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Adds Floor 5 and Floor 8 Green Room Scene Graphs for WUD Integration #288

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May 23, 2024
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91 changes: 91 additions & 0 deletions predicators/spot_utils/graph_nav_maps/floor5/metadata.yaml
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# Additional info associated with the map.
---
spot-home-pose:
x: 1.5
y: 0.7
angle: -0.3
# The info below is used to transform april tag x, y, z detections into object
# x, y, z. For example, if a tag is hanging off the side of a table, we would
# want to use the center of the table as the origin of the table object.
april-tag-offsets:
tag-408: # smooth table
x: 0.25
y: 0.1
z: -0.2
# Known immovable objects. Assuming default rotations.
known-immovable-objects:
smooth_table:
x: 0.72
y: 1.25
z: -0.42
floor:
x: 0.0
y: 0.0
z: -0.5
# Static object features, including the shapes and sizes of known objects.
static-object-features:
smooth_table:
shape: 2 # cylinder
height: 0.52
length: 0.51
width: 0.51
flat_top_surface: 1
placeable: 0
sticky_table:
shape: 2 # cylinder
height: 0.52
length: 0.51
width: 0.51
flat_top_surface: 1
placeable: 0
cube:
shape: 1 # cuboid
height: 0.083
length: 0.083
width: 0.083
placeable: 1
soda_can:
shape: 2
height: 0.114
length: 0.065
width: 0.065
placeable: 1
bike_seat:
shape: 2
height: 0.114
length: 0.065
width: 0.065
placeable: 1
mount_wall:
shape: 1 # cylinder
height: 0.52
length: 0.51
width: 0.51
flat_top_surface: 1
placeable: 0
floor:
shape: 1
height: 0.0001
length: 10000000 # effectively infinite
width: 10000000
flat_top_surface: 0
placeable: 0
white-table:
shape: 1
height: 0.74
length: 1.07
width: 0.51
flat_top_surface: 1
placeable: 0
bucket:
shape: 2
height: 0.4
width: 0.23
length: 0.23
placeable: 1
chair:
shape: 2
height: 0.8
length: 0.5
width: 0.5
placeable: 0
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Expand Up @@ -29,21 +29,27 @@ static-object-features:
height: 0.52
length: 0.51
width: 0.51
flat_top_surface: 1
placeable: 0
sticky_table:
shape: 2 # cylinder
height: 0.52
length: 0.51
width: 0.51
flat_top_surface: 1
placeable: 0
cube:
shape: 1 # cuboid
height: 0.083
length: 0.083
width: 0.083
placeable: 1
soda_can:
shape: 2
height: 0.114
length: 0.065
width: 0.065
placeable: 1
floor:
shape: 1
height: 0.0001
Expand All @@ -54,13 +60,17 @@ static-object-features:
height: 0.74
length: 1.07
width: 0.51
flat_top_surface: 1
placeable: 0
bucket:
shape: 2
height: 0.4
width: 0.23
length: 0.23
placeable: 1
chair:
shape: 2
height: 0.8
length: 0.5
width: 0.5
placeable: 0
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# Additional info associated with the map.
---
spot-home-pose:
x: 1.5
y: 0.7
angle: -0.3
# The info below is used to transform april tag x, y, z detections into object
# x, y, z. For example, if a tag is hanging off the side of a table, we would
# want to use the center of the table as the origin of the table object.
april-tag-offsets:
tag-408: # smooth table
x: 0.25
y: 0.1
z: -0.2
# Known immovable objects. Assuming default rotations.
known-immovable-objects:
smooth_table:
x: 0.72
y: 1.25
z: -0.42
floor:
x: 0.0
y: 0.0
z: -0.5
# Static object features, including the shapes and sizes of known objects.
static-object-features:
smooth_table:
shape: 2 # cylinder
height: 0.52
length: 0.51
width: 0.51
flat_top_surface: 1
placeable: 0
sticky_table:
shape: 2 # cylinder
height: 0.52
length: 0.51
width: 0.51
flat_top_surface: 1
placeable: 0
cube:
shape: 1 # cuboid
height: 0.083
length: 0.083
width: 0.083
placeable: 1
soda_can:
shape: 2
height: 0.114
length: 0.065
width: 0.065
placeable: 1
floor:
shape: 1
height: 0.0001
length: 10000000 # effectively infinite
width: 10000000
flat_top_surface: 0
placeable: 0
white-table:
shape: 1
height: 0.74
length: 1.07
width: 0.51
flat_top_surface: 1
placeable: 0
bucket:
shape: 2
height: 0.4
width: 0.23
length: 0.23
placeable: 1
chair:
shape: 2
height: 0.8
length: 0.5
width: 0.5
placeable: 0
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