schema_version: tractor-trailer-parking-benchmark-protocol/3
task: tractor_trailer
suite: parking
scenario_bank:
  default_path: configs/parking/benchmark/data/tractor_trailer_parking_cases.json
  schema_version: parking-tractor-trailer-scenarios/1
  seed: 8192
  num_cases: 96
  payload_sha256: 1acbd2a881646156540f1b92965d3a337c7ee31e8b2d7dc3bb87c87fe4e332fa
  file_sha256: 5db4683befb1d0d7b1dca33bfbdfd22c366656b27cf3dc05043dca980856997f
  simulator_revision: d22c79f66c8be294d8439840def9f7b598f61bad
  materializer_schema_version: parking-tractor-trailer-materializer/1
  materializer_sha256: 0f79c59e1435b6519d921ebb81b81b1606fc491d22a241f3e3a4029cc7572ca2
  materialized_cases_sha256: ad714150e98139b4bd364f90c2c4b822ed2f8c0f322c8c44d35fa867e4487e52
  physical_width_m: 30.0
  physical_height_m: 30.0
evaluation:
  fixed_seed: 8192
  max_simulation_steps: 300
  goal_heading_mode: axial_two_pose
  success_tolerances:
    position_m: 0.8
    tractor_heading_deg: 15.0
    trailer_heading_deg: 15.0
  safety:
    occupancy_threshold: 0.5
    occupancy_dilation_pixels: 0
    occupancy_certification_horizon: 8
    jackknife_limit_deg: 60.0