517 x 110 mm (Dingo-O: 686 x 517 x 114 mm)" + }, + "import": { + "kind": "navsim", + "file": "clearpath_dingo.json" + } + }, + "footprint_simple": { + "type": "rectangle", + "length": 0.551, + "width": 0.517 + }, + "r_circ": 0.3175, + "r_insc": 0.2584 +} \ No newline at end of file diff --git a/navigation_tasks/robots/clearpath_husky.json b/navigation_tasks/robots/clearpath_husky.json new file mode 100644 index 0000000000000000000000000000000000000000..cd1cd182382c5ed17b448943a3ced01aebd2f696 --- /dev/null +++ b/navigation_tasks/robots/clearpath_husky.json @@ -0,0 +1,289 @@ +{ + "schema_version": "1.0", + "id": "clearpath_husky", + "name": "Clearpath Husky A200 UGV", + "footprint": { + "type": "polygon", + "points": [ + [ + -0.0817, + -0.3346 + ], + [ + -0.0797, + -0.3326 + ], + [ + -0.0807, + -0.3046 + ], + [ + -0.0797, + -0.2996 + ], + [ + -0.0767, + -0.2976 + ], + [ + 0.0763, + -0.2976 + ], + [ + 0.0803, + -0.3006 + ], + [ + 0.0813, + -0.3066 + ], + [ + 0.0813, + -0.3346 + ], + [ + 0.4303, + -0.3346 + ], + [ + 0.4323, + -0.3326 + ], + [ + 0.4313, + -0.3046 + ], + [ + 0.4333, + -0.2956 + ], + [ + 0.4333, + -0.2556 + ], + [ + 0.4363, + -0.2536 + ], + [ + 0.4533, + -0.2666 + ], + [ + 0.4833, + -0.2286 + ], + [ + 0.4893, + -0.2146 + ], + [ + 0.4923, + -0.2006 + ], + [ + 0.4923, + 0.2004 + ], + [ + 0.4903, + 0.2114 + ], + [ + 0.4833, + 0.2284 + ], + [ + 0.4703, + 0.2474 + ], + [ + 0.4533, + 0.2674 + ], + [ + 0.4353, + 0.2524 + ], + [ + 0.4323, + 0.2544 + ], + [ + 0.4323, + 0.3344 + ], + [ + 0.0803, + 0.3344 + ], + [ + 0.0783, + 0.3264 + ], + [ + 0.0783, + 0.2944 + ], + [ + 0.0753, + 0.2924 + ], + [ + -0.0757, + 0.2924 + ], + [ + -0.0787, + 0.2944 + ], + [ + -0.0797, + 0.3344 + ], + [ + -0.4317, + 0.3344 + ], + [ + -0.4337, + 0.3264 + ], + [ + -0.4327, + 0.2554 + ], + [ + -0.4357, + 0.2534 + ], + [ + -0.4527, + 0.2674 + ], + [ + -0.4787, + 0.2364 + ], + [ + -0.4877, + 0.2174 + ], + [ + -0.4927, + 0.1984 + ], + [ + -0.4927, + -0.1986 + ], + [ + -0.4877, + -0.2176 + ], + [ + -0.4787, + -0.2356 + ], + [ + -0.4527, + -0.2666 + ], + [ + -0.4407, + -0.2566 + ], + [ + -0.4367, + -0.2546 + ], + [ + -0.4337, + -0.2566 + ], + [ + -0.4337, + -0.2936 + ], + [ + -0.4307, + -0.3066 + ], + [ + -0.4317, + -0.3336 + ] + ] + }, + "height": 0.39, + "height_class": "h63", + "drive": "differential", + "limits": { + "v_max": 1.0, + "v_min": -1.0, + "vy_max": 0.0, + "w_max": 1.0 + }, + "lidar": { + "model": "SICK LMS111", + "range_min": 0.5, + "range_max": 20.0, + "fov": 4.7124, + "beams": 270 + }, + "sources": { + "footprint": { + "kind": "official", + "url": "https://github.com/husky/husky/blob/noetic-devel/husky_description/urdf/husky.urdf.xacro", + "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)" + }, + "height": { + "kind": "official", + "url": "https://clearpathrobotics.com/husky-spec-comparison/", + "note": "A200: 390 mm, without sensor arch" + }, + "limits.v_max": { + "kind": "official", + "url": "https://clearpathrobotics.com/husky-spec-comparison/", + "note": "A200: 1.0 m/s" + }, + "limits.v_min": { + "kind": "estimated", + "method": "The manufacturer only publishes the maximum speed; the maximum reverse speed is assumed equal to it." + }, + "limits.vy_max": { + "kind": "official", + "url": "https://clearpathrobotics.com/husky-spec-comparison/", + "note": "skid-steer, modelled as differential drive" + }, + "limits.w_max": { + "kind": "estimated", + "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." + }, + "lidar": { + "kind": "official", + "url": "https://github.com/husky/husky/blob/noetic-devel/husky_description/urdf/husky.urdf.xacro", + "note": "the URDF's front laser option is a SICK LMS1xx (HUSKY_LMS1XX_ENABLED); LMS111: 0.5-20 m, 270 degrees" + }, + "lidar.beams": { + "kind": "estimated", + "method": "1 beam per degree, close to the ~1 degree angular resolution of low-cost 2D LiDARs; the environment resamples to n_beams beams." + }, + "footprint_simple": { + "kind": "official", + "url": "https://clearpathrobotics.com/husky-spec-comparison/", + "note": "A200: 990 x 670 x 390 mm" + }, + "import": { + "kind": "navsim", + "file": "clearpath_husky.json" + } + }, + "footprint_simple": { + "type": "rectangle", + "length": 0.99, + "width": 0.67 + }, + "r_circ": 0.5465, + "r_insc": 0.2924 +} \ No newline at end of file diff --git a/navigation_tasks/robots/clearpath_jackal.json b/navigation_tasks/robots/clearpath_jackal.json new file mode 100644 index 0000000000000000000000000000000000000000..6c4a265b99389834782df38d4ed5c522fd1e99be --- /dev/null +++ b/navigation_tasks/robots/clearpath_jackal.json @@ -0,0 +1,197 @@ +{ + "schema_version": "1.0", + "id": "clearpath_jackal", + "name": "Clearpath Jackal UGV", + "footprint": { + "type": "polygon", + "points": [ + [ + -0.2133, + -0.215 + ], + [ + 0.2127, + -0.215 + ], + [ + 0.2267, + -0.203 + ], + [ + 0.2297, + -0.195 + ], + [ + 0.2327, + -0.192 + ], + [ + 0.2357, + -0.165 + ], + [ + 0.2407, + -0.158 + ], + [ + 0.2437, + -0.101 + ], + [ + 0.2557, + -0.013 + ], + [ + 0.2557, + 0.013 + ], + [ + 0.2437, + 0.102 + ], + [ + 0.2407, + 0.158 + ], + [ + 0.2357, + 0.165 + ], + [ + 0.2337, + 0.188 + ], + [ + 0.2267, + 0.203 + ], + [ + 0.2127, + 0.215 + ], + [ + -0.2133, + 0.215 + ], + [ + -0.2173, + 0.21 + ], + [ + -0.2203, + 0.209 + ], + [ + -0.2263, + 0.203 + ], + [ + -0.2323, + 0.192 + ], + [ + -0.2363, + 0.162 + ], + [ + -0.2403, + 0.159 + ], + [ + -0.2443, + 0.094 + ], + [ + -0.2553, + 0.013 + ], + [ + -0.2553, + -0.013 + ], + [ + -0.2443, + -0.094 + ], + [ + -0.2403, + -0.159 + ], + [ + -0.2363, + -0.162 + ], + [ + -0.2333, + -0.188 + ], + [ + -0.2263, + -0.203 + ] + ] + }, + "height": 0.25, + "height_class": "h36", + "drive": "differential", + "limits": { + "v_max": 2.0, + "v_min": -2.0, + "vy_max": 0.0, + "w_max": 1.0 + }, + "lidar": { + "model": "generic RPLIDAR A1M8", + "range_min": 0.15, + "range_max": 12.0, + "fov": 6.2832, + "beams": 360 + }, + "sources": { + "footprint": { + "kind": "official", + "url": "https://github.com/jackal/jackal/blob/noetic-devel/jackal_description/urdf/jackal.urdf.xacro", + "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)" + }, + "height": { + "kind": "official", + "url": "https://www.clearpathrobotics.com/wp-content/uploads/2015/06/Jackal_Brochure_2014-web.pdf" + }, + "limits.v_max": { + "kind": "official", + "url": "https://www.clearpathrobotics.com/wp-content/uploads/2015/06/Jackal_Brochure_2014-web.pdf" + }, + "limits.v_min": { + "kind": "estimated", + "method": "The manufacturer only publishes the maximum speed; the maximum reverse speed is assumed equal to it." + }, + "limits.vy_max": { + "kind": "official", + "url": "https://www.clearpathrobotics.com/wp-content/uploads/2015/06/Jackal_Brochure_2014-web.pdf", + "note": "skid-steer, modelled as differential drive" + }, + "limits.w_max": { + "kind": "estimated", + "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." + }, + "lidar": { + "kind": "estimated", + "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)." + }, + "footprint_simple": { + "kind": "official", + "url": "https://www.clearpathrobotics.com/wp-content/uploads/2015/06/Jackal_Brochure_2014-web.pdf" + }, + "import": { + "kind": "navsim", + "file": "clearpath_jackal.json" + } + }, + "footprint_simple": { + "type": "rectangle", + "length": 0.508, + "width": 0.43 + }, + "r_circ": 0.3043, + "r_insc": 0.215 +} \ No newline at end of file diff --git a/navigation_tasks/robots/clearpath_ridgeback.json b/navigation_tasks/robots/clearpath_ridgeback.json new file mode 100644 index 0000000000000000000000000000000000000000..f04230e6d5af665a559d80332ab237d72d29f9a8 --- /dev/null +++ b/navigation_tasks/robots/clearpath_ridgeback.json @@ -0,0 +1,267 @@ +{ + "schema_version": "1.0", + "id": "clearpath_ridgeback", + "name": "Clearpath Ridgeback (mecanum)", + "footprint": { + "type": "polygon", + "points": [ + [ + -0.3612, + -0.3676 + ], + [ + -0.3462, + -0.3776 + ], + [ + -0.3222, + -0.3886 + ], + [ + -0.3042, + -0.3936 + ], + [ + -0.2382, + -0.3946 + ], + [ + -0.2352, + -0.3966 + ], + [ + 0.2348, + -0.3966 + ], + [ + 0.2378, + -0.3946 + ], + [ + 0.2928, + -0.3946 + ], + [ + 0.3048, + -0.3936 + ], + [ + 0.3258, + -0.3876 + ], + [ + 0.3458, + -0.3776 + ], + [ + 0.3698, + -0.3596 + ], + [ + 0.3798, + -0.3496 + ], + [ + 0.3908, + -0.3346 + ], + [ + 0.3998, + -0.3166 + ], + [ + 0.4068, + -0.2956 + ], + [ + 0.4628, + -0.0336 + ], + [ + 0.4658, + -0.0126 + ], + [ + 0.4658, + 0.0134 + ], + [ + 0.4638, + 0.0284 + ], + [ + 0.4088, + 0.2874 + ], + [ + 0.3998, + 0.3164 + ], + [ + 0.3908, + 0.3344 + ], + [ + 0.3798, + 0.3494 + ], + [ + 0.3608, + 0.3674 + ], + [ + 0.3458, + 0.3774 + ], + [ + 0.3258, + 0.3874 + ], + [ + 0.3048, + 0.3934 + ], + [ + 0.2868, + 0.3954 + ], + [ + -0.2872, + 0.3954 + ], + [ + -0.3042, + 0.3934 + ], + [ + -0.3252, + 0.3874 + ], + [ + -0.3462, + 0.3774 + ], + [ + -0.3612, + 0.3674 + ], + [ + -0.3792, + 0.3494 + ], + [ + -0.3912, + 0.3334 + ], + [ + -0.4012, + 0.3134 + ], + [ + -0.4072, + 0.2954 + ], + [ + -0.4632, + 0.0334 + ], + [ + -0.4662, + 0.0134 + ], + [ + -0.4662, + -0.0126 + ], + [ + -0.4642, + -0.0286 + ], + [ + -0.4092, + -0.2866 + ], + [ + -0.4002, + -0.3156 + ], + [ + -0.3912, + -0.3336 + ], + [ + -0.3792, + -0.3496 + ] + ] + }, + "height": 0.311, + "height_class": "h36", + "drive": "omnidirectional", + "limits": { + "v_max": 1.1, + "v_min": -1.1, + "vy_max": 1.1, + "w_max": 1.0 + }, + "lidar": { + "model": "Hokuyo UST-10LX", + "range_min": 0.06, + "range_max": 10.0, + "fov": 4.7124, + "beams": 270 + }, + "sources": { + "footprint": { + "kind": "official", + "url": "https://github.com/ridgeback/ridgeback/blob/melodic-devel/ridgeback_description/urdf/ridgeback.urdf.xacro", + "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)" + }, + "height": { + "kind": "official", + "url": "https://clearpathrobotics.com/ridgeback-indoor-robot-platform/", + "note": "311 mm in the spec table (the feature text says 30 cm)" + }, + "limits.v_max": { + "kind": "official", + "url": "https://clearpathrobotics.com/ridgeback-indoor-robot-platform/" + }, + "limits.v_min": { + "kind": "estimated", + "method": "The manufacturer only publishes the maximum speed; the maximum reverse speed is assumed equal to it." + }, + "limits.vy_max": { + "kind": "estimated", + "method": "Mecanum; taken equal to v_max." + }, + "limits.w_max": { + "kind": "estimated", + "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). 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The kinematic bound 2*v_max/track width is not used because it far exceeds the practical safe limit." + }, + "lidar": { + "kind": "estimated", + "method": "JetAuto comes with a SLAMTEC A1 or an EAI G4 option; the A1M8 is used (0.15-12 m per the SLAMTEC datasheet)." + }, + "import": { + "kind": "navsim", + "file": "jetauto_pro.json" + } + }, + "r_circ": 0.1923, + "r_insc": 0.0738 +} \ No newline at end of file diff --git a/navigation_tasks/robots/jetbot.json b/navigation_tasks/robots/jetbot.json new file mode 100644 index 0000000000000000000000000000000000000000..a88af86cc18da8bf69633e339159ab3f1c76beee --- /dev/null +++ b/navigation_tasks/robots/jetbot.json @@ -0,0 +1,147 @@ +{ + "schema_version": "1.0", + "id": "jetbot", + "name": "NVIDIA JetBot", + "drive": "differential", + "limits": { + "v_max": 0.2, + "v_min": -0.2, + "w_max": 2.0 + }, + "lidar": null, + "sources": { + "height": { + "kind": "measured", + "method": "Mesh z range of jetbot.usd (wheels to antennas)." + }, + "limits": { + "kind": "estimated", + "method": "Isaac jetbot differential example (wheel_radius 0.03, wheel_base 0.1125)." + }, + "footprint": { + "kind": "measured", + "file": "assets/JetBot/jetbot.usd", + "method": "Top-down outline of the robot meshes (all heights), traced at 2 mm, simplified to 2 mm." + } + }, + "footprint": { + "type": "polygon", + "points": [ + [ + -0.091, + -0.0467 + ], + [ + -0.025, + -0.0487 + ], + [ + -0.035, + -0.0527 + ], + [ + -0.033, + -0.0667 + ], + [ + 0.033, + -0.0667 + ], + [ + 0.033, + -0.0507 + ], + [ + 0.005, + -0.0487 + ], + [ + 0.045, + -0.0487 + ], + [ + 0.047, + -0.0247 + ], + [ + 0.051, + -0.0247 + ], + [ + 0.051, + -0.0147 + ], + [ + 0.061, + -0.0127 + ], + [ + 0.061, + -0.0067 + ], + [ + 0.069, + -0.0087 + ], + [ + 0.071, + 0.0053 + ], + [ + 0.061, + 0.0073 + ], + [ + 0.059, + 0.0133 + ], + [ + 0.053, + 0.0133 + ], + [ + 0.049, + 0.0173 + ], + [ + 0.051, + 0.0233 + ], + [ + 0.047, + 0.0233 + ], + [ + 0.047, + 0.0453 + ], + [ + 0.045, + 0.0493 + ], + [ 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"https://github.com/pal-robotics/tiago_robot/blob/humble-devel/tiago_description/robots/tiago.urdf.xacro", + "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)" + }, + "height": { + "kind": "official", + "url": "https://docs.pal-robotics.com/25.01/hardware/tiago/hardware-overview.html", + "note": "110-145 cm; the highest setting is used (torso raised)" + }, + "limits.v_max": { + "kind": "official", + "url": "https://docs.pal-robotics.com/edge/hardware/tiago/mobile-base" + }, + "limits.v_min": { + "kind": "estimated", + "method": "The manufacturer only publishes the maximum speed; the maximum reverse speed is assumed equal to it." + }, + "limits.vy_max": { + "kind": "official", + "url": "https://docs.pal-robotics.com/edge/hardware/tiago/mobile-base", + "note": "differential drive" + }, + "limits.w_max": { + "kind": "estimated", + "method": "The 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The kinematic bound 2*v_max/track width is not used because it far exceeds the practical safe limit." + }, + "lidar": { + "kind": "official", + "url": "https://docs.pal-robotics.com/edge/hardware/tiago/mobile-base", + "note": "one of three laser options; the TiM561 (0.05-10 m) is used" + }, + "lidar.fov": { + "kind": "estimated", + "method": "The SICK TiM5xx series scans 270 degrees; not yet checked against the datasheet." + }, + "lidar.beams": { + "kind": "estimated", + "method": "1 beam per degree, close to the ~1 degree angular resolution of low-cost 2D LiDARs; the environment resamples to n_beams beams." + }, + "footprint_simple": { + "kind": "official", + "url": "https://docs.pal-robotics.com/edge/hardware/tiago/mobile-base", + "note": "Base footprint 54 cm" + }, + "import": { + "kind": "navsim", + "file": "pal_tiago.json" + } + }, + "footprint_simple": { + "type": "circle", + "radius": 0.27 + }, + "r_circ": 0.3161, + "r_insc": 0.2646 +} \ No newline at end of file diff --git a/navigation_tasks/robots/turtlebot3_burger.json b/navigation_tasks/robots/turtlebot3_burger.json new file mode 100644 index 0000000000000000000000000000000000000000..56c1bc1256af896d409fed1b6a2dc9a7348508ff --- /dev/null +++ b/navigation_tasks/robots/turtlebot3_burger.json @@ -0,0 +1,325 @@ +{ + "schema_version": "1.0", + "id": "turtlebot3_burger", + "name": "ROBOTIS TurtleBot3 Burger", + "footprint": { + "type": "polygon", + "points": [ + [ + 0.0332, + -0.0881 + ], + [ + 0.0322, + -0.0711 + ], + [ + 0.0142, + -0.0711 + ], + [ + 0.0112, + -0.0691 + ], + [ + 0.0112, + -0.0631 + ], + [ + 0.0172, + -0.0511 + ], + [ + 0.0322, + -0.0421 + ], + [ + 0.0322, + -0.0311 + ], + [ + 0.0372, + -0.0261 + ], + [ + 0.0352, + -0.0161 + ], + [ + 0.0372, + -0.0141 + ], + [ + 0.0372, + -0.0101 + ], + [ + 0.0322, + -0.0051 + ], + [ + 0.0322, + 0.0049 + ], + [ + 0.0372, + 0.0099 + ], + [ + 0.0352, + 0.0199 + ], + [ + 0.0372, + 0.0219 + ], + [ + 0.0372, + 0.0259 + ], + [ + 0.0322, + 0.0309 + ], + [ + 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