From 99d71414cd15a0095c4e351fdf3011d794b3383c Mon Sep 17 00:00:00 2001 From: Chong Tian En Date: Fri, 16 Oct 2020 17:34:41 +0800 Subject: [PATCH 01/25] Added Fred's office crowd sim demo --- demos/launch/office_cdsm.launch.xml | 51 +++++ rmf_demo_maps/CMakeLists.txt | 12 ++ .../maps/office/office.building.yaml | 193 +++++++++++++++--- 3 files changed, 222 insertions(+), 34 deletions(-) create mode 100644 demos/launch/office_cdsm.launch.xml diff --git a/demos/launch/office_cdsm.launch.xml b/demos/launch/office_cdsm.launch.xml new file mode 100644 index 00000000..3d278d60 --- /dev/null +++ b/demos/launch/office_cdsm.launch.xml @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/rmf_demo_maps/CMakeLists.txt b/rmf_demo_maps/CMakeLists.txt index 0e93ae0b..bbb2d346 100644 --- a/rmf_demo_maps/CMakeLists.txt +++ b/rmf_demo_maps/CMakeLists.txt @@ -47,6 +47,18 @@ foreach(path ${traffic_editor_paths}) DEPENDS ${output_world_path} ) + # second, generate the navmesh and required files + set(crowd_sim_config_resource ${output_dir}/config_resource/) + + add_custom_command( + OUTPUT ${world_name}_crowdsim + COMMAND ros2 run building_map_tools building_crowdsim ${map_path} ${crowd_sim_config_resource} ${output_world_path} + DEPENDS ${output_world_path} + ) + add_custom_target(generate_${world_name}_crowdsim ALL + DEPENDS ${world_name}_crowdsim + ) + # now, generate the nav graphs set(output_nav_graphs_dir ${output_dir}/nav_graphs/) set(output_nav_graphs_phony ${output_nav_graphs_dir}/phony) diff --git a/rmf_demo_maps/maps/office/office.building.yaml b/rmf_demo_maps/maps/office/office.building.yaml index 49f2ce9e..dbf9e386 100644 --- a/rmf_demo_maps/maps/office/office.building.yaml +++ b/rmf_demo_maps/maps/office/office.building.yaml @@ -1,3 +1,43 @@ +crowd_sim: + agent_groups: + - {agents_name: [tinyRobot2, tinyRobot1], agents_number: 2, group_id: 0, profile_selector: external_agent, state_selector: external_static, x: 0, y: 0} + - {agents_name: [], agents_number: 2, group_id: 1, profile_selector: human, state_selector: entry_lane, x: 13.16, y: -3.679} + - {agents_name: [], agents_number: 1, group_id: 2, profile_selector: human, state_selector: table_area, x: 13.39, y: -7.145} + - {agents_name: [], agents_number: 1, group_id: 3, profile_selector: human, state_selector: conf1, x: 22.67, y: -5.497} + - {agents_name: [], agents_number: 1, group_id: 4, profile_selector: human, state_selector: conf2, x: 6.14, y: -5.144} + agent_profiles: + - {ORCA_tau: 1, ORCA_tauObst: 0.4, class: 1, max_accel: 0, max_angle_vel: 0, max_neighbors: 10, max_speed: 0, name: external_agent, neighbor_dist: 5, obstacle_set: 1, pref_speed: 0, r: 0.25} + - {ORCA_tau: 1, ORCA_tauObst: 1, class: 1, max_accel: 3, max_angle_vel: 270, max_neighbors: 10, max_speed: 2, name: human, neighbor_dist: 5, obstacle_set: 1, pref_speed: 1.3, r: 0.18} + enable: 1 + goal_sets: + - {capacity: 3, set_area: [entry_lane], set_id: 0} + - {capacity: 3, set_area: [supplies], set_id: 1} + - {capacity: 3, set_area: [table_area], set_id: 2} + - {capacity: 10, set_area: [common], set_id: 3} + - {capacity: 5, set_area: [conf1], set_id: 4} + - {capacity: 5, set_area: [conf2], set_id: 5} + - {capacity: 2, set_area: [pantry], set_id: 6} + model_types: + - {animation: walk, animation_speed: 1.0, init_pose: [0, 0, 0, 0, 0, 0], model_uri: model://MaleVisitorPhone, typename: human} + obstacle_set: {class: 1, file_name: L1_navmesh.nav, type: nav_mesh} + states: + - {final: 1, goal_set: -1, name: external_static, navmesh_file_name: ""} + - {final: 0, goal_set: 0, name: entry_lane, navmesh_file_name: L1_navmesh.nav} + - {final: 0, goal_set: 1, name: supplies, navmesh_file_name: L1_navmesh.nav} + - {final: 0, goal_set: 2, name: table_area, navmesh_file_name: L1_navmesh.nav} + - {final: 0, goal_set: 3, name: common, navmesh_file_name: L1_navmesh.nav} + - {final: 0, goal_set: 4, name: conf1, navmesh_file_name: L1_navmesh.nav} + - {final: 0, goal_set: 5, name: conf2, navmesh_file_name: L1_navmesh.nav} + - {final: 0, goal_set: 6, name: pantry, navmesh_file_name: L1_navmesh.nav} + transitions: + - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: common, weight: 1}, {name: entry_lane, weight: 1}, {name: table_area, weight: 1}], from: entry_lane, to: ""} + - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 25}, type: and}, Target: [{name: common, weight: 1}, {name: entry_lane, weight: 1}, {name: table_area, weight: 1}], from: supplies, to: ""} + - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: common, weight: 1}, {name: conf1, weight: 0.5}, {name: pantry, weight: 0.3}, {name: supplies, weight: 0.5}, {name: table_area, weight: 1}], from: table_area, to: ""} + - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: common, weight: 1}, {name: conf1, weight: 0.5}, {name: conf2, weight: 0.5}, {name: entry_lane, weight: 1}, {name: table_area, weight: 1}], from: common, to: ""} + - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 25}, type: and}, Target: [{name: common, weight: 1}, {name: conf1, weight: 1}, {name: entry_lane, weight: 1.5}, {name: table_area, weight: 1}], from: conf1, to: ""} + - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 25}, type: and}, Target: [{name: conf2, weight: 1}, {name: table_area, weight: 1}], from: conf2, to: ""} + - {Condition: {distance: 0.8, type: goal_reached}, Target: [{name: table_area, weight: 1}], from: pantry, to: table_area} + update_time_step: 0.1 levels: L1: doors: @@ -12,6 +52,56 @@ levels: floors: - parameters: {texture_name: [1, blue_linoleum], texture_rotation: [3, 0], texture_scale: [3, 1]} vertices: [27, 28, 29, 30, 31, 13, 14, 15, 21, 20, 19, 22, 23, 24, 38, 25, 26, 36] + human_lanes: + - [63, 39, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [39, 64, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 0.9]}] + - [64, 66, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [67, 68, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [67, 52, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [52, 50, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] + - [66, 70, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] + - [70, 50, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.4]}] + - [50, 71, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.7]}] + - [71, 72, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] + - [72, 73, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.5]}] + - [73, 74, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.5]}] + - [74, 75, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.5]}] + - [75, 45, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] + - [45, 56, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] + - [56, 76, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] + - [76, 77, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] + - [77, 58, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] + - [58, 59, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] + - [59, 69, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [68, 78, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [78, 69, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 0.8]}] + - [72, 54, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] + - [54, 59, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] + - [74, 55, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] + - [55, 58, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] + - [70, 79, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.8]}] + - [80, 81, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.6]}] + - [81, 82, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [82, 83, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [83, 84, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [84, 85, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [85, 86, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [86, 87, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [81, 88, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [88, 45, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [87, 89, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [89, 88, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [50, 90, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [90, 91, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] + - [91, 92, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] + - [92, 93, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [93, 94, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] + - [94, 95, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] + - [95, 90, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [75, 96, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [96, 97, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [79, 98, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] + - [98, 80, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] lanes: - [39, 40, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - [41, 42, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] @@ -152,7 +242,7 @@ levels: - [612.9690000000001, 445.59, 0, ""] - [933.086, 744.676, 0, ""] - [655.919, 1280.411, 0, ""] - - [814.828, 239.25, 0, "", {is_parking_spot: [4, true]}] + - [814.828, 239.25, 0, "", {human_goal_set_name: [1, supplies], is_parking_spot: [4, true]}] - [1210.544, 365.254, 0, ""] - [1159.091, 825.636, 0, ""] - [1376.364, 822.909, 0, station_1, {is_parking_spot: [4, true]}] @@ -163,7 +253,7 @@ levels: - [2457.273, 1218.364, 0, hardware_1, {is_parking_spot: [4, true]}] - [2213.374, 451.687, 0, lounge, {is_parking_spot: [4, true]}] - [1551.069, 468.349, 0, ""] - - [1052.727, 730.182, 0, ""] + - [1052.727, 730.182, 0, "", {human_goal_set_name: [1, common]}] - [2474.545, 885.636, 0, hardware_2, {is_parking_spot: [4, true]}] - [924.545, 917.455, 0, "", {is_parking_spot: [4, false]}] - [780, 617.455, 0, coe, {is_parking_spot: [4, true]}] @@ -176,39 +266,74 @@ levels: - [2222.415, 1308.722, 0, ""] - [935.553, 1258.579, 0, ""] - [1131.384, 1336.44, 0, ""] - - [739.949, 415.296, 0, supplies, {is_parking_spot: [4, true]}] + - [739.949, 415.296, 0, supplies, {human_goal_set_name: [1, supplies], is_parking_spot: [4, true]}] + - [905.329, 260.503, 0, "", {human_goal_set_name: [1, supplies]}] + - [1140.601, 333.679, 0, ""] + - [1068.579, 306.671, 0, ""] + - [945.542, 1055.399, 0, "", {human_goal_set_name: [1, table_area]}] + - [866.401, 1268.156, 0, "", {human_goal_set_name: [1, table_area]}] + - [1237.37, 1343.289, 0, "", {human_goal_set_name: [1, table_area]}] + - [1174.935, 434.535, 0, "", {human_goal_set_name: [1, entry_lane]}] + - [1239.488, 840.009, 0, "", {human_goal_set_name: [1, table_area]}] + - [1378.68, 852.1130000000001, 0, "", {human_goal_set_name: [1, table_area]}] + - [1580.409, 844.044, 0, "", {human_goal_set_name: [1, table_area]}] + - [1788.189, 844.044, 0, "", {human_goal_set_name: [1, table_area]}] + - [1991.934, 837.992, 0, ""] + - [2223.922, 1263.638, 0, "", {human_goal_set_name: [1, common]}] + - [2012.107, 1303.984, 0, "", {human_goal_set_name: [1, table_area]}] + - [1088.192, 1312.053, 0, "", {human_goal_set_name: [1, table_area]}] + - [1554.184, 434.535, 0, "", {human_goal_set_name: [1, entry_lane]}] + - [1917.295, 432.518, 0, "", {human_goal_set_name: [1, entry_lane]}] + - [2211.818, 420.414, 0, "", {human_goal_set_name: [1, entry_lane]}] + - [2369.464, 387.151, 0, "", {human_goal_set_name: [1, conf1]}] + - [2518.934, 379.8, 0, "", {human_goal_set_name: [1, conf1]}] + - [2690.457, 396.953, 0, "", {human_goal_set_name: [1, conf1]}] + - [2712.51, 529.27, 0, "", {human_goal_set_name: [1, conf1]}] + - [2678.205, 649.336, 0, "", {human_goal_set_name: [1, conf1]}] + - [2516.484, 661.588, 0, "", {human_goal_set_name: [1, conf1]}] + - [2215.094, 585.628, 0, "", {human_goal_set_name: [1, common]}] + - [2352.312, 651.7859999999999, 0, "", {human_goal_set_name: [1, conf1]}] + - [896.819, 666.4880000000001, 0, "", {human_goal_set_name: [1, conf2]}] + - [725.296, 607.681, 0, "", {human_goal_set_name: [1, conf2]}] + - [617.482, 548.873, 0, "", {human_goal_set_name: [1, conf2]}] + - [365.098, 1048.739, 0, "", {human_goal_set_name: [1, conf2]}] + - [504.767, 1124.699, 0, "", {human_goal_set_name: [1, conf2]}] + - [627.283, 1183.507, 0, "", {human_goal_set_name: [1, conf2]}] + - [1994.564, 681.1900000000001, 0, "", {human_goal_set_name: [1, pantry]}] + - [1932.213, 591.02, 0, "", {human_goal_set_name: [1, pantry]}] + - [1722.047, 473.825, 0, ""] walls: - - [6, 7, {}] - - [7, 12, {}] - - [12, 11, {}] - - [7, 8, {}] - - [8, 9, {}] - - [9, 10, {}] - - [14, 13, {}] - - [14, 15, {}] - - [15, 16, {}] - - [16, 17, {}] - - [20, 21, {}] - - [15, 21, {}] - - [18, 19, {}] - - [19, 20, {}] - - [22, 19, {}] - - [24, 23, {}] - - [23, 22, {}] - - [26, 25, {}] - - [31, 30, {}] - - [30, 29, {}] - - [29, 28, {}] - - [28, 27, {}] - - [35, 34, {}] - - [34, 33, {}] - - [33, 32, {}] - - [36, 33, {}] - - [27, 36, {}] - - [26, 36, {}] - - [25, 38, {}] - - [38, 24, {}] - - [37, 38, {}] + - [6, 7, {alpha: [3, 1], texture_name: [1, default]}] + - [7, 12, {alpha: [3, 1], texture_name: [1, default]}] + - [12, 11, {alpha: [3, 1], texture_name: [1, default]}] + - [7, 8, {alpha: [3, 1], texture_name: [1, default]}] + - [8, 9, {alpha: [3, 1], texture_name: [1, default]}] + - [9, 10, {alpha: [3, 1], texture_name: [1, default]}] + - [14, 13, {alpha: [3, 1], texture_name: [1, default]}] + - [14, 15, {alpha: [3, 1], texture_name: [1, default]}] + - [15, 16, {alpha: [3, 1], texture_name: [1, default]}] + - [16, 17, {alpha: [3, 1], texture_name: [1, default]}] + - [20, 21, {alpha: [3, 1], texture_name: [1, default]}] + - 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{alpha: [3, 1], texture_name: [1, default]}] + - [38, 24, {alpha: [3, 1], texture_name: [1, default]}] + - [37, 38, {alpha: [3, 1], texture_name: [1, default]}] lifts: {} name: building From 3d45724db04fe593db661455f9a0316aa5170681 Mon Sep 17 00:00:00 2001 From: Chong Tian En Date: Fri, 16 Oct 2020 17:40:14 +0800 Subject: [PATCH 02/25] Added MaleVisitorPhone model, renamed launch file from office_cdsm.launch.xml to office_crowd.launch.xml and added building_crowdsim build task for office world in CMakeLists.txt --- ...dsm.launch.xml => office_crowd.launch.xml} | 0 .../meshes/MaleVisitorPhoneIdle.dae | 1527 ++++++++++++++++ .../meshes/MaleVisitorPhoneIdleToWalk.dae | 1595 +++++++++++++++++ .../meshes/MaleVisitorPhoneWalk.dae | 1527 ++++++++++++++++ .../meshes/MaleVisitorPhoneWalkToIdle.dae | 1595 +++++++++++++++++ .../meshes/MaleVisitorPhone_Diffuse.png | Bin 0 -> 438608 bytes .../models/MaleVisitorPhone/model.config | 17 + .../models/MaleVisitorPhone/model.sdf | 29 + rmf_demo_maps/CMakeLists.txt | 22 +- 9 files changed, 6302 insertions(+), 10 deletions(-) rename demos/launch/{office_cdsm.launch.xml => office_crowd.launch.xml} (100%) create mode 100644 rmf_demo_assets/models/MaleVisitorPhone/meshes/MaleVisitorPhoneIdle.dae create mode 100644 rmf_demo_assets/models/MaleVisitorPhone/meshes/MaleVisitorPhoneIdleToWalk.dae create mode 100644 rmf_demo_assets/models/MaleVisitorPhone/meshes/MaleVisitorPhoneWalk.dae create mode 100644 rmf_demo_assets/models/MaleVisitorPhone/meshes/MaleVisitorPhoneWalkToIdle.dae create mode 100644 rmf_demo_assets/models/MaleVisitorPhone/meshes/MaleVisitorPhone_Diffuse.png create mode 100644 rmf_demo_assets/models/MaleVisitorPhone/model.config create mode 100644 rmf_demo_assets/models/MaleVisitorPhone/model.sdf diff --git a/demos/launch/office_cdsm.launch.xml b/demos/launch/office_crowd.launch.xml similarity index 100% rename from demos/launch/office_cdsm.launch.xml rename to demos/launch/office_crowd.launch.xml diff --git 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5929 5929 1483 1616 5930 5930 1475 1620 5931 5931 1484 1620 5932 5932 1479 1620 5933 5933 1474 1620 5934 5934

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z0;HEDv^m%ju#BBx*a4I&QOD>`nbZAx$}E~L1Om!|nM5HVl_X%mU;uPOcv=AI03^iR zR0C>35Dzb!m?P%9DT^^f^Z=@6P{ppG8zRoKun89!z~ZH=Ve4X5C;|$P1My>l0Bk`O zbnZ0+K*-FFO95yM?(RKp!vk$s+y=ln5F~%fK^-OgMjrWo5h(!9^gQna^OCJG&{|3k`+10#JH7=}*7_Mx*x6f0+3He9g_zMN}ca`-TtwTnYg3d%t{zi@hap z833|tBK~n)M!vct1*k2F41l8yq`Q`_hO+>H(CDZO52=0YGg0Q%W%^(O0m~b2{LvAFC_8|T1AmAP# zOu?Z`#I|5O1F*`XAlPJHjWz-9hGqv_-~wBB?=C%g4FG`YyK_nbTnZ3r!0yh3O`!Vi zVY~gwKP28=Z|@bqwd*zk;0YAL00CQw8(s+H7qMO+%Iz*iivZcM0?1Y!0d@h(*w-nt z1aPt_oW4zQt|PpO$5S|CD}c9sVFHL=KjDIlF#vkcr09n+IOPE;s05=c2oZ6N3e*V` zf(9FpW8fHd!A3QbBf>HuWXf2#I218m4d)nz)9G3WZ9*9MQTFlc0DzF|o~gdi?S?IY zQh(Bh4=5!7lTZG9{#}&31Awm>0OlXAJ$keXan0pMqqYp`?MVHHEw@&o2#iu&jrDh+ z&I1gfv%k>@SO^T$I*gD5=0;SVStV=Y_-7GfZ)>)G$`|A0datG6~jSkm%cMwg!5IzQgCCr z%03}zQa0#21^icyps~tl|0AOQ^tweq*~hP^rgZu2O>fsPWd`jrcEiX0$>ftieHSC| z0N^zMz&TEEd@X+b_+xr`Ot*CN<19M`)M{cm2xB-^_rv$z`{2$8@6qjhAL7l2AAE2p zy|BKJzH|Tn`ojH%g?xIQj`kEhL5h?WxM%~w4+yKiE?522Nf#ymJMX*e@4tWl{{8p! z>2&(e`wQm#_w(rw-n(-LcTV?=Hy_a7udm;C)9;m+YJA+|s27e#c$5TUeEYaCfAV^* zwXI91Z|;@aPbcGkyFDIHCX;sr;2i*bEdbz!T;c2$fB5j>)k=b{?Y(iwZ{o0000 + + + MaleVisitorPhone + 1.0 + model.sdf + + + + + + + + An animated walking male visitor with phone. + + + diff --git a/rmf_demo_assets/models/MaleVisitorPhone/model.sdf b/rmf_demo_assets/models/MaleVisitorPhone/model.sdf new file mode 100644 index 00000000..d2334ffa --- /dev/null +++ b/rmf_demo_assets/models/MaleVisitorPhone/model.sdf @@ -0,0 +1,29 @@ + + + + model://MaleVisitorPhone/meshes/MaleVisitorPhoneWalk.dae + 1.0 + + 0 0 0 0 0 0 + + model://MaleVisitorPhone/meshes/MaleVisitorPhoneWalk.dae + 1.000000 + true + + + model://MaleVisitorPhone/meshes/MaleVisitorPhoneIdle.dae + 1.000000 + true + + + model://MaleVisitorPhone/meshes/MaleVisitorPhoneWalkToIdle.dae + 1.000000 + true + + + model://MaleVisitorPhone/meshes/MaleVisitorPhoneIdleToWalk.dae + 1.000000 + true + + + diff --git a/rmf_demo_maps/CMakeLists.txt b/rmf_demo_maps/CMakeLists.txt index bbb2d346..fb442512 100644 --- a/rmf_demo_maps/CMakeLists.txt +++ b/rmf_demo_maps/CMakeLists.txt @@ -47,17 +47,19 @@ foreach(path ${traffic_editor_paths}) DEPENDS ${output_world_path} ) - # second, generate the navmesh and required files - set(crowd_sim_config_resource ${output_dir}/config_resource/) + # second, generate the navmesh and required files for office as of now + if (${world_name} MATCHES "office") + set(crowd_sim_config_resource ${output_dir}/config_resource/) - add_custom_command( - OUTPUT ${world_name}_crowdsim - COMMAND ros2 run building_map_tools building_crowdsim ${map_path} ${crowd_sim_config_resource} ${output_world_path} - DEPENDS ${output_world_path} - ) - add_custom_target(generate_${world_name}_crowdsim ALL - DEPENDS ${world_name}_crowdsim - ) + add_custom_command( + OUTPUT ${world_name}_crowdsim + COMMAND ros2 run building_map_tools building_crowdsim ${map_path} ${crowd_sim_config_resource} ${output_world_path} + DEPENDS ${output_world_path} + ) + add_custom_target(generate_${world_name}_crowdsim ALL + DEPENDS ${world_name}_crowdsim + ) + endif() # now, generate the nav graphs set(output_nav_graphs_dir ${output_dir}/nav_graphs/) From ce05c27ced64dcacda240d6421d768a82afdb3da Mon Sep 17 00:00:00 2001 From: Chong Tian En Date: Mon, 19 Oct 2020 17:29:06 +0800 Subject: [PATCH 03/25] Added airport terminal crowdsim demo --- .../launch/airport_terminal_crowd.launch.xml | 79 ++++++++++++ rmf_demo_maps/CMakeLists.txt | 4 +- .../airport_terminal.building.yaml | 114 ++++++++++++++++-- 3 files changed, 187 insertions(+), 10 deletions(-) create mode 100644 demos/launch/airport_terminal_crowd.launch.xml diff --git a/demos/launch/airport_terminal_crowd.launch.xml b/demos/launch/airport_terminal_crowd.launch.xml new file mode 100644 index 00000000..22f0e1b1 --- /dev/null +++ b/demos/launch/airport_terminal_crowd.launch.xml @@ -0,0 +1,79 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/rmf_demo_maps/CMakeLists.txt b/rmf_demo_maps/CMakeLists.txt index fb442512..b6937785 100644 --- a/rmf_demo_maps/CMakeLists.txt +++ b/rmf_demo_maps/CMakeLists.txt @@ -47,8 +47,8 @@ foreach(path ${traffic_editor_paths}) DEPENDS ${output_world_path} ) - # second, generate the navmesh and required files for office as of now - if (${world_name} MATCHES "office") + # second, generate the navmesh and required files for office and airport_terminal as of now + if (${world_name} MATCHES "office" OR ${world_name} MATCHES "airport_terminal") set(crowd_sim_config_resource ${output_dir}/config_resource/) add_custom_command( diff --git a/rmf_demo_maps/maps/airport_terminal/airport_terminal.building.yaml b/rmf_demo_maps/maps/airport_terminal/airport_terminal.building.yaml index e2d13416..3b5d99fe 100644 --- a/rmf_demo_maps/maps/airport_terminal/airport_terminal.building.yaml +++ b/rmf_demo_maps/maps/airport_terminal/airport_terminal.building.yaml @@ -1,3 +1,42 @@ +crowd_sim: + agent_groups: + - {agents_name: [tinyRobot_4, deliveryRobot_2, tinyRobot_2, deliveryRobot_0, tinyRobot_3, deliveryRobot_1, tinyRobot_0, tinyRobot_1, caddy_placeholder], agents_number: 9, group_id: 0, profile_selector: external_agent, state_selector: external_static, x: 0, y: 0} + - {agents_name: [], agents_number: 2, group_id: 1, profile_selector: human, state_selector: hub_west, x: 44.48, y: -36.31} + - {agents_name: [], agents_number: 2, group_id: 2, profile_selector: human, state_selector: hub_east, x: 78.51000000000001, y: -23.41} + - {agents_name: [], agents_number: 2, group_id: 3, profile_selector: human, state_selector: crossing, x: 49.57, y: -23.58} + agent_profiles: + - {ORCA_tau: 1, ORCA_tauObst: 0.4, class: 1, max_accel: 0, max_angle_vel: 0, max_neighbors: 10, max_speed: 0, name: external_agent, neighbor_dist: 5, obstacle_set: 1, pref_speed: 0, r: 0.25} + - {ORCA_tau: 1, ORCA_tauObst: 0.4, class: 1, max_accel: 5, max_angle_vel: 360, max_neighbors: 10, max_speed: 4, name: human, neighbor_dist: 5, obstacle_set: 1, pref_speed: 2, r: 0.25} + enable: 1 + goal_sets: + - {capacity: 5, set_area: [dfs], set_id: 0} + - {capacity: 5, set_area: [hub_west], set_id: 1} + - {capacity: 5, set_area: [hub_south], set_id: 2} + - {capacity: 5, set_area: [hub_north], set_id: 3} + - {capacity: 5, set_area: [hub_east], set_id: 4} + - {capacity: 5, set_area: [crossing], set_id: 5} + - {capacity: 5, set_area: [on_road], set_id: 6} + model_types: + - {animation: walk, animation_speed: 0.3, init_pose: [0, 0, 0, 0, 0, 0], model_uri: model://MaleVisitorPhone, typename: human} + obstacle_set: {class: 1, file_name: L1_navmesh.nav, type: nav_mesh} + states: + - {final: 1, goal_set: -1, name: external_static, navmesh_file_name: ""} + - {final: 0, goal_set: 0, name: dfs, navmesh_file_name: L1_navmesh.nav} + - {final: 0, goal_set: 1, name: hub_west, navmesh_file_name: L1_navmesh.nav} + - {final: 0, goal_set: 2, name: hub_south, navmesh_file_name: L1_navmesh.nav} + - {final: 0, goal_set: 3, name: hub_north, navmesh_file_name: L1_navmesh.nav} + - {final: 0, goal_set: 4, name: hub_east, navmesh_file_name: L1_navmesh.nav} + - {final: 0, goal_set: 5, name: crossing, navmesh_file_name: L1_navmesh.nav} + - {final: 0, goal_set: 6, name: on_road, navmesh_file_name: L1_navmesh.nav} + transitions: + - {Condition: {condition1: {distance: 1, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 120}, type: or}, Target: [{name: hub_west, weight: 1}], from: dfs, to: hub_west} + - {Condition: {distance: 1, type: goal_reached}, Target: [{name: crossing, weight: 1}, {name: dfs, weight: 0.5}, {name: hub_south, weight: 1}], from: hub_west, to: ""} + - {Condition: {distance: 1, type: goal_reached}, Target: [{name: crossing, weight: 1}, {name: hub_east, weight: 1}, {name: hub_north, weight: 1}, {name: hub_west, weight: 1}, {name: on_road, weight: 1}], from: crossing, to: ""} + - {Condition: {condition1: {distance: 1, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: hub_west, weight: 1}], from: hub_south, to: hub_west} + - {Condition: {distance: 1, type: goal_reached}, Target: [{name: crossing, weight: 1}, {name: external_static, weight: 1}, {name: hub_east, weight: 1}], from: hub_north, to: ""} + - {Condition: {distance: 1, type: goal_reached}, Target: [{name: crossing, weight: 1}, {name: hub_north, weight: 1}, {name: on_road, weight: 1}], from: hub_east, to: ""} + - {Condition: {condition1: {distance: 1, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 30}, type: or}, Target: [{name: crossing, weight: 1}, {name: hub_east, weight: 1}], from: on_road, to: ""} + update_time_step: 0.1 levels: L1: doors: @@ -161,6 +200,36 @@ levels: vertices: [1241, 1227, 1240, 1228, 1239, 1229, 1237, 1230, 1238, 1231, 1232, 1233, 1234, 1235, 1236, 1226] - parameters: {texture_name: [1, concrete2], texture_rotation: [3, 0], texture_scale: [3, 1]} vertices: [1235, 1234, 1233, 1232, 1231, 1238, 1197, 262, 261] + human_lanes: + - [1245, 1246, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 4]}] + - [1245, 1247, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] + - [1247, 1248, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] + - [1248, 1249, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] + - [1249, 1250, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] + - [1250, 1251, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] + - [1251, 1252, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] + - [1252, 1253, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] + - [1253, 1254, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] + - [1254, 1245, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] + - [1245, 1255, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [1255, 1256, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [1256, 1257, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [1257, 1258, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [1257, 1259, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [1259, 1260, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [1260, 1261, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [1261, 1262, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 3]}] + - [1262, 1263, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 3]}] + - [1263, 1264, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [1264, 1265, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [1265, 1266, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [1266, 1267, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [1267, 1268, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [1264, 1269, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [1269, 1270, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [1270, 1271, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 3]}] + - [1271, 1272, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 3]}] + - [1246, 1273, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] lanes: - [675, 676, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - [676, 677, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] @@ -1363,20 +1432,20 @@ levels: - [117.107, 560.4059999999999, 0, ""] - [18.55, 546.477, 0, junction_n01] - [19.54, 396.147, 0, ""] - - [265.173, 334.272, 0, n03, {is_parking_spot: [4, true], spawn_robot_name: [1, tinyRobot_4_placeholder], spawn_robot_type: [1, RobotPlaceholder]}] + - [265.173, 334.272, 0, n03, {is_parking_spot: [4, true], spawn_robot_name: [1, tinyRobot_4], spawn_robot_type: [1, TinyRobot]}] - [194.487, 391.049, 0, ""] - [146.307, 113.153, 0, ""] - [146.99, 76.544, 0, ""] - [147.91, 21.692, 0, charger_deliveryRobot_0, {is_charger: [4, true], is_parking_spot: [4, true]}] - [183.306, 76.739, 0, charger_deliveryRobot_1, {is_charger: [4, true], is_parking_spot: [4, true]}] - - [179.938, 112.994, 0, charger_deliveryRobot_2, {is_charger: [4, true], is_parking_spot: [4, true], spawn_robot_name: [1, deliveryRobot_2_placeholder], spawn_robot_type: [1, RobotPlaceholder]}] + - [179.938, 112.994, 0, charger_deliveryRobot_2, {is_charger: [4, true], is_parking_spot: [4, true], spawn_robot_name: [1, deliveryRobot_2], spawn_robot_type: [1, DeliveryRobot]}] - [780.329, 286.515, 0, junction_n11] - [701.934, 344.833, 0, tinyRobot_n09] - [898.29, 296.794, 0, tinyRobot_n11] - [900.34, 346.54, 0, tinyRobot_n10] - [852.112, 60.245, 0, n12, {is_parking_spot: [4, true]}] - [1015.012, 117.231, 0, ""] - - [1053.278, 117.296, 0, n13, {is_parking_spot: [4, true], spawn_robot_name: [1, tinyRobot_2_placeholder], spawn_robot_type: [1, RobotPlaceholder]}] + - [1053.278, 117.296, 0, n13, {is_parking_spot: [4, true], spawn_robot_name: [1, tinyRobot_2], spawn_robot_type: [1, TinyRobot]}] - [1423.265, 172.268, 0, n15_1, {is_parking_spot: [4, true]}] - [1384.545, 169.4, 0, n15_0, {is_parking_spot: [4, true]}] - [1994.913, 166.163, 0, n22, {is_parking_spot: [4, true]}] @@ -1399,13 +1468,13 @@ levels: - [1095.018, 337.539, 0, n14_0, {is_parking_spot: [4, true]}] - [1116.553, 337.331, 0, n14_1, {is_parking_spot: [4, true]}] - [1132.642, 632.058, 0, ""] - - [1176.243, 632.773, 0, s08, {is_parking_spot: [4, true], spawn_robot_name: [1, deliveryRobot_0_placeholder], spawn_robot_type: [1, RobotPlaceholder]}] + - [1176.243, 632.773, 0, s08, {is_parking_spot: [4, true], spawn_robot_name: [1, deliveryRobot_0], spawn_robot_type: [1, DeliveryRobot]}] - [2259.639, 343.148, 0, n24_1, {is_parking_spot: [4, true]}] - [2209.26, 341.64, 0, ""] - [2208.958, 250.232, 0, n24_0, {is_parking_spot: [4, true]}] - [3174.244, 68.672, 0, n32, {is_parking_spot: [4, true]}] - [2625.104, 59.568, 0, east_koi_pond, {is_parking_spot: [4, true]}] - - [3415.587, 582.847, 0, s24, {is_parking_spot: [4, true], spawn_robot_name: [1, tinyRobot_3_placeholder], spawn_robot_type: [1, RobotPlaceholder]}] + - [3415.587, 582.847, 0, s24, {is_parking_spot: [4, true], spawn_robot_name: [1, tinyRobot_3], spawn_robot_type: [1, TinyRobot]}] - [1554.143, -232.292, 0, ""] - [2736.946, 230.306, 0, n28, {is_parking_spot: [4, true]}] - [3412.49, 397.058, 0, n33, {is_parking_spot: [4, true]}] @@ -1437,7 +1506,7 @@ levels: - [1490.743, 555.491, 0, s10, {is_parking_spot: [4, true]}] - [1828.635, 475.911, 0, junction_central_east] - [1833.676, 540.337, 0, ""] - - [1863.731, 539.713, 0, s11, {is_parking_spot: [4, true], spawn_robot_name: [1, deliveryRobot_1_placeholder], spawn_robot_type: [1, RobotPlaceholder]}] + - [1863.731, 539.713, 0, s11, {is_parking_spot: [4, true], spawn_robot_name: [1, deliveryRobot_1], spawn_robot_type: [1, DeliveryRobot]}] - [2397.829, 469.071, 0, junction_south_east] - [2517.377, 83.887, 0, junction_north_east] - [1992.365, 72.443, 0, ""] @@ -1856,9 +1925,9 @@ levels: - [228.367, 161.794, 0, ""] - [896.253, 59.851, 0, ""] - [349.547, 567.686, 0, ""] - - [349.72, 623.377, 0, s03, {spawn_robot_name: [1, tinyRobot_0_placeholder], spawn_robot_type: [1, RobotPlaceholder]}] + - [349.72, 623.377, 0, s03, {spawn_robot_name: [1, tinyRobot_0], spawn_robot_type: [1, TinyRobot]}] - [829.973, 515.119, 0, ""] - - [827.6369999999999, 601.074, 0, s07, {spawn_robot_name: [1, tinyRobot_1_placeholder], spawn_robot_type: [1, RobotPlaceholder]}] + - [827.6369999999999, 601.074, 0, s07, {spawn_robot_name: [1, tinyRobot_1], spawn_robot_type: [1, TinyRobot]}] - [490.243, 493.246, 0, caddy, {spawn_robot_name: [1, caddy_placeholder], spawn_robot_type: [1, RobotPlaceholder]}] - [897.3440000000001, 121.785, 0, ""] - [342.521, 575.905, 0, ""] @@ -1884,6 +1953,35 @@ levels: - [325.963, 530.437, 0, ""] - [321.478, 577.193, 0, spill, {is_parking_spot: [4, true]}] - [270.109, 443.861, 0, mopcart_pickup, {is_parking_spot: [4, false]}] + - [541.689, 442.161, 0, "", {human_goal_set_name: [1, hub_west]}] + - [581.261, 508.686, 0, "", {human_goal_set_name: [1, hub_south]}] + - [539.395, 381.944, 0, "", {human_goal_set_name: [1, dfs]}] + - [523.9109999999999, 337.211, 0, "", {human_goal_set_name: [1, dfs]}] + - [490.648, 335.491, 0, "", {human_goal_set_name: [1, dfs]}] + - [455.092, 340.079, 0, "", {human_goal_set_name: [1, dfs]}] + - [454.518, 360.724, 0, "", {human_goal_set_name: [1, dfs]}] + - [486.061, 365.886, 0, "", {human_goal_set_name: [1, dfs]}] + - [500.398, 403.736, 0, "", {human_goal_set_name: [1, dfs]}] + - [500.971, 422.088, 0, "", {human_goal_set_name: [1, dfs]}] + - [590.582, 414.479, 0, ""] + - [600.173, 355.188, 0, ""] + - [603.6609999999999, 287.179, 0, "", {human_goal_set_name: [1, crossing]}] + - [606.713, 251.866, 0, ""] + - [673.216, 291.057, 0, "", {human_goal_set_name: [1, crossing]}] + - [689.24, 292.705, 0, ""] + - [737.977, 308.54, 0, "", {human_goal_set_name: [1, on_road]}] + - [837.9400000000001, 289.439, 0, "", {human_goal_set_name: [1, on_road]}] + - [901.682, 286.542, 0, "", {human_goal_set_name: [1, on_road]}] + - [956.0069999999999, 285.093, 0, "", {human_goal_set_name: [1, hub_east]}] + - [981.977, 327.843, 0, ""] + - [991.511, 373.605, 0, "", {human_goal_set_name: [1, crossing]}] + - [977.02, 445.298, 0, "", {human_goal_set_name: [1, crossing]}] + - [1007.528, 493.73, 0, "", {human_goal_set_name: [1, crossing]}] + - [949.699, 202.462, 0, ""] + - [948.932, 108.46, 0, "", {human_goal_set_name: [1, hub_north]}] + - [839.373, 107.523, 0, "", {human_goal_set_name: [1, crossing]}] + - [737.3049999999999, 114.078, 0, "", {human_goal_set_name: [1, crossing]}] + - [635.101, 524.999, 0, ""] walls: - [6, 10, {}] - [10, 9, {}] From 1adc1a3fb30b2eb6ef9c49ac2bdd50a4a2027b3d Mon Sep 17 00:00:00 2001 From: Chong Tian En Date: Wed, 21 Oct 2020 17:59:02 +0800 Subject: [PATCH 04/25] Edited CMakeLists.txt to enable downloading MaleVisitorPhone model from ignition fuel online models to src before building. Original MaleVisitorPhone model is removed from rmf_demo_assets src to reduce bulkiness. --- rmf_demo_assets/CMakeLists.txt | 10 + .../meshes/MaleVisitorPhoneIdle.dae | 1527 ---------------- .../meshes/MaleVisitorPhoneIdleToWalk.dae | 1595 ----------------- .../meshes/MaleVisitorPhoneWalk.dae | 1527 ---------------- .../meshes/MaleVisitorPhoneWalkToIdle.dae | 1595 ----------------- .../meshes/MaleVisitorPhone_Diffuse.png | Bin 438608 -> 0 bytes .../models/MaleVisitorPhone/model.config | 17 - .../models/MaleVisitorPhone/model.sdf | 29 - 8 files changed, 10 insertions(+), 6290 deletions(-) delete mode 100644 rmf_demo_assets/models/MaleVisitorPhone/meshes/MaleVisitorPhoneIdle.dae delete mode 100644 rmf_demo_assets/models/MaleVisitorPhone/meshes/MaleVisitorPhoneIdleToWalk.dae delete mode 100644 rmf_demo_assets/models/MaleVisitorPhone/meshes/MaleVisitorPhoneWalk.dae delete mode 100644 rmf_demo_assets/models/MaleVisitorPhone/meshes/MaleVisitorPhoneWalkToIdle.dae delete mode 100644 rmf_demo_assets/models/MaleVisitorPhone/meshes/MaleVisitorPhone_Diffuse.png delete mode 100644 rmf_demo_assets/models/MaleVisitorPhone/model.config delete mode 100644 rmf_demo_assets/models/MaleVisitorPhone/model.sdf diff --git a/rmf_demo_assets/CMakeLists.txt b/rmf_demo_assets/CMakeLists.txt index b630c51c..22200644 100644 --- a/rmf_demo_assets/CMakeLists.txt +++ b/rmf_demo_assets/CMakeLists.txt @@ -4,6 +4,16 @@ project(rmf_demo_assets) find_package(ament_cmake REQUIRED) +# download models (MaleVisitorPhone for now) +set(model_name MaleVisitorPhone) +set(models_path models) +execute_process(COMMAND wget https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/${model_name}.zip -P ${CMAKE_CURRENT_LIST_DIR}/models/${model_name}) + +execute_process(COMMAND bsdtar xC ${CMAKE_CURRENT_LIST_DIR}/models/${model_name} -f ${CMAKE_CURRENT_LIST_DIR}/models/${model_name}/${model_name}.zip) + +execute_process(COMMAND rm ${CMAKE_CURRENT_LIST_DIR}/models/${model_name}/${model_name}.zip) + + install( DIRECTORY models DESTINATION share/${PROJECT_NAME} diff --git a/rmf_demo_assets/models/MaleVisitorPhone/meshes/MaleVisitorPhoneIdle.dae b/rmf_demo_assets/models/MaleVisitorPhone/meshes/MaleVisitorPhoneIdle.dae deleted file mode 100644 index eb2386b4..00000000 --- a/rmf_demo_assets/models/MaleVisitorPhone/meshes/MaleVisitorPhoneIdle.dae +++ /dev/null @@ -1,1527 +0,0 @@ - - - - - Blender User - Blender 2.83.0 commit date:2020-06-03, commit time:14:38, hash:211b6c29f771 - - 2020-09-09T07:05:57 - 2020-09-09T07:05:57 - - Z_UP - - - - - - - MaleVisitorPhone_Diffuse_png - - - - - MaleVisitorPhone_Diffuse_png-surface - - - - - - 0 0 0 1 - - - - - - 1.45 - - - - - - - - - MaleVisitorPhone_Diffuse.png - - - - - - - - - - - - -0.02319794 0.07334697 0.117604 -0.02307492 0.09113395 0.117604 -0.02316492 0.092256 0.09694099 -0.02357196 0.070818 0.09702396 1.33029e-4 0.101485 0.118252 0.00110197 0.104488 0.099945 0.02925801 0.09184199 0.121969 0.02833002 0.06664997 0.123977 0.03301501 0.06652098 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1380 1530 5415 5415 1408 1567 5416 5416 1409 1568 5417 5417 1381 1531 5418 5418 1384 1534 5419 5419 1408 1567 5420 5420 1312 1454 5421 5421 1260 1392 5422 5422 1263 1395 5423 5423 1312 1454 5424 5424 1408 1567 5425 5425 1380 1530 5426 5426 1386 1536 5427 5427 1408 1567 5428 5428 1384 1534 5429 5429 1388 1538 5430 5430 1410 1569 5431 5431 1409 1568 5432 5432 1389 1539 5433 5433 1389 1539 5434 5434 1409 1568 5435 5435 1408 1567 5436 5436 1386 1536 5437 5437 1381 1531 5438 5438 1409 1568 5439 5439 1410 1569 5440 5440 1388 1538 5441 5441 1218 1350 5442 5442 1217 1349 5443 5443 1411 1570 5444 5444 1412 1571 5445 5445 1221 1353 5446 5446 1218 1350 5447 5447 1412 1571 5448 5448 1413 1572 5449 5449 1225 1357 5450 5450 1224 1356 5451 5451 1414 1573 5452 5452 1415 1574 5453 5453 1217 1349 5454 5454 1225 1357 5455 5455 1415 1574 5456 5456 1411 1570 5457 5457 1224 1356 5458 5458 1221 1353 5459 5459 1413 1572 5460 5460 1414 1573 5461 5461 1358 1507 5462 5462 1357 1506 5463 5463 1416 1575 5464 5464 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819 914 5670 5670 1080 1189 5671 5671 873 968 5672 5672 871 966 5673 5673 836 931 5674 5674 864 959 5675 5675 1082 1191 5676 5676 822 917 5677 5677 865 960 5678 5678 544 637 5679 5679 601 696 5680 5680 590 685 5681 5681 546 639 5682 5682 852 947 5683 5683 891 986 5684 5684 900 995 5685 5685 850 945 5686 5686 479 571 5687 5687 1377 1580 5688 5688 474 566 5689 5689 477 569 5690 5690 1377 1580 5691 5691 465 557 5692 5692 464 556 5693 5693 474 566 5694 5694 444 536 5695 5695 459 551 5696 5696 464 556 5697 5697 463 555 5698 5698 461 553 5699 5699 468 560 5700 5700 477 569 5701 5701 468 560 5702 5702 461 553 5703 5703 453 545 5704 5704 478 1581 5705 5705 468 560 5706 5706 475 567 5707 5707 492 584 5708 5708 435 1459 5709 5709 1171 1296 5710 5710 431 1299 5711 5711 427 1457 5712 5712 438 1286 5713 5713 1166 1285 5714 5714 570 663 5715 5715 556 649 5716 5716 559 652 5717 5717 571 664 5718 5718 495 587 5719 5719 489 581 5720 5720 497 589 5721 5721 500 592 5722 5722 500 592 5723 5723 497 589 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286 5777 5777 1436 391 5778 5778 1423 400 5779 5779 1428 399 5780 5780 1427 299 5781 5781 1424 296 5782 5782 1421 287 5783 5783 1438 286 5784 5784 1437 317 5785 5785 1422 300 5786 5786 1442 419 5787 5787 1443 495 5788 5788 1444 415 5789 5789 1441 414 5790 5790 1440 403 5791 5791 1445 402 5792 5792 1446 411 5793 5793 1439 410 5794 5794 1448 428 5795 5795 1449 432 5796 5796 1450 437 5797 5797 1447 436 5798 5798 1443 495 5799 5799 1450 437 5800 5800 1449 432 5801 5801 1444 415 5802 5802 1447 436 5803 5803 1451 497 5804 5804 1452 429 5805 5805 1448 428 5806 5806 1451 497 5807 5807 1453 499 5808 5808 1454 438 5809 5809 1452 429 5810 5810 1441 414 5811 5811 1446 411 5812 5812 1445 402 5813 5813 1442 419 5814 5814 1439 410 5815 5815 1454 438 5816 5816 1453 499 5817 5817 1440 403 5818 5818 265 381 5819 5819 257 380 5820 5820 1421 287 5821 5821 1428 399 5822 5822 1456 1583 5823 5823 1457 1584 5824 5824 1466 1585 5825 5825 1469 1586 5826 5826 1476 1587 5827 5827 1459 1588 5828 5828 1455 1589 5829 5829 1470 1590 5830 5830 1465 1591 5831 5831 1458 1592 5832 5832 1460 1593 5833 5833 1473 1594 5834 5834 1455 1595 5835 5835 1458 1595 5836 5836 1457 1595 5837 5837 1456 1595 5838 5838 1470 1590 5839 5839 1455 1589 5840 5840 1456 1583 5841 5841 1469 1586 5842 5842 1458 1592 5843 5843 1465 1591 5844 5844 1466 1585 5845 5845 1457 1584 5846 5846 1460 1596 5847 5847 1458 1596 5848 5848 1455 1596 5849 5849 1459 1596 5850 5850 1462 1597 5851 5851 1481 1598 5852 5852 1478 1599 5853 5853 1463 1600 5854 5854 1476 1587 5855 5855 1482 1601 5856 5856 1461 1602 5857 5857 1459 1588 5858 5858 1477 1603 5859 5859 1473 1594 5860 5860 1460 1593 5861 5861 1464 1604 5862 5862 1461 1605 5863 5863 1462 1605 5864 5864 1463 1605 5865 5865 1464 1605 5866 5866 1482 1601 5867 5867 1481 1598 5868 5868 1462 1597 5869 5869 1461 1602 5870 5870 1464 1604 5871 5871 1463 1600 5872 5872 1478 1599 5873 5873 1477 1603 5874 5874 1460 1606 5875 5875 1459 1606 5876 5876 1461 1606 5877 5877 1464 1606 5878 5878 1468 1607 5879 5879 1469 1586 5880 5880 1466 1585 5881 5881 1471 1608 5882 5882 1476 1587 5883 5883 1470 1590 5884 5884 1467 1609 5885 5885 1474 1610 5886 5886 1465 1591 5887 5887 1473 1594 5888 5888 1475 1611 5889 5889 1472 1612 5890 5890 1467 1613 5891 5891 1468 1613 5892 5892 1471 1613 5893 5893 1472 1613 5894 5894 1470 1590 5895 5895 1469 1586 5896 5896 1468 1607 5897 5897 1467 1609 5898 5898 1472 1612 5899 5899 1471 1608 5900 5900 1466 1585 5901 5901 1465 1591 5902 5902 1475 1614 5903 5903 1474 1614 5904 5904 1467 1614 5905 5905 1472 1614 5906 5906 1480 1615 5907 5907 1483 1616 5908 5908 1478 1599 5909 5909 1481 1598 5910 5910 1476 1587 5911 5911 1474 1610 5912 5912 1479 1617 5913 5913 1482 1601 5914 5914 1477 1603 5915 5915 1484 1618 5916 5916 1475 1611 5917 5917 1473 1594 5918 5918 1479 1619 5919 5919 1484 1619 5920 5920 1483 1619 5921 5921 1480 1619 5922 5922 1482 1601 5923 5923 1479 1617 5924 5924 1480 1615 5925 5925 1481 1598 5926 5926 1484 1618 5927 5927 1477 1603 5928 5928 1478 1599 5929 5929 1483 1616 5930 5930 1475 1620 5931 5931 1484 1620 5932 5932 1479 1620 5933 5933 1474 1620 5934 5934

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286 5777 5777 1436 391 5778 5778 1423 400 5779 5779 1428 399 5780 5780 1427 299 5781 5781 1424 296 5782 5782 1421 287 5783 5783 1438 286 5784 5784 1437 317 5785 5785 1422 300 5786 5786 1442 419 5787 5787 1443 495 5788 5788 1444 415 5789 5789 1441 414 5790 5790 1440 403 5791 5791 1445 402 5792 5792 1446 411 5793 5793 1439 410 5794 5794 1448 428 5795 5795 1449 432 5796 5796 1450 437 5797 5797 1447 436 5798 5798 1443 495 5799 5799 1450 437 5800 5800 1449 432 5801 5801 1444 415 5802 5802 1447 436 5803 5803 1451 497 5804 5804 1452 429 5805 5805 1448 428 5806 5806 1451 497 5807 5807 1453 499 5808 5808 1454 438 5809 5809 1452 429 5810 5810 1441 414 5811 5811 1446 411 5812 5812 1445 402 5813 5813 1442 419 5814 5814 1439 410 5815 5815 1454 438 5816 5816 1453 499 5817 5817 1440 403 5818 5818 265 381 5819 5819 257 380 5820 5820 1421 287 5821 5821 1428 399 5822 5822 1456 1583 5823 5823 1457 1584 5824 5824 1466 1585 5825 5825 1469 1586 5826 5826 1476 1587 5827 5827 1459 1588 5828 5828 1455 1589 5829 5829 1470 1590 5830 5830 1465 1591 5831 5831 1458 1592 5832 5832 1460 1593 5833 5833 1473 1594 5834 5834 1455 1595 5835 5835 1458 1595 5836 5836 1457 1595 5837 5837 1456 1595 5838 5838 1470 1590 5839 5839 1455 1589 5840 5840 1456 1583 5841 5841 1469 1586 5842 5842 1458 1592 5843 5843 1465 1591 5844 5844 1466 1585 5845 5845 1457 1584 5846 5846 1460 1596 5847 5847 1458 1596 5848 5848 1455 1596 5849 5849 1459 1596 5850 5850 1462 1597 5851 5851 1481 1598 5852 5852 1478 1599 5853 5853 1463 1600 5854 5854 1476 1587 5855 5855 1482 1601 5856 5856 1461 1602 5857 5857 1459 1588 5858 5858 1477 1603 5859 5859 1473 1594 5860 5860 1460 1593 5861 5861 1464 1604 5862 5862 1461 1605 5863 5863 1462 1605 5864 5864 1463 1605 5865 5865 1464 1605 5866 5866 1482 1601 5867 5867 1481 1598 5868 5868 1462 1597 5869 5869 1461 1602 5870 5870 1464 1604 5871 5871 1463 1600 5872 5872 1478 1599 5873 5873 1477 1603 5874 5874 1460 1606 5875 5875 1459 1606 5876 5876 1461 1606 5877 5877 1464 1606 5878 5878 1468 1607 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5929 5929 1483 1616 5930 5930 1475 1620 5931 5931 1484 1620 5932 5932 1479 1620 5933 5933 1474 1620 5934 5934

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1429 5514 5514 1180 1312 5515 5515 1176 1308 5516 5516 1291 1428 5517 5517 1295 1432 5518 5518 1336 1485 5519 5519 1320 1469 5520 5520 1318 1467 5521 5521 1343 1493 5522 5522 1338 1488 5523 5523 1322 1471 5524 5524 1320 1469 5525 5525 1336 1485 5526 5526 1340 1490 5527 5527 1324 1473 5528 5528 1322 1471 5529 5529 1338 1488 5530 5530 1344 1494 5531 5531 1326 1475 5532 5532 1324 1473 5533 5533 1340 1490 5534 5534 1330 1479 5535 5535 1328 1477 5536 5536 1326 1475 5537 5537 1344 1494 5538 5538 1332 1481 5539 5539 1316 1465 5540 5540 1328 1477 5541 5541 1330 1479 5542 5542 1317 1466 5543 5543 1316 1465 5544 5544 1332 1481 5545 5545 1334 1483 5546 5546 1343 1493 5547 5547 1318 1467 5548 5548 1317 1466 5549 5549 1334 1483 5550 5550 1251 1386 5551 5551 1249 1384 5552 5552 1207 1340 5553 5553 1214 1347 5554 5554 1249 1384 5555 5555 1251 1386 5556 5556 1271 1406 5557 5557 1270 1405 5558 5558 1253 1388 5559 5559 1288 1425 5560 5560 1271 1406 5561 5561 1251 1386 5562 5562 1248 1383 5563 5563 1285 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1259 5614 5614 522 618 5615 5615 521 617 5616 5616 506 602 5617 5617 505 601 5618 5618 531 627 5619 5619 522 618 5620 5620 505 601 5621 5621 518 614 5622 5622 521 617 5623 5623 520 616 5624 5624 523 619 5625 5625 506 602 5626 5626 530 626 5627 5627 531 627 5628 5628 518 614 5629 5629 529 625 5630 5630 806 904 5631 5631 805 903 5632 5632 571 667 5633 5633 559 655 5634 5634 805 903 5635 5635 804 902 5636 5636 569 665 5637 5637 571 667 5638 5638 804 902 5639 5639 530 626 5640 5640 529 625 5641 5641 569 665 5642 5642 520 616 5643 5643 806 904 5644 5644 559 655 5645 5645 523 619 5646 5646 1082 1194 5647 5647 1081 1193 5648 5648 823 921 5649 5649 822 920 5650 5650 1081 1193 5651 5651 1080 1192 5652 5652 836 934 5653 5653 823 921 5654 5654 861 959 5655 5655 864 962 5656 5656 865 963 5657 5657 807 905 5658 5658 862 960 5659 5659 861 959 5660 5660 807 905 5661 5661 808 906 5662 5662 873 971 5663 5663 872 970 5664 5664 819 917 5665 5665 871 969 5666 5666 872 970 5667 5667 862 960 5668 5668 808 906 5669 5669 819 917 5670 5670 1080 1192 5671 5671 873 971 5672 5672 871 969 5673 5673 836 934 5674 5674 864 962 5675 5675 1082 1194 5676 5676 822 920 5677 5677 865 963 5678 5678 544 640 5679 5679 601 699 5680 5680 590 688 5681 5681 546 642 5682 5682 852 950 5683 5683 891 989 5684 5684 900 998 5685 5685 850 948 5686 5686 479 574 5687 5687 1377 1583 5688 5688 474 569 5689 5689 477 572 5690 5690 1377 1583 5691 5691 465 560 5692 5692 464 559 5693 5693 474 569 5694 5694 444 539 5695 5695 459 554 5696 5696 464 559 5697 5697 463 558 5698 5698 461 556 5699 5699 468 563 5700 5700 477 572 5701 5701 468 563 5702 5702 461 556 5703 5703 453 548 5704 5704 478 1584 5705 5705 468 563 5706 5706 475 570 5707 5707 492 587 5708 5708 435 1462 5709 5709 1171 1299 5710 5710 431 1302 5711 5711 427 1460 5712 5712 438 1289 5713 5713 1166 1288 5714 5714 570 666 5715 5715 556 652 5716 5716 559 655 5717 5717 571 667 5718 5718 495 590 5719 5719 489 584 5720 5720 497 592 5721 5721 500 595 5722 5722 500 595 5723 5723 497 592 5724 5724 471 566 5725 5725 449 544 5726 5726 494 589 5727 5727 486 581 5728 5728 489 584 5729 5729 495 590 5730 5730 486 581 5731 5731 502 598 5732 5732 1133 1585 5733 5733 487 582 5734 5734 472 567 5735 5735 471 566 5736 5736 499 594 5737 5737 1244 1379 5738 5738 1197 1330 5739 5739 465 1350 5740 5740 1377 1529 5741 5741 478 1507 5742 5742 1342 1492 5743 5743 1341 1491 5744 5744 479 1530 5745 5745 463 558 5746 5746 470 565 5747 5747 445 540 5748 5748 444 539 5749 5749 1413 1575 5750 5750 1412 1574 5751 5751 1411 1573 5752 5752 1415 1577 5753 5753 1414 1576 5754 5754 1423 403 5755 5755 1424 299 5756 5756 1425 295 5757 5757 1426 294 5758 5758 1429 313 5759 5759 1430 393 5760 5760 1431 310 5761 5761 1432 309 5762 5762 1422 303 5763 5763 1427 302 5764 5764 1428 402 5765 5765 1421 290 5766 5766 1429 313 5767 5767 1433 318 5768 5768 1434 395 5769 5769 1430 393 5770 5770 1433 318 5771 5771 1435 317 5772 5772 1436 394 5773 5773 1434 395 5774 5774 1435 317 5775 5775 1437 320 5776 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1455 1592 5829 5829 1470 1593 5830 5830 1465 1594 5831 5831 1458 1595 5832 5832 1460 1596 5833 5833 1473 1597 5834 5834 1455 1598 5835 5835 1458 1598 5836 5836 1457 1598 5837 5837 1456 1598 5838 5838 1470 1593 5839 5839 1455 1592 5840 5840 1456 1586 5841 5841 1469 1589 5842 5842 1458 1595 5843 5843 1465 1594 5844 5844 1466 1588 5845 5845 1457 1587 5846 5846 1460 1599 5847 5847 1458 1599 5848 5848 1455 1599 5849 5849 1459 1599 5850 5850 1462 1600 5851 5851 1481 1601 5852 5852 1478 1602 5853 5853 1463 1603 5854 5854 1476 1590 5855 5855 1482 1604 5856 5856 1461 1605 5857 5857 1459 1591 5858 5858 1477 1606 5859 5859 1473 1597 5860 5860 1460 1596 5861 5861 1464 1607 5862 5862 1461 1608 5863 5863 1462 1608 5864 5864 1463 1608 5865 5865 1464 1608 5866 5866 1482 1604 5867 5867 1481 1601 5868 5868 1462 1600 5869 5869 1461 1605 5870 5870 1464 1607 5871 5871 1463 1603 5872 5872 1478 1602 5873 5873 1477 1606 5874 5874 1460 1609 5875 5875 1459 1609 5876 5876 1461 1609 5877 5877 1464 1609 5878 5878 1468 1610 5879 5879 1469 1589 5880 5880 1466 1588 5881 5881 1471 1611 5882 5882 1476 1590 5883 5883 1470 1593 5884 5884 1467 1612 5885 5885 1474 1613 5886 5886 1465 1594 5887 5887 1473 1597 5888 5888 1475 1614 5889 5889 1472 1615 5890 5890 1467 1616 5891 5891 1468 1616 5892 5892 1471 1616 5893 5893 1472 1616 5894 5894 1470 1593 5895 5895 1469 1589 5896 5896 1468 1610 5897 5897 1467 1612 5898 5898 1472 1615 5899 5899 1471 1611 5900 5900 1466 1588 5901 5901 1465 1594 5902 5902 1475 1617 5903 5903 1474 1617 5904 5904 1467 1617 5905 5905 1472 1617 5906 5906 1480 1618 5907 5907 1483 1619 5908 5908 1478 1602 5909 5909 1481 1601 5910 5910 1476 1590 5911 5911 1474 1613 5912 5912 1479 1620 5913 5913 1482 1604 5914 5914 1477 1606 5915 5915 1484 1621 5916 5916 1475 1614 5917 5917 1473 1597 5918 5918 1479 1622 5919 5919 1484 1622 5920 5920 1483 1622 5921 5921 1480 1622 5922 5922 1482 1604 5923 5923 1479 1620 5924 5924 1480 1618 5925 5925 1481 1601 5926 5926 1484 1621 5927 5927 1477 1606 5928 5928 1478 1602 5929 5929 1483 1619 5930 5930 1475 1623 5931 5931 1484 1623 5932 5932 1479 1623 5933 5933 1474 1623 5934 5934

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5929 5929 1483 1616 5930 5930 1475 1620 5931 5931 1484 1620 5932 5932 1479 1620 5933 5933 1474 1620 5934 5934

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za^5Z|8hp{4?0)7At|4gYsJ`u`$lT56ZRVM%O4@@Ea!3K@JZ%^LT1_s9%>z<2h!ZmGa4=DcXhPVU7bm?Pp@ImKAv@_|J$FL#?5nvJqy|w z+|tO;fSI$-764So(gc}{n=*64s~t)r)r|9YAi`;YRu8=m z*Cy;Z6qQ3&kD;KVjc<&U>FkCgoOe}mlTgDKluiZCxD2y4I~S(qZJn~#t}p?^iY~-NhB(dzC8G85Eusyk<8Sr`K9LdX!UcQ>$2dR zbx_FT@kN?tLRUzw`@q~y;Tog?-}j`2JlKX1&~i7G9W!ky{7mta6oOQa@ri^VE)`>5d)AjKZ-eq9(#@1#v#x!A>+ zkqi^(jJE@lcdpj11bBep|F-@$ZF0Fe(PnRHcaRJ7X32Uf=_Fu&^<*-~vV>!{3g4KX z;Tr1i%yS8ex~~6n8=X$ih+h2q^)6f7DE%N#8*tMqxw>&g+PO&RnZo*Xsm0RNjpbrw z?;>sC^XE%$wyi0VBl37R39YdaSTuv@z*~qOsWmR2^c1@@0d7Rs4x!U`cVHO)k1 z7ZRF%!Q)10$f*H0|BRaGyWz1ptqGO1Mkx)!r-lwad0cooE4>lZ(!DvB)Ffb_R}PIB zE#dy*XAsqS*~UG)ml&k9Dtgc3UEFsa=}I3;Y>jgEa1mlxILLlqFRvsCe6Vi$2)=cQ~fxa>{@*zCtfjDQ#+YYE7ySC^o>)0Oa?^(hLMLF^T{F`Ywa-=is{; he0K%^hbP=HP9Wn%*Umqq01%y^lYwUf8c$rh^&gNsMfv~$ literal 0 HcmV?d00001 diff --git a/rmf_demo_maps/CMakeLists.txt b/rmf_demo_maps/CMakeLists.txt index b6937785..819cc867 100644 --- a/rmf_demo_maps/CMakeLists.txt +++ b/rmf_demo_maps/CMakeLists.txt @@ -48,7 +48,8 @@ foreach(path ${traffic_editor_paths}) ) # second, generate the navmesh and required files for office and airport_terminal as of now - if (${world_name} MATCHES "office" OR ${world_name} MATCHES "airport_terminal") + #if (${world_name} MATCHES "office" OR ${world_name} MATCHES "airport_terminal") + if (${world_name} MATCHES "office") set(crowd_sim_config_resource ${output_dir}/config_resource/) add_custom_command( diff --git a/rmf_demo_maps/maps/airport_terminal/airport_terminal.building.yaml b/rmf_demo_maps/maps/airport_terminal/airport_terminal.building.yaml index 3b5d99fe..49c16299 100644 --- a/rmf_demo_maps/maps/airport_terminal/airport_terminal.building.yaml +++ b/rmf_demo_maps/maps/airport_terminal/airport_terminal.building.yaml @@ -1,42 +1,3 @@ -crowd_sim: - agent_groups: - - {agents_name: [tinyRobot_4, deliveryRobot_2, tinyRobot_2, deliveryRobot_0, tinyRobot_3, deliveryRobot_1, tinyRobot_0, tinyRobot_1, caddy_placeholder], agents_number: 9, group_id: 0, profile_selector: external_agent, state_selector: external_static, x: 0, y: 0} - - {agents_name: [], agents_number: 2, group_id: 1, profile_selector: human, state_selector: hub_west, x: 44.48, y: -36.31} - - {agents_name: [], agents_number: 2, group_id: 2, profile_selector: human, state_selector: hub_east, x: 78.51000000000001, y: -23.41} - - {agents_name: [], agents_number: 2, group_id: 3, profile_selector: human, state_selector: crossing, x: 49.57, y: -23.58} - agent_profiles: - - {ORCA_tau: 1, ORCA_tauObst: 0.4, class: 1, max_accel: 0, max_angle_vel: 0, max_neighbors: 10, max_speed: 0, name: external_agent, neighbor_dist: 5, obstacle_set: 1, pref_speed: 0, r: 0.25} - - {ORCA_tau: 1, ORCA_tauObst: 0.4, class: 1, max_accel: 5, max_angle_vel: 360, max_neighbors: 10, max_speed: 4, name: human, neighbor_dist: 5, obstacle_set: 1, pref_speed: 2, r: 0.25} - enable: 1 - goal_sets: - - {capacity: 5, set_area: [dfs], set_id: 0} - - {capacity: 5, set_area: [hub_west], set_id: 1} - - {capacity: 5, set_area: [hub_south], set_id: 2} - - {capacity: 5, set_area: [hub_north], set_id: 3} - - {capacity: 5, set_area: [hub_east], set_id: 4} - - {capacity: 5, set_area: [crossing], set_id: 5} - - {capacity: 5, set_area: [on_road], set_id: 6} - model_types: - - {animation: walk, animation_speed: 0.3, init_pose: [0, 0, 0, 0, 0, 0], model_uri: model://MaleVisitorPhone, typename: human} - obstacle_set: {class: 1, file_name: L1_navmesh.nav, type: nav_mesh} - states: - - {final: 1, goal_set: -1, name: external_static, navmesh_file_name: ""} - - {final: 0, goal_set: 0, name: dfs, navmesh_file_name: L1_navmesh.nav} - - {final: 0, goal_set: 1, name: hub_west, navmesh_file_name: L1_navmesh.nav} - - {final: 0, goal_set: 2, name: hub_south, navmesh_file_name: L1_navmesh.nav} - - {final: 0, goal_set: 3, name: hub_north, navmesh_file_name: L1_navmesh.nav} - - {final: 0, goal_set: 4, name: hub_east, navmesh_file_name: L1_navmesh.nav} - - {final: 0, goal_set: 5, name: crossing, navmesh_file_name: L1_navmesh.nav} - - {final: 0, goal_set: 6, name: on_road, navmesh_file_name: L1_navmesh.nav} - transitions: - - {Condition: {condition1: {distance: 1, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 120}, type: or}, Target: [{name: hub_west, weight: 1}], from: dfs, to: hub_west} - - {Condition: {distance: 1, type: goal_reached}, Target: [{name: crossing, weight: 1}, {name: dfs, weight: 0.5}, {name: hub_south, weight: 1}], from: hub_west, to: ""} - - {Condition: {distance: 1, type: goal_reached}, Target: [{name: crossing, weight: 1}, {name: hub_east, weight: 1}, {name: hub_north, weight: 1}, {name: hub_west, weight: 1}, {name: on_road, weight: 1}], from: crossing, to: ""} - - {Condition: {condition1: {distance: 1, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: hub_west, weight: 1}], from: hub_south, to: hub_west} - - {Condition: {distance: 1, type: goal_reached}, Target: [{name: crossing, weight: 1}, {name: external_static, weight: 1}, {name: hub_east, weight: 1}], from: hub_north, to: ""} - - {Condition: {distance: 1, type: goal_reached}, Target: [{name: crossing, weight: 1}, {name: hub_north, weight: 1}, {name: on_road, weight: 1}], from: hub_east, to: ""} - - {Condition: {condition1: {distance: 1, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 30}, type: or}, Target: [{name: crossing, weight: 1}, {name: hub_east, weight: 1}], from: on_road, to: ""} - update_time_step: 0.1 levels: L1: doors: diff --git a/rmf_demo_maps/maps/office/office.building.yaml b/rmf_demo_maps/maps/office/office.building.yaml index dbf9e386..b053c99a 100644 --- a/rmf_demo_maps/maps/office/office.building.yaml +++ b/rmf_demo_maps/maps/office/office.building.yaml @@ -1,45 +1,43 @@ -crowd_sim: - agent_groups: - - {agents_name: [tinyRobot2, tinyRobot1], agents_number: 2, group_id: 0, profile_selector: external_agent, state_selector: external_static, x: 0, y: 0} - - {agents_name: [], agents_number: 2, group_id: 1, profile_selector: human, state_selector: entry_lane, x: 13.16, y: -3.679} - - {agents_name: [], agents_number: 1, group_id: 2, profile_selector: human, state_selector: table_area, x: 13.39, y: -7.145} - - {agents_name: [], agents_number: 1, group_id: 3, profile_selector: human, state_selector: conf1, x: 22.67, y: -5.497} - - {agents_name: [], agents_number: 1, group_id: 4, profile_selector: human, state_selector: conf2, x: 6.14, y: -5.144} - agent_profiles: - - {ORCA_tau: 1, ORCA_tauObst: 0.4, class: 1, max_accel: 0, max_angle_vel: 0, max_neighbors: 10, max_speed: 0, name: external_agent, neighbor_dist: 5, obstacle_set: 1, pref_speed: 0, r: 0.25} - - {ORCA_tau: 1, ORCA_tauObst: 1, class: 1, max_accel: 3, max_angle_vel: 270, max_neighbors: 10, max_speed: 2, name: human, neighbor_dist: 5, obstacle_set: 1, pref_speed: 1.3, r: 0.18} - enable: 1 - goal_sets: - - {capacity: 3, set_area: [entry_lane], set_id: 0} - - {capacity: 3, set_area: [supplies], set_id: 1} - - {capacity: 3, set_area: [table_area], set_id: 2} - - {capacity: 10, set_area: [common], set_id: 3} - - {capacity: 5, set_area: [conf1], set_id: 4} - - {capacity: 5, set_area: [conf2], set_id: 5} - - {capacity: 2, set_area: [pantry], set_id: 6} - model_types: - - {animation: walk, animation_speed: 1.0, init_pose: [0, 0, 0, 0, 0, 0], model_uri: model://MaleVisitorPhone, typename: human} - obstacle_set: {class: 1, file_name: L1_navmesh.nav, type: nav_mesh} - states: - - {final: 1, goal_set: -1, name: external_static, navmesh_file_name: ""} - - {final: 0, goal_set: 0, name: entry_lane, navmesh_file_name: L1_navmesh.nav} - - {final: 0, goal_set: 1, name: supplies, navmesh_file_name: L1_navmesh.nav} - - {final: 0, goal_set: 2, name: table_area, navmesh_file_name: L1_navmesh.nav} - - {final: 0, goal_set: 3, name: common, navmesh_file_name: L1_navmesh.nav} - - {final: 0, goal_set: 4, name: conf1, navmesh_file_name: L1_navmesh.nav} - - {final: 0, goal_set: 5, name: conf2, navmesh_file_name: L1_navmesh.nav} - - {final: 0, goal_set: 6, name: pantry, navmesh_file_name: L1_navmesh.nav} - transitions: - - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: common, weight: 1}, {name: entry_lane, weight: 1}, {name: table_area, weight: 1}], from: entry_lane, to: ""} - - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 25}, type: and}, Target: [{name: common, weight: 1}, {name: entry_lane, weight: 1}, {name: table_area, weight: 1}], from: supplies, to: ""} - - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: common, weight: 1}, {name: conf1, weight: 0.5}, {name: pantry, weight: 0.3}, {name: supplies, weight: 0.5}, {name: table_area, weight: 1}], from: table_area, to: ""} - - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: common, weight: 1}, {name: conf1, weight: 0.5}, {name: conf2, weight: 0.5}, {name: entry_lane, weight: 1}, {name: table_area, weight: 1}], from: common, to: ""} - - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 25}, type: and}, Target: [{name: common, weight: 1}, {name: conf1, weight: 1}, {name: entry_lane, weight: 1.5}, {name: table_area, weight: 1}], from: conf1, to: ""} - - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 25}, type: and}, Target: [{name: conf2, weight: 1}, {name: table_area, weight: 1}], from: conf2, to: ""} - - {Condition: {distance: 0.8, type: goal_reached}, Target: [{name: table_area, weight: 1}], from: pantry, to: table_area} - update_time_step: 0.1 levels: L1: + crowd_sim: + external_agent_groups: + - {agents_name: [tinyRobot1, tinyRobot2], agents_number: 2, group_id: 0, profile_selector: external_agent, state_selector: external_static, x: 0, y: 0} + agent_profiles: + - {ORCA_tau: 1, ORCA_tauObst: 0.4, class: 1, max_accel: 0, max_angle_vel: 0, max_neighbors: 10, max_speed: 0, name: external_agent, neighbor_dist: 5, obstacle_set: 1, pref_speed: 0, r: 0.25} + - {ORCA_tau: 1, ORCA_tauObst: 1, class: 1, max_accel: 3, max_angle_vel: 270, max_neighbors: 10, max_speed: 2, name: human, neighbor_dist: 5, obstacle_set: 1, pref_speed: 1.3, r: 0.18} + - {ORCA_tau: 1, ORCA_tauObst: 0.4, class: 1, max_accel: 3, max_angle_vel: 270, max_neighbors: 10, max_speed: 2, name: basic, neighbor_dist: 5, obstacle_set: 1, pref_speed: 1.3, r: 0.2} + enable: 1 + goal_sets: + - {capacity: 3, set_area: [entry_lane], set_id: 0} + - {capacity: 3, set_area: [supplies], set_id: 1} + - {capacity: 3, set_area: [table_area], set_id: 2} + - {capacity: 10, set_area: [common], set_id: 3} + - {capacity: 5, set_area: [conf1], set_id: 4} + - {capacity: 5, set_area: [conf2], set_id: 5} + - {capacity: 2, set_area: [pantry], set_id: 6} + model_types: + - {animation: walk, animation_speed: 1.0, typename: human} + - {animation: walk, animation_speed: 0.3, typename: basic} + obstacle_set: {class: 1, file_name: L1_navmesh.nav, type: nav_mesh} + states: + - {final: 1, goal_set: -1, name: external_static, navmesh_file_name: ""} + - {final: 0, goal_set: 0, name: entry_lane, navmesh_file_name: L1_navmesh.nav} + - {final: 0, goal_set: 1, name: supplies, navmesh_file_name: L1_navmesh.nav} + - {final: 0, goal_set: 2, name: table_area, navmesh_file_name: L1_navmesh.nav} + - {final: 0, goal_set: 3, name: common, navmesh_file_name: L1_navmesh.nav} + - {final: 0, goal_set: 4, name: conf1, navmesh_file_name: L1_navmesh.nav} + - {final: 0, goal_set: 5, name: conf2, navmesh_file_name: L1_navmesh.nav} + - {final: 0, goal_set: 6, name: pantry, navmesh_file_name: L1_navmesh.nav} + transitions: + - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: common, weight: 1}, {name: entry_lane, weight: 1}, {name: table_area, weight: 1}], from: entry_lane, to: ""} + - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 25}, type: and}, Target: [{name: common, weight: 1}, {name: entry_lane, weight: 1}, {name: table_area, weight: 1}], from: supplies, to: ""} + - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: common, weight: 1}, {name: conf1, weight: 0.5}, {name: pantry, weight: 0.3}, {name: supplies, weight: 0.5}, {name: table_area, weight: 1}], from: table_area, to: ""} + - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: common, weight: 1}, {name: conf1, weight: 0.5}, {name: conf2, weight: 0.5}, {name: entry_lane, weight: 1}, {name: table_area, weight: 1}], from: common, to: ""} + - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 25}, type: and}, Target: [{name: common, weight: 1}, {name: conf1, weight: 1}, {name: entry_lane, weight: 1.5}, {name: table_area, weight: 1}], from: conf1, to: ""} + - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 25}, type: and}, Target: [{name: conf2, weight: 1}, {name: table_area, weight: 1}], from: conf2, to: ""} + - {Condition: {distance: 0.8, type: goal_reached}, Target: [{name: table_area, weight: 1}], from: pantry, to: table_area} + update_time_step: 0.1 doors: - [31, 13, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, main_door], type: [1, double_hinged]}] - [35, 37, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, coe_door], type: [1, hinged]}] @@ -138,6 +136,11 @@ levels: - [5, 4, {distance: [3, 8.409000000000001]}] - [2, 3, {distance: [3, 20.089]}] models: + - {model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, static: false, x: 1554.184, y: 434.535, yaw: 0, z: 0, agent_group_id: 1, profile_selector: human, state_selector: entry_lane} + - {model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, static: false, x: 1554.184, y: 434.535, yaw: 0, z: 0, agent_group_id: 1, profile_selector: human, state_selector: entry_lane} + - {model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, static: false, x: 1580.409, y: 844.044, yaw: 0, z: 0, agent_group_id: 2, profile_selector: human, state_selector: table_area} + - {model_name: OpenRobotics/actor, name: actor, static: false, x: 2678.205, y: 649.336, yaw: 0, z: 0, agent_group_id: 3, profile_selector: basic, state_selector: conf1} + - {model_name: OpenRobotics/actor, name: actor, static: false, x: 725.296, y: 607.681, yaw: 0, z: 0, agent_group_id: 4, profile_selector: basic, state_selector: conf2} - {model_name: OpenRobotics/OfficeChairBlack, name: OfficeChairBlack, static: true, x: 775.16, y: 794.006, yaw: 4.2503, z: 0} - {model_name: OpenRobotics/OfficeChairBlack, name: OfficeChairBlack, static: true, x: 737, y: 884, yaw: 4.2239, z: 0} - {model_name: OpenRobotics/OfficeChairBlack, name: OfficeChairBlack, static: true, x: 680.226, y: 975.778, yaw: 4.247, z: 0} From 86a0672e902831651e23ba8829577ba9ba27eea5 Mon Sep 17 00:00:00 2001 From: Chong Tian En Date: Wed, 4 Nov 2020 11:50:19 +0800 Subject: [PATCH 07/25] MaleVisitorPhone model will be downloaded automatically, no need to keep it. --- .../meshes/MaleVisitorPhoneIdle.dae | 1527 ---------------- .../meshes/MaleVisitorPhoneIdleToWalk.dae | 1595 ----------------- .../meshes/MaleVisitorPhoneWalk.dae | 1527 ---------------- .../meshes/MaleVisitorPhoneWalkToIdle.dae | 1595 ----------------- .../meshes/MaleVisitorPhone_Diffuse.png | Bin 438608 -> 0 bytes .../models/MaleVisitorPhone/model.config | 17 - .../models/MaleVisitorPhone/model.sdf | 29 - .../models/MaleVisitorPhone/static_model.sdf | 21 - .../models/MaleVisitorPhone/thumbnails/1.png | Bin 20510 -> 0 bytes .../models/MaleVisitorPhone/thumbnails/2.png | Bin 22819 -> 0 bytes .../models/MaleVisitorPhone/thumbnails/3.png | Bin 23231 -> 0 bytes .../models/MaleVisitorPhone/thumbnails/4.png | Bin 13842 -> 0 bytes .../models/MaleVisitorPhone/thumbnails/5.png | Bin 21456 -> 0 bytes 13 files changed, 6311 deletions(-) delete mode 100644 rmf_demo_assets/models/MaleVisitorPhone/meshes/MaleVisitorPhoneIdle.dae delete mode 100644 rmf_demo_assets/models/MaleVisitorPhone/meshes/MaleVisitorPhoneIdleToWalk.dae delete mode 100644 rmf_demo_assets/models/MaleVisitorPhone/meshes/MaleVisitorPhoneWalk.dae delete mode 100644 rmf_demo_assets/models/MaleVisitorPhone/meshes/MaleVisitorPhoneWalkToIdle.dae delete mode 100644 rmf_demo_assets/models/MaleVisitorPhone/meshes/MaleVisitorPhone_Diffuse.png delete mode 100644 rmf_demo_assets/models/MaleVisitorPhone/model.config delete mode 100644 rmf_demo_assets/models/MaleVisitorPhone/model.sdf delete mode 100644 rmf_demo_assets/models/MaleVisitorPhone/static_model.sdf delete mode 100644 rmf_demo_assets/models/MaleVisitorPhone/thumbnails/1.png delete mode 100644 rmf_demo_assets/models/MaleVisitorPhone/thumbnails/2.png delete mode 100644 rmf_demo_assets/models/MaleVisitorPhone/thumbnails/3.png delete mode 100644 rmf_demo_assets/models/MaleVisitorPhone/thumbnails/4.png delete mode 100644 rmf_demo_assets/models/MaleVisitorPhone/thumbnails/5.png diff --git a/rmf_demo_assets/models/MaleVisitorPhone/meshes/MaleVisitorPhoneIdle.dae b/rmf_demo_assets/models/MaleVisitorPhone/meshes/MaleVisitorPhoneIdle.dae deleted file mode 100644 index eb2386b4..00000000 --- a/rmf_demo_assets/models/MaleVisitorPhone/meshes/MaleVisitorPhoneIdle.dae +++ /dev/null @@ -1,1527 +0,0 @@ - - - - - Blender User - Blender 2.83.0 commit date:2020-06-03, commit time:14:38, hash:211b6c29f771 - - 2020-09-09T07:05:57 - 2020-09-09T07:05:57 - - Z_UP - - - - - - - MaleVisitorPhone_Diffuse_png - - - - - MaleVisitorPhone_Diffuse_png-surface - - - - - - 0 0 0 1 - - - - - - 1.45 - - - - - - - - - MaleVisitorPhone_Diffuse.png - - - - - - - - - - - - -0.02319794 0.07334697 0.117604 -0.02307492 0.09113395 0.117604 -0.02316492 0.092256 0.09694099 -0.02357196 0.070818 0.09702396 1.33029e-4 0.101485 0.118252 0.00110197 0.104488 0.099945 0.02925801 0.09184199 0.121969 0.02833002 0.06664997 0.123977 0.03301501 0.06652098 0.103193 0.03450101 0.095582 0.10114 1.33031e-4 0.057172 0.119151 0.001115977 0.05291998 0.09995496 -0.02721899 0.07098698 0.01138496 -0.02676695 0.09360098 0.01138496 -0.02676695 0.09360098 4.4201e-4 -0.02721899 0.07098698 4.4201e-4 0.169338 0.09663599 0.01064395 0.1766549 0.06264001 0.01064389 0.177916 0.06264001 -0.001819014 0.170599 0.09662199 -0.001819014 0.002298951 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5829 5829 1470 1590 5830 5830 1465 1591 5831 5831 1458 1592 5832 5832 1460 1593 5833 5833 1473 1594 5834 5834 1455 1595 5835 5835 1458 1595 5836 5836 1457 1595 5837 5837 1456 1595 5838 5838 1470 1590 5839 5839 1455 1589 5840 5840 1456 1583 5841 5841 1469 1586 5842 5842 1458 1592 5843 5843 1465 1591 5844 5844 1466 1585 5845 5845 1457 1584 5846 5846 1460 1596 5847 5847 1458 1596 5848 5848 1455 1596 5849 5849 1459 1596 5850 5850 1462 1597 5851 5851 1481 1598 5852 5852 1478 1599 5853 5853 1463 1600 5854 5854 1476 1587 5855 5855 1482 1601 5856 5856 1461 1602 5857 5857 1459 1588 5858 5858 1477 1603 5859 5859 1473 1594 5860 5860 1460 1593 5861 5861 1464 1604 5862 5862 1461 1605 5863 5863 1462 1605 5864 5864 1463 1605 5865 5865 1464 1605 5866 5866 1482 1601 5867 5867 1481 1598 5868 5868 1462 1597 5869 5869 1461 1602 5870 5870 1464 1604 5871 5871 1463 1600 5872 5872 1478 1599 5873 5873 1477 1603 5874 5874 1460 1606 5875 5875 1459 1606 5876 5876 1461 1606 5877 5877 1464 1606 5878 5878 1468 1607 5879 5879 1469 1586 5880 5880 1466 1585 5881 5881 1471 1608 5882 5882 1476 1587 5883 5883 1470 1590 5884 5884 1467 1609 5885 5885 1474 1610 5886 5886 1465 1591 5887 5887 1473 1594 5888 5888 1475 1611 5889 5889 1472 1612 5890 5890 1467 1613 5891 5891 1468 1613 5892 5892 1471 1613 5893 5893 1472 1613 5894 5894 1470 1590 5895 5895 1469 1586 5896 5896 1468 1607 5897 5897 1467 1609 5898 5898 1472 1612 5899 5899 1471 1608 5900 5900 1466 1585 5901 5901 1465 1591 5902 5902 1475 1614 5903 5903 1474 1614 5904 5904 1467 1614 5905 5905 1472 1614 5906 5906 1480 1615 5907 5907 1483 1616 5908 5908 1478 1599 5909 5909 1481 1598 5910 5910 1476 1587 5911 5911 1474 1610 5912 5912 1479 1617 5913 5913 1482 1601 5914 5914 1477 1603 5915 5915 1484 1618 5916 5916 1475 1611 5917 5917 1473 1594 5918 5918 1479 1619 5919 5919 1484 1619 5920 5920 1483 1619 5921 5921 1480 1619 5922 5922 1482 1601 5923 5923 1479 1617 5924 5924 1480 1615 5925 5925 1481 1598 5926 5926 1484 1618 5927 5927 1477 1603 5928 5928 1478 1599 5929 5929 1483 1616 5930 5930 1475 1620 5931 5931 1484 1620 5932 5932 1479 1620 5933 5933 1474 1620 5934 5934

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5879 5879 1469 1586 5880 5880 1466 1585 5881 5881 1471 1608 5882 5882 1476 1587 5883 5883 1470 1590 5884 5884 1467 1609 5885 5885 1474 1610 5886 5886 1465 1591 5887 5887 1473 1594 5888 5888 1475 1611 5889 5889 1472 1612 5890 5890 1467 1613 5891 5891 1468 1613 5892 5892 1471 1613 5893 5893 1472 1613 5894 5894 1470 1590 5895 5895 1469 1586 5896 5896 1468 1607 5897 5897 1467 1609 5898 5898 1472 1612 5899 5899 1471 1608 5900 5900 1466 1585 5901 5901 1465 1591 5902 5902 1475 1614 5903 5903 1474 1614 5904 5904 1467 1614 5905 5905 1472 1614 5906 5906 1480 1615 5907 5907 1483 1616 5908 5908 1478 1599 5909 5909 1481 1598 5910 5910 1476 1587 5911 5911 1474 1610 5912 5912 1479 1617 5913 5913 1482 1601 5914 5914 1477 1603 5915 5915 1484 1618 5916 5916 1475 1611 5917 5917 1473 1594 5918 5918 1479 1619 5919 5919 1484 1619 5920 5920 1483 1619 5921 5921 1480 1619 5922 5922 1482 1601 5923 5923 1479 1617 5924 5924 1480 1615 5925 5925 1481 1598 5926 5926 1484 1618 5927 5927 1477 1603 5928 5928 1478 1599 5929 5929 1483 1616 5930 5930 1475 1620 5931 5931 1484 1620 5932 5932 1479 1620 5933 5933 1474 1620 5934 5934

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za^5Z|8hp{4?0)7At|4gYsJ`u`$lT56ZRVM%O4@@Ea!3K@JZ%^LT1_s9%>z<2h!ZmGa4=DcXhPVU7bm?Pp@ImKAv@_|J$FL#?5nvJqy|w z+|tO;fSI$-764So(gc}{n=*64s~t)r)r|9YAi`;YRu8=m z*Cy;Z6qQ3&kD;KVjc<&U>FkCgoOe}mlTgDKluiZCxD2y4I~S(qZJn~#t}p?^iY~-NhB(dzC8G85Eusyk<8Sr`K9LdX!UcQ>$2dR zbx_FT@kN?tLRUzw`@q~y;Tog?-}j`2JlKX1&~i7G9W!ky{7mta6oOQa@ri^VE)`>5d)AjKZ-eq9(#@1#v#x!A>+ zkqi^(jJE@lcdpj11bBep|F-@$ZF0Fe(PnRHcaRJ7X32Uf=_Fu&^<*-~vV>!{3g4KX z;Tr1i%yS8ex~~6n8=X$ih+h2q^)6f7DE%N#8*tMqxw>&g+PO&RnZo*Xsm0RNjpbrw z?;>sC^XE%$wyi0VBl37R39YdaSTuv@z*~qOsWmR2^c1@@0d7Rs4x!U`cVHO)k1 z7ZRF%!Q)10$f*H0|BRaGyWz1ptqGO1Mkx)!r-lwad0cooE4>lZ(!DvB)Ffb_R}PIB zE#dy*XAsqS*~UG)ml&k9Dtgc3UEFsa=}I3;Y>jgEa1mlxILLlqFRvsCe6Vi$2)=cQ~fxa>{@*zCtfjDQ#+YYE7ySC^o>)0Oa?^(hLMLF^T{F`Ywa-=is{; he0K%^hbP=HP9Wn%*Umqq01%y^lYwUf8c$rh^&gNsMfv~$ From 04c5f70cd34544c92922c9334cf57ba777d5f64b Mon Sep 17 00:00:00 2001 From: Chong Tian En Date: Wed, 4 Nov 2020 11:57:59 +0800 Subject: [PATCH 08/25] restore to original CMakeLists.txt. MaleVisitorPhone model download will be done through model_downloader --- rmf_demo_assets/CMakeLists.txt | 10 ---------- 1 file changed, 10 deletions(-) diff --git a/rmf_demo_assets/CMakeLists.txt b/rmf_demo_assets/CMakeLists.txt index 18e53f7f..b630c51c 100644 --- a/rmf_demo_assets/CMakeLists.txt +++ b/rmf_demo_assets/CMakeLists.txt @@ -4,16 +4,6 @@ project(rmf_demo_assets) find_package(ament_cmake REQUIRED) -# download models (MaleVisitorPhone for now) -set(model_name MaleVisitorPhone) -set(models_path models) -execute_process(COMMAND wget https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/${model_name}.zip -P ${CMAKE_CURRENT_LIST_DIR}/models/${model_name}) - -execute_process(COMMAND unzip ${CMAKE_CURRENT_LIST_DIR}/models/${model_name}/${model_name}.zip) - -execute_process(COMMAND rm ${CMAKE_CURRENT_LIST_DIR}/models/${model_name}/${model_name}.zip) - - install( DIRECTORY models DESTINATION share/${PROJECT_NAME} From a6638278b0a4cecec007ec98cb18d633f5e9db11 Mon Sep 17 00:00:00 2001 From: Chong Tian En Date: Wed, 16 Dec 2020 14:49:46 +0800 Subject: [PATCH 09/25] removed office and clinic map for testing --- .../maps/clinic/clinic.building.yaml | 1213 ----------------- rmf_demo_maps/maps/clinic/clinic.png | Bin 4891 -> 0 bytes rmf_demo_maps/maps/clinic/clinic.project.yaml | 6 - .../maps/office/office.building.yaml | 342 ----- rmf_demo_maps/maps/office/office.png | Bin 1794169 -> 0 bytes rmf_demo_maps/maps/office/office.project.yaml | 6 - 6 files changed, 1567 deletions(-) delete mode 100644 rmf_demo_maps/maps/clinic/clinic.building.yaml delete mode 100644 rmf_demo_maps/maps/clinic/clinic.png delete mode 100644 rmf_demo_maps/maps/clinic/clinic.project.yaml delete mode 100644 rmf_demo_maps/maps/office/office.building.yaml delete mode 100644 rmf_demo_maps/maps/office/office.png delete mode 100644 rmf_demo_maps/maps/office/office.project.yaml diff --git a/rmf_demo_maps/maps/clinic/clinic.building.yaml b/rmf_demo_maps/maps/clinic/clinic.building.yaml deleted file mode 100644 index ac74929e..00000000 --- a/rmf_demo_maps/maps/clinic/clinic.building.yaml +++ /dev/null @@ -1,1213 +0,0 @@ -levels: - L1: - doors: - - [5, 6, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_entrance_door], type: [1, double_hinged]}] - - [8, 17, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, -1], name: [1, L1_lobby_left_door], type: [1, double_hinged]}] - - [10, 18, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_lobby_right_door], type: [1, double_hinged]}] - - [20, 21, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_toilet1_door], type: [1, hinged]}] - - [23, 22, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, -1], name: [1, L1_ward1_door], type: [1, hinged]}] - - [26, 25, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_nurseroom2_door], type: [1, hinged]}] - - [15, 27, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_nurseroom1_door], type: [1, hinged]}] - - [31, 32, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_toilet2_door], type: [1, hinged]}] - - [33, 34, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_storage_door], type: [1, hinged]}] - - [51, 52, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, -1], name: [1, L1_ward2_door], type: [1, hinged]}] - - [53, 54, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, -1], name: [1, L1_ward3_door], type: [1, hinged]}] - - [55, 56, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_ward4_door], type: [1, hinged]}] - - [57, 58, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_ward5_door], type: [1, hinged]}] - - [59, 60, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_ward6_door], type: [1, hinged]}] - - [61, 62, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_ward7_door], type: [1, hinged]}] - - [64, 63, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, -1], name: [1, L1_pantry_door], type: [1, hinged]}] - drawing: - filename: clinic.png - elevation: 0.05 - fiducials: - - [31.331, 19.383, 1] - - [356.029, 19.896, 2] - - [35.111, 795.04, 3] - flattened_x_offset: 0 - flattened_y_offset: 0 - floors: - - parameters: {texture_name: [1, blue_linoleum], texture_rotation: [3, 0], texture_scale: [3, 1]} - vertices: [65, 68, 67, 66, 86, 85, 84, 83, 82, 81, 80, 6, 5, 73, 74, 75, 76, 77, 78, 79] - - parameters: {texture_name: [1, brown_marble], texture_rotation: [3, 0], texture_scale: [3, 1]} - vertices: [79, 86, 85, 84, 83, 82, 81, 80, 6, 5, 73, 74, 75, 76, 77, 78] - lanes: - - [92, 93, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [92, 94, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [94, 95, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [94, 96, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [96, 97, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [96, 98, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [98, 99, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [98, 100, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [100, 101, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [100, 102, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [102, 103, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [102, 104, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [106, 104, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [114, 115, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [91, 87, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [93, 114, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [118, 116, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [117, 119, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [119, 92, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [106, 107, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [104, 105, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [113, 88, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [88, 121, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [112, 111, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [111, 122, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [87, 89, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [89, 90, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [90, 120, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [89, 118, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [118, 116, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [119, 117, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [110, 108, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [123, 124, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [124, 125, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [125, 126, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [126, 127, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [127, 97, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [91, 123, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [126, 95, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [127, 128, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [128, 99, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [128, 129, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [129, 101, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [129, 130, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [130, 103, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [131, 105, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [130, 132, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [132, 133, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [133, 134, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [134, 110, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [110, 109, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [131, 132, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [135, 136, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [136, 137, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [137, 138, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [133, 139, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [139, 107, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [139, 131, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [124, 118, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [118, 116, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [125, 119, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [119, 117, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [91, 140, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [92, 141, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [141, 118, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [89, 141, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [141, 119, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [111, 108, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [87, 88, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [134, 138, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [135, 123, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [112, 113, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - layers: - {} - measurements: - - [4, 3, {distance: [3, 30]}] - models: - - {model_name: OpenRobotics/Fountain, name: Fountain, static: true, x: -80.114, y: 389.374, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/CGMClassic, name: CGMClassic, static: true, x: 67.27, y: 52.151, yaw: 3.1416, z: 0} - - {model_name: OpenRobotics/CGMClassic, name: CGMClassic, static: true, x: 319.864, y: 88.41, yaw: 3.1416, z: 0} - - {model_name: OpenRobotics/CGMClassic, name: CGMClassic, static: true, x: 319.684, y: 201.697, yaw: -3.1416, z: 0} - - {model_name: OpenRobotics/CGMClassic, name: CGMClassic, static: true, x: 319.892, y: 309.091, yaw: -3.1416, z: 0} - - {model_name: OpenRobotics/CGMClassic, name: CGMClassic, static: true, x: 320.1, y: 441.479, yaw: -3.1416, z: 0} - - {model_name: OpenRobotics/CGMClassic, name: CGMClassic, static: true, x: 320.208, y: 550.309, yaw: 3.1416, z: 0} - - {model_name: OpenRobotics/BloodPressureMonitor, name: BloodPressureMonitor, static: true, x: 49.978, y: 556.29, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/OfficeChairBlack, name: OfficeChairBlack, static: true, x: 163.448, y: 356.826, yaw: -1.591, z: 0} - - {model_name: OpenRobotics/OfficeChairBlack, name: OfficeChairBlack, static: true, x: 163.613, y: 384.611, yaw: -1.5679, z: 0} - - {model_name: OpenRobotics/OfficeChairBlack, name: OfficeChairBlack, static: true, x: 163.118, y: 414.584, yaw: -1.5545, z: 0} - - {model_name: OpenRobotics/WhiteChipChair, name: WhiteChipChair, static: true, x: 39.333, y: 460.283, yaw: 0.0023, z: 0} - - {model_name: OpenRobotics/WhiteChipChair, name: WhiteChipChair, static: true, x: 80.03100000000001, y: 497.264, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/WhiteChipChair, name: WhiteChipChair, static: true, x: 37.647, y: 310.426, yaw: -0.0005999999999999999, z: 0} - - {model_name: OpenRobotics/WhiteChipChair, name: WhiteChipChair, static: true, x: 79.60899999999999, y: 271.725, yaw: 4.7097, z: 0} - - {model_name: OpenRobotics/VisitorKidSit, name: VisitorKidSit, static: true, x: 46.503, y: 446.952, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/VisitorKidSit, name: VisitorKidSit, static: true, x: 43.551, y: 296.88, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/CoffeeTable, name: CoffeeTable, static: true, x: 47.347, y: 491.458, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/CoffeeTable, name: CoffeeTable, static: true, x: 47.347, y: 278.821, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/FemaleVisitor, name: FemaleVisitor, static: true, x: 103.008, y: 388.649, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/NurseDesk, name: NurseDesk, static: true, x: 132.493, y: 384.69, yaw: -1.5702, z: 0} - - {model_name: OpenRobotics/Nurse, name: Nurse, static: true, x: 65.327, y: 533.399, yaw: 2.9821, z: 0} - - {model_name: OpenRobotics/Nurse, name: Nurse, static: true, x: 139.76, y: 382.757, yaw: -3.1153, z: 0} - - {model_name: OpenRobotics/PatientWheelChair, name: PatientWheelChair, static: true, x: 110.953, y: 488.572, yaw: 1.5836, z: 0} - - {model_name: OpenRobotics/FemaleVisitorSit, name: FemaleVisitorSit, static: true, x: 46.662, y: 460.77, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/FemaleVisitorSit, name: FemaleVisitorSit, static: true, x: 92.441, y: 279.675, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/Standing person, name: Standing_person, static: true, x: 103.239, y: 372.624, yaw: 0.9273, z: 0} - - {model_name: OpenRobotics/ElectronicsRecycling, name: ElectronicsRecycling, static: true, x: 30.802, y: 444.85, yaw: -1.577, z: 0} - - {model_name: OpenRobotics/Postbox, name: Postbox, static: true, x: 20.146, y: 330.688, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/MaleVisitorSit, name: MaleVisitorSit, static: true, x: 67.426, y: 487.297, yaw: 3.1457, z: 0} - - {model_name: OpenRobotics/MaleVisitorSit, name: MaleVisitorSit, static: true, x: 45.161, y: 310.793, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/LitterBin, name: LitterBin, static: true, x: 23.704, y: 471.043, yaw: 0.8132, z: 0} - - {model_name: OpenRobotics/MetalCabinetYellow, name: MetalCabinetYellow, static: true, x: 190.315, y: 338.963, yaw: 4.7098, z: 0} - - {model_name: OpenRobotics/MetalCabinetYellow, name: MetalCabinetYellow, static: true, x: 189.907, y: 366.791, yaw: -1.5626, z: 0} - - {model_name: OpenRobotics/MetalCabinetYellow, name: MetalCabinetYellow, static: true, x: 190.315, y: 395.034, yaw: 4.7057, z: 0} - - {model_name: OpenRobotics/MetalCabinetYellow, name: MetalCabinetYellow, static: true, x: 190.315, y: 422.862, yaw: -1.5675, z: 0} - - {model_name: OpenRobotics/Oak tree, name: Oak_tree, static: true, x: -298.877, y: 148.93, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/Oak tree, name: Oak_tree, static: true, x: -129.22, y: 640.694, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/Playground, name: Playground, static: true, x: -96.574, y: 159.404, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/Drawer, name: Drawer, static: true, x: 190.821, y: 445.288, yaw: -1.5706, z: 0} - - {model_name: OpenRobotics/Drawer, name: Drawer, static: true, x: 190.319, y: 318.549, yaw: -1.5706, z: 0} - - {model_name: OpenRobotics/MaleVisitorOnPhone, name: MaleVisitorOnPhone, static: true, x: 64.869, y: 564.933, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/WhiteCabinet, name: WhiteCabinet, static: true, x: 44.11, y: 216.201, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/WhiteCabinet, name: WhiteCabinet, static: true, x: 47.417, y: 529.684, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/BloodPressureMonitor, name: BloodPressureMonitor, static: true, x: 46.999, y: 244.054, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/Toilet, name: Toilet, static: true, x: 48.316, y: 137.9, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/Toilet, name: Toilet, static: true, x: 49.734, y: 625.526, yaw: -0.0312, z: 0} - - {model_name: OpenRobotics/PatientFSit, name: PatientFSit, static: true, x: 50.712, y: 625.028, yaw: -0.0025, z: 0} - - {model_name: OpenRobotics/StorageRackCovered, name: StorageRackCovered, static: true, x: 119.162, y: 532.698, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/StorageRackCovered, name: StorageRackCovered, static: true, x: 58.818, y: 183.262, yaw: 3.1357, z: 0} - - {model_name: OpenRobotics/StorageRackCovered, name: StorageRackCovered, static: true, x: 53.35, y: 93.029, yaw: 0.008699999999999999, z: 0} - - {model_name: OpenRobotics/StorageRackCovered, name: StorageRackCovered, static: true, x: 50.004, y: 689.681, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/StorageRackCovered, name: StorageRackCovered, static: true, x: 51.067, y: 727.659, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/StorageRackCovered, name: StorageRackCovered, static: true, x: 51.067, y: 768.8920000000001, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/StorageRackCovered, name: StorageRackCovered, static: true, x: 91.816, y: 781.972, yaw: 3.1472, z: 0} - - {model_name: OpenRobotics/BPCart, name: BPCart, static: true, x: 51.582, y: 578.0119999999999, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/BPCart, name: BPCart, static: true, x: 65.67, y: 248.094, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/MopCart3, name: MopCart3, static: true, x: 113.25, y: 733.5410000000001, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/MopCart3, name: MopCart3, static: true, x: 112.782, y: 758.604, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/Bookshelf, name: Bookshelf, static: true, x: 157.272, y: 25.118, yaw: -0.0051, z: 0} - - {model_name: OpenRobotics/Bookshelf, name: Bookshelf, static: true, x: 239.2, y: 25.472, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/WhiteCabinet, name: WhiteCabinet, static: true, x: 184.697, y: 30.074, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/WhiteCabinet, name: WhiteCabinet, static: true, x: 212.47, y: 30.427, yaw: 0.0051, z: 0} - - {model_name: OpenRobotics/VendingMachine, name: VendingMachine, static: true, x: 148.139, y: 49.594, yaw: -0.0005, z: 0} - - {model_name: OpenRobotics/CGMClassic, name: CGMClassic, static: true, x: 321.043, y: 633.11, yaw: -3.1416, z: 0} - - {model_name: OpenRobotics/KitchenCountertop, name: KitchenCountertop, static: true, x: 307.425, y: 788.3, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/KitchenSink, name: KitchenSink, static: true, x: 341.194, y: 755.056, yaw: 3.1418, z: 0} - - {model_name: OpenRobotics/VendingMachine, name: VendingMachine, static: true, x: 342.106, y: 727.288, yaw: -3.1416, z: 0} - - {model_name: OpenRobotics/Cafe table, name: Cafe_table, static: true, x: 285.339, y: 729.311, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/ElectronicsRecycling, name: ElectronicsRecycling, static: true, x: 351.019, y: 701.598, yaw: -1.5748, z: 0} - - {model_name: OpenRobotics/Fridge, name: Fridge, static: true, x: 342.81, y: 680.474, yaw: -1.5656, z: 0} - - {model_name: OpenRobotics/IVStand, name: IVStand, static: true, x: 339.122, y: 529.2329999999999, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/IVStand, name: IVStand, static: true, x: 339.953, y: 421.004, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/IVStand, name: IVStand, static: true, x: 339.832, y: 280.178, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/IVStand, name: IVStand, static: true, x: 340.909, y: 176.191, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/IVStand, name: IVStand, static: true, x: 339.953, y: 65.48999999999999, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/IVStand, name: IVStand, static: true, x: 46.975, y: 71.256, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/IVStand, name: IVStand, static: true, x: 340.912, y: 614.225, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/LampAndStand, name: LampAndStand, static: true, x: 339.475, y: 573.159, yaw: 1.5752, z: 0} - - {model_name: OpenRobotics/LampAndStand, name: LampAndStand, static: true, x: 339.44, y: 655.67, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/LampAndStand, name: LampAndStand, static: true, x: 339.953, y: 464.408, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/LampAndStand, name: LampAndStand, static: true, x: 341.387, y: 332.247, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/LampAndStand, name: LampAndStand, static: true, x: 340.431, y: 224.959, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/LampAndStand, name: LampAndStand, static: true, x: 340.431, y: 111.33, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/LampAndStand, name: LampAndStand, static: true, x: 47.55, y: 29.951, yaw: 1.5617, z: 0} - - {model_name: OpenRobotics/TrashBin, name: TrashBin, static: true, x: 322.411, y: 654.816, yaw: 1.5267, z: 0} - - {model_name: OpenRobotics/TrashBin, name: TrashBin, static: true, x: 319.715, y: 575.061, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/TrashBin, name: TrashBin, static: true, x: 325.109, y: 467.806, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/TrashBin, name: TrashBin, static: true, x: 323.312, y: 333.046, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/TrashBin, name: TrashBin, static: true, x: 325.126, y: 225.447, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/TrashBin, name: TrashBin, static: true, x: 321.778, y: 112.306, yaw: 1.5576, z: 0} - - {model_name: OpenRobotics/TrashBin, name: TrashBin, static: true, x: 63.918, y: 30.345, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/TrashBin, name: TrashBin, static: true, x: 59.682, y: 160.657, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/TrashBin, name: TrashBin, static: true, x: 59.839, y: 656.4880000000001, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/KitchenSink, name: KitchenSink, static: true, x: 75.849, y: 652.167, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/KitchenSink, name: KitchenSink, static: true, x: 77.827, y: 155.626, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/FemaleVisitor, name: FemaleVisitor, static: true, x: 171.032, y: 46.783, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/FemaleVisitor, name: FemaleVisitor, static: true, x: 128.802, y: 690.617, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/MaleVisitorOnPhone, name: MaleVisitorOnPhone, static: true, x: 272.678, y: 713.038, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/MaleVisitorOnPhone, name: MaleVisitorOnPhone, static: true, x: 104.976, y: 45.468, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/Ambulance2, name: Ambulance2, static: true, x: -106.441, y: 482.943, yaw: -3.1367, z: 0} - - {model_name: OpenRobotics/SUV, name: SUV, static: true, x: -299.6, y: 625.228, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/PatientWheelChair, name: PatientWheelChair, static: true, x: 118.507, y: 225.367, yaw: 1.574, z: 0} - - {model_name: OpenRobotics/TeleportDispenser, name: coke_dispenser, static: true, x: 295.356, y: 713.871, yaw: 1.5708, z: 0.775} - - {model_name: OpenRobotics/Coke, name: OpenRobotics/Coke, static: false, x: 295.339, y: 714.035, yaw: 1.5708, z: 0.775} - vertices: - - [-650.23, -443.524, 0, ""] - - [33.824, 19.042, 0, ""] - - [33.736, 799.306, 0, ""] - - [353.166, 799.328, 0, ""] - - [353.537, 18.779, 0, ""] - - [33.556, 350.531, 0, ""] - - [33.766, 423.556, 0, ""] - - [33.662, 260.444, 0, ""] - - [136.199, 260.198, 0, ""] - - [34.497, 509.667, 0, ""] - - [135.398, 509.667, 0, ""] - - [200.917, 140.758, 0, ""] - - [200.917, 621.119, 0, ""] - - [34.012, 105.341, 0, ""] - - [136.69, 105.556, 0, ""] - - [136.849, 168.685, 0, ""] - - [136.9, 19.447, 0, ""] - - [200.53, 260.001, 0, ""] - - [200.639, 509.9, 0, ""] - - [33.837, 168.061, 0, ""] - - [136.505, 122.667, 0, ""] - - [136.69, 150.833, 0, ""] - - [136.788, 68.413, 0, ""] - - [136.583, 99.27, 0, ""] - - [34.476, 592.307, 0, ""] - - [134.937, 592.615, 0, ""] - - [135.263, 560.8099999999999, 0, ""] - - [136.715, 205.211, 0, ""] - - [134.594, 799.21, 0, ""] - - [34.162, 665.135, 0, ""] - - [134.697, 665.202, 0, ""] - - [134.771, 610.647, 0, ""] - - [134.594, 640.974, 0, ""] - - [134.563, 671.628, 0, ""] - - [134.425, 703.01, 0, ""] - - [257.124, 19.037, 0, ""] - - [258.157, 798.718, 0, ""] - - [134.381, 727.652, 0, ""] - - [258.488, 727.886, 0, ""] - - [257.977, 665.476, 0, ""] - - [353.421, 666.013, 0, ""] - - [257.937, 582.905, 0, ""] - - [352.255, 583.498, 0, ""] - - [257.937, 474.865, 0, ""] - - [352.838, 474.865, 0, ""] - - [257.616, 343.597, 0, ""] - - [353.245, 342.85, 0, ""] - - [257.67, 234.899, 0, ""] - - [353.245, 234.899, 0, ""] - - [257.254, 121.282, 0, ""] - - [352.833, 121.487, 0, ""] - - [257.105, 37.373, 0, ""] - - [257.522, 69.43000000000001, 0, ""] - - [257.416, 133.883, 0, ""] - - [257.435, 165.45, 0, ""] - - [257.728, 281.231, 0, ""] - - [257.728, 249.306, 0, ""] - - [257.796, 400.648, 0, ""] - - [257.616, 365.129, 0, ""] - - [258.322, 526.41, 0, ""] - - [257.953, 494.003, 0, ""] - - [258.069, 619.89, 0, ""] - - [257.984, 587.957, 0, ""] - - [258.363, 703.713, 0, ""] - - [258.225, 671.206, 0, ""] - - [-473.126, -27.674, 0, ""] - - [-478.301, 840.218, 0, ""] - - [393.535, 840.218, 0, ""] - - [393.633, -27.674, 0, ""] - - [151.399, 727.669, 0, ""] - - [183.088, 727.717, 0, ""] - - [210, 727.622, 0, ""] - - [241.5, 727.811, 0, ""] - - [-35.586, 350.184, 0, ""] - - [-142.097, 350.184, 0, ""] - - [-239.649, 349.17, 0, ""] - - [-336.206, 342.573, 0, ""] - - [-391.951, 333.438, 0, ""] - - [-439.233, 319.736, 0, ""] - - [-472.58, 297.915, 0, ""] - - [-32.101, 424.784, 0, ""] - - [-139.608, 426.306, 0, ""] - - [-233.138, 431.2, 0, ""] - - [-332.426, 430.08, 0, ""] - - [-385.184, 435.31, 0, ""] - - [-421.455, 441.66, 0, ""] - - [-475.719, 466.612, 0, ""] - - [152.601, 577.015, 0, "", {is_passthrough_point: [4, true]}] - - [151.816, 476.504, 0, "", {is_passthrough_point: [4, true]}] - - [150.512, 687.09, 0, "", {is_passthrough_point: [4, true]}] - - [79.496, 688.797, 0, L1_storage, {is_passthrough_point: [4, true]}] - - [92.89, 576.057, 0, L1_consult_room2, {is_holding_point: [4, true]}] - - [242.145, 685.777, 0, "", {is_passthrough_point: [4, true]}] - - [317.434, 691.752, 0, L1_pantry, {is_holding_point: [4, true]}] - - [242.241, 603.838, 0, "", {is_passthrough_point: [4, true]}] - - [298.648, 604.524, 0, L1_ward7, {is_holding_point: [4, true]}] - - [242.681, 509.529, 0, "", {is_passthrough_point: [4, true]}] - - [304.604, 510.11, 0, L1_ward6, {is_holding_point: [4, true]}] - - [242.231, 382.524, 0, "", {is_passthrough_point: [4, true]}] - - [304.253, 383.671, 0, L1_ward5, {is_holding_point: [4, true]}] - - [242.231, 265.55, 0, "", {is_passthrough_point: [4, true]}] - - [312.087, 267.082, 0, L1_ward4, {is_holding_point: [4, true]}] - - [241.995, 148.939, 0, "", {is_passthrough_point: [4, true]}] - - [302.901, 150.966, 0, L1_ward3, {is_holding_point: [4, true]}] - - [240.695, 53.026, 0, "", {is_passthrough_point: [4, true]}] - - [306.445, 51.973, 0, L1_ward2, {is_holding_point: [4, true]}] - - [155.097, 83.66200000000001, 0, "", {is_passthrough_point: [4, true]}] - - [96.04300000000001, 84.355, 0, L1_ward1, {is_holding_point: [4, true]}] - - [154.114, 188.359, 0, "", {is_passthrough_point: [4, true]}] - - [91.075, 243.044, 0, hospitalRobot_charger1, {is_charger: [4, true], is_holding_point: [4, true], is_parking_spot: [4, true], spawn_robot_name: [1, hospitalRobot_1], spawn_robot_type: [1, HospitalRobot]}] - - [91.023, 187.712, 0, L1_consult_room1, {is_holding_point: [4, true]}] - - [152.648, 286.987, 0, "", {is_passthrough_point: [4, true]}] - - [87.809, 334.619, 0, "", {is_passthrough_point: [4, true]}] - - [89.164, 442.409, 0, "", {is_passthrough_point: [4, true]}] - - [317.609, 763.622, 0, "", {is_passthrough_point: [4, true]}] - - [277.353, 764.405, 0, tinyRobot_charger1, {is_charger: [4, true], is_holding_point: [4, true], is_parking_spot: [4, true], spawn_robot_name: [1, tinyRobot_1], spawn_robot_type: [1, TinyRobot]}] - - [167, 761, 0, "", {is_passthrough_point: [4, true], lift_cabin: [1, Lift1]}] - - [226, 761, 0, "", {is_passthrough_point: [4, true], lift_cabin: [1, Lift2]}] - - [165.755, 713.14, 0, "", {is_passthrough_point: [4, true]}] - - [226.205, 712.86, 0, "", {is_passthrough_point: [4, true]}] - - [80.587, 754.977, 0, "", {is_holding_point: [4, true]}] - - [171.634, 445.751, 0, L1_counter2, {is_holding_point: [4, true]}] - - [170.984, 321.359, 0, L1_counter1, {is_holding_point: [4, true]}] - - [184.932, 576.479, 0, "", {is_passthrough_point: [4, true]}] - - [185.145, 637.984, 0, "", {is_passthrough_point: [4, true]}] - - [218.72, 636.769, 0, "", {is_passthrough_point: [4, true]}] - - [216.648, 603.323, 0, "", {is_passthrough_point: [4, true]}] - - [216.688, 510.984, 0, "", {is_passthrough_point: [4, true]}] - - [216.815, 382.085, 0, "", {is_passthrough_point: [4, true]}] - - [216.576, 264.334, 0, "", {is_passthrough_point: [4, true]}] - - [216.815, 148.768, 0, "", {is_passthrough_point: [4, true]}] - - [214.731, 54.477, 0, "", {is_passthrough_point: [4, true]}] - - [216.338, 123.274, 0, "", {is_passthrough_point: [4, true]}] - - [185.145, 124.489, 0, "", {is_passthrough_point: [4, true]}] - - [185.382, 189.312, 0, "", {is_passthrough_point: [4, true]}] - - [183.479, 482.25, 0, "", {is_passthrough_point: [4, true]}] - - [77.88800000000001, 442.425, 0, "", {is_passthrough_point: [4, true]}] - - [79.48999999999999, 327.438, 0, "", {is_passthrough_point: [4, true]}] - - [184.005, 282.049, 0, "", {is_passthrough_point: [4, true]}] - - [184.071, 83.27500000000001, 0, "", {is_passthrough_point: [4, true]}] - - [93.276, 531.997, 0, hospitalRobot_charger2, {is_charger: [4, true], is_holding_point: [4, true], is_parking_spot: [4, true]}] - - [197.657, 666.499, 0, "", {is_passthrough_point: [4, true]}] - walls: - - [2, 3, {alpha: [3, 0.7], texture_name: [1, default]}] - - [3, 4, {alpha: [3, 0.7], texture_name: [1, default]}] - - [4, 1, {alpha: [3, 0.7], texture_name: [1, default]}] - - [7, 8, {alpha: [3, 0.7], texture_name: [1, default]}] - - [9, 10, {alpha: [3, 0.7], texture_name: [1, default]}] - - [11, 12, {alpha: [3, 0.7], texture_name: [1, default]}] - - [13, 14, {alpha: [3, 0.7], texture_name: [1, default]}] - - [19, 15, {alpha: [3, 0.7], texture_name: [1, default]}] - - [24, 25, {alpha: [3, 0.7], texture_name: [1, default]}] - - [29, 30, {alpha: [3, 0.7], texture_name: [1, default]}] - - [39, 40, {alpha: [3, 0.7], texture_name: [1, default]}] - - [41, 42, {alpha: [3, 0.7], texture_name: [1, default]}] - - [43, 44, {alpha: [3, 0.7], texture_name: [1, default]}] - - [45, 46, {alpha: [3, 0.7], texture_name: [1, default]}] - - [47, 48, {alpha: [3, 0.7], texture_name: [1, default]}] - - [49, 50, {alpha: [3, 0.7], texture_name: [1, default]}] - - [27, 8, {alpha: [3, 0.7], texture_name: [1, default]}] - - [15, 21, {alpha: [3, 0.7], texture_name: [1, default]}] - - [20, 14, {alpha: [3, 0.7], texture_name: [1, default]}] - - [14, 23, {alpha: [3, 0.7], texture_name: [1, default]}] - - [22, 16, {alpha: [3, 0.7], texture_name: [1, default]}] - - [35, 51, {alpha: [3, 0.7], texture_name: [1, default]}] - - [52, 49, {alpha: [3, 0.7], texture_name: [1, default]}] - - [49, 53, {alpha: [3, 0.7], texture_name: [1, default]}] - - [54, 47, {alpha: [3, 0.7], texture_name: [1, default]}] - - [47, 56, {alpha: [3, 0.7], texture_name: [1, default]}] - - [55, 45, {alpha: [3, 0.7], texture_name: [1, default]}] - - [45, 58, {alpha: [3, 0.7], texture_name: [1, default]}] - - [57, 43, {alpha: [3, 0.7], texture_name: [1, default]}] - - [43, 60, {alpha: [3, 0.7], texture_name: [1, default]}] - - [59, 41, {alpha: [3, 0.7], texture_name: [1, default]}] - - [41, 62, {alpha: [3, 0.7], texture_name: [1, default]}] - - [61, 39, {alpha: [3, 0.7], texture_name: [1, default]}] - - [39, 64, {alpha: [3, 0.7], texture_name: [1, default]}] - - [63, 38, {alpha: [3, 0.7], texture_name: [1, default]}] - - [38, 36, {alpha: [3, 0.7], texture_name: [1, default]}] - - [34, 37, {alpha: [3, 0.7], texture_name: [1, default]}] - - [37, 28, {alpha: [3, 0.7], texture_name: [1, default]}] - - [33, 30, {alpha: [3, 0.7], texture_name: [1, default]}] - - [30, 32, {alpha: [3, 0.7], texture_name: [1, default]}] - - [31, 25, {alpha: [3, 0.7], texture_name: [1, default]}] - - [26, 10, {alpha: [3, 0.7], texture_name: [1, default]}] - - [1, 13, {alpha: [3, 0.7], texture_name: [1, default]}] - - [13, 19, {alpha: [3, 0.7], texture_name: [1, default]}] - - [19, 7, {alpha: [3, 0.7], texture_name: [1, default]}] - - [7, 5, {alpha: [3, 0.7], texture_name: [1, default]}] - - [6, 9, {alpha: [3, 0.7], texture_name: [1, default]}] - - [9, 24, {alpha: [3, 0.7], texture_name: [1, default]}] - - [24, 29, {alpha: [3, 0.7], texture_name: [1, default]}] - - [29, 2, {alpha: [3, 0.7], texture_name: [1, default]}] - - [37, 69, {alpha: [3, 0.7], texture_name: [1, default]}] - - [70, 71, {alpha: [3, 0.7], texture_name: [1, default]}] - - [72, 38, {alpha: [3, 0.7], texture_name: [1, default]}] - L2: - doors: - - [36, 37, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_toilet1_door], type: [1, hinged]}] - - [38, 39, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_ward1_door], type: [1, hinged]}] - - [18, 40, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_office1_door], type: [1, hinged]}] - - [42, 41, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, -1], name: [1, L2_dispensary_door2], type: [1, hinged]}] - - [43, 44, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_dispensary_door1], type: [1, hinged]}] - - [45, 46, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_ward6_door], type: [1, hinged]}] - - [47, 48, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_ward5_door], type: [1, hinged]}] - - [49, 50, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_ward4_door], type: [1, hinged]}] - - [51, 12, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_office2_door], type: [1, hinged]}] - - [52, 53, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_toilet_door], type: [1, hinged]}] - - [54, 55, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_storage_door], type: [1, hinged]}] - - [57, 56, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, -1], name: [1, L2_pantry_door], type: [1, hinged]}] - - [58, 59, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_ward7_door], type: [1, hinged]}] - - [60, 61, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_ward3_door], type: [1, hinged]}] - - [62, 63, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_ward2_door], type: [1, hinged]}] - drawing: - filename: clinic.png - elevation: 10 - fiducials: - - [32.745, 19.752, 1] - - [356.692, 18.935, 2] - - [31.867, 794.37, 3] - flattened_x_offset: 0 - flattened_y_offset: 0 - floors: - - parameters: {texture_name: [1, blue_linoleum], texture_rotation: [3, 0], texture_scale: [3, 1]} - vertices: [1, 2, 3, 0] - lanes: - - [77, 79, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [79, 80, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [79, 81, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [81, 82, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [81, 83, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [83, 84, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [83, 85, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [85, 86, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [85, 87, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [87, 88, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [88, 89, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [88, 90, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [96, 97, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [77, 78, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [78, 96, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [98, 100, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [101, 99, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [101, 77, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [87, 92, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [91, 90, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [95, 94, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [93, 69, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [69, 68, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [69, 70, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [70, 71, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [70, 72, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [73, 74, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [72, 75, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [75, 100, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [100, 98, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [75, 76, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [101, 99, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [74, 72, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [95, 93, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [76, 102, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [71, 103, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [103, 104, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [104, 68, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [104, 105, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [106, 107, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [107, 108, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [108, 109, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [109, 110, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [110, 111, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [111, 112, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [112, 113, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [113, 103, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [105, 114, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [114, 91, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [105, 106, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [106, 115, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [115, 89, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [115, 114, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [107, 92, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [108, 86, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [109, 84, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [110, 82, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [111, 80, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [113, 100, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [100, 98, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [112, 101, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [101, 99, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [68, 116, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [71, 117, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [77, 118, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [118, 100, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [75, 118, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [118, 101, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - layers: - {} - measurements: - - [3, 2, {distance: [3, 30]}] - models: - - {model_name: OpenRobotics/CleaningSection, name: CleaningSection, static: true, x: 115.764, y: 753.897, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/CleaningSection, name: CleaningSection, static: true, x: 116.444, y: 728.058, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/Scrubber, name: Scrubber, static: true, x: 85.559, y: 755.438, yaw: 0.0098, z: 0} - - {model_name: OpenRobotics/Sofa, name: Sofa, static: true, x: 74.59, y: 490.781, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/Sofa, name: Sofa, static: true, x: 76.20699999999999, y: 273.997, yaw: -1.5706, z: 0} - - {model_name: OpenRobotics/AnesthesiaMachine, name: AnesthesiaMachine, static: true, x: 338.479, y: 145.677, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/AnesthesiaMachine, name: AnesthesiaMachine, static: true, x: 342.754, y: 272.157, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/AnesthesiaMachine, name: AnesthesiaMachine, static: true, x: 340.617, y: 404.801, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/AnesthesiaMachine, name: AnesthesiaMachine, static: true, x: 338.209, y: 507.589, yaw: -1.5706, z: 0} - - {model_name: OpenRobotics/AnesthesiaMachine, name: AnesthesiaMachine, static: true, x: 341.227, y: 599.833, yaw: 4.7126, z: 0} - - {model_name: OpenRobotics/AnesthesiaMachine, name: AnesthesiaMachine, static: true, x: 328.171, y: 96.8, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/LockerBig, name: LockerBig, static: true, x: 44.88, y: 382.864, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/VendingMachine, name: VendingMachine, static: true, x: 152.691, y: 31.094, yaw: -1.5728, z: 0} - - {model_name: OpenRobotics/VendingMachine, name: VendingMachine, static: true, x: 178.768, y: 31.105, yaw: -1.5694, z: 0} - - {model_name: OpenRobotics/ElderMalePatient, name: ElderMalePatient, static: true, x: 325.91, y: 49.479, yaw: 3.1418, z: 0} - - {model_name: OpenRobotics/ElderMalePatient, name: ElderMalePatient, static: true, x: 327.425, y: 633.467, yaw: 3.1418, z: 0} - - {model_name: OpenRobotics/ElderMalePatient, name: ElderMalePatient, static: true, x: 60.985, y: 41.589, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/MalePatientBed, name: MalePatientBed, static: true, x: 326.729, y: 204.952, yaw: 3.1418, z: 0} - - {model_name: OpenRobotics/MalePatientBed, name: MalePatientBed, static: true, x: 326.722, y: 550.683, yaw: 3.1418, z: 0} - - {model_name: OpenRobotics/NormalBed, name: NormalBed, static: true, x: 324.63, y: 311.534, yaw: 3.1418, z: 0} - - {model_name: OpenRobotics/NormalBed, name: NormalBed, static: true, x: 327.132, y: 442.088, yaw: 3.1418, z: 0} - - {model_name: OpenRobotics/Toilet, name: Toilet, static: true, x: 42.883, y: 624.8869999999999, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/Toilet, name: Toilet, static: true, x: 51.83, y: 134.839, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/Table, name: Table, static: true, x: 83.76000000000001, y: 340.935, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/Table, name: Table, static: true, x: 83.76000000000001, y: 379.728, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/Table, name: Table, static: true, x: 83.76000000000001, y: 418.521, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/KitchenCountertop, name: KitchenCountertop, static: true, x: 303.941, y: 781.873, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/CArm, name: CArm, static: true, x: 327.854, y: 367.762, yaw: -1.5706, z: 0} - - {model_name: OpenRobotics/KitchenSink, name: KitchenSink, static: true, x: 344.967, y: 765.732, yaw: 3.1418, z: 0} - - {model_name: OpenRobotics/VendingMachine, name: VendingMachine, static: true, x: 344.843, y: 699.543, yaw: -3.1392, z: 0} - - {model_name: OpenRobotics/ElectronicsRecycling, name: ElectronicsRecycling, static: true, x: 353.143, y: 676.0940000000001, yaw: -1.5708, z: 0} - - {model_name: OpenRobotics/TrashBin, name: TrashBin, static: true, x: 331.784, y: 653.838, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/TrashBin, name: TrashBin, static: true, x: 330.524, y: 571.9, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/TrashBin, name: TrashBin, static: true, x: 327.963, y: 462.299, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/TrashBin, name: TrashBin, static: true, x: 329.661, y: 333.738, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/TrashBin, name: TrashBin, static: true, x: 327.103, y: 225.912, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/TrashBin, name: TrashBin, static: true, x: 328.523, y: 27.149, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/TrashBin, name: TrashBin, static: true, x: 62.81, y: 57.321, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/TrashBin, name: TrashBin, static: true, x: 54.666, y: 652.264, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/LampAndStand, name: LampAndStand, static: true, x: 342.487, y: 28.532, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/LampAndStand, name: LampAndStand, static: true, x: 343.193, y: 226.148, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/LampAndStand, name: LampAndStand, static: true, x: 343.192, y: 331.83, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/LampAndStand, name: LampAndStand, static: true, x: 345.129, y: 461.468, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/LampAndStand, name: LampAndStand, static: true, x: 344.31, y: 571.086, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/LampAndStand, name: LampAndStand, static: true, x: 344.968, y: 653.838, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/Scrubs, name: Scrubs, static: true, x: 284.199, y: 633.317, yaw: 1.1188, z: 0} - - {model_name: OpenRobotics/Scrubs, name: Scrubs, static: true, x: 317.846, y: 487.861, yaw: 0.4053, z: 0} - - {model_name: OpenRobotics/Scrubs, name: Scrubs, static: true, x: 68.14700000000001, y: 341.468, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/Scrubs, name: Scrubs, static: true, x: 67.715, y: 69.11, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/Scrubs, name: Scrubs, static: true, x: 312.252, y: 76.83199999999999, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/NurseTable, name: NurseTable, static: true, x: 223.372, y: 29.667, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/KitchenSink, name: KitchenSink, static: true, x: 66.708, y: 155.855, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/KitchenSink, name: KitchenSink, static: true, x: 69.782, y: 648.755, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/Cafe table, name: Cafe_table, static: true, x: 292.454, y: 730.091, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/LitterBin, name: LitterBin, static: true, x: 330.038, y: 669.3680000000001, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/IVStand, name: IVStand, static: true, x: 345.453, y: 617.218, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/IVStand, name: IVStand, static: true, x: 344.485, y: 531.079, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/IVStand, name: IVStand, static: true, x: 344.236, y: 423.807, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/IVStand, name: IVStand, static: true, x: 344.236, y: 294.865, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/IVStand, name: IVStand, static: true, x: 345.453, y: 184.779, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/IVStand, name: IVStand, static: true, x: 343.542, y: 68.76900000000001, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/IVStand, name: IVStand, static: true, x: 43.171, y: 58.879, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/MiniSofa, name: MiniSofa, static: true, x: 122.847, y: 336.832, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/MiniSofa, name: MiniSofa, static: true, x: 122.238, y: 364.81, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/MiniSofa, name: MiniSofa, static: true, x: 122.847, y: 392.788, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/MiniSofa, name: MiniSofa, static: true, x: 122.552, y: 420.55, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/Desk, name: Desk, static: true, x: 42.404, y: 183.644, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/Desk, name: Desk, static: true, x: 42.691, y: 242.914, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/Desk, name: Desk, static: true, x: 43.395, y: 520.717, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/Desk, name: Desk, static: true, x: 42.667, y: 574.2859999999999, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/DeskChair, name: DeskChair, static: true, x: 59.424, y: 183.901, yaw: -3.0952, z: 0} - - {model_name: OpenRobotics/DeskChair, name: DeskChair, static: true, x: 59.547, y: 242.734, yaw: -3.1248, z: 0} - - {model_name: OpenRobotics/DeskChair, name: DeskChair, static: true, x: 59.408, y: 520.9349999999999, yaw: 3.124, z: 0} - - {model_name: OpenRobotics/DeskChair, name: DeskChair, static: true, x: 59.917, y: 574.141, yaw: 3.1045, z: 0} - - {model_name: OpenRobotics/MonitorAndKeyboard, name: MonitorAndKeyboard, static: true, x: 39.225, y: 520.556, yaw: 3.1399, z: 0.55} - - {model_name: OpenRobotics/MonitorAndKeyboard, name: MonitorAndKeyboard, static: true, x: 38.446, y: 574.2859999999999, yaw: 3.1374, z: 0.55} - - {model_name: OpenRobotics/MonitorAndKeyboard, name: MonitorAndKeyboard, static: true, x: 38.278, y: 183.128, yaw: 3.1234, z: 0.55} - - {model_name: OpenRobotics/MonitorAndKeyboard, name: MonitorAndKeyboard, static: true, x: 38.535, y: 242.699, yaw: 3.1331, z: 0.55} - - {model_name: OpenRobotics/Bookshelf, name: Bookshelf, static: true, x: 35.739, y: 545.807, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/Bookshelf, name: Bookshelf, static: true, x: 37.254, y: 212.652, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/Nurse, name: Nurse, static: true, x: 327.011, y: 178.449, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/Nurse, name: Nurse, static: true, x: 301.454, y: 529.856, yaw: -0.08799999999999999, z: 0} - - {model_name: OpenRobotics/Nurse, name: Nurse, static: true, x: 217.743, y: 50.938, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/Nurse, name: Nurse, static: true, x: 62.848, y: 405.596, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/MopCart2, name: MopCart2, static: true, x: 89.446, y: 732.535, yaw: 1.5755, z: 0} - - {model_name: OpenRobotics/Scrubs, name: Scrubs, static: true, x: 65.879, y: 430.89, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/Scrubs, name: Scrubs, static: true, x: 197.742, y: 713.833, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/Scrubs, name: Scrubs, static: true, x: 272.657, y: 714.913, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/StorageRackCovered, name: StorageRackCovered, static: true, x: 44.203, y: 680.734, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/StorageRackCovered, name: StorageRackCovered, static: true, x: 44.773, y: 713.818, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/StorageRackCovered, name: StorageRackCovered, static: true, x: 45.344, y: 747.473, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/StorageRackCovered, name: StorageRackCovered, static: true, x: 45.344, y: 778.276, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/StorageRackCovered, name: StorageRackCovered, static: true, x: 65.879, y: 777.135, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/StorageRackCovered, name: StorageRackCovered, static: true, x: 67.02, y: 746.903, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/StorageRackCovered, name: StorageRackCovered, static: true, x: 65.879, y: 715.529, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/StorageRackCovered, name: StorageRackCovered, static: true, x: 67.59, y: 681.875, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/Standing person, name: Standing_person, static: true, x: 67.02, y: 139.405, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/TVStand, name: TVStand, static: true, x: 344.294, y: 733.225, yaw: -1.5635, z: 0} - - {model_name: OpenRobotics/MaleVisitorSit, name: MaleVisitorSit, static: true, x: 41.288, y: 623.941, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/BloodPressureMonitor, name: BloodPressureMonitor, static: true, x: 322.336, y: 524.7140000000001, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/BloodPressureMonitor, name: BloodPressureMonitor, static: true, x: 322.624, y: 599.833, yaw: 0.07969999999999999, z: 0} - - {model_name: OpenRobotics/BloodPressureMonitor, name: BloodPressureMonitor, static: true, x: 344.188, y: 171.723, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/BloodPressureMonitor, name: BloodPressureMonitor, static: true, x: 345.351, y: 78.264, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/BloodPressureMonitor, name: BloodPressureMonitor, static: true, x: 43.871, y: 69.017, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/MaleVisitorOnPhone, name: MaleVisitorOnPhone, static: true, x: 247.449, y: 711.645, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/MaleVisitorOnPhone, name: MaleVisitorOnPhone, static: true, x: 168.765, y: 55.767, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/MaleVisitorOnPhone, name: MaleVisitorOnPhone, static: true, x: 283.085, y: 45.616, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/MiniSofa, name: MiniSofa, static: true, x: 44.142, y: 88.551, yaw: 3.1418, z: 0} - - {model_name: OpenRobotics/MiniSofa, name: MiniSofa, static: true, x: 285.673, y: 30.667, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/MopCart4, name: MopCart4, static: true, x: 248.537, y: 56.802, yaw: 1.571, z: 0} - vertices: - - [31.52, 19.343, 0, ""] - - [31.618, 794.37, 0, ""] - - [355.795, 794.016, 0, ""] - - [355.795, 19.526, 0, ""] - - [134.803, 791.296, 0, ""] - - [136.163, 19.526, 0, ""] - - [259.919, 19.526, 0, ""] - - [260.458, 794.0410000000001, 0, ""] - - [135.286, 726.866, 0, ""] - - [259.771, 727.047, 0, ""] - - [136.02, 660.6559999999999, 0, ""] - - [31.524, 661.701, 0, ""] - - [136.182, 588.5599999999999, 0, ""] - - [32.451, 589.208, 0, ""] - - [201.441, 615.8630000000001, 0, ""] - - [202.121, 140.561, 0, ""] - - [136.163, 103.843, 0, ""] - - [31.965, 103.557, 0, ""] - - [136.163, 169.12, 0, ""] - - [31.599, 168.472, 0, ""] - - [135.793, 258.186, 0, ""] - - [31.855, 258.969, 0, ""] - - [136.099, 506.289, 0, ""] - - [32.65, 506.369, 0, ""] - - [260.458, 661.176, 0, ""] - - [355.115, 661.421, 0, ""] - - [260.29, 579.878, 0, ""] - - [354.435, 579.824, 0, ""] - - [259.954, 470.529, 0, ""] - - [354.435, 470.348, 0, ""] - - [259.842, 339.98, 0, ""] - - [355.115, 341.153, 0, ""] - - [260.624, 233.192, 0, ""] - - [353.755, 235.077, 0, ""] - - [260.229, 119.723, 0, ""] - - [353.755, 119.482, 0, ""] - - [136.134, 123.556, 0, ""] - - [135.991, 149.997, 0, ""] - - [135.991, 64.913, 0, ""] - - [136.207, 96.224, 0, ""] - - [136.056, 204.555, 0, ""] - - [135.793, 285.936, 0, ""] - - [135.67, 319.571, 0, ""] - - [135.074, 445.56, 0, ""] - - [135.415, 476.911, 0, ""] - - [259.954, 521.088, 0, ""] - - [260.002, 488.435, 0, ""] - - [259.954, 395.782, 0, ""] - - [259.842, 362.005, 0, ""] - - [260.437, 280.635, 0, ""] - - [260.734, 248.084, 0, ""] - - [136.327, 558.085, 0, ""] - - [136.167, 606.713, 0, ""] - - [136.02, 637.203, 0, ""] - - [135.972, 666.838, 0, ""] - - [135.516, 695.072, 0, ""] - - [260.534, 698.933, 0, ""] - - [260.755, 667.194, 0, ""] - - [260.562, 618.843, 0, ""] - - [260.397, 587.34, 0, ""] - - [260.537, 166.154, 0, ""] - - [259.935, 133.172, 0, ""] - - [260.336, 108.211, 0, ""] - - [259.835, 76.13200000000001, 0, ""] - - [241.577, 727.139, 0, ""] - - [210.377, 727.139, 0, ""] - - [182.581, 727.092, 0, ""] - - [150.53, 726.997, 0, ""] - - [93.447, 302.389, 0, L2_dispensary2, {is_holding_point: [4, true]}] - - [153.884, 303.408, 0, "", {is_passthrough_point: [4, true]}] - - [153.353, 461.688, 0, "", {is_passthrough_point: [4, true]}] - - [92.87, 460.672, 0, L2_dispensary1, {is_holding_point: [4, true]}] - - [153.388, 573.178, 0, "", {is_passthrough_point: [4, true]}] - - [85.386, 522.721, 0, deliveryRobot_charger2, {is_charger: [4, true], is_holding_point: [4, true], is_parking_spot: [4, true], spawn_robot_name: [1, deliveryRobot_1], spawn_robot_type: [1, DeliveryRobot]}] - - [85.48699999999999, 572.266, 0, L2_office2, {is_passthrough_point: [4, true]}] - - [154.005, 681.046, 0, "", {is_passthrough_point: [4, true]}] - - [93.53, 680.773, 0, L2_storage, {is_passthrough_point: [4, true]}] - - [243.894, 681.631, 0, "", {is_passthrough_point: [4, true]}] - - [316.187, 683.064, 0, L2_pantry, {is_holding_point: [4, true]}] - - [243.161, 602.8440000000001, 0, "", {is_passthrough_point: [4, true]}] - - [297.672, 603.091, 0, L2_ward7, {is_holding_point: [4, true]}] - - [243.688, 505.52, 0, "", {is_passthrough_point: [4, true]}] - - [301.999, 506.21, 0, L2_ward6, {is_holding_point: [4, true]}] - - [243.214, 379.145, 0, "", {is_passthrough_point: [4, true]}] - - [300.331, 379.23, 0, L2_ward5, {is_holding_point: [4, true]}] - - [243.688, 262.551, 0, "", {is_passthrough_point: [4, true]}] - - [304.084, 266.428, 0, L2_ward4, {is_holding_point: [4, true]}] - - [244.708, 149.349, 0, "", {is_passthrough_point: [4, true]}] - - [244.588, 91.59699999999999, 0, "", {is_passthrough_point: [4, true]}] - - [296.092, 92.72, 0, L2_ward2, {is_holding_point: [4, true]}] - - [153.254, 79.884, 0, "", {is_passthrough_point: [4, true]}] - - [93.40300000000001, 80.319, 0, L2_ward1, {is_holding_point: [4, true]}] - - [310.965, 150.499, 0, L2_ward3, {is_holding_point: [4, true]}] - - [153.799, 188.561, 0, "", {is_passthrough_point: [4, true]}] - - [85.911, 239.703, 0, deliveryRobot_charger1, {is_charger: [4, true], is_holding_point: [4, true], is_parking_spot: [4, true]}] - - [85.569, 187.666, 0, L2_office1, {is_passthrough_point: [4, true]}] - - [320.657, 757.819, 0, "", {is_passthrough_point: [4, true]}] - - [278.85, 757.732, 0, tinyRobot_charger2, {is_charger: [4, true], is_holding_point: [4, true], is_parking_spot: [4, true], spawn_robot_name: [1, tinyRobot_2], spawn_robot_type: [1, TinyRobot]}] - - [166.597, 760.33, 0, "", {is_passthrough_point: [4, true], lift_cabin: [1, Lift1]}] - - [225.567, 760.33, 0, "", {is_passthrough_point: [4, true], lift_cabin: [1, Lift2]}] - - [165.979, 706.8680000000001, 0, "", {is_passthrough_point: [4, true]}] - - [227.253, 706.758, 0, "", {is_passthrough_point: [4, true]}] - - [93.825, 707.002, 0, "", {is_holding_point: [4, true]}] - - [185.869, 462.04, 0, "", {is_passthrough_point: [4, true]}] - - [186.253, 302.344, 0, "", {is_passthrough_point: [4, true]}] - - [186.11, 123.903, 0, "", {is_passthrough_point: [4, true]}] - - [218.917, 124.901, 0, "", {is_passthrough_point: [4, true]}] - - [218.061, 151.004, 0, "", {is_passthrough_point: [4, true]}] - - [217.633, 264.544, 0, "", {is_passthrough_point: [4, true]}] - - [217.348, 378.37, 0, "", {is_passthrough_point: [4, true]}] - - [217.348, 505.461, 0, "", {is_passthrough_point: [4, true]}] - - [217.184, 602.514, 0, "", {is_passthrough_point: [4, true]}] - - [217.348, 631.41, 0, "", {is_passthrough_point: [4, true]}] - - [185.255, 630.982, 0, "", {is_passthrough_point: [4, true]}] - - [186.211, 80.584, 0, "", {is_passthrough_point: [4, true]}] - - [218.632, 91.524, 0, "", {is_holding_point: [4, true]}] - - [65.745, 302.476, 0, hospitalRobot_charger3, {is_charger: [4, true], is_holding_point: [4, true], is_parking_spot: [4, true], spawn_robot_name: [1, hospitalRobot_2], spawn_robot_type: [1, HospitalRobot]}] - - [65.64700000000001, 460.888, 0, hospitalRobot_charger4, {is_charger: [4, true], is_holding_point: [4, true], is_parking_spot: [4, true]}] - - [200.673, 666.2859999999999, 0, "", {is_passthrough_point: [4, true]}] - walls: - - [0, 1, {alpha: [3, 0.7], texture_name: [1, default]}] - - [1, 2, {alpha: [3, 0.7], texture_name: [1, default]}] - - [2, 3, {alpha: [3, 0.7], texture_name: [1, default]}] - - [3, 0, {alpha: [3, 0.7], texture_name: [1, default]}] - - [10, 11, {alpha: [3, 0.7], texture_name: [1, default]}] - - [12, 13, {alpha: [3, 0.7], texture_name: [1, default]}] - - [14, 15, {alpha: [3, 0.7], texture_name: [1, default]}] - - [16, 17, {alpha: [3, 0.7], texture_name: [1, default]}] - - [18, 19, {alpha: [3, 0.7], texture_name: [1, default]}] - - [20, 21, {alpha: [3, 0.7], texture_name: [1, default]}] - - [22, 23, {alpha: [3, 0.7], texture_name: [1, default]}] - - [24, 25, {alpha: [3, 0.7], texture_name: [1, default]}] - - [26, 27, {alpha: [3, 0.7], texture_name: [1, default]}] - - [28, 29, {alpha: [3, 0.7], texture_name: [1, default]}] - - [30, 31, {alpha: [3, 0.7], texture_name: [1, default]}] - - [32, 33, {alpha: [3, 0.7], texture_name: [1, default]}] - - [34, 35, {alpha: [3, 0.7], texture_name: [1, default]}] - - [4, 8, {alpha: [3, 0.7], texture_name: [1, default]}] - - [8, 55, {alpha: [3, 0.7], texture_name: [1, default]}] - - [54, 10, {alpha: [3, 0.7], texture_name: [1, default]}] - - [10, 53, {alpha: [3, 0.7], texture_name: [1, default]}] - - [52, 12, {alpha: [3, 0.7], texture_name: [1, default]}] - - [51, 22, {alpha: [3, 0.7], texture_name: [1, default]}] - - [22, 44, {alpha: [3, 0.7], texture_name: [1, default]}] - - [43, 42, {alpha: [3, 0.7], texture_name: [1, default]}] - - [41, 20, {alpha: [3, 0.7], texture_name: [1, default]}] - - [20, 40, {alpha: [3, 0.7], texture_name: [1, default]}] - - [18, 37, {alpha: [3, 0.7], texture_name: [1, default]}] - - [36, 16, {alpha: [3, 0.7], texture_name: [1, default]}] - - [16, 39, {alpha: [3, 0.7], texture_name: [1, default]}] - - [38, 5, {alpha: [3, 0.7], texture_name: [1, default]}] - - [6, 63, {alpha: [3, 0.7], texture_name: [1, default]}] - - [62, 34, {alpha: [3, 0.7], texture_name: [1, default]}] - - [34, 61, {alpha: [3, 0.7], texture_name: [1, default]}] - - [60, 32, {alpha: [3, 0.7], texture_name: [1, default]}] - - [32, 50, {alpha: [3, 0.7], texture_name: [1, default]}] - - [49, 30, {alpha: [3, 0.7], texture_name: [1, default]}] - - [30, 48, {alpha: [3, 0.7], texture_name: [1, default]}] - - [47, 28, {alpha: [3, 0.7], texture_name: [1, default]}] - - [28, 46, {alpha: [3, 0.7], texture_name: [1, default]}] - - [45, 26, {alpha: [3, 0.7], texture_name: [1, default]}] - - [26, 59, {alpha: [3, 0.7], texture_name: [1, default]}] - - [58, 24, {alpha: [3, 0.7], texture_name: [1, default]}] - - [24, 57, {alpha: [3, 0.7], texture_name: [1, default]}] - - [56, 9, {alpha: [3, 0.7], texture_name: [1, default]}] - - [9, 7, {alpha: [3, 0.7], texture_name: [1, default]}] - - [9, 64, {alpha: [3, 0.7], texture_name: [1, default]}] - - [65, 66, {alpha: [3, 0.7], texture_name: [1, default]}] - - [8, 67, {alpha: [3, 0.7], texture_name: [1, default]}] - L3: - doors: - - [17, 37, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L3_conf_room_door1], type: [1, double_hinged]}] - - [38, 20, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L3_office2_door], type: [1, hinged]}] - - [39, 40, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L3_toilet2_door], type: [1, hinged]}] - - [41, 42, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L3_ward6_door], type: [1, hinged]}] - - [43, 44, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L3_ward5_door], type: [1, hinged]}] - - [45, 46, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L3_storage_door], type: [1, hinged]}] - - [48, 47, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, -1], name: [1, L3_pantry_door], type: [1, hinged]}] - - [49, 50, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L3_xray_door], type: [1, hinged]}] - - [51, 52, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L3_ward4_door], type: [1, hinged]}] - - [53, 54, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L3_ward3_door], type: [1, hinged]}] - - [55, 56, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L3_ward2_door], type: [1, hinged]}] - - [57, 58, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L3_ward1_door], type: [1, hinged]}] - - [59, 60, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L3_toilet1_door], type: [1, hinged]}] - - [61, 62, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L3_office1_door], type: [1, hinged]}] - - [11, 9, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L3_conf_room_door2], type: [1, double_hinged]}] - drawing: - filename: clinic.png - elevation: 20 - fiducials: - - [31.973, 18.871, 1] - - [356.414, 18.871, 2] - - [32.135, 794.0700000000001, 3] - flattened_x_offset: 0 - flattened_y_offset: 0 - floors: - - parameters: {texture_name: [1, blue_linoleum], texture_rotation: [3, 0], texture_scale: [3, 1]} - vertices: [0, 3, 2, 1] - lanes: - - [72, 73, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [72, 74, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [74, 75, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [74, 76, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [76, 77, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [76, 78, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [78, 80, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [80, 81, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [80, 82, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [82, 83, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [82, 84, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [84, 85, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [84, 86, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [86, 87, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [95, 96, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [73, 95, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [99, 97, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [100, 98, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [100, 72, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [78, 79, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [89, 88, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [88, 90, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [90, 92, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [92, 93, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [93, 91, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [91, 68, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [67, 69, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [68, 70, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [70, 71, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [71, 94, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [70, 99, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [99, 97, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [100, 98, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [69, 68, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [87, 102, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [103, 104, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [104, 105, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [105, 106, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [106, 107, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [107, 108, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [108, 109, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [109, 100, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [100, 98, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [99, 97, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [109, 110, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [110, 99, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [108, 75, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [107, 77, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [106, 79, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [105, 81, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [104, 83, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [103, 85, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [102, 103, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [103, 101, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - - [111, 99, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [72, 111, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [70, 111, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [111, 100, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [90, 91, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - layers: - {} - measurements: - - [2, 3, {distance: [3, 30]}] - models: - - {model_name: OpenRobotics/ConfTable, name: ConfTable, static: true, x: 115.778, y: 376.875, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/KitchenCountertop, name: KitchenCountertop, static: true, x: 309.694, y: 782.276, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/KitchenSink, name: KitchenSink, static: true, x: 343.478, y: 751.871, yaw: 3.1418, z: 0} - - {model_name: OpenRobotics/MalePatientBed, name: MalePatientBed, static: true, x: 327.529, y: 440.008, yaw: 3.1418, z: 0} - - {model_name: OpenRobotics/MalePatientBed, name: MalePatientBed, static: true, x: 329.393, y: 203.939, yaw: 3.1418, z: 0} - - {model_name: OpenRobotics/MalePatientBed, name: MalePatientBed, static: true, x: 60.423, y: 49.877, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/MalePatientBed, name: MalePatientBed, static: true, x: 328.056, y: 549.135, yaw: 3.1418, z: 0} - - {model_name: OpenRobotics/Bookshelf, name: Bookshelf, static: true, x: 39.427, y: 276.2, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/Bookshelf, name: Bookshelf, static: true, x: 38.751, y: 487.684, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/Cafe table, name: Cafe_table, static: true, x: 292.326, y: 730.525, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/Fridge, name: Fridge, static: true, x: 346.555, y: 720.582, yaw: -1.5583, z: 0} - - {model_name: OpenRobotics/LampAndStand, name: LampAndStand, static: true, x: 341.746, y: 651.2910000000001, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/LampAndStand, name: LampAndStand, static: true, x: 344.372, y: 571.241, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/LampAndStand, name: LampAndStand, static: true, x: 341.451, y: 461.333, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/LampAndStand, name: LampAndStand, static: true, x: 346.197, y: 332.911, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/LampAndStand, name: LampAndStand, static: true, x: 345.055, y: 224.537, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/LampAndStand, name: LampAndStand, static: true, x: 344.714, y: 27.917, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/LampAndStand, name: LampAndStand, static: true, x: 43.137, y: 29.813, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/OfficeChairGrey, name: OfficeChairGrey, static: true, x: 98.155, y: 352.187, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/OfficeChairGrey, name: OfficeChairGrey, static: true, x: 95.729, y: 378.066, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/OfficeChairGrey, name: OfficeChairGrey, static: true, x: 99.166, y: 403.946, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/OfficeChairGrey, name: OfficeChairGrey, static: true, x: 115.341, y: 417.492, yaw: 3.1418, z: 0} - - {model_name: OpenRobotics/OfficeChairGrey, name: OfficeChairGrey, static: true, x: 114.936, y: 333.99, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/OfficeChairGrey, name: OfficeChairGrey, static: true, x: 135.761, y: 351.985, yaw: -1.5706, z: 0} - - {model_name: OpenRobotics/OfficeChairGrey, name: OfficeChairGrey, static: true, x: 137.378, y: 376.853, yaw: 4.7126, z: 0} - - {model_name: OpenRobotics/OfficeChairGrey, name: OfficeChairGrey, static: true, x: 134.952, y: 404.956, yaw: 4.7126, z: 0} - - {model_name: OpenRobotics/OfficeChairBlue, name: OfficeChairBlue, static: true, x: 74.949, y: 272.399, yaw: -0.0074, z: 0} - - {model_name: OpenRobotics/OfficeChairBlue, name: OfficeChairBlue, static: true, x: 96.79600000000001, y: 272.673, yaw: -0.0026, z: 0} - - {model_name: OpenRobotics/OfficeChairBlue, name: OfficeChairBlue, static: true, x: 88.233, y: 491.869, yaw: -3.1318, z: 0} - - {model_name: OpenRobotics/OfficeChairBlue, name: OfficeChairBlue, static: true, x: 109.553, y: 491.78, yaw: -3.1155, z: 0} - - {model_name: OpenRobotics/OfficeChairBlue, name: OfficeChairBlue, static: true, x: 48.211, y: 303.903, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/OfficeChairBlue, name: OfficeChairBlue, static: true, x: 48.014, y: 324.488, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/OfficeChairBlue, name: OfficeChairBlue, static: true, x: 46.396, y: 440.541, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/OfficeChairBlue, name: OfficeChairBlue, static: true, x: 45.79, y: 461.163, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/MopCart1, name: MopCart1, static: true, x: 115.102, y: 731.601, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/MopCart1, name: MopCart1, static: true, x: 115.778, y: 770.789, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/LitterBin, name: LitterBin, static: true, x: 343.478, y: 673.4930000000001, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/Nurse, name: Nurse, static: true, x: 322.069, y: 411, yaw: -1.5473, z: 0} - - {model_name: OpenRobotics/Nurse, name: Nurse, static: true, x: 322.4, y: 180.676, yaw: 0.946, z: 0} - - {model_name: OpenRobotics/Nurse, name: Nurse, static: true, x: 62.12, y: 74.36799999999999, yaw: 1.4153, z: 0} - - {model_name: OpenRobotics/Nurse, name: Nurse, static: true, x: 178.982, y: 26.275, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/Standing person, name: Standing_person, static: true, x: 170.655, y: 62.455, yaw: 2.397, z: 0} - - {model_name: OpenRobotics/Standing person, name: Standing_person, static: true, x: 326.254, y: 288.314, yaw: 0.6949, z: 0} - - {model_name: OpenRobotics/Standing person, name: Standing_person, static: true, x: 181.986, y: 596.707, yaw: 0.9406, z: 0} - - {model_name: OpenRobotics/VendingMachine, name: VendingMachine, static: true, x: 345.592, y: 693.9589999999999, yaw: -3.1365, z: 0} - - {model_name: OpenRobotics/VendingMachine, name: VendingMachine, static: true, x: 147.789, y: 48.106, yaw: -0.0074, z: 0} - - {model_name: OpenRobotics/BloodPressureMonitor, name: BloodPressureMonitor, static: true, x: 345.074, y: 518.256, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/BloodPressureMonitor, name: BloodPressureMonitor, static: true, x: 341.635, y: 409.478, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/BloodPressureMonitor, name: BloodPressureMonitor, static: true, x: 345.736, y: 172.956, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/BloodPressureMonitor, name: BloodPressureMonitor, static: true, x: 43.609, y: 81.36199999999999, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/NurseTable, name: NurseTable, static: true, x: 196.178, y: 44.338, yaw: 3.1418, z: 0} - - {model_name: OpenRobotics/PatientWheelChair, name: PatientWheelChair, static: true, x: 151.22, y: 113.434, yaw: -1.5772, z: 0} - - {model_name: OpenRobotics/CGMVanguard, name: CGMVanguard, static: true, x: 327.705, y: 310.88, yaw: 3.1418, z: 0} - - {model_name: OpenRobotics/CGMVanguard, name: CGMVanguard, static: true, x: 327.064, y: 50.394, yaw: 3.1264, z: 0} - - {model_name: OpenRobotics/CGMVanguard, name: CGMVanguard, static: true, x: 329.547, y: 630.6559999999999, yaw: -3.1367, z: 0} - - {model_name: OpenRobotics/TrashBin, name: TrashBin, static: true, x: 58.743, y: 27.685, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/TrashBin, name: TrashBin, static: true, x: 331.606, y: 27.236, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/TrashBin, name: TrashBin, static: true, x: 330.203, y: 225.604, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/TrashBin, name: TrashBin, static: true, x: 330.715, y: 333.103, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/TrashBin, name: TrashBin, static: true, x: 326.593, y: 462.058, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/TrashBin, name: TrashBin, static: true, x: 329.459, y: 571.592, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/TrashBin, name: TrashBin, static: true, x: 322.564, y: 652.795, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/TrashBin, name: TrashBin, static: true, x: 64.828, y: 651.434, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/TrashBin, name: TrashBin, static: true, x: 60.875, y: 156.989, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/Toilet, name: Toilet, static: true, x: 46.123, y: 131.93, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/Toilet, name: Toilet, static: true, x: 45.764, y: 621.242, yaw: -0.0203, z: 0} - - {model_name: OpenRobotics/Desk, name: Desk, static: true, x: 43.504, y: 571.415, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/Desk, name: Desk, static: true, x: 44.185, y: 521.941, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/DeskChair, name: DeskChair, static: true, x: 63.024, y: 523.66, yaw: 3.1418, z: 0} - - {model_name: OpenRobotics/DeskChair, name: DeskChair, static: true, x: 60.731, y: 572.165, yaw: 3.1418, z: 0} - - {model_name: OpenRobotics/MonitorAndKeyboard, name: MonitorAndKeyboard, static: true, x: 40.047, y: 522.093, yaw: 3.1265, z: 0.55} - - {model_name: OpenRobotics/MonitorAndKeyboard, name: MonitorAndKeyboard, static: true, x: 39.306, y: 571.6, yaw: 3.1242, z: 0.55} - - {model_name: OpenRobotics/Desk, name: Desk, static: true, x: 44.168, y: 184.286, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/Desk, name: Desk, static: true, x: 43.338, y: 240.31, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/DeskChair, name: DeskChair, static: true, x: 60.877, y: 183.119, yaw: 3.1418, z: 0} - - {model_name: OpenRobotics/DeskChair, name: DeskChair, static: true, x: 61.622, y: 240.948, yaw: 3.1418, z: 0} - - {model_name: OpenRobotics/MonitorAndKeyboard, name: MonitorAndKeyboard, static: true, x: 40.016, y: 184.286, yaw: -3.1416, z: 0.55} - - {model_name: OpenRobotics/MonitorAndKeyboard, name: MonitorAndKeyboard, static: true, x: 39.142, y: 240.018, yaw: -3.1416, z: 0.55} - - {model_name: OpenRobotics/Bookshelf, name: Bookshelf, static: true, x: 37.385, y: 212.778, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/Bookshelf, name: Bookshelf, static: true, x: 36.734, y: 547.51, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/Sofa, name: Sofa, static: true, x: 47.609, y: 401.722, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/Sofa, name: Sofa, static: true, x: 48.62, y: 357.039, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/FemaleVisitorSit, name: FemaleVisitorSit, static: true, x: 92.494, y: 377.662, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/FemaleVisitorSit, name: FemaleVisitorSit, static: true, x: 46.8, y: 461.568, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/FemaleVisitorSit, name: FemaleVisitorSit, static: true, x: 74.702, y: 270.909, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/MaleVisitorOnPhone, name: MaleVisitorOnPhone, static: true, x: 129.788, y: 444.268, yaw: 3.9272, z: 0} - - {model_name: OpenRobotics/MaleVisitorOnPhone, name: MaleVisitorOnPhone, static: true, x: 111.095, y: 275.559, yaw: 0.0002, z: 0} - - {model_name: OpenRobotics/TVStand, name: TVStand, static: true, x: 190.148, y: 373.416, yaw: -1.5832, z: 0} - - {model_name: OpenRobotics/Nurse, name: Nurse, static: true, x: 196.412, y: 705.697, yaw: -1.5175, z: 0} - - {model_name: OpenRobotics/KitchenSink, name: KitchenSink, static: true, x: 77.27800000000001, y: 154.763, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/KitchenSink, name: KitchenSink, static: true, x: 80.502, y: 648.963, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/PatientFSit, name: PatientFSit, static: true, x: 45.238, y: 621.418, yaw: -0.0012, z: 0} - - {model_name: OpenRobotics/IVStand, name: IVStand, static: true, x: 43.059, y: 68.773, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/IVStand, name: IVStand, static: true, x: 347.097, y: 185.554, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/IVStand, name: IVStand, static: true, x: 344.24, y: 419.573, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/IVStand, name: IVStand, static: true, x: 346.828, y: 530.011, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/IVStand, name: IVStand, static: true, x: 346.819, y: 611.054, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/IVStand, name: IVStand, static: true, x: 349.398, y: 288.696, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/IVStand, name: IVStand, static: true, x: 343.226, y: 69.789, yaw: 3.1239, z: 0} - - {model_name: OpenRobotics/Scrubber, name: Scrubber, static: true, x: 190.901, y: 187.732, yaw: 3.1418, z: 0} - - {model_name: OpenRobotics/MiniSofa, name: MiniSofa, static: true, x: 340.175, y: 108.373, yaw: -1.5556, z: 0} - - {model_name: OpenRobotics/ScrubsTrolley, name: ScrubsTrolley, static: true, x: 42.946, y: 676.027, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/ScrubsTrolley, name: ScrubsTrolley, static: true, x: 41.932, y: 696.309, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/SurgicalTrolleyGuards, name: SurgicalTrolleyGuards, static: true, x: 42.439, y: 719.633, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/SurgicalTrolleyGuards, name: SurgicalTrolleyGuards, static: true, x: 42.439, y: 743.972, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/SurgicalTrolleyGuards, name: SurgicalTrolleyGuards, static: true, x: 41.932, y: 771.352, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/SurgicalTrolleyGuards, name: SurgicalTrolleyGuards, static: true, x: 57.143, y: 772.366, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/SurgicalTrolleyGuards, name: SurgicalTrolleyGuards, static: true, x: 58.664, y: 746, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/SurgicalTrolleyGuards, name: SurgicalTrolleyGuards, static: true, x: 59.171, y: 718.619, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/XRayMachineSmall, name: XRayMachineSmall, static: true, x: 73.876, y: 773.381, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/XRayMachineSmall, name: XRayMachineSmall, static: true, x: 72.86199999999999, y: 748.535, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/XRayMachine, name: XRayMachine, static: true, x: 319.63, y: 359.214, yaw: 0.0104, z: 0} - - {model_name: OpenRobotics/MiniSofa, name: MiniSofa, static: true, x: 339.81, y: 244.492, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/MiniSofa, name: MiniSofa, static: true, x: 343.079, y: 483.73, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/MiniSofa, name: MiniSofa, static: true, x: 341.918, y: 591.148, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/MiniSofa, name: MiniSofa, static: true, x: 341.918, y: 132.446, yaw: 1.571, z: 0} - - {model_name: OpenRobotics/MiniSofa, name: MiniSofa, static: true, x: 62.051, y: 93.544, yaw: 4.7126, z: 0} - - {model_name: OpenRobotics/TeleportIngestor, name: coke_ingestor, static: true, x: 332.235, y: 248.247, yaw: 1.5708, z: 0.438} - vertices: - - [33.043, 19.763, 0, ""] - - [31.76, 795.186, 0, ""] - - [356.564, 795.186, 0, ""] - - [356.564, 18.479, 0, ""] - - [201.397, 140.186, 0, ""] - - [200.524, 617.069, 0, ""] - - [258.375, 18.211, 0, ""] - - [258.375, 794.266, 0, ""] - - [136.644, 18.103, 0, ""] - - [135.359, 258.925, 0, ""] - - [33.548, 258.643, 0, ""] - - [201.07, 258.361, 0, ""] - - [33.732, 104.624, 0, ""] - - [136.524, 104.624, 0, ""] - - [33.347, 166.993, 0, ""] - - [135.977, 166.948, 0, ""] - - [134.218, 793.213, 0, ""] - - [134.201, 505.84, 0, ""] - - [32.784, 506.145, 0, ""] - - [32.292, 588.8680000000001, 0, ""] - - [134.201, 588.921, 0, ""] - - [33.769, 661.25, 0, ""] - - [134.218, 661.25, 0, ""] - - [133.592, 726.501, 0, ""] - - [257.918, 726.683, 0, ""] - - [258.466, 660.8869999999999, 0, ""] - - [356.352, 660.789, 0, ""] - - [356.352, 580.355, 0, ""] - - [258.623, 580.408, 0, ""] - - [258.763, 471.465, 0, ""] - - [355.903, 471.753, 0, ""] - - [356.951, 341.431, 0, ""] - - [258.903, 342.13, 0, ""] - - [259.042, 232.768, 0, ""] - - [357.019, 233.383, 0, ""] - - [258.71, 120.551, 0, ""] - - [357.096, 120.889, 0, ""] - - [201.308, 505.845, 0, ""] - - [134.343, 555.147, 0, ""] - - [134.201, 607.304, 0, ""] - - [134.201, 637.373, 0, ""] - - [258.503, 618.843, 0, ""] - - [258.801, 586.927, 0, ""] - - [258.929, 523.4, 0, ""] - - [258.808, 491.382, 0, ""] - - [134.188, 668.0170000000001, 0, ""] - - [133.97, 699.992, 0, ""] - - [258.433, 698.239, 0, ""] - - [258.637, 667.104, 0, ""] - - [259.24, 404.82, 0, ""] - - [258.982, 372.046, 0, ""] - - [258.647, 281.419, 0, ""] - - [259.211, 248.234, 0, ""] - - [258.763, 166.983, 0, ""] - - [258.903, 134.16, 0, ""] - - [258.584, 106.514, 0, ""] - - [258.575, 75.82899999999999, 0, ""] - - [136.609, 61.611, 0, ""] - - [136.313, 94.021, 0, ""] - - [136.166, 122.025, 0, ""] - - [135.977, 150.545, 0, ""] - - [135.848, 179.843, 0, ""] - - [135.568, 207.738, 0, ""] - - [150.212, 726.802, 0, ""] - - [183.089, 726.912, 0, ""] - - [209.039, 727.022, 0, ""] - - [241.751, 727.022, 0, ""] - - [85.321, 523.755, 0, deliveryRobot_charger3, {is_charger: [4, true], is_holding_point: [4, true], is_parking_spot: [4, true]}] - - [151.833, 570.256, 0, "", {is_passthrough_point: [4, true]}] - - [86.30200000000001, 570.308, 0, L3_office2, {is_passthrough_point: [4, true]}] - - [150.111, 683.6180000000001, 0, "", {is_passthrough_point: [4, true]}] - - [81.91500000000001, 683.732, 0, L3_storage, {is_passthrough_point: [4, true]}] - - [242.683, 682.258, 0, "", {is_passthrough_point: [4, true]}] - - [317.32, 684.577, 0, L3_pantry, {is_holding_point: [4, true]}] - - [242.694, 603.133, 0, "", {is_passthrough_point: [4, true]}] - - [296.683, 602.736, 0, L3_ward6, {is_holding_point: [4, true]}] - - [242.582, 507.25, 0, "", {is_passthrough_point: [4, true]}] - - [298.82, 508.017, 0, L3_ward5, {is_holding_point: [4, true]}] - - [242.595, 387.917, 0, "", {is_passthrough_point: [4, true]}] - - [319.757, 388.949, 0, L3_xray, {is_holding_point: [4, true]}] - - [243.165, 265.175, 0, "", {is_passthrough_point: [4, true]}] - - [304.519, 265.951, 0, L3_ward4, {is_holding_point: [4, true]}] - - [242.588, 150.988, 0, "", {is_passthrough_point: [4, true]}] - - [305.434, 152.438, 0, L3_ward3, {is_holding_point: [4, true]}] - - [242.057, 90.931, 0, "", {is_passthrough_point: [4, true]}] - - [304.551, 90.629, 0, L3_ward2, {is_holding_point: [4, true]}] - - [156.3, 78.84, 0, "", {is_passthrough_point: [4, true]}] - - [97.895, 76.67100000000001, 0, L3_ward1, {is_holding_point: [4, true]}] - - [152.91, 193.704, 0, "", {is_passthrough_point: [4, true]}] - - [92.491, 192.084, 0, L3_office1, {is_holding_point: [4, true]}] - - [163.891, 278.574, 0, "", {is_passthrough_point: [4, true]}] - - [164.058, 485.674, 0, "", {is_passthrough_point: [4, true]}] - - [75.241, 315.883, 0, L3_conf_room2, {is_passthrough_point: [4, true]}] - - [73.64100000000001, 448.469, 0, L3_conf_room1, {is_passthrough_point: [4, true]}] - - [83.77, 726.51, 0, "", {is_holding_point: [4, true]}] - - [318.206, 759.45, 0, "", {is_passthrough_point: [4, true]}] - - [275.579, 758.896, 0, tinyRobot_charger3, {is_charger: [4, true], is_holding_point: [4, true], is_parking_spot: [4, true], spawn_robot_name: [1, tinyRobot_3], spawn_robot_type: [1, TinyRobot]}] - - [166.352, 760.197, 0, "", {is_passthrough_point: [4, true], lift_cabin: [1, Lift1]}] - - [225.356, 760.197, 0, "", {is_passthrough_point: [4, true], lift_cabin: [1, Lift2]}] - - [165.181, 707.413, 0, "", {is_passthrough_point: [4, true]}] - - [227.493, 707.085, 0, "", {is_passthrough_point: [4, true]}] - - [215.302, 63.423, 0, L3_nurse_station, {is_holding_point: [4, true]}] - - [181.261, 81.273, 0, "", {is_passthrough_point: [4, true]}] - - [216.066, 90.625, 0, "", {is_passthrough_point: [4, true]}] - - [217.037, 152.576, 0, "", {is_passthrough_point: [4, true]}] - - [217.037, 267.484, 0, "", {is_passthrough_point: [4, true]}] - - [216.66, 388.175, 0, "", {is_passthrough_point: [4, true]}] - - [216.444, 506.382, 0, "", {is_passthrough_point: [4, true]}] - - [216.644, 602.9349999999999, 0, "", {is_passthrough_point: [4, true]}] - - [215.793, 635.3390000000001, 0, "", {is_passthrough_point: [4, true]}] - - [185.929, 635.501, 0, "", {is_passthrough_point: [4, true]}] - - [197.744, 664.419, 0, "", {is_passthrough_point: [4, true]}] - walls: - - [0, 1, {alpha: [3, 0.7], texture_name: [1, default]}] - - [1, 2, {alpha: [3, 0.7], texture_name: [1, default]}] - - [2, 3, {alpha: [3, 0.7], texture_name: [1, default]}] - - [3, 0, {alpha: [3, 0.7], texture_name: [1, default]}] - - [4, 5, {alpha: [3, 0.7], texture_name: [1, default]}] - - [12, 13, {alpha: [3, 0.7], texture_name: [1, default]}] - - [14, 15, {alpha: [3, 0.7], texture_name: [1, default]}] - - [18, 17, {alpha: [3, 0.7], texture_name: [1, default]}] - - [19, 20, {alpha: [3, 0.7], texture_name: [1, default]}] - - [21, 22, {alpha: [3, 0.7], texture_name: [1, default]}] - - [25, 26, {alpha: [3, 0.7], texture_name: [1, default]}] - - [27, 28, {alpha: [3, 0.7], texture_name: [1, default]}] - - [29, 30, {alpha: [3, 0.7], texture_name: [1, default]}] - - [31, 32, {alpha: [3, 0.7], texture_name: [1, default]}] - - [33, 34, {alpha: [3, 0.7], texture_name: [1, default]}] - - [35, 36, {alpha: [3, 0.7], texture_name: [1, default]}] - - [9, 10, {alpha: [3, 0.7], texture_name: [1, default]}] - - [9, 62, {alpha: [3, 0.7], texture_name: [1, default]}] - - [61, 15, {alpha: [3, 0.7], texture_name: [1, default]}] - - [15, 60, {alpha: [3, 0.7], texture_name: [1, default]}] - - [59, 13, {alpha: [3, 0.7], texture_name: [1, default]}] - - [13, 58, {alpha: [3, 0.7], texture_name: [1, default]}] - - [57, 8, {alpha: [3, 0.7], texture_name: [1, default]}] - - [6, 56, {alpha: [3, 0.7], texture_name: [1, default]}] - - [55, 35, {alpha: [3, 0.7], texture_name: [1, default]}] - - [35, 54, {alpha: [3, 0.7], texture_name: [1, default]}] - - [53, 33, {alpha: [3, 0.7], texture_name: [1, default]}] - - [33, 52, {alpha: [3, 0.7], texture_name: [1, default]}] - - [51, 32, {alpha: [3, 0.7], 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{alpha: [3, 0.7], texture_name: [1, default]}] - - [24, 66, {alpha: [3, 0.7], texture_name: [1, default]}] -lifts: - Lift1: - depth: 2.3 - doors: - door1: - door_type: 2 - motion_axis_orientation: 0 - width: 1 - x: 0 - y: 1.25 - highest_floor: "" - initial_floor_name: L1 - level_doors: - L1: [door1] - L2: [door1] - L3: [door1] - lowest_floor: "" - reference_floor_name: L1 - width: 2 - x: 167 - y: 761 - yaw: 0 - Lift2: - depth: 2.3 - doors: - door1: - door_type: 2 - motion_axis_orientation: 0 - width: 1 - x: 0 - y: 1.25 - highest_floor: "" - initial_floor_name: L1 - level_doors: - L1: [door1] - L2: [door1] - L3: [door1] - lowest_floor: "" - reference_floor_name: L1 - width: 2 - x: 226 - y: 761 - yaw: 0 -name: building diff --git a/rmf_demo_maps/maps/clinic/clinic.png b/rmf_demo_maps/maps/clinic/clinic.png deleted file mode 100644 index b7f123c4df521108c2d2ae78bf739bcf460ac9cb..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 4891 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z#+8_Gi_b=f6SS)(W9D=>Q7MHMy7@2hwv4mp$j{0nScumj?Bb!&D@m9gC(EVaSb}GQ zawuve94n7EqT{hxV+~;3eEQR z*LL41{`Nd#pFW-?g`SFljkmu$?C|NKwwSMe5k8~mr^nx}slJ!I z^AdYoldn(D#Py8I-C=m0gEK`Y+Q?dqWTKY*ruYUj@95A9MDVj8bmSXi$H6BN@-*B+3sKm*LNa+4tg zd9$DXvD&CzUzNf1x-Yq zQ_Rw!I%18Oq)FrB6t*D0H+{3U1D9IxgiSS}Kbrbd2EFsLoB!$4`_7-Iy;Lok@PUNs z{rVf%P(C>6jO3HsI>-8_Ee<@UbElYf_OAr+NAgYe`%0a`5uidY;hkzpmBk%@rj*h& zFr{4dViZiYNnBo`Odt)-N*Q-#H^o|2$Y2_X9b(_XteWXaYEofGGCV5~VR@`Xlh*;? zs0mWyXH?6Ik~`C993+CQlqomSJI~hCaYX=+JUy~h;Jp{Fi(!nEIo#IKPnv85~TaBu7d_K;=lHXFZaM`?7u+&f^H-Ab7`A(wQrG99mLdt^G zICQt{ynJ;Afv)^m8B&4YNaG^%A*qosUd$>oVq+U5MN}ltN3>K0^We`)`A}5&05(b9 zokoS{Ps~8&+v!TIWDzh4-GyQTK}!85ikDX2&I|U$4CE@}pk*XWmGVbO3=#E4TovrC zS__(I7JxdOmB6HpO8IybHk&;P7}5Ne2l(m@ptQ6M$R;-9WP#K+%qHGSeLT_F15>wCp20a+KYtvG!k$<{PeoP4sh z6BD>B3f7pZK{r?$C2FO_;h;f5L2o#mGfBYKfiXA Date: Thu, 17 Dec 2020 10:06:12 +0800 Subject: [PATCH 10/25] Added crowdsim to office map --- demos/launch/simulation.launch.xml | 2 + rmf_dashboard_resources/office/main.json | 2 +- rmf_demo_maps/CMakeLists.txt | 13 +++ .../maps/office/office.building.yaml | 94 ++++++++++++------- 4 files changed, 74 insertions(+), 37 deletions(-) diff --git a/demos/launch/simulation.launch.xml b/demos/launch/simulation.launch.xml index ef227fb9..3ef4debd 100644 --- a/demos/launch/simulation.launch.xml +++ b/demos/launch/simulation.launch.xml @@ -11,12 +11,14 @@ + + diff --git a/rmf_dashboard_resources/office/main.json b/rmf_dashboard_resources/office/main.json index 080d3db1..66a5fefd 100644 --- a/rmf_dashboard_resources/office/main.json +++ b/rmf_dashboard_resources/office/main.json @@ -1 +1 @@ -{"dispensers": {"coke_dispenser": {"icons": {"coke_dispenser": ""}, "location": {"x": 16.85, "y": -4.8, "yaw": 0, "level_name": "L1"}}, "coke_ingestor": {"icons": {"coke_ingestor": "/dispensers/coke_ingestor/humanIcon.png"}, "location": {"x": 20.95, "y": -6.95, "yaw": 0, "level_name": "L1"}}}, "robots": {"tinyRobot": {"icons": {"tinyRobot": "/robots/tinyRobot/tinyRobot.png"}, "places": {"supplies": [], "tinyRobot2_charger": [], "coe": [], "tinyRobot1_charger": [], "hardware_2": ["coke_ingestor"], "cubicle_2": [], "pantry": ["coke_dispenser"], "station_1": [], "lounge": [], "cubicle_1": [], "hardware_1": [], "station_2": []}}, "deliveryRobot": {"icons": {"deliveryRobot": "/robots/deliveryRobot/deliveryRobot.png"}, "places": {}}}} \ No newline at end of file +{"dispensers": {"coke_ingestor": {"icons": {"coke_ingestor": "/dispensers/coke_ingestor/humanIcon.png"}, "location": {"x": 20.95, "y": -6.95, "yaw": 0, "level_name": "L1"}}, "coke_dispenser": {"icons": {"coke_dispenser": ""}, "location": {"x": 16.85, "y": -4.8, "yaw": 0, "level_name": "L1"}}}, "robots": {"deliveryRobot": {"icons": {"deliveryRobot": "/robots/deliveryRobot/deliveryRobot.png"}, "places": {}}, "tinyRobot": {"icons": {"tinyRobot": "/robots/tinyRobot/tinyRobot.png"}, "places": {"supplies": [], "tinyRobot2_charger": [], "coe": [], "tinyRobot1_charger": [], "hardware_2": ["coke_ingestor"], "cubicle_2": [], "pantry": ["coke_dispenser"], "station_1": [], "lounge": [], "cubicle_1": [], "hardware_1": [], "station_2": []}}}} \ No newline at end of file diff --git a/rmf_demo_maps/CMakeLists.txt b/rmf_demo_maps/CMakeLists.txt index 23b15935..a3c6fa9e 100644 --- a/rmf_demo_maps/CMakeLists.txt +++ b/rmf_demo_maps/CMakeLists.txt @@ -68,6 +68,19 @@ foreach(path ${traffic_editor_paths}) DESTINATION share/${PROJECT_NAME}/maps ) + if (${world_name} MATCHES "office") + set(crowd_sim_config_resource ${output_dir}/config_resource/) + + add_custom_command( + OUTPUT ${world_name}_crowdsim + COMMAND ros2 run building_map_tools building_crowdsim ${map_path} ${crowd_sim_config_resource} ${output_world_path} + DEPENDS ${output_world_path} + ) + add_custom_target(generate_${world_name}_crowdsim ALL + DEPENDS ${world_name}_crowdsim + ) + endif() + # now, generate the nav graphs set(output_nav_graphs_dir ${output_dir}/nav_graphs/) set(output_nav_graphs_phony ${output_nav_graphs_dir}/phony) diff --git a/rmf_demo_maps/maps/office/office.building.yaml b/rmf_demo_maps/maps/office/office.building.yaml index 77659166..974b15c4 100644 --- a/rmf_demo_maps/maps/office/office.building.yaml +++ b/rmf_demo_maps/maps/office/office.building.yaml @@ -1,9 +1,27 @@ levels: L1: + crowd_sim: + agent_profiles: + - {ORCA_tau: 1, ORCA_tauObst: 0.4, class: 1, max_accel: 0, max_angle_vel: 0, max_neighbors: 10, max_speed: 0, name: external_agent, neighbor_dist: 5, obstacle_set: 1, pref_speed: 0, r: 0.25} + - {ORCA_tau: 1, ORCA_tauObst: 1, class: 1, max_accel: 3, max_angle_vel: 270, max_neighbors: 10, max_speed: 2, name: human, neighbor_dist: 5, obstacle_set: 1, pref_speed: 1.3, r: 0.18} + enable: 1 + external_agent_groups: + - {agents_name: [tinyRobot2, tinyRobot1], agents_number: 2, group_id: 0, profile_selector: external_agent, state_selector: external_static, x: 0, y: 0} + goal_sets: + - {capacity: 1, set_area: [hardware_2], set_id: 0} + model_types: + - {animation: walking, animation_speed: 1, typename: human} + obstacle_set: {class: 1, file_name: L1_navmesh.nav, type: nav_mesh} + states: + - {final: 1, goal_set: -1, name: external_static, navmesh_file_name: ""} + - {final: 0, goal_set: 0, name: thinking, navmesh_file_name: L1_navmesh.nav} + transitions: + - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: thinking, weight: 1}], from: thinking, to: thinking} + update_time_step: 0.1 doors: - - [31, 13, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, main_door], type: [1, double_hinged], plugin: [1, normal]}] - - [35, 37, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, coe_door], type: [1, hinged], plugin: [1, normal]}] - - [18, 17, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, hardware_door], type: [1, hinged], plugin: [1, normal]}] + - [31, 13, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, main_door], plugin: [1, normal], type: [1, double_hinged]}] + - [35, 37, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, coe_door], plugin: [1, normal], type: [1, hinged]}] + - [18, 17, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, hardware_door], plugin: [1, normal], type: [1, hinged]}] drawing: filename: office.png elevation: 0 @@ -12,6 +30,9 @@ levels: floors: - parameters: {texture_name: [1, blue_linoleum], texture_rotation: [3, 0], texture_scale: [3, 1]} vertices: [27, 28, 29, 30, 31, 13, 14, 15, 21, 20, 19, 22, 23, 24, 38, 25, 26, 36] + human_lanes: + - [51, 47, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [46, 47, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] lanes: - [39, 40, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - [41, 42, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] @@ -48,6 +69,7 @@ levels: - [5, 4, {distance: [3, 8.409000000000001]}] - [2, 3, {distance: [3, 20.089]}] models: + - {agent_group_id: 1, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: thinking, static: false, x: 2457.273, y: 1218.364, yaw: 0, z: 0} - {model_name: OpenRobotics/OfficeChairBlack, name: OfficeChairBlack, static: true, x: 775.16, y: 794.006, yaw: 4.2503, z: 0} - {model_name: OpenRobotics/OfficeChairBlack, name: OfficeChairBlack, static: true, x: 737, y: 884, yaw: 4.2239, z: 0} - {model_name: OpenRobotics/OfficeChairBlack, name: OfficeChairBlack, static: true, x: 680.226, y: 975.778, yaw: 4.247, z: 0} @@ -160,11 +182,11 @@ levels: - [1990, 638.364, 0, pantry, {is_parking_spot: [4, true]}] - [2213.636, 812, 0, "", {is_parking_spot: [4, true]}] - [2220.121, 1225.257, 0, ""] - - [2457.273, 1218.364, 0, hardware_1, {is_parking_spot: [4, true]}] + - [2457.273, 1218.364, 0, hardware_1, {human_goal_set_name: [1, hardware_2], is_parking_spot: [4, true]}] - [2213.374, 451.687, 0, lounge, {is_parking_spot: [4, true]}] - [1551.069, 468.349, 0, ""] - [1052.727, 730.182, 0, ""] - - [2474.545, 885.636, 0, hardware_2, {is_parking_spot: [4, true]}] + - [2474.545, 885.636, 0, hardware_2, {human_goal_set_name: [1, hardware_2], is_parking_spot: [4, true]}] - [924.545, 917.455, 0, "", {is_parking_spot: [4, false]}] - [780, 617.455, 0, coe, {is_parking_spot: [4, true]}] - [1366.364, 1087.455, 0, cubicle_1, {is_parking_spot: [4, true]}] @@ -178,37 +200,37 @@ levels: - [1131.384, 1336.44, 0, ""] - [739.949, 415.296, 0, supplies, {is_parking_spot: [4, true]}] walls: - - [6, 7, {}] - - [7, 12, {}] - - [12, 11, {}] - - [7, 8, {}] - - [8, 9, {}] - - [9, 10, {}] - - [14, 13, {}] - - [14, 15, {}] - - [15, 16, {}] - - [16, 17, {}] - - [20, 21, {}] - - [15, 21, {}] - - [18, 19, {}] - - [19, 20, {}] - - [22, 19, {}] - - [24, 23, {}] - - [23, 22, {}] - - [26, 25, {}] - - [31, 30, {}] - - [30, 29, {}] - - [29, 28, {}] - - [28, 27, {}] - - [35, 34, {}] - - [34, 33, {}] - - [33, 32, {}] - - [36, 33, {}] - - [27, 36, {}] - - [26, 36, {}] - - [25, 38, {}] - - [38, 24, {}] - - [37, 38, {}] + - [6, 7, {alpha: [3, 1], texture_name: [1, default]}] + - [7, 12, {alpha: [3, 1], texture_name: [1, default]}] + - [12, 11, {alpha: [3, 1], texture_name: [1, default]}] + - [7, 8, {alpha: [3, 1], texture_name: [1, default]}] + - [8, 9, {alpha: [3, 1], texture_name: [1, default]}] + - [9, 10, {alpha: [3, 1], texture_name: [1, default]}] + - [14, 13, {alpha: [3, 1], texture_name: [1, default]}] + - [14, 15, {alpha: [3, 1], texture_name: [1, default]}] + - [15, 16, {alpha: [3, 1], texture_name: [1, default]}] + - [16, 17, {alpha: [3, 1], texture_name: [1, default]}] + - [20, 21, {alpha: [3, 1], texture_name: [1, default]}] + - [15, 21, {alpha: [3, 1], texture_name: [1, default]}] + - [18, 19, {alpha: [3, 1], texture_name: [1, default]}] + - [19, 20, {alpha: [3, 1], texture_name: [1, default]}] + - [22, 19, {alpha: [3, 1], texture_name: [1, default]}] + - [24, 23, {alpha: [3, 1], texture_name: [1, default]}] + - [23, 22, {alpha: [3, 1], texture_name: [1, default]}] + - [26, 25, {alpha: [3, 1], texture_name: [1, default]}] + - [31, 30, {alpha: [3, 1], texture_name: [1, default]}] + - [30, 29, {alpha: [3, 1], texture_name: [1, default]}] + - [29, 28, {alpha: [3, 1], texture_name: [1, default]}] + - [28, 27, {alpha: [3, 1], texture_name: [1, default]}] + - [35, 34, {alpha: [3, 1], texture_name: [1, default]}] + - [34, 33, {alpha: [3, 1], texture_name: [1, default]}] + - [33, 32, {alpha: [3, 1], texture_name: [1, default]}] + - [36, 33, {alpha: [3, 1], texture_name: [1, default]}] + - [27, 36, {alpha: [3, 1], texture_name: [1, default]}] + - [26, 36, {alpha: [3, 1], texture_name: [1, default]}] + - [25, 38, {alpha: [3, 1], texture_name: [1, default]}] + - [38, 24, {alpha: [3, 1], texture_name: [1, default]}] + - [37, 38, {alpha: [3, 1], texture_name: [1, default]}] lifts: {} name: building From fcd49fb737c7c4eefdd8c8e19dd5cb08d649f242 Mon Sep 17 00:00:00 2001 From: Chong Tian En Date: Thu, 17 Dec 2020 10:12:56 +0800 Subject: [PATCH 11/25] made some adjustment to maps --- rmf_dashboard_resources/office/main.json | 2 +- rmf_demo_maps/CMakeLists.txt | 4 +- .../airport_terminal.building.yaml | 4 - .../maps/clinic/clinic.building.yaml | 76 +++- .../maps/office/office.building.yaml | 93 ----- .../maps/office/office_old.building.yaml | 342 ------------------ 6 files changed, 61 insertions(+), 460 deletions(-) delete mode 100644 rmf_demo_maps/maps/office/office_old.building.yaml diff --git a/rmf_dashboard_resources/office/main.json b/rmf_dashboard_resources/office/main.json index 080d3db1..66a5fefd 100644 --- a/rmf_dashboard_resources/office/main.json +++ b/rmf_dashboard_resources/office/main.json @@ -1 +1 @@ -{"dispensers": {"coke_dispenser": {"icons": {"coke_dispenser": ""}, "location": {"x": 16.85, "y": -4.8, "yaw": 0, "level_name": "L1"}}, "coke_ingestor": {"icons": {"coke_ingestor": "/dispensers/coke_ingestor/humanIcon.png"}, "location": {"x": 20.95, "y": -6.95, "yaw": 0, "level_name": "L1"}}}, "robots": {"tinyRobot": {"icons": {"tinyRobot": "/robots/tinyRobot/tinyRobot.png"}, "places": {"supplies": [], "tinyRobot2_charger": [], "coe": [], "tinyRobot1_charger": [], "hardware_2": ["coke_ingestor"], "cubicle_2": [], "pantry": ["coke_dispenser"], "station_1": [], "lounge": [], "cubicle_1": [], "hardware_1": [], "station_2": []}}, "deliveryRobot": {"icons": {"deliveryRobot": "/robots/deliveryRobot/deliveryRobot.png"}, "places": {}}}} \ No newline at end of file +{"dispensers": {"coke_ingestor": {"icons": {"coke_ingestor": "/dispensers/coke_ingestor/humanIcon.png"}, "location": {"x": 20.95, "y": -6.95, "yaw": 0, "level_name": "L1"}}, "coke_dispenser": {"icons": {"coke_dispenser": ""}, "location": {"x": 16.85, "y": -4.8, "yaw": 0, "level_name": "L1"}}}, "robots": {"deliveryRobot": {"icons": {"deliveryRobot": "/robots/deliveryRobot/deliveryRobot.png"}, "places": {}}, "tinyRobot": {"icons": {"tinyRobot": "/robots/tinyRobot/tinyRobot.png"}, "places": {"supplies": [], "tinyRobot2_charger": [], "coe": [], "tinyRobot1_charger": [], "hardware_2": ["coke_ingestor"], "cubicle_2": [], "pantry": ["coke_dispenser"], "station_1": [], "lounge": [], "cubicle_1": [], "hardware_1": [], "station_2": []}}}} \ No newline at end of file diff --git a/rmf_demo_maps/CMakeLists.txt b/rmf_demo_maps/CMakeLists.txt index 46a9a367..95c9be6f 100644 --- a/rmf_demo_maps/CMakeLists.txt +++ b/rmf_demo_maps/CMakeLists.txt @@ -68,9 +68,7 @@ foreach(path ${traffic_editor_paths}) DESTINATION share/${PROJECT_NAME}/maps ) - # second, generate the navmesh and required files for office and airport_terminal as of now - #if (${world_name} MATCHES "office" OR ${world_name} MATCHES "airport_terminal") - if (${world_name} MATCHES "office") + if (${world_name} MATCHES "clinic") set(crowd_sim_config_resource ${output_dir}/config_resource/) add_custom_command( diff --git a/rmf_demo_maps/maps/airport_terminal/airport_terminal.building.yaml b/rmf_demo_maps/maps/airport_terminal/airport_terminal.building.yaml index 8a64ce70..6862015f 100644 --- a/rmf_demo_maps/maps/airport_terminal/airport_terminal.building.yaml +++ b/rmf_demo_maps/maps/airport_terminal/airport_terminal.building.yaml @@ -1889,11 +1889,7 @@ levels: - [349.72, 623.377, 0, s03, {spawn_robot_name: [1, tinyRobot_0], spawn_robot_type: [1, TinyRobot]}] - [829.973, 515.119, 0, ""] - [827.6369999999999, 601.074, 0, s07, {spawn_robot_name: [1, tinyRobot_1], spawn_robot_type: [1, TinyRobot]}] -<<<<<<< HEAD - - [490.243, 493.246, 0, caddy, {spawn_robot_name: [1, caddy_placeholder], spawn_robot_type: [1, RobotPlaceholder]}] -======= - [490.243, 493.246, 0, caddy, {spawn_robot_name: [1, caddy], spawn_robot_type: [1, Caddy]}] ->>>>>>> fd2aa9023734942fd8fb34ee251d317eba14d4b0 - [897.3440000000001, 121.785, 0, ""] - [342.521, 575.905, 0, ""] - [357.266, 575.412, 0, ""] diff --git a/rmf_demo_maps/maps/clinic/clinic.building.yaml b/rmf_demo_maps/maps/clinic/clinic.building.yaml index e8c601aa..1190a58b 100644 --- a/rmf_demo_maps/maps/clinic/clinic.building.yaml +++ b/rmf_demo_maps/maps/clinic/clinic.building.yaml @@ -1,21 +1,26 @@ -crowd_sim: - agent_groups: - - {agents_name: [deliveryRobot_1, deliveryRobot_2, tinyRobot_1, tinyRobot_2], agents_number: 4, group_id: 0, profile_selector: external_agent, state_selector: external_static, x: 0, y: 0} - agent_profiles: - - {ORCA_tau: 1, ORCA_tauObst: 0.4, class: 1, max_accel: 0, max_angle_vel: 0, max_neighbors: 10, max_speed: 0, name: external_agent, neighbor_dist: 5, obstacle_set: 1, pref_speed: 0, r: 0.25} - enable: 0 - goal_sets: - [] - model_types: - [] - obstacle_set: {class: 1, file_name: L1_navmesh.nav, type: nav_mesh} - states: - - {final: 1, goal_set: -1, name: external_static, navmesh_file_name: ""} - transitions: - [] - update_time_step: 0.1 levels: L1: + crowd_sim: + agent_profiles: + - {ORCA_tau: 1, ORCA_tauObst: 0.4, class: 1, max_accel: 0, max_angle_vel: 0, max_neighbors: 10, max_speed: 0, name: external_agent, neighbor_dist: 5, obstacle_set: 1, pref_speed: 0, r: 0.25} + - {ORCA_tau: 1, ORCA_tauObst: 1, class: 1, max_accel: 3, max_angle_vel: 270, max_neighbors: 10, max_speed: 2, name: human, neighbor_dist: 5, obstacle_set: 1, pref_speed: 1.3, r: 0.18} + enable: 1 + external_agent_groups: + - {agents_name: [deliveryRobot_1, deliveryRobot_2], agents_number: 2, group_id: 0, profile_selector: external_agent, state_selector: external_static, x: 0, y: 0} + goal_sets: + - {capacity: 2, set_area: [reception], set_id: 0} + - {capacity: 1, set_area: [outdoor], set_id: 1} + model_types: + - {animation: walk, animation_speed: 1, typename: human} + obstacle_set: {class: 1, file_name: L1_navmesh.nav, type: nav_mesh} + states: + - {final: 1, goal_set: -1, name: external_static, navmesh_file_name: ""} + - {final: 0, goal_set: 0, name: receptionist, navmesh_file_name: L1_navmesh.nav} + - {final: 0, goal_set: 1, name: usher, navmesh_file_name: L1_navmesh.nav} + transitions: + - {Condition: {distance: 0.8, type: goal_reached}, Target: [{name: usher, weight: 1}], from: receptionist, to: usher} + - {Condition: {distance: 0.8, type: goal_reached}, Target: [{name: receptionist, weight: 1}], from: usher, to: receptionist} + update_time_step: 0.1 doors: - [24, 35, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_clinic_a], plugin: [1, normal], type: [1, double_sliding]}] - [210, 211, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_consult_rm_13_outer], plugin: [1, none], type: [1, sliding]}] @@ -109,6 +114,13 @@ levels: vertices: [2, 75, 76, 53, 52, 57, 56, 77, 78, 79, 80, 81, 63, 58, 59, 60, 82, 83, 84, 85, 86, 65, 64, 69, 68, 87, 88, 92, 70, 73, 42, 43, 44, 46, 47, 48, 49, 51, 140, 141, 142, 143, 144, 41, 40, 39, 38, 470, 363, 364, 365, 362, 361, 3, 11, 10, 9, 8, 7, 6, 5, 4] - parameters: {texture_name: [1, brown_marble], texture_rotation: [3, 0], texture_scale: [3, 1]} vertices: [363, 470, 38, 39, 40, 41, 386, 387, 364] + human_lanes: + - [474, 473, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [473, 472, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [472, 471, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [471, 475, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [475, 463, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [463, 464, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] lanes: - [367, 390, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - [390, 391, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] @@ -191,6 +203,8 @@ levels: measurements: - [0, 1, {distance: [3, 0.7]}] models: + - {agent_group_id: 1, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: receptionist, static: false, x: 756.802, y: 1402.2, yaw: 0, z: 0} + - {agent_group_id: 1, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: receptionist, static: false, x: 756.802, y: 1402.2, yaw: 0, z: 0} - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 992.989, y: 1539.645, yaw: 1.5708, z: 0} - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1084.49, y: 1539.645, yaw: 1.5708, z: 0} - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1175.725, y: 1539.645, yaw: 1.5708, z: 0} @@ -1085,13 +1099,18 @@ levels: - [497.337, 684.277, 0, ""] - [504.68, 1330.445, 0, ""] - [646.03, 1525.948, 0, ""] - - [643.276, 1611.308, 0, ""] + - [643.276, 1611.308, 0, "", {human_goal_set_name: [1, outdoor]}] - [341.303, 1562.662, 0, ""] - [1325.241, 1614.062, 0, ""] - [1438.136, 1614.98, 0, ""] - [1808.949, 1375.42, 0, ""] - [1803.442, 455.732, 0, ""] - [434.749, 1671.08, 0, ""] + - [677.069, 1419.668, 0, "", {human_goal_set_name: [1, reception]}] + - [731.727, 1369.236, 0, "", {human_goal_set_name: [1, reception]}] + - [756.802, 1402.2, 0, "", {human_goal_set_name: [1, reception]}] + - [814.277, 1370.363, 0, "", {human_goal_set_name: [1, reception]}] + - [672.561, 1479.679, 0, ""] walls: - [2, 4, {alpha: [3, 1], texture_name: [1, default]}] - [4, 5, {alpha: [3, 1], texture_name: [1, default]}] @@ -1530,6 +1549,18 @@ levels: floors: - parameters: {texture_name: [1, blue_linoleum], texture_rotation: [3, 0], texture_scale: [3, 1]} vertices: [2, 54, 55, 33, 32, 37, 36, 56, 57, 58, 59, 60, 43, 38, 39, 40, 61, 62, 63, 64, 65, 45, 44, 49, 48, 66, 67, 69, 50, 53, 22, 23, 24, 26, 27, 28, 29, 31, 75, 76, 77, 78, 79, 21, 20, 19, 18, 80, 272, 273, 281, 274, 271, 275, 3, 11, 10, 9, 8, 7, 6, 5, 4] + human_lanes: + - [372, 373, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [373, 374, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [374, 375, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [375, 376, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [376, 377, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [382, 381, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [381, 380, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [380, 379, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [379, 378, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [378, 375, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [375, 373, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] lanes: - [284, 294, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - [294, 295, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] @@ -2308,6 +2339,17 @@ levels: - [1212.667, 1036.455, 0, ""] - [1148.547, 1028.44, 0, L2_sub_waiting_area_3, {is_parking_spot: [4, true]}] - [1154.272, 651.165, 0, L2_sub_waiting_area_2, {is_parking_spot: [4, true]}] + - [673.1660000000001, 1477.46, 0, "", {human_goal_set_name: [1, reception]}] + - [672.047, 1414.766, 0, "", {human_goal_set_name: [1, reception]}] + - [728.77, 1364.013, 0, "", {human_goal_set_name: [1, reception]}] + - [760.491, 1393.494, 0, "", {human_goal_set_name: [1, reception]}] + - [789.972, 1435.664, 0, "", {human_goal_set_name: [1, reception]}] + - [794.45, 1471.489, 0, "", {human_goal_set_name: [1, reception]}] + - [810.497, 1361.401, 0, "", {human_goal_set_name: [1, reception]}] + - [867.967, 1333.412, 0, "", {human_goal_set_name: [1, reception]}] + - [892.223, 1359.908, 0, "", {human_goal_set_name: [1, reception]}] + - [935.5119999999999, 1282.66, 0, "", {human_goal_set_name: [1, reception]}] + - [1031.047, 1324.456, 0, "", {human_goal_set_name: [1, reception]}] walls: - [2, 4, {alpha: [3, 1], texture_name: [1, default]}] - [4, 5, {alpha: [3, 1], texture_name: [1, default]}] diff --git a/rmf_demo_maps/maps/office/office.building.yaml b/rmf_demo_maps/maps/office/office.building.yaml index 639847b4..e752e6ac 100644 --- a/rmf_demo_maps/maps/office/office.building.yaml +++ b/rmf_demo_maps/maps/office/office.building.yaml @@ -1,43 +1,5 @@ levels: L1: - crowd_sim: - external_agent_groups: - - {agents_name: [tinyRobot1, tinyRobot2], agents_number: 2, group_id: 0, profile_selector: external_agent, state_selector: external_static, x: 0, y: 0} - agent_profiles: - - {ORCA_tau: 1, ORCA_tauObst: 0.4, class: 1, max_accel: 0, max_angle_vel: 0, max_neighbors: 10, max_speed: 0, name: external_agent, neighbor_dist: 5, obstacle_set: 1, pref_speed: 0, r: 0.25} - - {ORCA_tau: 1, ORCA_tauObst: 1, class: 1, max_accel: 3, max_angle_vel: 270, max_neighbors: 10, max_speed: 2, name: human, neighbor_dist: 5, obstacle_set: 1, pref_speed: 1.3, r: 0.18} - - {ORCA_tau: 1, ORCA_tauObst: 0.4, class: 1, max_accel: 3, max_angle_vel: 270, max_neighbors: 10, max_speed: 2, name: basic, neighbor_dist: 5, obstacle_set: 1, pref_speed: 1.3, r: 0.2} - enable: 1 - goal_sets: - - {capacity: 3, set_area: [entry_lane], set_id: 0} - - {capacity: 3, set_area: [supplies], set_id: 1} - - {capacity: 3, set_area: [table_area], set_id: 2} - - {capacity: 10, set_area: [common], set_id: 3} - - {capacity: 5, set_area: [conf1], set_id: 4} - - {capacity: 5, set_area: [conf2], set_id: 5} - - {capacity: 2, set_area: [pantry], set_id: 6} - model_types: - - {animation: walk, animation_speed: 1.0, typename: human} - - {animation: walk, animation_speed: 0.3, typename: basic} - obstacle_set: {class: 1, file_name: L1_navmesh.nav, type: nav_mesh} - states: - - {final: 1, goal_set: -1, name: external_static, navmesh_file_name: ""} - - {final: 0, goal_set: 0, name: entry_lane, navmesh_file_name: L1_navmesh.nav} - - {final: 0, goal_set: 1, name: supplies, navmesh_file_name: L1_navmesh.nav} - - {final: 0, goal_set: 2, name: table_area, navmesh_file_name: L1_navmesh.nav} - - {final: 0, goal_set: 3, name: common, navmesh_file_name: L1_navmesh.nav} - - {final: 0, goal_set: 4, name: conf1, navmesh_file_name: L1_navmesh.nav} - - {final: 0, goal_set: 5, name: conf2, navmesh_file_name: L1_navmesh.nav} - - {final: 0, goal_set: 6, name: pantry, navmesh_file_name: L1_navmesh.nav} - transitions: - - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: common, weight: 1}, {name: entry_lane, weight: 1}, {name: table_area, weight: 1}], from: entry_lane, to: ""} - - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 25}, type: and}, Target: [{name: common, weight: 1}, {name: entry_lane, weight: 1}, {name: table_area, weight: 1}], from: supplies, to: ""} - - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: common, weight: 1}, {name: conf1, weight: 0.5}, {name: pantry, weight: 0.3}, {name: supplies, weight: 0.5}, {name: table_area, weight: 1}], from: table_area, to: ""} - - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: common, weight: 1}, {name: conf1, weight: 0.5}, {name: conf2, weight: 0.5}, {name: entry_lane, weight: 1}, {name: table_area, weight: 1}], from: common, to: ""} - - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 25}, type: and}, Target: [{name: common, weight: 1}, {name: conf1, weight: 1}, {name: entry_lane, weight: 1.5}, {name: table_area, weight: 1}], from: conf1, to: ""} - - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 25}, type: and}, Target: [{name: conf2, weight: 1}, {name: table_area, weight: 1}], from: conf2, to: ""} - - {Condition: {distance: 0.8, type: goal_reached}, Target: [{name: table_area, weight: 1}], from: pantry, to: table_area} - update_time_step: 0.1 doors: - [31, 13, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, main_door], type: [1, double_hinged], plugin: [1, normal]}] - [35, 37, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, coe_door], type: [1, hinged], plugin: [1, normal]}] @@ -50,56 +12,6 @@ levels: floors: - parameters: {texture_name: [1, blue_linoleum], texture_rotation: [3, 0], texture_scale: [3, 1]} vertices: [27, 28, 29, 30, 31, 13, 14, 15, 21, 20, 19, 22, 23, 24, 38, 25, 26, 36] - human_lanes: - - [63, 39, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [39, 64, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 0.9]}] - - [64, 66, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [67, 68, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [67, 52, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [52, 50, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - - [66, 70, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] - - [70, 50, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.4]}] - - [50, 71, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.7]}] - - [71, 72, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] - - [72, 73, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.5]}] - - [73, 74, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.5]}] - - [74, 75, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.5]}] - - [75, 45, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] - - [45, 56, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - - [56, 76, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - - [76, 77, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - - [77, 58, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - - [58, 59, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] - - [59, 69, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [68, 78, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [78, 69, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 0.8]}] - - [72, 54, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - - [54, 59, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - - [74, 55, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - - [55, 58, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - - [70, 79, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.8]}] - - [80, 81, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.6]}] - - [81, 82, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [82, 83, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [83, 84, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [84, 85, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [85, 86, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [86, 87, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [81, 88, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [88, 45, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [87, 89, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [89, 88, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [50, 90, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [90, 91, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - - [91, 92, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - - [92, 93, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [93, 94, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - - [94, 95, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - - [95, 90, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [75, 96, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [96, 97, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [79, 98, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - - [98, 80, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] lanes: - [39, 40, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - [41, 42, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] @@ -136,11 +48,6 @@ levels: - [5, 4, {distance: [3, 8.409000000000001]}] - [2, 3, {distance: [3, 20.089]}] models: - - {model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, static: false, x: 1554.184, y: 434.535, yaw: 0, z: 0, agent_group_id: 1, profile_selector: human, state_selector: entry_lane} - - {model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, static: false, x: 1554.184, y: 434.535, yaw: 0, z: 0, agent_group_id: 1, profile_selector: human, state_selector: entry_lane} - - {model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, static: false, x: 1580.409, y: 844.044, yaw: 0, z: 0, agent_group_id: 2, profile_selector: human, state_selector: table_area} - - {model_name: OpenRobotics/actor, name: actor, static: false, x: 2678.205, y: 649.336, yaw: 0, z: 0, agent_group_id: 3, profile_selector: basic, state_selector: conf1} - - {model_name: OpenRobotics/actor, name: actor, static: false, x: 725.296, y: 607.681, yaw: 0, z: 0, agent_group_id: 4, profile_selector: basic, state_selector: conf2} - {model_name: OpenRobotics/OfficeChairBlack, name: OfficeChairBlack, static: true, x: 775.16, y: 794.006, yaw: 4.2503, z: 0} - {model_name: OpenRobotics/OfficeChairBlack, name: OfficeChairBlack, static: true, x: 737, y: 884, yaw: 4.2239, z: 0} - {model_name: OpenRobotics/OfficeChairBlack, name: OfficeChairBlack, static: true, x: 680.226, y: 975.778, yaw: 4.247, z: 0} diff --git a/rmf_demo_maps/maps/office/office_old.building.yaml b/rmf_demo_maps/maps/office/office_old.building.yaml deleted file mode 100644 index b053c99a..00000000 --- a/rmf_demo_maps/maps/office/office_old.building.yaml +++ /dev/null @@ -1,342 +0,0 @@ -levels: - L1: - crowd_sim: - external_agent_groups: - - {agents_name: [tinyRobot1, tinyRobot2], agents_number: 2, group_id: 0, profile_selector: external_agent, state_selector: external_static, x: 0, y: 0} - agent_profiles: - - {ORCA_tau: 1, ORCA_tauObst: 0.4, class: 1, max_accel: 0, max_angle_vel: 0, max_neighbors: 10, max_speed: 0, name: external_agent, neighbor_dist: 5, obstacle_set: 1, pref_speed: 0, r: 0.25} - - {ORCA_tau: 1, ORCA_tauObst: 1, class: 1, max_accel: 3, max_angle_vel: 270, max_neighbors: 10, max_speed: 2, name: human, neighbor_dist: 5, obstacle_set: 1, pref_speed: 1.3, r: 0.18} - - {ORCA_tau: 1, ORCA_tauObst: 0.4, class: 1, max_accel: 3, max_angle_vel: 270, max_neighbors: 10, max_speed: 2, name: basic, neighbor_dist: 5, obstacle_set: 1, pref_speed: 1.3, r: 0.2} - enable: 1 - goal_sets: - - {capacity: 3, set_area: [entry_lane], set_id: 0} - - {capacity: 3, set_area: [supplies], set_id: 1} - - {capacity: 3, set_area: [table_area], set_id: 2} - - {capacity: 10, set_area: [common], set_id: 3} - - {capacity: 5, set_area: [conf1], set_id: 4} - - {capacity: 5, set_area: [conf2], set_id: 5} - - {capacity: 2, set_area: [pantry], set_id: 6} - model_types: - - {animation: walk, animation_speed: 1.0, typename: human} - - {animation: walk, animation_speed: 0.3, typename: basic} - obstacle_set: {class: 1, file_name: L1_navmesh.nav, type: nav_mesh} - states: - - {final: 1, goal_set: -1, name: external_static, navmesh_file_name: ""} - - {final: 0, goal_set: 0, name: entry_lane, navmesh_file_name: L1_navmesh.nav} - - {final: 0, goal_set: 1, name: supplies, navmesh_file_name: L1_navmesh.nav} - - {final: 0, goal_set: 2, name: table_area, navmesh_file_name: L1_navmesh.nav} - - {final: 0, goal_set: 3, name: common, navmesh_file_name: L1_navmesh.nav} - - {final: 0, goal_set: 4, name: conf1, navmesh_file_name: L1_navmesh.nav} - - {final: 0, goal_set: 5, name: conf2, navmesh_file_name: L1_navmesh.nav} - - {final: 0, goal_set: 6, name: pantry, navmesh_file_name: L1_navmesh.nav} - transitions: - - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: common, weight: 1}, {name: entry_lane, weight: 1}, {name: table_area, weight: 1}], from: entry_lane, to: ""} - - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 25}, type: and}, Target: [{name: common, weight: 1}, {name: entry_lane, weight: 1}, {name: table_area, weight: 1}], from: supplies, to: ""} - - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: common, weight: 1}, {name: conf1, weight: 0.5}, {name: pantry, weight: 0.3}, {name: supplies, weight: 0.5}, {name: table_area, weight: 1}], from: table_area, to: ""} - - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: common, weight: 1}, {name: conf1, weight: 0.5}, {name: conf2, weight: 0.5}, {name: entry_lane, weight: 1}, {name: table_area, weight: 1}], from: common, to: ""} - - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 25}, type: and}, Target: [{name: common, weight: 1}, {name: conf1, weight: 1}, {name: entry_lane, weight: 1.5}, {name: table_area, weight: 1}], from: conf1, to: ""} - - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 25}, type: and}, Target: [{name: conf2, weight: 1}, {name: table_area, weight: 1}], from: conf2, to: ""} - - {Condition: {distance: 0.8, type: goal_reached}, Target: [{name: table_area, weight: 1}], from: pantry, to: table_area} - update_time_step: 0.1 - doors: - - [31, 13, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, main_door], type: [1, double_hinged]}] - - [35, 37, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, coe_door], type: [1, hinged]}] - - [18, 17, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, hardware_door], type: [1, hinged]}] - drawing: - filename: office.png - elevation: 0 - flattened_x_offset: 0 - flattened_y_offset: 0 - floors: - - parameters: {texture_name: [1, blue_linoleum], texture_rotation: [3, 0], texture_scale: [3, 1]} - vertices: [27, 28, 29, 30, 31, 13, 14, 15, 21, 20, 19, 22, 23, 24, 38, 25, 26, 36] - human_lanes: - - [63, 39, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [39, 64, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 0.9]}] - - [64, 66, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [67, 68, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [67, 52, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [52, 50, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - - [66, 70, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] - - [70, 50, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.4]}] - - [50, 71, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.7]}] - - [71, 72, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] - - [72, 73, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.5]}] - - [73, 74, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.5]}] - - [74, 75, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.5]}] - - [75, 45, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] - - [45, 56, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - - [56, 76, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - - [76, 77, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - - [77, 58, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - - [58, 59, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] - - [59, 69, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [68, 78, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [78, 69, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 0.8]}] - - [72, 54, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - - [54, 59, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - - [74, 55, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - - [55, 58, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - - [70, 79, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.8]}] - - [80, 81, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.6]}] - - [81, 82, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [82, 83, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [83, 84, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [84, 85, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [85, 86, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [86, 87, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [81, 88, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [88, 45, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [87, 89, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [89, 88, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [50, 90, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [90, 91, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - - [91, 92, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - - [92, 93, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [93, 94, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - - [94, 95, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - - [95, 90, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [75, 96, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [96, 97, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [79, 98, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - - [98, 80, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - lanes: - - [39, 40, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [41, 42, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [43, 45, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [43, 44, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [45, 48, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [48, 49, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [49, 40, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [46, 47, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [40, 50, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [50, 41, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [50, 52, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [42, 54, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [42, 57, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [57, 43, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [57, 55, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [47, 51, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [50, 53, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [54, 59, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [55, 58, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [59, 58, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [58, 60, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [60, 46, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [52, 61, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [61, 62, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [62, 59, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [39, 63, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [45, 56, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [56, 46, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - layers: - {} - measurements: - - [1, 0, {distance: [3, 9.315]}] - - [5, 4, {distance: [3, 8.409000000000001]}] - - [2, 3, {distance: [3, 20.089]}] - models: - - {model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, static: false, x: 1554.184, y: 434.535, yaw: 0, z: 0, agent_group_id: 1, profile_selector: human, state_selector: entry_lane} - - {model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, static: false, x: 1554.184, y: 434.535, yaw: 0, z: 0, agent_group_id: 1, profile_selector: human, state_selector: entry_lane} - - {model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, static: false, x: 1580.409, y: 844.044, yaw: 0, z: 0, agent_group_id: 2, profile_selector: human, state_selector: table_area} - - {model_name: OpenRobotics/actor, name: actor, static: false, x: 2678.205, y: 649.336, yaw: 0, z: 0, agent_group_id: 3, profile_selector: basic, state_selector: conf1} - - {model_name: OpenRobotics/actor, name: actor, static: false, x: 725.296, y: 607.681, yaw: 0, z: 0, agent_group_id: 4, profile_selector: basic, state_selector: conf2} - - {model_name: OpenRobotics/OfficeChairBlack, name: OfficeChairBlack, static: true, x: 775.16, y: 794.006, yaw: 4.2503, z: 0} - - {model_name: OpenRobotics/OfficeChairBlack, name: OfficeChairBlack, static: true, x: 737, y: 884, yaw: 4.2239, z: 0} - - {model_name: OpenRobotics/OfficeChairBlack, name: OfficeChairBlack, static: true, x: 680.226, y: 975.778, yaw: 4.247, z: 0} - - {model_name: OpenRobotics/OfficeChairBlack, name: OfficeChairBlack, static: true, x: 637.397, y: 1066.178, yaw: 4.2458, z: 0} - - {model_name: OpenRobotics/OfficeChairBlack, name: OfficeChairBlack, static: true, x: 457.405, y: 976.296, yaw: 1.0926, z: 0} - - {model_name: OpenRobotics/OfficeChairBlack, name: OfficeChairBlack, static: true, x: 503.457, y: 884.746, yaw: 1.1213, z: 0} - - {model_name: OpenRobotics/OfficeChairBlack, name: OfficeChairBlack, static: true, x: 549.605, y: 797.635, yaw: 1.0613, z: 0} - - {model_name: OpenRobotics/OfficeChairBlack, name: OfficeChairBlack, static: true, x: 592.124, y: 715.71, yaw: 1.0779, z: 0} - - {model_name: OpenRobotics/Fridge, name: Fridge, static: true, x: 1888.625, y: 679.327, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/OfficeChairGrey, name: OfficeChairGrey, static: true, x: 1683.984, y: 655.241, yaw: 0.0166, z: 0} - - {model_name: OpenRobotics/AdjTable, name: AdjTable, static: true, x: 1392.53, y: 706.367, yaw: 3.1613, z: 0} - - {model_name: OpenRobotics/AdjTable, name: AdjTable, static: true, x: 991.717, y: 514.345, yaw: 1.099, z: 0} - - {model_name: OpenRobotics/AdjTable, name: AdjTable, static: true, x: 1682.699, y: 701.847, yaw: 3.1594, z: 0} - - {model_name: OpenRobotics/SmallCubicle, name: SmallCubicle, static: true, x: 1207.952, y: 1007.22, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/SmallCubicle, name: SmallCubicle, static: true, x: 1202.918, y: 1168.317, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/SmallCubicle, name: SmallCubicle, static: true, x: 1631.416, y: 1161.315, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/SmallCubicle, name: SmallCubicle, static: true, x: 1109.385, y: 1009.033, yaw: -1.5708, z: 0} - - {model_name: OpenRobotics/SmallCubicle, name: SmallCubicle, static: true, x: 1106.837, y: 1168.293, yaw: 4.7124, z: 0} - - {model_name: OpenRobotics/SmallCubicle, name: SmallCubicle, static: true, x: 1529.036, y: 1160.878, yaw: 4.7124, z: 0} - - {model_name: OpenRobotics/SmallCubicle, name: SmallCubicle, static: true, x: 1530.348, y: 1000.746, yaw: -1.5708, z: 0} - - {model_name: OpenRobotics/SmallCubicle, name: SmallCubicle, static: true, x: 1631.416, y: 999.433, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/AdjTable, name: AdjTable, static: true, x: 795.487, y: 1142.915, yaw: 1.0878, z: 0} - - {model_name: OpenRobotics/Drawer, name: Drawer, static: true, x: 721.897, y: 1247.935, yaw: 1.1104, z: 0} - - {model_name: OpenRobotics/BigCubicle, name: BigCubicle, static: true, x: 2045.916, y: 985.492, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/BigCubicle, name: BigCubicle, static: true, x: 2049.535, y: 1147.682, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/BigCubicle, name: BigCubicle, static: true, x: 1946.8, y: 1149.375, yaw: -1.5708, z: 0} - - {model_name: OpenRobotics/BigCubicle, name: BigCubicle, static: true, x: 1947.365, y: 990.194, yaw: -1.5708, z: 0} - - {model_name: OpenRobotics/AdjTable, name: AdjTable, static: true, x: 2607.625, y: 1219.095, yaw: 4.6088, z: 0} - - {model_name: OpenRobotics/AdjTable, name: AdjTable, static: true, x: 2644, y: 896, yaw: 4.5816, z: 0} - - {model_name: OpenRobotics/AdjTable, name: AdjTable, static: true, x: 2355.87, y: 1021.154, yaw: 1.5864, z: 0} - - {model_name: OpenRobotics/AdjTable, name: AdjTable, static: true, x: 2354.629, y: 849.779, yaw: 1.5733, z: 0} - - {model_name: OpenRobotics/AdjTable, name: AdjTable, static: true, x: 883, y: 457, yaw: 4.2286, z: 0} - - {model_name: OpenRobotics/AdjTable, name: AdjTable, static: true, x: 1536.41, y: 657.461, yaw: 1.5914, z: 0} - - {model_name: OpenRobotics/OfficeChairGrey, name: OfficeChairGrey, static: true, x: 2466, y: 469, yaw: 0, z: 0} - - {model_name: OpenRobotics/OfficeChairGrey, name: OfficeChairGrey, static: true, x: 2561, y: 469, yaw: 0, z: 0} - - {model_name: OpenRobotics/OfficeChairGrey, name: OfficeChairGrey, static: true, x: 2621, y: 533, yaw: -1.5708, z: 0} - - {model_name: OpenRobotics/OfficeChairGrey, name: OfficeChairGrey, static: true, x: 2559, y: 599, yaw: 3.1416, z: 0} - - {model_name: OpenRobotics/OfficeChairGrey, name: OfficeChairGrey, static: true, x: 2459, y: 595, yaw: 3.1416, z: 0} - - {model_name: OpenRobotics/OfficeChairGrey, name: OfficeChairGrey, static: true, x: 2393, y: 535, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/OfficeChairGrey, name: OfficeChairGrey, static: true, x: 1678.061, y: 1006.211, yaw: -1.5708, z: 0} - - {model_name: OpenRobotics/OfficeChairGrey, name: OfficeChairGrey, static: true, x: 2598, y: 888, yaw: 1.419, z: 0} - - {model_name: OpenRobotics/OfficeChairGrey, name: OfficeChairGrey, static: true, x: 2567.058, y: 1215.851, yaw: 1.4599, z: 0} - - {model_name: OpenRobotics/OfficeChairBlue, name: OfficeChairBlue, static: true, x: 1047.543, y: 989.277, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/OfficeChairBlue, name: OfficeChairBlue, static: true, x: 1045.85, y: 1155.797, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/OfficeChairBlue, name: OfficeChairBlue, static: true, x: 1264.301, y: 1004.518, yaw: 4.7124, z: 0} - - {model_name: OpenRobotics/OfficeChairBlue, name: OfficeChairBlue, static: true, x: 1263.737, y: 1165.958, yaw: 4.7124, z: 0} - - {model_name: OpenRobotics/OfficeChairBlue, name: OfficeChairBlue, static: true, x: 1471.463, y: 1000.567, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/OfficeChairBlue, name: OfficeChairBlue, static: true, x: 1690.479, y: 1161.442, yaw: -1.5708, z: 0} - - {model_name: OpenRobotics/OfficeChairBlue, name: OfficeChairBlue, static: true, x: 1892.611, y: 1154.456, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/OfficeChairBlue, name: OfficeChairBlue, static: true, x: 1894.869, y: 996.403, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/OfficeChairBlue, name: OfficeChairBlue, static: true, x: 2103.16, y: 1009.386, yaw: -1.5708, z: 0} - - {model_name: OpenRobotics/OfficeChairBlue, name: OfficeChairBlue, static: true, x: 2106.547, y: 1148.811, yaw: -1.5708, z: 0} - - {model_name: OpenRobotics/OfficeChairBlack, name: OfficeChairBlack, static: true, x: 1464.125, y: 1147.33, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/OfficeChairGrey, name: OfficeChairGrey, static: true, x: 1398.96, y: 657.332, yaw: 0.016, z: 0} - - {model_name: OpenRobotics/Drawer, name: Drawer, static: true, x: 1224.595, y: 1275.574, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/Drawer, name: Drawer, static: true, x: 2119.682, y: 936.998, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/Drawer, name: Drawer, static: true, x: 2625.448, y: 1094.713, yaw: 4.6217, z: 0} - - {model_name: OpenRobotics/ConfTable, name: ConfTable, static: true, x: 620, y: 872, yaw: 1.1017, z: 0} - - {model_name: OpenRobotics/RecTable, name: RecTable, static: true, x: 2508, y: 532, yaw: 0, z: 0} - - {model_name: OpenRobotics/WhiteCabinet, name: WhiteCabinet, static: true, x: 1779.929, y: 344.234, yaw: -0.0292, z: 0} - - {model_name: OpenRobotics/SquareShelf, name: SquareShelf, static: true, x: 938.97, y: 352.118, yaw: 2.664, z: 0} - - {model_name: OpenRobotics/TeleportDispenser, name: coke_dispenser, static: true, x: 2091.359, y: 624.821, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/Coke, name: Coke, static: false, x: 2091.359, y: 625.071, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/TeleportIngestor, name: coke_ingestor, static: true, x: 2662.887, y: 898.996, yaw: 1.5708, z: 0.805} - vertices: - - [80.27, 1024.974, 0, ""] - - [580.795, 43.396, 0, ""] - - [258.725, 1426.884, 0, ""] - - [2624.464, 1625.219, 0, ""] - - [2809.312, 1349.93, 0, ""] - - [2951.32, 368.569, 0, ""] - - [1249.786, 556.5700000000001, 0, ""] - - [1829.797, 547.502, 0, ""] - - [2137.396, 543.5119999999999, 0, ""] - - [2139.935, 719.075, 0, ""] - - [2056.869, 723.0650000000001, 0, ""] - - [1914.314, 725.241, 0, ""] - - [1832.337, 726.329, 0, ""] - - [1663.159, 302.319, 0, ""] - - [2797.635, 340.467, 0, ""] - - [2734.609, 712.544, 0, ""] - - [2295.082, 722.495, 0, ""] - - [2297.846, 1166.445, 0, ""] - - [2297.293, 1271.489, 0, ""] - - [2298.952, 1363.264, 0, ""] - - [2657.208, 1331.751, 0, ""] - - [2690.932, 1025.465, 0, ""] - - [1619.482, 1417.998, 0, ""] - - [1274.496, 1411.916, 0, ""] - - [931.72, 1359.394, 0, ""] - - [591.037, 1263.173, 0, ""] - - [269.05, 1125.229, 0, ""] - - [771.683, 135.085, 0, ""] - - [1002.591, 229.438, 0, ""] - - [1195.809, 279.98, 0, ""] - - [1395.345, 308.146, 0, ""] - - [1439.306, 307.093, 0, ""] - - [1003.149, 357.463, 0, ""] - - [887.884, 583.51, 0, ""] - - [984.898, 632.497, 0, ""] - - [975.293, 648.826, 0, ""] - - [612.9690000000001, 445.59, 0, ""] - - [933.086, 744.676, 0, ""] - - [655.919, 1280.411, 0, ""] - - [814.828, 239.25, 0, "", {human_goal_set_name: [1, supplies], is_parking_spot: [4, true]}] - - [1210.544, 365.254, 0, ""] - - [1159.091, 825.636, 0, ""] - - [1376.364, 822.909, 0, station_1, {is_parking_spot: [4, true]}] - - [1991.121, 812.872, 0, ""] - - [1990, 638.364, 0, pantry, {is_parking_spot: [4, true]}] - - [2213.636, 812, 0, "", {is_parking_spot: [4, true]}] - - [2220.121, 1225.257, 0, ""] - - [2457.273, 1218.364, 0, hardware_1, {is_parking_spot: [4, true]}] - - [2213.374, 451.687, 0, lounge, {is_parking_spot: [4, true]}] - - [1551.069, 468.349, 0, ""] - - [1052.727, 730.182, 0, "", {human_goal_set_name: [1, common]}] - - [2474.545, 885.636, 0, hardware_2, {is_parking_spot: [4, true]}] - - [924.545, 917.455, 0, "", {is_parking_spot: [4, false]}] - - [780, 617.455, 0, coe, {is_parking_spot: [4, true]}] - - [1366.364, 1087.455, 0, cubicle_1, {is_parking_spot: [4, true]}] - - [1788.182, 1082.909, 0, cubicle_2, {is_parking_spot: [4, true]}] - - [2215.455, 1070.182, 0, cubicle_3, {is_parking_spot: [4, false]}] - - [1790, 815.636, 0, station_2, {is_parking_spot: [4, true]}] - - [1790.467, 1326.218, 0, tinyRobot2_charger, {is_charger: [4, true], is_parking_spot: [4, true], spawn_robot_name: [1, tinyRobot2], spawn_robot_type: [1, TinyRobot]}] - - [1364.76, 1336.717, 0, tinyRobot1_charger, {is_charger: [4, true], is_parking_spot: [4, true], spawn_robot_name: [1, tinyRobot1], spawn_robot_type: [1, TinyRobot]}] - - [2222.415, 1308.722, 0, ""] - - [935.553, 1258.579, 0, ""] - - [1131.384, 1336.44, 0, ""] - - [739.949, 415.296, 0, supplies, {human_goal_set_name: [1, supplies], is_parking_spot: [4, true]}] - - [905.329, 260.503, 0, "", {human_goal_set_name: [1, supplies]}] - - [1140.601, 333.679, 0, ""] - - [1068.579, 306.671, 0, ""] - - [945.542, 1055.399, 0, "", {human_goal_set_name: [1, table_area]}] - - [866.401, 1268.156, 0, "", {human_goal_set_name: [1, table_area]}] - - [1237.37, 1343.289, 0, "", {human_goal_set_name: [1, table_area]}] - - [1174.935, 434.535, 0, "", {human_goal_set_name: [1, entry_lane]}] - - [1239.488, 840.009, 0, "", {human_goal_set_name: [1, table_area]}] - - [1378.68, 852.1130000000001, 0, "", {human_goal_set_name: [1, table_area]}] - - [1580.409, 844.044, 0, "", {human_goal_set_name: [1, table_area]}] - - [1788.189, 844.044, 0, "", {human_goal_set_name: [1, table_area]}] - - [1991.934, 837.992, 0, ""] - - [2223.922, 1263.638, 0, "", {human_goal_set_name: [1, common]}] - - [2012.107, 1303.984, 0, "", {human_goal_set_name: [1, table_area]}] - - [1088.192, 1312.053, 0, "", {human_goal_set_name: [1, table_area]}] - - [1554.184, 434.535, 0, "", {human_goal_set_name: [1, entry_lane]}] - - [1917.295, 432.518, 0, "", {human_goal_set_name: [1, entry_lane]}] - - [2211.818, 420.414, 0, "", {human_goal_set_name: [1, entry_lane]}] - - [2369.464, 387.151, 0, "", {human_goal_set_name: [1, conf1]}] - - [2518.934, 379.8, 0, "", {human_goal_set_name: [1, conf1]}] - - [2690.457, 396.953, 0, "", {human_goal_set_name: [1, conf1]}] - - [2712.51, 529.27, 0, "", {human_goal_set_name: [1, conf1]}] - - [2678.205, 649.336, 0, "", {human_goal_set_name: [1, conf1]}] - - [2516.484, 661.588, 0, "", {human_goal_set_name: [1, conf1]}] - - [2215.094, 585.628, 0, "", {human_goal_set_name: [1, common]}] - - [2352.312, 651.7859999999999, 0, "", {human_goal_set_name: [1, conf1]}] - - [896.819, 666.4880000000001, 0, "", {human_goal_set_name: [1, conf2]}] - - [725.296, 607.681, 0, "", {human_goal_set_name: [1, conf2]}] - - [617.482, 548.873, 0, "", {human_goal_set_name: [1, conf2]}] - - [365.098, 1048.739, 0, "", {human_goal_set_name: [1, conf2]}] - - [504.767, 1124.699, 0, "", {human_goal_set_name: [1, conf2]}] - - [627.283, 1183.507, 0, "", {human_goal_set_name: [1, conf2]}] - - [1994.564, 681.1900000000001, 0, "", {human_goal_set_name: [1, pantry]}] - - [1932.213, 591.02, 0, "", {human_goal_set_name: [1, pantry]}] - - [1722.047, 473.825, 0, ""] - walls: - - [6, 7, {alpha: [3, 1], texture_name: [1, default]}] - - [7, 12, {alpha: [3, 1], texture_name: [1, default]}] - - [12, 11, {alpha: [3, 1], texture_name: [1, default]}] - - [7, 8, {alpha: [3, 1], texture_name: [1, default]}] - - [8, 9, {alpha: [3, 1], texture_name: [1, default]}] - - [9, 10, {alpha: [3, 1], texture_name: [1, default]}] - - [14, 13, {alpha: [3, 1], texture_name: [1, default]}] - - [14, 15, {alpha: [3, 1], texture_name: [1, default]}] - - [15, 16, {alpha: [3, 1], texture_name: [1, default]}] - - [16, 17, {alpha: [3, 1], texture_name: [1, default]}] - - [20, 21, {alpha: [3, 1], texture_name: [1, default]}] - - [15, 21, {alpha: [3, 1], texture_name: [1, default]}] - - [18, 19, {alpha: [3, 1], texture_name: [1, default]}] - - [19, 20, {alpha: [3, 1], texture_name: [1, default]}] - - [22, 19, {alpha: [3, 1], texture_name: [1, default]}] - - [24, 23, {alpha: [3, 1], texture_name: [1, default]}] - - [23, 22, {alpha: [3, 1], texture_name: [1, default]}] - - [26, 25, {alpha: [3, 1], texture_name: [1, default]}] - - [31, 30, {alpha: [3, 1], texture_name: [1, default]}] - - [30, 29, {alpha: [3, 1], texture_name: [1, default]}] - - [29, 28, {alpha: [3, 1], texture_name: [1, default]}] - - [28, 27, {alpha: [3, 1], texture_name: [1, default]}] - - [35, 34, {alpha: [3, 1], texture_name: [1, default]}] - - [34, 33, {alpha: [3, 1], texture_name: [1, default]}] - - [33, 32, {alpha: [3, 1], texture_name: [1, default]}] - - [36, 33, {alpha: [3, 1], texture_name: [1, default]}] - - [27, 36, {alpha: [3, 1], texture_name: [1, default]}] - - [26, 36, {alpha: [3, 1], texture_name: [1, default]}] - - [25, 38, {alpha: [3, 1], texture_name: [1, default]}] - - [38, 24, {alpha: [3, 1], texture_name: [1, default]}] - - [37, 38, {alpha: [3, 1], texture_name: [1, default]}] -lifts: - {} -name: building From dae242b9d7c7183ad7a868fe30863848fbb40f2c Mon Sep 17 00:00:00 2001 From: Chong Tian En Date: Fri, 18 Dec 2020 18:38:46 +0800 Subject: [PATCH 12/25] lean crowdsim demo added --- demos/launch/simulation.launch.xml | 7 +- rmf_demo_maps/CMakeLists.txt | 32 ++++++---- .../maps/clinic/clinic.building.yaml | 59 ++++++++++++----- .../maps/office/office.building.yaml | 64 +++++++++++++++++-- 4 files changed, 127 insertions(+), 35 deletions(-) diff --git a/demos/launch/simulation.launch.xml b/demos/launch/simulation.launch.xml index 3ef4debd..bc3ae420 100644 --- a/demos/launch/simulation.launch.xml +++ b/demos/launch/simulation.launch.xml @@ -34,6 +34,7 @@ + - + + diff --git a/rmf_demo_maps/CMakeLists.txt b/rmf_demo_maps/CMakeLists.txt index a3c6fa9e..9de647ea 100644 --- a/rmf_demo_maps/CMakeLists.txt +++ b/rmf_demo_maps/CMakeLists.txt @@ -68,18 +68,28 @@ foreach(path ${traffic_editor_paths}) DESTINATION share/${PROJECT_NAME}/maps ) - if (${world_name} MATCHES "office") - set(crowd_sim_config_resource ${output_dir}/config_resource/) + set(crowd_sim_config_resource ${output_dir}/config_resource/) - add_custom_command( - OUTPUT ${world_name}_crowdsim - COMMAND ros2 run building_map_tools building_crowdsim ${map_path} ${crowd_sim_config_resource} ${output_world_path} - DEPENDS ${output_world_path} - ) - add_custom_target(generate_${world_name}_crowdsim ALL - DEPENDS ${world_name}_crowdsim - ) - endif() + add_custom_command( + OUTPUT ${world_name}_crowdsim + COMMAND ros2 run building_map_tools building_crowdsim ${map_path} ${crowd_sim_config_resource} ${output_world_path} + DEPENDS ${output_world_path} + ) + add_custom_target(generate_${world_name}_crowdsim ALL + DEPENDS ${world_name}_crowdsim + ) + + set(crowd_sim_config_resource ${ign_output_dir}/config_resource/) + + add_custom_command( + OUTPUT ${world_name}_crowdsim_ign + COMMAND ros2 run building_map_tools building_crowdsim ${map_path} ${crowd_sim_config_resource} ${ign_output_world_path} + DEPENDS ${ign_output_world_path} + ) + + add_custom_target(generate_${world_name}_crowdsim_ign ALL + DEPENDS ${world_name}_crowdsim_ign + ) # now, generate the nav graphs set(output_nav_graphs_dir ${output_dir}/nav_graphs/) diff --git a/rmf_demo_maps/maps/clinic/clinic.building.yaml b/rmf_demo_maps/maps/clinic/clinic.building.yaml index e8c601aa..7f8036ea 100644 --- a/rmf_demo_maps/maps/clinic/clinic.building.yaml +++ b/rmf_demo_maps/maps/clinic/clinic.building.yaml @@ -1,21 +1,26 @@ -crowd_sim: - agent_groups: - - {agents_name: [deliveryRobot_1, deliveryRobot_2, tinyRobot_1, tinyRobot_2], agents_number: 4, group_id: 0, profile_selector: external_agent, state_selector: external_static, x: 0, y: 0} - agent_profiles: - - {ORCA_tau: 1, ORCA_tauObst: 0.4, class: 1, max_accel: 0, max_angle_vel: 0, max_neighbors: 10, max_speed: 0, name: external_agent, neighbor_dist: 5, obstacle_set: 1, pref_speed: 0, r: 0.25} - enable: 0 - goal_sets: - [] - model_types: - [] - obstacle_set: {class: 1, file_name: L1_navmesh.nav, type: nav_mesh} - states: - - {final: 1, goal_set: -1, name: external_static, navmesh_file_name: ""} - transitions: - [] - update_time_step: 0.1 levels: L1: + crowd_sim: + agent_profiles: + - {ORCA_tau: 1, ORCA_tauObst: 0.4, class: 1, max_accel: 0, max_angle_vel: 0, max_neighbors: 10, max_speed: 0, name: external_agent, neighbor_dist: 5, obstacle_set: 1, pref_speed: 0, r: 0.25} + - {ORCA_tau: 1, ORCA_tauObst: 1, class: 1, max_accel: 3, max_angle_vel: 270, max_neighbors: 10, max_speed: 2, name: human, neighbor_dist: 5, obstacle_set: 1, pref_speed: 1.3, r: 0.25} + enable: 1 + external_agent_groups: + - {agents_name: [deliveryRobot_1, deliveryRobot_2], agents_number: 2, group_id: 0, profile_selector: external_agent, state_selector: external_static, x: 0, y: 0} + goal_sets: + - {capacity: 2, set_area: [L1_reception1], set_id: 0} + - {capacity: 1, set_area: [L1_outdoor], set_id: 1} + model_types: + - {animation: walk, animation_speed: 1, typename: human} + obstacle_set: {class: 1, file_name: navmesh.nav, type: nav_mesh} + states: + - {final: 1, goal_set: -1, name: external_static, navmesh_file_name: ""} + - {final: 0, goal_set: 0, name: work_at_L1_reception1, navmesh_file_name: navmesh.nav} + - {final: 0, goal_set: 1, name: breath_fresh_air, navmesh_file_name: navmesh.nav} + transitions: + - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: breath_fresh_air, weight: 1}, {name: work_at_L1_reception1, weight: 1}], from: work_at_L1_reception1, to: ""} + - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: breath_fresh_air, weight: 1}, {name: work_at_L1_reception1, weight: 1}], from: breath_fresh_air, to: ""} + update_time_step: 0.1 doors: - [24, 35, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_clinic_a], plugin: [1, normal], type: [1, double_sliding]}] - [210, 211, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_consult_rm_13_outer], plugin: [1, none], type: [1, sliding]}] @@ -109,6 +114,16 @@ levels: vertices: [2, 75, 76, 53, 52, 57, 56, 77, 78, 79, 80, 81, 63, 58, 59, 60, 82, 83, 84, 85, 86, 65, 64, 69, 68, 87, 88, 92, 70, 73, 42, 43, 44, 46, 47, 48, 49, 51, 140, 141, 142, 143, 144, 41, 40, 39, 38, 470, 363, 364, 365, 362, 361, 3, 11, 10, 9, 8, 7, 6, 5, 4] - parameters: {texture_name: [1, brown_marble], texture_rotation: [3, 0], texture_scale: [3, 1]} vertices: [363, 470, 38, 39, 40, 41, 386, 387, 364] + human_lanes: + - [476, 475, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [475, 474, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [474, 473, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [473, 472, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [472, 471, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [471, 477, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [477, 478, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [478, 463, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [463, 464, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] lanes: - [367, 390, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - [390, 391, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] @@ -191,6 +206,8 @@ levels: measurements: - [0, 1, {distance: [3, 0.7]}] models: + - {agent_group_id: 1, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: work_at_L1_reception1, static: false, x: 890.283, y: 1359.973, yaw: 0, z: 0} + - {agent_group_id: 2, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: work_at_L1_reception1, static: false, x: 765.571, y: 1397.069, yaw: 0, z: 0} - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 992.989, y: 1539.645, yaw: 1.5708, z: 0} - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1084.49, y: 1539.645, yaw: 1.5708, z: 0} - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1175.725, y: 1539.645, yaw: 1.5708, z: 0} @@ -1085,13 +1102,21 @@ levels: - [497.337, 684.277, 0, ""] - [504.68, 1330.445, 0, ""] - [646.03, 1525.948, 0, ""] - - [643.276, 1611.308, 0, ""] + - [643.276, 1611.308, 0, "", {human_goal_set_name: [1, L1_outdoor]}] - [341.303, 1562.662, 0, ""] - [1325.241, 1614.062, 0, ""] - [1438.136, 1614.98, 0, ""] - [1808.949, 1375.42, 0, ""] - [1803.442, 455.732, 0, ""] - [434.749, 1671.08, 0, ""] + - [703.745, 1395.302, 0, "", {human_goal_set_name: [1, L1_reception1]}] + - [741.547, 1356.794, 0, "", {human_goal_set_name: [1, L1_reception1]}] + - [765.571, 1397.069, 0, "", {human_goal_set_name: [1, L1_reception1]}] + - [867.672, 1332.063, 0, "", {human_goal_set_name: [1, L1_reception1]}] + - [890.283, 1359.973, 0, "", {human_goal_set_name: [1, L1_reception1]}] + - [925.965, 1302.74, 0, "", {human_goal_set_name: [1, L1_reception1]}] + - [673.362, 1433.458, 0, "", {human_goal_set_name: [1, L1_reception1]}] + - [672.303, 1468.787, 0, ""] walls: - [2, 4, {alpha: [3, 1], texture_name: [1, default]}] - [4, 5, {alpha: [3, 1], texture_name: [1, default]}] diff --git a/rmf_demo_maps/maps/office/office.building.yaml b/rmf_demo_maps/maps/office/office.building.yaml index 974b15c4..e8363d88 100644 --- a/rmf_demo_maps/maps/office/office.building.yaml +++ b/rmf_demo_maps/maps/office/office.building.yaml @@ -9,14 +9,17 @@ levels: - {agents_name: [tinyRobot2, tinyRobot1], agents_number: 2, group_id: 0, profile_selector: external_agent, state_selector: external_static, x: 0, y: 0} goal_sets: - {capacity: 1, set_area: [hardware_2], set_id: 0} + - {capacity: 1, set_area: [conf_1, conf_2], set_id: 1} model_types: - - {animation: walking, animation_speed: 1, typename: human} - obstacle_set: {class: 1, file_name: L1_navmesh.nav, type: nav_mesh} + - {animation: walk, animation_speed: 1, typename: human} + obstacle_set: {class: 1, file_name: navmesh.nav, type: nav_mesh} states: - {final: 1, goal_set: -1, name: external_static, navmesh_file_name: ""} - - {final: 0, goal_set: 0, name: thinking, navmesh_file_name: L1_navmesh.nav} + - {final: 0, goal_set: 0, name: thinking, navmesh_file_name: navmesh.nav} + - {final: 0, goal_set: 1, name: conf_runner, navmesh_file_name: navmesh.nav} transitions: - - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: thinking, weight: 1}], from: thinking, to: thinking} + - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: conf_runner, weight: 1}, {name: thinking, weight: 1}], from: thinking, to: ""} + - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: conf_runner, weight: 1}, {name: thinking, weight: 1}], from: conf_runner, to: ""} update_time_step: 0.1 doors: - [31, 13, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, main_door], plugin: [1, normal], type: [1, double_hinged]}] @@ -33,6 +36,43 @@ levels: human_lanes: - [51, 47, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - [46, 47, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [46, 56, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [56, 45, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [45, 72, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [72, 71, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [71, 70, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [70, 69, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [69, 68, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [68, 48, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [48, 72, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [48, 49, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [49, 40, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [40, 39, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [39, 63, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [40, 50, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [50, 41, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [41, 42, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [42, 57, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [57, 43, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [43, 44, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [43, 45, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [58, 60, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [60, 46, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [42, 54, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [54, 59, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [59, 58, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [50, 52, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [52, 61, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [61, 62, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [62, 59, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [50, 67, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [67, 53, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [53, 64, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [64, 65, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [65, 66, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [66, 67, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [58, 55, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [55, 57, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] lanes: - [39, 40, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - [41, 42, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] @@ -70,6 +110,9 @@ levels: - [2, 3, {distance: [3, 20.089]}] models: - {agent_group_id: 1, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: thinking, static: false, x: 2457.273, y: 1218.364, yaw: 0, z: 0} + - {agent_group_id: 2, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: conf_runner, static: false, x: 2371.251, y: 374.06, yaw: 0, z: 0} + - {agent_group_id: 2, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: conf_runner, static: false, x: 2371.251, y: 374.06, yaw: 0, z: 0} + - {agent_group_id: 3, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: conf_runner, static: false, x: 637.092, y: 543.246, yaw: 0, z: 0} - {model_name: OpenRobotics/OfficeChairBlack, name: OfficeChairBlack, static: true, x: 775.16, y: 794.006, yaw: 4.2503, z: 0} - {model_name: OpenRobotics/OfficeChairBlack, name: OfficeChairBlack, static: true, x: 737, y: 884, yaw: 4.2239, z: 0} - {model_name: OpenRobotics/OfficeChairBlack, name: OfficeChairBlack, static: true, x: 680.226, y: 975.778, yaw: 4.247, z: 0} @@ -183,12 +226,12 @@ levels: - [2213.636, 812, 0, "", {is_parking_spot: [4, true]}] - [2220.121, 1225.257, 0, ""] - [2457.273, 1218.364, 0, hardware_1, {human_goal_set_name: [1, hardware_2], is_parking_spot: [4, true]}] - - [2213.374, 451.687, 0, lounge, {is_parking_spot: [4, true]}] + - [2213.374, 451.687, 0, lounge, {human_goal_set_name: [1, conf_1], is_parking_spot: [4, true]}] - [1551.069, 468.349, 0, ""] - [1052.727, 730.182, 0, ""] - [2474.545, 885.636, 0, hardware_2, {human_goal_set_name: [1, hardware_2], is_parking_spot: [4, true]}] - [924.545, 917.455, 0, "", {is_parking_spot: [4, false]}] - - [780, 617.455, 0, coe, {is_parking_spot: [4, true]}] + - [780, 617.455, 0, coe, {human_goal_set_name: [1, conf_1], is_parking_spot: [4, true]}] - [1366.364, 1087.455, 0, cubicle_1, {is_parking_spot: [4, true]}] - [1788.182, 1082.909, 0, cubicle_2, {is_parking_spot: [4, true]}] - [2215.455, 1070.182, 0, cubicle_3, {is_parking_spot: [4, false]}] @@ -199,6 +242,15 @@ levels: - [935.553, 1258.579, 0, ""] - [1131.384, 1336.44, 0, ""] - [739.949, 415.296, 0, supplies, {is_parking_spot: [4, true]}] + - [637.092, 543.246, 0, "", {human_goal_set_name: [1, conf_1]}] + - [337.051, 1087.815, 0, "", {human_goal_set_name: [1, conf_1]}] + - [622.552, 1204.13, 0, "", {human_goal_set_name: [1, conf_1]}] + - [906.732, 668.814, 0, "", {human_goal_set_name: [1, conf_1]}] + - [2371.251, 374.06, 0, "", {human_goal_set_name: [1, conf_2]}] + - [2709.623, 380.669, 0, "", {human_goal_set_name: [1, conf_2]}] + - [2681.866, 658.24, 0, "", {human_goal_set_name: [1, conf_2]}] + - [2339.528, 664.849, 0, "", {human_goal_set_name: [1, conf_2]}] + - [2219.248, 650.31, 0, "", {human_goal_set_name: [1, conf_1]}] walls: - [6, 7, {alpha: [3, 1], texture_name: [1, default]}] - [7, 12, {alpha: [3, 1], texture_name: [1, default]}] From 138053962ddfd6bb8bbf772609726be17a405b39 Mon Sep 17 00:00:00 2001 From: Chong Tian En Date: Tue, 29 Dec 2020 10:49:58 +0800 Subject: [PATCH 13/25] added level 2 crowdsim for clinic --- .../maps/clinic/clinic.building.yaml | 19 +++++++++++++++++++ 1 file changed, 19 insertions(+) diff --git a/rmf_demo_maps/maps/clinic/clinic.building.yaml b/rmf_demo_maps/maps/clinic/clinic.building.yaml index f5632de0..c1ad0f97 100644 --- a/rmf_demo_maps/maps/clinic/clinic.building.yaml +++ b/rmf_demo_maps/maps/clinic/clinic.building.yaml @@ -1483,6 +1483,24 @@ levels: - [274, 446, {alpha: [3, 1], texture_name: [1, default]}] - [447, 273, {alpha: [3, 1], texture_name: [1, default]}] L2: + crowd_sim: + agent_profiles: + - {ORCA_tau: 1, ORCA_tauObst: 0.4, class: 1, max_accel: 0, max_angle_vel: 0, max_neighbors: 10, max_speed: 0, name: external_agent, neighbor_dist: 5, obstacle_set: 1, pref_speed: 0, r: 0.25} + - {ORCA_tau: 1, ORCA_tauObst: 1, class: 1, max_accel: 3, max_angle_vel: 270, max_neighbors: 10, max_speed: 2, name: human, neighbor_dist: 5, obstacle_set: 1, pref_speed: 1.3, r: 0.18} + enable: 1 + external_agent_groups: + - {agents_name: [tinyRobot_1, tinyRobot_2], agents_number: 2, group_id: 0, profile_selector: external_agent, state_selector: external_static, x: 0, y: 0} + goal_sets: + - {capacity: 1, set_area: [reception], set_id: 0} + model_types: + - {animation: walk, animation_speed: 1, typename: human} + obstacle_set: {class: 1, file_name: navmesh.nav, type: nav_mesh} + states: + - {final: 1, goal_set: -1, name: external_static, navmesh_file_name: ""} + - {final: 0, goal_set: 0, name: work_at_L2_reception1, navmesh_file_name: navmesh.nav} + transitions: + - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: work_at_L2_reception1, weight: 1}], from: work_at_L2_reception1, to: work_at_L2_reception1} + update_time_step: 0.1 doors: - [14, 15, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_clinic_a], plugin: [1, normal], type: [1, double_sliding]}] - [121, 122, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_left_consult_rm_13_outer], plugin: [1, none], type: [1, sliding]}] @@ -1651,6 +1669,7 @@ levels: measurements: - [0, 1, {distance: [3, 0.7]}] models: + - {agent_group_id: 1, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: work_at_L2_reception1, static: false, x: 760.491, y: 1393.494, yaw: 0, z: 0} - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1927.091, y: 1509.158, yaw: 1.5708, z: 0} - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 2024.263, y: 1509.451, yaw: 1.5708, z: 0} - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 2023.971, y: 1456.767, yaw: 1.5708, z: 0} From 60d68d195df9dc13c90bd72855017f22e960ef0f Mon Sep 17 00:00:00 2001 From: Chong Tian En Date: Wed, 30 Dec 2020 11:34:07 +0800 Subject: [PATCH 14/25] increase capacity for locations so that actor won't get stuck at a location --- rmf_demo_maps/maps/office/office.building.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/rmf_demo_maps/maps/office/office.building.yaml b/rmf_demo_maps/maps/office/office.building.yaml index e8363d88..b61a1ccc 100644 --- a/rmf_demo_maps/maps/office/office.building.yaml +++ b/rmf_demo_maps/maps/office/office.building.yaml @@ -8,8 +8,8 @@ levels: external_agent_groups: - {agents_name: [tinyRobot2, tinyRobot1], agents_number: 2, group_id: 0, profile_selector: external_agent, state_selector: external_static, x: 0, y: 0} goal_sets: - - {capacity: 1, set_area: [hardware_2], set_id: 0} - - {capacity: 1, set_area: [conf_1, conf_2], set_id: 1} + - {capacity: 2, set_area: [hardware_2], set_id: 0} + - {capacity: 4, set_area: [conf_1, conf_2], set_id: 1} model_types: - {animation: walk, animation_speed: 1, typename: human} obstacle_set: {class: 1, file_name: navmesh.nav, type: nav_mesh} @@ -250,7 +250,7 @@ levels: - [2709.623, 380.669, 0, "", {human_goal_set_name: [1, conf_2]}] - [2681.866, 658.24, 0, "", {human_goal_set_name: [1, conf_2]}] - [2339.528, 664.849, 0, "", {human_goal_set_name: [1, conf_2]}] - - [2219.248, 650.31, 0, "", {human_goal_set_name: [1, conf_1]}] + - [2219.248, 650.3099999999999, 0, "", {human_goal_set_name: [1, conf_1]}] walls: - [6, 7, {alpha: [3, 1], texture_name: [1, default]}] - [7, 12, {alpha: [3, 1], texture_name: [1, default]}] From 8806647f3a0ff842818cdeb00f55af37a39ceffc Mon Sep 17 00:00:00 2001 From: Chong Tian En Date: Wed, 30 Dec 2020 16:32:19 +0800 Subject: [PATCH 15/25] increase human lane width to reduce the possibility of traffic congestion --- rmf_demo_maps/maps/office/office.building.yaml | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/rmf_demo_maps/maps/office/office.building.yaml b/rmf_demo_maps/maps/office/office.building.yaml index b61a1ccc..c95c7422 100644 --- a/rmf_demo_maps/maps/office/office.building.yaml +++ b/rmf_demo_maps/maps/office/office.building.yaml @@ -45,29 +45,29 @@ levels: - [69, 68, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - [68, 48, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - [48, 72, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [48, 49, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [49, 40, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [48, 49, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] + - [49, 40, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] - [40, 39, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - [39, 63, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - [40, 50, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [50, 41, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [41, 42, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [42, 57, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [57, 43, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [50, 41, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.8]}] + - [41, 42, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] + - [42, 57, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] + - [57, 43, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] - [43, 44, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [43, 45, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [43, 45, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] - [58, 60, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - [60, 46, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - [42, 54, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - [54, 59, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [59, 58, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [59, 58, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.1]}] - [50, 52, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - [52, 61, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - [61, 62, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - [62, 59, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - [50, 67, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - [67, 53, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [53, 64, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [53, 64, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.1]}] - [64, 65, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - [65, 66, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - [66, 67, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] From ca562c97c74f49bca3d59163e503048da41e7799 Mon Sep 17 00:00:00 2001 From: Chong Tian En Date: Mon, 11 Jan 2021 11:39:03 +0800 Subject: [PATCH 16/25] removed office_crowd.launch.xml --- demos/launch/office_crowd.launch.xml | 51 ---------------------------- 1 file changed, 51 deletions(-) delete mode 100644 demos/launch/office_crowd.launch.xml diff --git a/demos/launch/office_crowd.launch.xml b/demos/launch/office_crowd.launch.xml deleted file mode 100644 index 3d278d60..00000000 --- a/demos/launch/office_crowd.launch.xml +++ /dev/null @@ -1,51 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - From dacd2e514dfeef2017d4de97f0a76acef32cc5c8 Mon Sep 17 00:00:00 2001 From: Chong Tian En Date: Mon, 11 Jan 2021 11:56:07 +0800 Subject: [PATCH 17/25] removed generated unnecessary changes --- rmf_dashboard_resources/office/main.json | 2 +- rmf_demo_maps/maps/office/log.css | 53 ------------------- .../maps/office/office.building.yaml | 6 +-- 3 files changed, 4 insertions(+), 57 deletions(-) delete mode 100644 rmf_demo_maps/maps/office/log.css diff --git a/rmf_dashboard_resources/office/main.json b/rmf_dashboard_resources/office/main.json index 66a5fefd..080d3db1 100644 --- a/rmf_dashboard_resources/office/main.json +++ b/rmf_dashboard_resources/office/main.json @@ -1 +1 @@ -{"dispensers": {"coke_ingestor": {"icons": {"coke_ingestor": "/dispensers/coke_ingestor/humanIcon.png"}, "location": {"x": 20.95, "y": -6.95, "yaw": 0, "level_name": "L1"}}, "coke_dispenser": {"icons": {"coke_dispenser": ""}, "location": {"x": 16.85, "y": -4.8, "yaw": 0, "level_name": "L1"}}}, "robots": {"deliveryRobot": {"icons": {"deliveryRobot": "/robots/deliveryRobot/deliveryRobot.png"}, "places": {}}, "tinyRobot": {"icons": {"tinyRobot": "/robots/tinyRobot/tinyRobot.png"}, "places": {"supplies": [], "tinyRobot2_charger": [], "coe": [], "tinyRobot1_charger": [], "hardware_2": ["coke_ingestor"], "cubicle_2": [], "pantry": ["coke_dispenser"], "station_1": [], "lounge": [], "cubicle_1": [], "hardware_1": [], "station_2": []}}}} \ No newline at end of file +{"dispensers": {"coke_dispenser": {"icons": {"coke_dispenser": ""}, "location": {"x": 16.85, "y": -4.8, "yaw": 0, "level_name": "L1"}}, "coke_ingestor": {"icons": {"coke_ingestor": "/dispensers/coke_ingestor/humanIcon.png"}, "location": {"x": 20.95, "y": -6.95, "yaw": 0, "level_name": "L1"}}}, "robots": {"tinyRobot": {"icons": {"tinyRobot": "/robots/tinyRobot/tinyRobot.png"}, "places": {"supplies": [], "tinyRobot2_charger": [], "coe": [], "tinyRobot1_charger": [], "hardware_2": ["coke_ingestor"], "cubicle_2": [], "pantry": ["coke_dispenser"], "station_1": [], "lounge": [], "cubicle_1": [], "hardware_1": [], "station_2": []}}, "deliveryRobot": {"icons": {"deliveryRobot": "/robots/deliveryRobot/deliveryRobot.png"}, "places": {}}}} \ No newline at end of file diff --git a/rmf_demo_maps/maps/office/log.css b/rmf_demo_maps/maps/office/log.css deleted file mode 100644 index ff2c1b51..00000000 --- a/rmf_demo_maps/maps/office/log.css +++ /dev/null @@ -1,53 +0,0 @@ -table, th, td { - border-collapse:collapse; - border: 1px solid grey; -} -table { - table-layout : fixed; - width: 950 px; - max-width: 900 px; - background-color : #292929; -} -td { - min-width: 200px; -} -#content { - position : relative; -} -body, html { - background: #000000; - width: 1000px; - font-family: Arial; - font-size: 16px; - color: #C0C0C0; -} -h1 { - font-size : 50px; - line-height : 100px; - color : #FFFFFF; - border-bottom : 1px dotted #888888; -} -#logo { - position: absolute; - top: 0px; - right: 0px; -} -.divider { - background : #DDD; -} -.box { - padding : 0px; -} -.inf { - color: #C0C0C0; - min-width : 1000px; - max-width : 1000px; -} -.err { - color: #EE1100; - font-weight: bold -} -.war { - color: #FFCC00; - font-weight: bold -} \ No newline at end of file diff --git a/rmf_demo_maps/maps/office/office.building.yaml b/rmf_demo_maps/maps/office/office.building.yaml index c95c7422..56c0f9e5 100644 --- a/rmf_demo_maps/maps/office/office.building.yaml +++ b/rmf_demo_maps/maps/office/office.building.yaml @@ -22,9 +22,9 @@ levels: - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: conf_runner, weight: 1}, {name: thinking, weight: 1}], from: conf_runner, to: ""} update_time_step: 0.1 doors: - - [31, 13, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, main_door], plugin: [1, normal], type: [1, double_hinged]}] - - [35, 37, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, coe_door], plugin: [1, normal], type: [1, hinged]}] - - [18, 17, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, hardware_door], plugin: [1, normal], type: [1, hinged]}] + - [31, 13, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, main_door], type: [1, double_hinged], plugin: [1, normal]}] + - [35, 37, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, coe_door], type: [1, hinged], plugin: [1, normal]}] + - [18, 17, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, hardware_door], type: [1, hinged], plugin: [1, normal]}] drawing: filename: office.png elevation: 0 From af729b3db118819fa400abc2b9e578031b0b5e89 Mon Sep 17 00:00:00 2001 From: Chong Tian En Date: Mon, 11 Jan 2021 16:31:45 +0800 Subject: [PATCH 18/25] restore original airport terminal map --- .../airport_terminal.building.yaml | 61 +------------------ 1 file changed, 1 insertion(+), 60 deletions(-) diff --git a/rmf_demo_maps/maps/airport_terminal/airport_terminal.building.yaml b/rmf_demo_maps/maps/airport_terminal/airport_terminal.building.yaml index 6862015f..6454f083 100644 --- a/rmf_demo_maps/maps/airport_terminal/airport_terminal.building.yaml +++ b/rmf_demo_maps/maps/airport_terminal/airport_terminal.building.yaml @@ -161,36 +161,6 @@ levels: vertices: [1241, 1227, 1240, 1228, 1239, 1229, 1237, 1230, 1238, 1231, 1232, 1233, 1234, 1235, 1236, 1226] - parameters: {texture_name: [1, concrete2], texture_rotation: [3, 0], texture_scale: [3, 1]} vertices: [1235, 1234, 1233, 1232, 1231, 1238, 1197, 262, 261] - human_lanes: - - [1245, 1246, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 4]}] - - [1245, 1247, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] - - [1247, 1248, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] - - [1248, 1249, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] - - [1249, 1250, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] - - [1250, 1251, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] - - [1251, 1252, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] - - [1252, 1253, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] - - [1253, 1254, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] - - [1254, 1245, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] - - [1245, 1255, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [1255, 1256, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [1256, 1257, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [1257, 1258, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [1257, 1259, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [1259, 1260, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [1260, 1261, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [1261, 1262, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 3]}] - - [1262, 1263, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 3]}] - - [1263, 1264, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [1264, 1265, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [1265, 1266, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [1266, 1267, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [1267, 1268, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [1264, 1269, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [1269, 1270, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [1270, 1271, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 3]}] - - [1271, 1272, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 3]}] - - [1246, 1273, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] lanes: - [675, 676, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] - [676, 677, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], orientation: [1, ""]}] @@ -1914,35 +1884,6 @@ levels: - [325.963, 530.437, 0, ""] - [321.478, 577.193, 0, spill, {is_parking_spot: [4, true]}] - [270.109, 443.861, 0, mopcart_pickup, {is_parking_spot: [4, false]}] - - [541.689, 442.161, 0, "", {human_goal_set_name: [1, hub_west]}] - - [581.261, 508.686, 0, "", {human_goal_set_name: [1, hub_south]}] - - [539.395, 381.944, 0, "", {human_goal_set_name: [1, dfs]}] - - [523.9109999999999, 337.211, 0, "", {human_goal_set_name: [1, dfs]}] - - [490.648, 335.491, 0, "", {human_goal_set_name: [1, dfs]}] - - [455.092, 340.079, 0, "", {human_goal_set_name: [1, dfs]}] - - [454.518, 360.724, 0, "", {human_goal_set_name: [1, dfs]}] - - [486.061, 365.886, 0, "", {human_goal_set_name: [1, dfs]}] - - [500.398, 403.736, 0, "", {human_goal_set_name: [1, dfs]}] - - [500.971, 422.088, 0, "", {human_goal_set_name: [1, dfs]}] - - [590.582, 414.479, 0, ""] - - [600.173, 355.188, 0, ""] - - [603.6609999999999, 287.179, 0, "", {human_goal_set_name: [1, crossing]}] - - [606.713, 251.866, 0, ""] - - [673.216, 291.057, 0, "", {human_goal_set_name: [1, crossing]}] - - [689.24, 292.705, 0, ""] - - [737.977, 308.54, 0, "", {human_goal_set_name: [1, on_road]}] - - [837.9400000000001, 289.439, 0, "", {human_goal_set_name: [1, on_road]}] - - [901.682, 286.542, 0, "", {human_goal_set_name: [1, on_road]}] - - [956.0069999999999, 285.093, 0, "", {human_goal_set_name: [1, hub_east]}] - - [981.977, 327.843, 0, ""] - - [991.511, 373.605, 0, "", {human_goal_set_name: [1, crossing]}] - - [977.02, 445.298, 0, "", {human_goal_set_name: [1, crossing]}] - - [1007.528, 493.73, 0, "", {human_goal_set_name: [1, crossing]}] - - [949.699, 202.462, 0, ""] - - [948.932, 108.46, 0, "", {human_goal_set_name: [1, hub_north]}] - - [839.373, 107.523, 0, "", {human_goal_set_name: [1, crossing]}] - - [737.3049999999999, 114.078, 0, "", {human_goal_set_name: [1, crossing]}] - - [635.101, 524.999, 0, ""] walls: - [6, 10, {}] - [10, 9, {}] @@ -2403,4 +2344,4 @@ levels: - [167, 1225, {}] lifts: {} -name: airport_terminal +name: airport_terminal \ No newline at end of file From eb9bd9820276173fc18dd859fbd2c822d4dc0a3d Mon Sep 17 00:00:00 2001 From: Chong Tian En Date: Tue, 12 Jan 2021 11:07:50 +0800 Subject: [PATCH 19/25] changed office map - reduced humans to 3, increased some lane widths, added new goalsets and states --- .../maps/office/office.building.yaml | 51 ++++++++++--------- 1 file changed, 28 insertions(+), 23 deletions(-) diff --git a/rmf_demo_maps/maps/office/office.building.yaml b/rmf_demo_maps/maps/office/office.building.yaml index 56c0f9e5..f5bf0c5a 100644 --- a/rmf_demo_maps/maps/office/office.building.yaml +++ b/rmf_demo_maps/maps/office/office.building.yaml @@ -10,6 +10,8 @@ levels: goal_sets: - {capacity: 2, set_area: [hardware_2], set_id: 0} - {capacity: 4, set_area: [conf_1, conf_2], set_id: 1} + - {capacity: 3, set_area: [cubicle_area, hardware_2], set_id: 2} + - {capacity: 1, set_area: [pantry, supplies], set_id: 3} model_types: - {animation: walk, animation_speed: 1, typename: human} obstacle_set: {class: 1, file_name: navmesh.nav, type: nav_mesh} @@ -17,14 +19,18 @@ levels: - {final: 1, goal_set: -1, name: external_static, navmesh_file_name: ""} - {final: 0, goal_set: 0, name: thinking, navmesh_file_name: navmesh.nav} - {final: 0, goal_set: 1, name: conf_runner, navmesh_file_name: navmesh.nav} + - {final: 0, goal_set: 2, name: working, navmesh_file_name: navmesh.nav} + - {final: 0, goal_set: 3, name: chill_out, navmesh_file_name: navmesh.nav} transitions: - - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: conf_runner, weight: 1}, {name: thinking, weight: 1}], from: thinking, to: ""} - - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: conf_runner, weight: 1}, {name: thinking, weight: 1}], from: conf_runner, to: ""} + - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: thinking, weight: 1}, {name: working, weight: 1}], from: thinking, to: ""} + - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: chill_out, weight: 1}, {name: conf_runner, weight: 1}], from: conf_runner, to: ""} + - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: conf_runner, weight: 1}, {name: thinking, weight: 1}, {name: working, weight: 1}], from: working, to: ""} + - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: chill_out, weight: 1}, {name: thinking, weight: 1}], from: chill_out, to: ""} update_time_step: 0.1 doors: - - [31, 13, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, main_door], type: [1, double_hinged], plugin: [1, normal]}] - - [35, 37, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, coe_door], type: [1, hinged], plugin: [1, normal]}] - - [18, 17, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, hardware_door], type: [1, hinged], plugin: [1, normal]}] + - [31, 13, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, main_door], plugin: [1, normal], type: [1, double_hinged]}] + - [35, 37, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, coe_door], plugin: [1, normal], type: [1, hinged]}] + - [18, 17, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, hardware_door], plugin: [1, normal], type: [1, hinged]}] drawing: filename: office.png elevation: 0 @@ -34,8 +40,8 @@ levels: - parameters: {texture_name: [1, blue_linoleum], texture_rotation: [3, 0], texture_scale: [3, 1]} vertices: [27, 28, 29, 30, 31, 13, 14, 15, 21, 20, 19, 22, 23, 24, 38, 25, 26, 36] human_lanes: - - [51, 47, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [46, 47, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [51, 47, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] + - [46, 47, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.1]}] - [46, 56, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - [56, 45, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - [45, 72, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] @@ -60,7 +66,7 @@ levels: - [60, 46, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - [42, 54, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - [54, 59, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [59, 58, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.1]}] + - [59, 58, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.2]}] - [50, 52, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - [52, 61, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - [61, 62, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] @@ -109,10 +115,9 @@ levels: - [5, 4, {distance: [3, 8.409000000000001]}] - [2, 3, {distance: [3, 20.089]}] models: - - {agent_group_id: 1, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: thinking, static: false, x: 2457.273, y: 1218.364, yaw: 0, z: 0} - - {agent_group_id: 2, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: conf_runner, static: false, x: 2371.251, y: 374.06, yaw: 0, z: 0} - - {agent_group_id: 2, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: conf_runner, static: false, x: 2371.251, y: 374.06, yaw: 0, z: 0} - - {agent_group_id: 3, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: conf_runner, static: false, x: 637.092, y: 543.246, yaw: 0, z: 0} + - {agent_group_id: 1, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: conf_runner, static: false, x: 2371.251, y: 374.06, yaw: 0, z: 0} + - {agent_group_id: 2, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: conf_runner, static: false, x: 637.092, y: 543.246, yaw: 0, z: 0} + - {agent_group_id: 3, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: working, static: false, x: 2474.545, y: 885.636, yaw: 0, z: 0} - {model_name: OpenRobotics/OfficeChairBlack, name: OfficeChairBlack, static: true, x: 775.16, y: 794.006, yaw: 4.2503, z: 0} - {model_name: OpenRobotics/OfficeChairBlack, name: OfficeChairBlack, static: true, x: 737, y: 884, yaw: 4.2239, z: 0} - {model_name: OpenRobotics/OfficeChairBlack, name: OfficeChairBlack, static: true, x: 680.226, y: 975.778, yaw: 4.247, z: 0} @@ -217,12 +222,12 @@ levels: - [612.9690000000001, 445.59, 0, ""] - [933.086, 744.676, 0, ""] - [655.919, 1280.411, 0, ""] - - [814.828, 239.25, 0, "", {is_parking_spot: [4, true]}] + - [814.828, 239.25, 0, "", {human_goal_set_name: [1, supplies], is_parking_spot: [4, true]}] - [1210.544, 365.254, 0, ""] - [1159.091, 825.636, 0, ""] - [1376.364, 822.909, 0, station_1, {is_parking_spot: [4, true]}] - [1991.121, 812.872, 0, ""] - - [1990, 638.364, 0, pantry, {is_parking_spot: [4, true]}] + - [1990, 638.364, 0, pantry, {human_goal_set_name: [1, pantry], is_parking_spot: [4, true]}] - [2213.636, 812, 0, "", {is_parking_spot: [4, true]}] - [2220.121, 1225.257, 0, ""] - [2457.273, 1218.364, 0, hardware_1, {human_goal_set_name: [1, hardware_2], is_parking_spot: [4, true]}] @@ -230,18 +235,18 @@ levels: - [1551.069, 468.349, 0, ""] - [1052.727, 730.182, 0, ""] - [2474.545, 885.636, 0, hardware_2, {human_goal_set_name: [1, hardware_2], is_parking_spot: [4, true]}] - - [924.545, 917.455, 0, "", {is_parking_spot: [4, false]}] + - [924.545, 917.455, 0, "", {human_goal_set_name: [1, cubicle_area], is_parking_spot: [4, false]}] - [780, 617.455, 0, coe, {human_goal_set_name: [1, conf_1], is_parking_spot: [4, true]}] - - [1366.364, 1087.455, 0, cubicle_1, {is_parking_spot: [4, true]}] - - [1788.182, 1082.909, 0, cubicle_2, {is_parking_spot: [4, true]}] - - [2215.455, 1070.182, 0, cubicle_3, {is_parking_spot: [4, false]}] + - [1366.364, 1087.455, 0, cubicle_1, {human_goal_set_name: [1, cubicle_area], is_parking_spot: [4, true]}] + - [1788.182, 1082.909, 0, cubicle_2, {human_goal_set_name: [1, cubicle_area], is_parking_spot: [4, true]}] + - [2215.455, 1070.182, 0, cubicle_3, {human_goal_set_name: [1, cubicle_area], is_parking_spot: [4, false]}] - [1790, 815.636, 0, station_2, {is_parking_spot: [4, true]}] - - [1790.467, 1326.218, 0, tinyRobot2_charger, {is_charger: [4, true], is_parking_spot: [4, true], spawn_robot_name: [1, tinyRobot2], spawn_robot_type: [1, TinyRobot]}] - - [1364.76, 1336.717, 0, tinyRobot1_charger, {is_charger: [4, true], is_parking_spot: [4, true], spawn_robot_name: [1, tinyRobot1], spawn_robot_type: [1, TinyRobot]}] + - [1790.467, 1326.218, 0, tinyRobot2_charger, {human_goal_set_name: [1, cubicle_area], is_charger: [4, true], is_parking_spot: [4, true], spawn_robot_name: [1, tinyRobot2], spawn_robot_type: [1, TinyRobot]}] + - [1364.76, 1336.717, 0, tinyRobot1_charger, {human_goal_set_name: [1, cubicle_area], is_charger: [4, true], is_parking_spot: [4, true], spawn_robot_name: [1, tinyRobot1], spawn_robot_type: [1, TinyRobot]}] - [2222.415, 1308.722, 0, ""] - - [935.553, 1258.579, 0, ""] - - [1131.384, 1336.44, 0, ""] - - [739.949, 415.296, 0, supplies, {is_parking_spot: [4, true]}] + - [935.553, 1258.579, 0, "", {human_goal_set_name: [1, cubicle_area]}] + - [1131.384, 1336.44, 0, "", {human_goal_set_name: [1, cubicle_area]}] + - [739.949, 415.296, 0, supplies, {human_goal_set_name: [1, supplies], is_parking_spot: [4, true]}] - [637.092, 543.246, 0, "", {human_goal_set_name: [1, conf_1]}] - [337.051, 1087.815, 0, "", {human_goal_set_name: [1, conf_1]}] - [622.552, 1204.13, 0, "", {human_goal_set_name: [1, conf_1]}] From 0d3c8d0ab374a39e922cdfd8da4cb7abdfbae641 Mon Sep 17 00:00:00 2001 From: Chong Tian En Date: Tue, 12 Jan 2021 17:18:40 +0800 Subject: [PATCH 20/25] modified clinic map to include 3 humans on both levels --- .../maps/clinic/clinic.building.yaml | 172 ++++++++++++------ 1 file changed, 114 insertions(+), 58 deletions(-) diff --git a/rmf_demo_maps/maps/clinic/clinic.building.yaml b/rmf_demo_maps/maps/clinic/clinic.building.yaml index c1ad0f97..579883ab 100644 --- a/rmf_demo_maps/maps/clinic/clinic.building.yaml +++ b/rmf_demo_maps/maps/clinic/clinic.building.yaml @@ -3,23 +3,26 @@ levels: crowd_sim: agent_profiles: - {ORCA_tau: 1, ORCA_tauObst: 0.4, class: 1, max_accel: 0, max_angle_vel: 0, max_neighbors: 10, max_speed: 0, name: external_agent, neighbor_dist: 5, obstacle_set: 1, pref_speed: 0, r: 0.25} - - {ORCA_tau: 1, ORCA_tauObst: 1, class: 1, max_accel: 3, max_angle_vel: 270, max_neighbors: 10, max_speed: 2, name: human, neighbor_dist: 5, obstacle_set: 1, pref_speed: 1.3, r: 0.25} + - {ORCA_tau: 1, ORCA_tauObst: 1, class: 1, max_accel: 3, max_angle_vel: 270, max_neighbors: 10, max_speed: 2, name: human, neighbor_dist: 5, obstacle_set: 1, pref_speed: 1.3, r: 0.18} enable: 1 external_agent_groups: - {agents_name: [deliveryRobot_1, deliveryRobot_2], agents_number: 2, group_id: 0, profile_selector: external_agent, state_selector: external_static, x: 0, y: 0} goal_sets: - - {capacity: 2, set_area: [L1_reception1], set_id: 0} - - {capacity: 1, set_area: [L1_outdoor], set_id: 1} + - {capacity: 3, set_area: [L1_reception_1, L1_waiting_area_3_wc], set_id: 0} + - {capacity: 3, set_area: [L1_reception_2, L1_waiting_area_3_wc], set_id: 1} + - {capacity: 2, set_area: [L1_reception_1, L1_reception_2, L1_waiting_area_3_wc], set_id: 2} model_types: - {animation: walk, animation_speed: 1, typename: human} obstacle_set: {class: 1, file_name: navmesh.nav, type: nav_mesh} states: - {final: 1, goal_set: -1, name: external_static, navmesh_file_name: ""} - - {final: 0, goal_set: 0, name: work_at_L1_reception1, navmesh_file_name: navmesh.nav} - - {final: 0, goal_set: 1, name: breath_fresh_air, navmesh_file_name: navmesh.nav} + - {final: 0, goal_set: 0, name: work_at_reception_1, navmesh_file_name: navmesh.nav} + - {final: 0, goal_set: 1, name: work_at_reception_2, navmesh_file_name: navmesh.nav} + - {final: 0, goal_set: 2, name: toilet_break, navmesh_file_name: navmesh.nav} transitions: - - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: breath_fresh_air, weight: 1}, {name: work_at_L1_reception1, weight: 1}], from: work_at_L1_reception1, to: ""} - - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: breath_fresh_air, weight: 1}, {name: work_at_L1_reception1, weight: 1}], from: breath_fresh_air, to: ""} + - {Condition: {distance: 0.8, type: goal_reached}, Target: [{name: toilet_break, weight: 1}, {name: work_at_reception_1, weight: 1}], from: work_at_reception_1, to: ""} + - {Condition: {distance: 0.8, type: goal_reached}, Target: [{name: toilet_break, weight: 1}, {name: work_at_reception_2, weight: 1}], from: work_at_reception_2, to: ""} + - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: toilet_break, weight: 1}, {name: work_at_reception_1, weight: 1}, {name: work_at_reception_2, weight: 1}], from: toilet_break, to: ""} update_time_step: 0.1 doors: - [24, 35, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_clinic_a], plugin: [1, normal], type: [1, double_sliding]}] @@ -115,15 +118,56 @@ levels: - parameters: {texture_name: [1, brown_marble], texture_rotation: [3, 0], texture_scale: [3, 1]} vertices: [363, 470, 38, 39, 40, 41, 386, 387, 364] human_lanes: - - [476, 475, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [475, 474, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [474, 473, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [473, 472, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [472, 471, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [471, 477, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [471, 472, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [472, 473, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [473, 474, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 0.7]}] + - [474, 475, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [475, 476, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [476, 477, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - [477, 478, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [478, 463, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [463, 464, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [478, 479, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [479, 423, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.6]}] + - [423, 480, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [480, 481, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [481, 482, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [482, 483, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [483, 484, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [484, 485, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [485, 486, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [486, 487, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [487, 488, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 0.8]}] + - [488, 431, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [431, 414, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] + - [414, 412, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.4]}] + - [412, 410, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.5]}] + - [410, 449, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.8]}] + - [449, 450, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.8]}] + - [450, 453, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.8]}] + - [453, 420, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [420, 425, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.8]}] + - [425, 427, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.8]}] + - [427, 421, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.8]}] + - [421, 479, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.7]}] + - [477, 489, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [489, 490, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.8]}] + - [490, 457, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [457, 400, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [400, 460, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [460, 397, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [397, 461, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.8]}] + - [461, 395, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.5]}] + - [395, 437, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.5]}] + - [437, 393, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.8]}] + - [393, 434, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.5]}] + - [434, 436, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.7]}] + - [436, 491, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.8]}] + - [491, 471, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [491, 463, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2.3]}] + - [463, 464, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [453, 454, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.8]}] + - [454, 492, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] + - [492, 493, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [420, 490, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] lanes: - [367, 390, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - [390, 391, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] @@ -206,8 +250,9 @@ levels: measurements: - [0, 1, {distance: [3, 0.7]}] models: - - {agent_group_id: 1, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: work_at_L1_reception1, static: false, x: 890.283, y: 1359.973, yaw: 0, z: 0} - - {agent_group_id: 2, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: work_at_L1_reception1, static: false, x: 765.571, y: 1397.069, yaw: 0, z: 0} + - {agent_group_id: 1, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: work_at_reception_2, static: false, x: 1498.09, y: 1401.924, yaw: 0, z: 0} + - {agent_group_id: 2, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: toilet_break, static: false, x: 670.225, y: 1490.811, yaw: 0, z: 0} + - {agent_group_id: 3, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: work_at_reception_1, static: false, x: 1051.499, y: 1330, yaw: 0, z: 0} - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 992.989, y: 1539.645, yaw: 1.5708, z: 0} - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1084.49, y: 1539.645, yaw: 1.5708, z: 0} - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1175.725, y: 1539.645, yaw: 1.5708, z: 0} @@ -616,7 +661,7 @@ levels: - {model_name: OpenRobotics/PatientWheelChair, name: OpenRobotics/PatientWheelChair, static: true, x: 570.37, y: 1519.617, yaw: 1.5708, z: 0} - {model_name: OpenRobotics/PatientWheelChair, name: OpenRobotics/PatientWheelChair, static: true, x: 1781.428, y: 1471.274, yaw: 1.5708, z: 0} - {model_name: OpenRobotics/PatientWheelChair, name: OpenRobotics/PatientWheelChair, static: true, x: 1913.59, y: 1311.388, yaw: -3.0041, z: 0} - - {model_name: OpenRobotics/PatientWheelChair, name: OpenRobotics/PatientWheelChair, static: true, x: 1375.199, y: 322.074, yaw: -2.2818, z: 0} + - {model_name: OpenRobotics/PatientWheelChair, name: OpenRobotics/PatientWheelChair, static: true, x: 1361.202, y: 251.65, yaw: -2.2818, z: 0} - {model_name: OpenRobotics/PatientWheelChair, name: OpenRobotics/PatientWheelChair, static: true, x: 791.908, y: 368.471, yaw: -0.7854, z: 0} - {model_name: OpenRobotics/Scrubs, name: OpenRobotics/Scrubs, static: true, x: 1957.309, y: 671.032, yaw: -0.0141, z: 0} - {model_name: OpenRobotics/Scrubs, name: OpenRobotics/Scrubs, static: true, x: 362.88, y: 484.164, yaw: 0.3851, z: 0} @@ -1092,7 +1137,7 @@ levels: - [1509.477, 573.223, 0, ""] - [1524.466, 760.14, 0, L1_right_nurse_center, {is_parking_spot: [4, true]}] - [1349.892, 448.905, 0, ""] - - [1353.831, 376.317, 0, L1_sub_waiting_area_3, {is_parking_spot: [4, true]}] + - [1365, 376.317, 0, L1_sub_waiting_area_3, {is_parking_spot: [4, true]}] - [1148.868, 443.615, 0, ""] - [1151.513, 534.428, 0, L1_sub_waiting_area_4, {is_parking_spot: [4, true]}] - [797.957, 434.798, 0, ""] @@ -1102,21 +1147,36 @@ levels: - [497.337, 684.277, 0, ""] - [504.68, 1330.445, 0, ""] - [646.03, 1525.948, 0, ""] - - [643.276, 1611.308, 0, "", {human_goal_set_name: [1, L1_outdoor]}] + - [643.276, 1611.308, 0, ""] - [341.303, 1562.662, 0, ""] - [1325.241, 1614.062, 0, ""] - [1438.136, 1614.98, 0, ""] - [1808.949, 1375.42, 0, ""] - [1803.442, 455.732, 0, ""] - [434.749, 1671.08, 0, ""] - - [703.745, 1395.302, 0, "", {human_goal_set_name: [1, L1_reception1]}] - - [741.547, 1356.794, 0, "", {human_goal_set_name: [1, L1_reception1]}] - - [765.571, 1397.069, 0, "", {human_goal_set_name: [1, L1_reception1]}] - - [867.672, 1332.063, 0, "", {human_goal_set_name: [1, L1_reception1]}] - - [890.283, 1359.973, 0, "", {human_goal_set_name: [1, L1_reception1]}] - - [925.965, 1302.74, 0, "", {human_goal_set_name: [1, L1_reception1]}] - - [673.362, 1433.458, 0, "", {human_goal_set_name: [1, L1_reception1]}] - - [672.303, 1468.787, 0, ""] + - [675.2329999999999, 1423.424, 0, "", {human_goal_set_name: [1, L1_reception_1]}] + - [734.36, 1365.193, 0, "", {human_goal_set_name: [1, L1_reception_1]}] + - [763.924, 1403.715, 0, "", {human_goal_set_name: [1, L1_reception_1]}] + - [858.439, 1333.389, 0, "", {human_goal_set_name: [1, L1_reception_1]}] + - [887.554, 1360.713, 0, "", {human_goal_set_name: [1, L1_reception_1]}] + - [930.1079999999999, 1280, 0, "", {human_goal_set_name: [1, L1_reception_1]}] + - [1051.499, 1330, 0, ""] + - [1069.416, 1361.609, 0, ""] + - [1284.425, 1356.234, 0, ""] + - [1396.857, 1451.196, 0, ""] + - [1407.607, 1406.851, 0, "", {human_goal_set_name: [1, L1_reception_2]}] + - [1473.902, 1345.036, 0, "", {human_goal_set_name: [1, L1_reception_2]}] + - [1498.09, 1401.924, 0, "", {human_goal_set_name: [1, L1_reception_2]}] + - [1588.573, 1340.556, 0, "", {human_goal_set_name: [1, L1_reception_2]}] + - [1628.44, 1380.423, 0, "", {human_goal_set_name: [1, L1_reception_2]}] + - [1627.096, 1329.358, 0, "", {human_goal_set_name: [1, L1_reception_2]}] + - [1668.754, 1280, 0, "", {human_goal_set_name: [1, L1_reception_2]}] + - [1758.789, 1320.847, 0, ""] + - [1096.286, 1244.556, 0, ""] + - [1088.468, 432.565, 0, ""] + - [670.225, 1490.811, 0, ""] + - [1365, 292.148, 0, ""] + - [1473.82, 302.793, 0, "", {human_goal_set_name: [1, L1_waiting_area_3_wc]}] walls: - [2, 4, {alpha: [3, 1], texture_name: [1, default]}] - [4, 5, {alpha: [3, 1], texture_name: [1, default]}] @@ -1491,15 +1551,15 @@ levels: external_agent_groups: - {agents_name: [tinyRobot_1, tinyRobot_2], agents_number: 2, group_id: 0, profile_selector: external_agent, state_selector: external_static, x: 0, y: 0} goal_sets: - - {capacity: 1, set_area: [reception], set_id: 0} + - {capacity: 1, set_area: [L2_back_sub_waiting_area, L2_east_consult_room, L2_entrance, L2_west_counter], set_id: 0} model_types: - {animation: walk, animation_speed: 1, typename: human} obstacle_set: {class: 1, file_name: navmesh.nav, type: nav_mesh} states: - {final: 1, goal_set: -1, name: external_static, navmesh_file_name: ""} - - {final: 0, goal_set: 0, name: work_at_L2_reception1, navmesh_file_name: navmesh.nav} + - {final: 0, goal_set: 0, name: perimeter_stroller, navmesh_file_name: navmesh.nav} transitions: - - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: work_at_L2_reception1, weight: 1}], from: work_at_L2_reception1, to: work_at_L2_reception1} + - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: perimeter_stroller, weight: 1}], from: perimeter_stroller, to: perimeter_stroller} update_time_step: 0.1 doors: - [14, 15, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_clinic_a], plugin: [1, normal], type: [1, double_sliding]}] @@ -1574,17 +1634,22 @@ levels: - parameters: {texture_name: [1, blue_linoleum], texture_rotation: [3, 0], texture_scale: [3, 1]} vertices: [2, 54, 55, 33, 32, 37, 36, 56, 57, 58, 59, 60, 43, 38, 39, 40, 61, 62, 63, 64, 65, 45, 44, 49, 48, 66, 67, 69, 50, 53, 22, 23, 24, 26, 27, 28, 29, 31, 75, 76, 77, 78, 79, 21, 20, 19, 18, 80, 272, 273, 281, 274, 271, 275, 3, 11, 10, 9, 8, 7, 6, 5, 4] human_lanes: - - [372, 373, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [373, 374, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [374, 375, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [375, 376, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [376, 377, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [382, 381, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [381, 380, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [380, 379, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [379, 378, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [378, 375, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [375, 373, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] + - [343, 312, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [312, 313, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.5]}] + - [313, 319, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [319, 314, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [314, 315, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [315, 316, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [316, 318, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [318, 334, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [334, 366, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [366, 322, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [322, 350, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [350, 304, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [304, 305, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [305, 345, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [345, 344, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] + - [344, 343, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] lanes: - [284, 294, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - [294, 295, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] @@ -1669,7 +1734,9 @@ levels: measurements: - [0, 1, {distance: [3, 0.7]}] models: - - {agent_group_id: 1, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: work_at_L2_reception1, static: false, x: 760.491, y: 1393.494, yaw: 0, z: 0} + - {agent_group_id: 1, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: perimeter_stroller, static: false, x: 625.995, y: 1631.365, yaw: 0, z: 0} + - {agent_group_id: 2, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: perimeter_stroller, static: false, x: 1825.957, y: 1364.327, yaw: 0, z: 0} + - {agent_group_id: 3, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: perimeter_stroller, static: false, x: 1216.882, y: 443.767, yaw: 0, z: 0} - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1927.091, y: 1509.158, yaw: 1.5708, z: 0} - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 2024.263, y: 1509.451, yaw: 1.5708, z: 0} - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 2023.971, y: 1456.767, yaw: 1.5708, z: 0} @@ -2297,7 +2364,7 @@ levels: - [1116.273, 444.203, 0, ""] - [1113.631, 270.744, 0, L2_north_counter, {is_parking_spot: [4, true]}] - [530.247, 440.415, 0, ""] - - [448.853, 661.686, 0, ""] + - [448.853, 661.686, 0, "", {human_goal_set_name: [1, L2_west_counter]}] - [277.155, 660.806, 0, L2_west_counter, {is_parking_spot: [4, true]}] - [489.356, 1254.264, 0, ""] - [287.721, 1262.188, 0, L2_sub_waiting_area_1, {is_parking_spot: [4, true]}] @@ -2308,7 +2375,7 @@ levels: - [1438.536, 1613.508, 0, ""] - [1655.14, 1466.465, 0, ""] - [1825.957, 1364.327, 0, ""] - - [1826.837, 1047.346, 0, ""] + - [1826.837, 1047.346, 0, "", {human_goal_set_name: [1, L2_east_consult_room]}] - [2030.233, 1054.39, 0, L2_east_counter, {is_parking_spot: [4, true]}] - [1825.076, 505.838, 0, ""] - [1503.262, 1560.602, 0, ""] @@ -2335,14 +2402,14 @@ levels: - [1489.763, 1557.613, 0, ""] - [1420.386, 1617.614, 0, ""] - [1320.133, 1606.051, 0, ""] - - [625.995, 1631.365, 0, ""] + - [625.995, 1631.365, 0, "", {human_goal_set_name: [1, L2_entrance]}] - [615.37, 1505.737, 0, ""] - [475.367, 1251.357, 0, ""] - [283.141, 1249.343, 0, L2_sub_waiting_area_1, {is_parking_spot: [4, true]}] - [334.739, 1566.988, 0, ""] - [458.67, 650.821, 0, ""] - [276.919, 647.575, 0, L2_west_counter, {is_parking_spot: [4, true]}] - - [618.513, 443.106, 0, ""] + - [618.513, 443.106, 0, "", {human_goal_set_name: [1, L2_back_sub_waiting_area]}] - [766.997, 445.54, 0, ""] - [800.263, 561.568, 0, ""] - [797.829, 740.073, 0, ""] @@ -2364,17 +2431,6 @@ levels: - [1212.667, 1036.455, 0, ""] - [1148.547, 1028.44, 0, L2_sub_waiting_area_3, {is_parking_spot: [4, true]}] - [1154.272, 651.165, 0, L2_sub_waiting_area_2, {is_parking_spot: [4, true]}] - - [673.1660000000001, 1477.46, 0, "", {human_goal_set_name: [1, reception]}] - - [672.047, 1414.766, 0, "", {human_goal_set_name: [1, reception]}] - - [728.77, 1364.013, 0, "", {human_goal_set_name: [1, reception]}] - - [760.491, 1393.494, 0, "", {human_goal_set_name: [1, reception]}] - - [789.972, 1435.664, 0, "", {human_goal_set_name: [1, reception]}] - - [794.45, 1471.489, 0, "", {human_goal_set_name: [1, reception]}] - - [810.497, 1361.401, 0, "", {human_goal_set_name: [1, reception]}] - - [867.967, 1333.412, 0, "", {human_goal_set_name: [1, reception]}] - - [892.223, 1359.908, 0, "", {human_goal_set_name: [1, reception]}] - - [935.5119999999999, 1282.66, 0, "", {human_goal_set_name: [1, reception]}] - - [1031.047, 1324.456, 0, "", {human_goal_set_name: [1, reception]}] walls: - [2, 4, {alpha: [3, 1], texture_name: [1, default]}] - [4, 5, {alpha: [3, 1], texture_name: [1, default]}] From 216abe91140a4ca8097ba5b598047884cb253287 Mon Sep 17 00:00:00 2001 From: Chong Tian En Date: Wed, 13 Jan 2021 10:49:43 +0800 Subject: [PATCH 21/25] added crowdsim enable/disable feature in launch.xml (enabled by default, where use_crowdsim:=1) --- demos/launch/simulation.launch.xml | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/demos/launch/simulation.launch.xml b/demos/launch/simulation.launch.xml index bc3ae420..38665748 100644 --- a/demos/launch/simulation.launch.xml +++ b/demos/launch/simulation.launch.xml @@ -3,6 +3,9 @@ + + + @@ -11,7 +14,8 @@ - + + @@ -19,6 +23,7 @@ + @@ -34,7 +39,8 @@ - + + + + From b044eee86a7007acc31e585f240b1d90d81b39fd Mon Sep 17 00:00:00 2001 From: Chong Tian En Date: Wed, 13 Jan 2021 16:17:08 +0800 Subject: [PATCH 22/25] disable crowdsim by default --- demos/launch/simulation.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/demos/launch/simulation.launch.xml b/demos/launch/simulation.launch.xml index 38665748..6f889c3a 100644 --- a/demos/launch/simulation.launch.xml +++ b/demos/launch/simulation.launch.xml @@ -3,7 +3,7 @@ - + From d5def940ad85b3efab2a60a8e6bd0ec50018f3e0 Mon Sep 17 00:00:00 2001 From: Chong Tian En Date: Thu, 21 Jan 2021 17:14:08 +0800 Subject: [PATCH 23/25] removed office and clinic map to perform a clean merge --- .../maps/clinic/clinic.building.yaml | 2782 ----------------- rmf_demo_maps/maps/clinic/clinic.png | Bin 985699 -> 0 bytes rmf_demo_maps/maps/clinic/clinic.project.yaml | 6 - .../maps/office/office.building.yaml | 293 -- rmf_demo_maps/maps/office/office.png | Bin 1794169 -> 0 bytes rmf_demo_maps/maps/office/office.project.yaml | 6 - .../__pycache__/__init__.cpython-38.pyc | Bin 0 -> 181 bytes 7 files changed, 3087 deletions(-) delete mode 100644 rmf_demo_maps/maps/clinic/clinic.building.yaml delete mode 100644 rmf_demo_maps/maps/clinic/clinic.png delete mode 100644 rmf_demo_maps/maps/clinic/clinic.project.yaml delete mode 100644 rmf_demo_maps/maps/office/office.building.yaml delete mode 100644 rmf_demo_maps/maps/office/office.png delete mode 100644 rmf_demo_maps/maps/office/office.project.yaml create mode 100644 rmf_demo_tasks/rmf_demo_tasks/__pycache__/__init__.cpython-38.pyc diff --git a/rmf_demo_maps/maps/clinic/clinic.building.yaml b/rmf_demo_maps/maps/clinic/clinic.building.yaml deleted file mode 100644 index 579883ab..00000000 --- a/rmf_demo_maps/maps/clinic/clinic.building.yaml +++ /dev/null @@ -1,2782 +0,0 @@ -levels: - L1: - crowd_sim: - agent_profiles: - - {ORCA_tau: 1, ORCA_tauObst: 0.4, class: 1, max_accel: 0, max_angle_vel: 0, max_neighbors: 10, max_speed: 0, name: external_agent, neighbor_dist: 5, obstacle_set: 1, pref_speed: 0, r: 0.25} - - {ORCA_tau: 1, ORCA_tauObst: 1, class: 1, max_accel: 3, max_angle_vel: 270, max_neighbors: 10, max_speed: 2, name: human, neighbor_dist: 5, obstacle_set: 1, pref_speed: 1.3, r: 0.18} - enable: 1 - external_agent_groups: - - {agents_name: [deliveryRobot_1, deliveryRobot_2], agents_number: 2, group_id: 0, profile_selector: external_agent, state_selector: external_static, x: 0, y: 0} - goal_sets: - - {capacity: 3, set_area: [L1_reception_1, L1_waiting_area_3_wc], set_id: 0} - - {capacity: 3, set_area: [L1_reception_2, L1_waiting_area_3_wc], set_id: 1} - - {capacity: 2, set_area: [L1_reception_1, L1_reception_2, L1_waiting_area_3_wc], set_id: 2} - model_types: - - {animation: walk, animation_speed: 1, typename: human} - obstacle_set: {class: 1, file_name: navmesh.nav, type: nav_mesh} - states: - - {final: 1, goal_set: -1, name: external_static, navmesh_file_name: ""} - - {final: 0, goal_set: 0, name: work_at_reception_1, navmesh_file_name: navmesh.nav} - - {final: 0, goal_set: 1, name: work_at_reception_2, navmesh_file_name: navmesh.nav} - - {final: 0, goal_set: 2, name: toilet_break, navmesh_file_name: navmesh.nav} - transitions: - - {Condition: {distance: 0.8, type: goal_reached}, Target: [{name: toilet_break, weight: 1}, {name: work_at_reception_1, weight: 1}], from: work_at_reception_1, to: ""} - - {Condition: {distance: 0.8, type: goal_reached}, Target: [{name: toilet_break, weight: 1}, {name: work_at_reception_2, weight: 1}], from: work_at_reception_2, to: ""} - - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: toilet_break, weight: 1}, {name: work_at_reception_1, weight: 1}, {name: work_at_reception_2, weight: 1}], from: toilet_break, to: ""} - update_time_step: 0.1 - doors: - - [24, 35, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_clinic_a], plugin: [1, normal], type: [1, double_sliding]}] - - [210, 211, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_consult_rm_13_outer], plugin: [1, none], type: [1, sliding]}] - - [216, 217, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_consult_rm_12_outer], plugin: [1, none], type: [1, sliding]}] - - [180, 185, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_consult_rm_5_outer], plugin: [1, none], type: [1, sliding]}] - - [178, 179, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_consult_rm_4_outer], plugin: [1, none], type: [1, sliding]}] - - [176, 177, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_consult_rm_3_outer], plugin: [1, none], type: [1, sliding]}] - - [174, 175, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_consult_rm_2_outer], plugin: [1, none], type: [1, sliding]}] - - [173, 172, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_consult_rm_1_outer], plugin: [1, none], type: [1, sliding]}] - - [232, 231, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_consult_rm_7_outer], plugin: [1, none], type: [1, sliding]}] - - [229, 228, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_consult_rm_8_outer], plugin: [1, none], type: [1, sliding]}] - - [226, 225, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_consult_rm_9_outer], plugin: [1, none], type: [1, sliding]}] - - [223, 222, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_consult_rm_10_outer], plugin: [1, none], type: [1, sliding]}] - - [220, 219, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_consult_rm_11_outer], plugin: [1, none], type: [1, sliding]}] - - [329, 328, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_consult_rm_7_outer], plugin: [1, none], type: [1, sliding]}] - - [326, 325, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_consult_rm_8_outer], plugin: [1, none], type: [1, sliding]}] - - [323, 322, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_consult_rm_9_outer], plugin: [1, none], type: [1, sliding]}] - - [320, 319, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_consult_rm_10_outer], plugin: [1, none], type: [1, sliding]}] - - [317, 316, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_consult_rm_11_outer], plugin: [1, none], type: [1, sliding]}] - - [314, 313, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_consult_rm_12_outer], plugin: [1, none], type: [1, sliding]}] - - [311, 310, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_consult_rm_13_outer], plugin: [1, none], type: [1, sliding]}] - - [275, 276, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_consult_rm_1_outer], plugin: [1, none], type: [1, sliding]}] - - [278, 279, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_consult_rm_2_outer], plugin: [1, none], type: [1, sliding]}] - - [281, 282, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_consult_rm_3_outer], plugin: [1, none], type: [1, sliding]}] - - [284, 285, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_consult_rm_4_outer], plugin: [1, none], type: [1, sliding]}] - - [287, 288, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_consult_rm_5_outer], plugin: [1, none], type: [1, sliding]}] - - [290, 291, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_consult_rm_6_outer], plugin: [1, none], type: [1, sliding]}] - - [359, 360, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_clinic_b], plugin: [1, none], type: [1, double_sliding]}] - - [187, 188, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_consult_rm_6_outer], plugin: [1, none], type: [1, sliding]}] - - [100, 101, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_treatment_1], plugin: [1, normal], type: [1, sliding]}] - - [127, 121, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_negative_air_pressure], plugin: [1, normal], type: [1, sliding]}] - - [108, 103, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_treatment_2], plugin: [1, none], type: [1, sliding]}] - - [110, 111, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_counsel_1], plugin: [1, none], type: [1, sliding]}] - - [123, 124, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_counsel_4], plugin: [1, none], type: [1, sliding]}] - - [117, 116, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_counsel_3], plugin: [1, none], type: [1, sliding]}] - - [113, 116, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_counsel_2], plugin: [1, none], type: [1, sliding]}] - - [136, 137, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_procedure], plugin: [1, normal], type: [1, sliding]}] - - [165, 164, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_treatment], plugin: [1, normal], type: [1, sliding]}] - - [163, 169, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_counsel], plugin: [1, none], type: [1, sliding]}] - - [157, 148, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_consult], plugin: [1, none], type: [1, sliding]}] - - [147, 149, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_negative_air_pressure], plugin: [1, normal], type: [1, sliding]}] - - [99, 98, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_existing_ahu], plugin: [1, none], type: [1, double_hinged]}] - - [202, 203, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_consult_rm_2_inner], plugin: [1, none], type: [1, sliding]}] - - [389, 34, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, -1], name: [1, L1_wc_1], plugin: [1, none], type: [1, hinged]}] - - [17, 16, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_hr], plugin: [1, none], type: [1, hinged]}] - - [133, 132, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_dis_wc_2], plugin: [1, none], type: [1, sliding]}] - - [130, 131, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_dis_wc_1], plugin: [1, none], type: [1, sliding]}] - - [215, 214, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_consult_rm_13_inner], plugin: [1, none], type: [1, hinged]}] - - [213, 256, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_consult_rm_12_inner], plugin: [1, none], type: [1, hinged]}] - - [254, 253, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_consult_rm_11_inner], plugin: [1, none], type: [1, sliding]}] - - [251, 250, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_consult_rm_10_inner], plugin: [1, none], type: [1, sliding]}] - - [248, 247, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_consult_rm_9_inner], plugin: [1, none], type: [1, sliding]}] - - [246, 245, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_consult_rm_8_inner], plugin: [1, none], type: [1, hinged]}] - - [190, 192, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_consult_rm_6_inner], plugin: [1, none], type: [1, hinged]}] - - [193, 194, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_consult_rm_5_inner], plugin: [1, none], type: [1, sliding]}] - - [196, 197, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_consult_rm_4_inner], plugin: [1, none], type: [1, sliding]}] - - [244, 243, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_consult_rm_7_inner], plugin: [1, none], type: [1, hinged]}] - - [205, 206, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_consult_rm_1_inner], plugin: [1, none], type: [1, sliding]}] - - [199, 200, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_consult_rm_3_inner], plugin: [1, none], type: [1, sliding]}] - - [93, 94, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_cleaning_supplies], plugin: [1, none], type: [1, hinged]}] - - [95, 90, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_wc_2], plugin: [1, none], type: [1, hinged]}] - - [343, 342, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_consult_rm_8_inner], plugin: [1, none], type: [1, hinged]}] - - [293, 294, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_consult_rm_6_inner], plugin: [1, none], type: [1, hinged]}] - - [341, 333, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_consult_rm_7_inner], plugin: [1, none], type: [1, hinged]}] - - [345, 344, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_consult_rm_9_inner], plugin: [1, none], type: [1, sliding]}] - - [296, 297, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_consult_rm_5_inner], plugin: [1, none], type: [1, sliding]}] - - [299, 300, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_consult_rm_4_inner], plugin: [1, none], type: [1, sliding]}] - - [348, 347, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_consult_rm_10_inner], plugin: [1, none], type: [1, sliding]}] - - [351, 350, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_consult_rm_11_inner], plugin: [1, none], type: [1, sliding]}] - - [302, 303, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_consult_rm_3_inner], plugin: [1, none], type: [1, sliding]}] - - [304, 305, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_consult_rm_2_inner], plugin: [1, none], type: [1, hinged]}] - - [354, 353, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_consult_rm_12_inner], plugin: [1, none], type: [1, sliding]}] - - [306, 307, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_consult_rm_1_inner], plugin: [1, none], type: [1, hinged]}] - - [357, 356, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_consult_rm_13_inner], plugin: [1, none], type: [1, sliding]}] - - [439, 440, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_existing_single_ahu], plugin: [1, none], type: [1, double_hinged]}] - - [445, 444, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_left_inner], plugin: [1, normal], type: [1, sliding]}] - - [447, 446, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_right_inner], plugin: [1, normal], type: [1, sliding]}] - drawing: - filename: clinic.png - elevation: 0 - fiducials: - - [422.069, 221.683, 1] - - [1154.882, 952.5599999999999, 5] - - [1882.855, 221.683, 3] - - [1154, 224, 2] - - [1155, 585, 4] - flattened_x_offset: 0 - flattened_y_offset: 0 - floors: - - parameters: {texture_name: [1, blue_linoleum], texture_rotation: [3, 0], texture_scale: [3, 1]} - vertices: [2, 75, 76, 53, 52, 57, 56, 77, 78, 79, 80, 81, 63, 58, 59, 60, 82, 83, 84, 85, 86, 65, 64, 69, 68, 87, 88, 92, 70, 73, 42, 43, 44, 46, 47, 48, 49, 51, 140, 141, 142, 143, 144, 41, 40, 39, 38, 470, 363, 364, 365, 362, 361, 3, 11, 10, 9, 8, 7, 6, 5, 4] - - parameters: {texture_name: [1, brown_marble], texture_rotation: [3, 0], texture_scale: [3, 1]} - vertices: [363, 470, 38, 39, 40, 41, 386, 387, 364] - human_lanes: - - [471, 472, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [472, 473, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [473, 474, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 0.7]}] - - [474, 475, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [475, 476, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [476, 477, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [477, 478, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [478, 479, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [479, 423, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.6]}] - - [423, 480, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [480, 481, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [481, 482, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [482, 483, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [483, 484, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [484, 485, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [485, 486, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [486, 487, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [487, 488, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 0.8]}] - - [488, 431, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [431, 414, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] - - [414, 412, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.4]}] - - [412, 410, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.5]}] - - [410, 449, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.8]}] - - [449, 450, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.8]}] - - [450, 453, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.8]}] - - [453, 420, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [420, 425, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.8]}] - - [425, 427, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.8]}] - - [427, 421, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.8]}] - - [421, 479, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.7]}] - - [477, 489, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [489, 490, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.8]}] - - [490, 457, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [457, 400, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [400, 460, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [460, 397, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [397, 461, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.8]}] - - [461, 395, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.5]}] - - [395, 437, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.5]}] - - [437, 393, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.8]}] - - [393, 434, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.5]}] - - [434, 436, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.7]}] - - [436, 491, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.8]}] - - [491, 471, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [491, 463, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2.3]}] - - [463, 464, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [453, 454, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.8]}] - - [454, 492, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.3]}] - - [492, 493, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1]}] - - [420, 490, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - lanes: - - [367, 390, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [390, 391, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [391, 392, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [395, 396, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [395, 397, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [397, 388, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [397, 398, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [398, 399, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [400, 401, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [403, 405, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [405, 406, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [408, 374, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [409, 408, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [405, 409, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [409, 410, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [410, 411, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [410, 412, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [412, 413, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [412, 414, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [414, 415, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [416, 417, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [418, 419, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [419, 391, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [421, 422, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [421, 423, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [423, 424, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [417, 424, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [424, 418, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [420, 425, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [425, 426, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [425, 427, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [427, 428, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [427, 421, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [429, 430, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [430, 416, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [414, 431, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [431, 432, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [431, 416, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [433, 434, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [435, 436, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [392, 436, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [436, 434, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [434, 393, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [420, 403, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [393, 437, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [437, 395, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [437, 394, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [398, 400, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [400, 420, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [401, 402, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [406, 407, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [403, 404, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [374, 448, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [448, 449, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [449, 450, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [450, 451, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [451, 452, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [450, 453, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [453, 454, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [453, 455, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [455, 456, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [455, 457, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [457, 458, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [458, 459, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [457, 460, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [460, 461, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [461, 462, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [462, 463, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [463, 464, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [464, 465, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [465, 367, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [464, 466, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [466, 467, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [467, 468, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [468, 469, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [469, 449, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - layers: - {} - measurements: - - [0, 1, {distance: [3, 0.7]}] - models: - - {agent_group_id: 1, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: work_at_reception_2, static: false, x: 1498.09, y: 1401.924, yaw: 0, z: 0} - - {agent_group_id: 2, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: toilet_break, static: false, x: 670.225, y: 1490.811, yaw: 0, z: 0} - - {agent_group_id: 3, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: work_at_reception_1, static: false, x: 1051.499, y: 1330, yaw: 0, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 992.989, y: 1539.645, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1084.49, y: 1539.645, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1175.725, y: 1539.645, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1267.226, y: 1541.241, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1039.005, y: 1490.436, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1128.644, y: 1490.436, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1221.209, y: 1489.904, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1083.426, y: 1429.524, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1175.725, y: 1429.524, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1927.091, y: 1509.158, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 2024.263, y: 1509.451, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 2023.971, y: 1456.767, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 2023.385, y: 1404.083, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1927.383, y: 1404.083, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1927.383, y: 1456.767, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1641.097, y: 1587.555, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1671.445, y: 1536.787, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1656.216, y: 1659.9, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1312.368, y: 332.465, yaw: -1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1216.237, y: 332.465, yaw: -1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1216.237, y: 278.23, yaw: -1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1311.507, y: 278.804, yaw: -1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1312.942, y: 226.577, yaw: -1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1216.523, y: 226.577, yaw: -1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 693.569, y: 269.117, yaw: -3.1416, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 627.307, y: 268.773, yaw: -3.1416, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 627.913, y: 353.649, yaw: -3.1416, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 693.022, y: 353.649, yaw: 3.1416, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 748.177, y: 353.38, yaw: 3.1416, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 747.783, y: 269.461, yaw: -3.1416, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 801.136, y: 300.613, yaw: 3.1416, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 854.66, y: 355.084, yaw: 3.1416, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 249.597, y: 1123.073, yaw: 0, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 301.538, y: 1120.924, yaw: 0, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 354.554, y: 1120.207, yaw: -0, z: 0} - - {model_name: OpenRobotics/CoffeeTable, name: OpenRobotics/CoffeeTable, static: true, x: 790.548, y: 1319.123, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/CoffeeTable, name: OpenRobotics/CoffeeTable, static: true, x: 1880.212, y: 1316.989, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/CoffeeTable, name: OpenRobotics/CoffeeTable, static: true, x: 1521.207, y: 1318.269, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/Toilet, name: OpenRobotics/Toilet, static: true, x: 317.336, y: 1326.845, yaw: -3.1416, z: 0} - - {model_name: OpenRobotics/Toilet, name: OpenRobotics/Toilet, static: true, x: 416.766, y: 1397.904, yaw: -1.5708, z: 0} - - {model_name: OpenRobotics/Toilet, name: OpenRobotics/Toilet, static: true, x: 1514.633, y: 304.677, yaw: 3.1416, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1747.463, y: 1535.753, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1719.912, y: 1588.188, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/CGMVanguard, name: OpenRobotics/CGMVanguard, static: true, x: 998.586, y: 989.083, yaw: -3.1416, z: 0} - - {model_name: OpenRobotics/CGMVanguard, name: OpenRobotics/CGMVanguard, static: true, x: 998.901, y: 1118.546, yaw: -3.1416, z: 0} - - {model_name: OpenRobotics/CGMVanguard, name: OpenRobotics/CGMVanguard, static: true, x: 1311.664, y: 915.972, yaw: -0, z: 0} - - {model_name: OpenRobotics/CGMVanguard, name: OpenRobotics/CGMVanguard, static: true, x: 1310.864, y: 1042.756, yaw: -0, z: 0} - - {model_name: OpenRobotics/CGMVanguard, name: OpenRobotics/CGMVanguard, static: true, x: 1348.46, y: 1298.725, yaw: 0.3823, z: 0} - - {model_name: OpenRobotics/CGMVanguard, name: OpenRobotics/CGMVanguard, static: true, x: 1712.015, y: 1250.731, yaw: 2.7684, z: 0} - - {model_name: OpenRobotics/CGMVanguard, name: OpenRobotics/CGMVanguard, static: true, x: 1730.813, y: 1116.747, yaw: 3.1416, z: 0} - - {model_name: OpenRobotics/CGMVanguard, name: OpenRobotics/CGMVanguard, static: true, x: 1730.413, y: 861.179, yaw: -0.0029, z: 0} - - {model_name: OpenRobotics/CGMVanguard, name: OpenRobotics/CGMVanguard, static: true, x: 1728.413, y: 735.994, yaw: -3.1416, z: 0} - - {model_name: OpenRobotics/CGMVanguard, name: OpenRobotics/CGMVanguard, static: true, x: 1692.818, y: 607.61, yaw: -2.7959, z: 0} - - {model_name: OpenRobotics/CGMVanguard, name: OpenRobotics/CGMVanguard, static: true, x: 2012.778, y: 596.4109999999999, yaw: 0.0092, z: 0} - - {model_name: OpenRobotics/CGMVanguard, name: OpenRobotics/CGMVanguard, static: true, x: 1982.604, y: 458.444, yaw: -3.1416, z: 0} - - {model_name: OpenRobotics/CGMVanguard, name: OpenRobotics/CGMVanguard, static: true, x: 664.2809999999999, y: 539.458, yaw: -0.7084, z: 0} - - {model_name: OpenRobotics/CGMVanguard, name: OpenRobotics/CGMVanguard, static: true, x: 998.169, y: 734.663, yaw: -3.1416, z: 0} - - {model_name: OpenRobotics/CGMVanguard, name: OpenRobotics/CGMVanguard, static: true, x: 996.927, y: 606.718, yaw: -3.1416, z: 0} - - {model_name: OpenRobotics/CGMVanguard, name: OpenRobotics/CGMVanguard, static: true, x: 579.354, y: 1041.083, yaw: 0, z: 0} - - {model_name: OpenRobotics/CGMVanguard, name: OpenRobotics/CGMVanguard, static: true, x: 617.46, y: 1298.847, yaw: 0.3826, z: 0} - - {model_name: OpenRobotics/CGMVanguard, name: OpenRobotics/CGMVanguard, static: true, x: 289.298, y: 651.378, yaw: 0, z: 0} - - {model_name: OpenRobotics/MetalCabinet, name: OpenRobotics/MetalCabinet, static: true, x: 261.376, y: 685.87, yaw: 3.1416, z: 0} - - {model_name: OpenRobotics/MetalCabinet, name: OpenRobotics/MetalCabinet, static: true, x: 292.912, y: 685.87, yaw: -3.1416, z: 0} - - {model_name: OpenRobotics/SurgicalTrolleyMed, name: OpenRobotics/SurgicalTrolleyMed, static: true, x: 1509.808, y: 1158.716, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/SurgicalTrolleyMed, name: OpenRobotics/SurgicalTrolleyMed, static: true, x: 1532.324, y: 1158.043, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/SurgicalTrolleyMed, name: OpenRobotics/SurgicalTrolleyMed, static: true, x: 1532.15, y: 1103.952, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/SurgicalTrolleyMed, name: OpenRobotics/SurgicalTrolleyMed, static: true, x: 1509.089, y: 1103.674, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/SurgicalTrolleyMed, name: OpenRobotics/SurgicalTrolleyMed, static: true, x: 778.227, y: 1104.273, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/SurgicalTrolleyMed, name: OpenRobotics/SurgicalTrolleyMed, static: true, x: 801.403, y: 1104.273, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/SurgicalTrolleyMed, name: OpenRobotics/SurgicalTrolleyMed, static: true, x: 800.75, y: 1158.785, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/SurgicalTrolleyMed, name: OpenRobotics/SurgicalTrolleyMed, static: true, x: 777.574, y: 1158.458, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/CGMVanguard, name: OpenRobotics/CGMVanguard, static: true, x: 1311.681, y: 659.345, yaw: -0, 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default]}] - - [73, 72, {alpha: [3, 1], texture_name: [1, default]}] - - [72, 71, {alpha: [3, 1], texture_name: [1, default]}] - - [72, 376, {alpha: [3, 1], texture_name: [1, default]}] - - [376, 377, {alpha: [3, 1], texture_name: [1, default]}] - - [377, 91, {alpha: [3, 1], texture_name: [1, default]}] - - [376, 95, {alpha: [3, 1], texture_name: [1, default]}] - - [377, 378, {alpha: [3, 1], texture_name: [1, default]}] - - [73, 379, {alpha: [3, 1], texture_name: [1, default]}] - - [379, 380, {alpha: [3, 1], texture_name: [1, default]}] - - [380, 381, {alpha: [3, 1], texture_name: [1, default]}] - - [380, 382, {alpha: [3, 1], texture_name: [1, default]}] - - [379, 383, {alpha: [3, 1], texture_name: [1, default]}] - - [383, 384, {alpha: [3, 1], texture_name: [1, default]}] - - [384, 385, {alpha: [3, 1], texture_name: [1, default]}] - - [383, 42, {alpha: [3, 1], texture_name: [1, default]}] - - [84, 438, {alpha: [3, 1], texture_name: [1, default]}] - - [438, 439, {alpha: [3, 1], texture_name: [1, default]}] - - [440, 441, {alpha: [3, 1], texture_name: [1, default]}] - - [441, 442, {alpha: [3, 1], texture_name: [1, default]}] - - [89, 443, {alpha: [3, 1], texture_name: [1, default]}] - - [67, 441, {alpha: [3, 1], texture_name: [1, default]}] - - [208, 444, {alpha: [3, 1], texture_name: [1, default]}] - - [445, 207, {alpha: [3, 1], texture_name: [1, default]}] - - [274, 446, {alpha: [3, 1], texture_name: [1, default]}] - - [447, 273, {alpha: [3, 1], texture_name: [1, default]}] - L2: - crowd_sim: - agent_profiles: - - {ORCA_tau: 1, ORCA_tauObst: 0.4, class: 1, max_accel: 0, max_angle_vel: 0, max_neighbors: 10, max_speed: 0, name: external_agent, neighbor_dist: 5, obstacle_set: 1, pref_speed: 0, r: 0.25} - - {ORCA_tau: 1, ORCA_tauObst: 1, class: 1, max_accel: 3, max_angle_vel: 270, max_neighbors: 10, max_speed: 2, name: human, neighbor_dist: 5, obstacle_set: 1, pref_speed: 1.3, r: 0.18} - enable: 1 - external_agent_groups: - - {agents_name: [tinyRobot_1, tinyRobot_2], agents_number: 2, group_id: 0, profile_selector: external_agent, state_selector: external_static, x: 0, y: 0} - goal_sets: - - {capacity: 1, set_area: [L2_back_sub_waiting_area, L2_east_consult_room, L2_entrance, L2_west_counter], set_id: 0} - model_types: - - {animation: walk, animation_speed: 1, typename: human} - obstacle_set: {class: 1, file_name: navmesh.nav, type: nav_mesh} - states: - - {final: 1, goal_set: -1, name: external_static, navmesh_file_name: ""} - - {final: 0, goal_set: 0, name: perimeter_stroller, navmesh_file_name: navmesh.nav} - transitions: - - {Condition: {condition1: {distance: 0.8, type: goal_reached}, condition2: {dist: c, per_agent: true, type: timer, value: 20}, type: or}, Target: [{name: perimeter_stroller, weight: 1}], from: perimeter_stroller, to: perimeter_stroller} - update_time_step: 0.1 - doors: - - [14, 15, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_clinic_a], plugin: [1, normal], type: [1, double_sliding]}] - - [121, 122, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_left_consult_rm_13_outer], plugin: [1, none], type: [1, sliding]}] - - [127, 128, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_left_consult_rm_12_outer], plugin: [1, none], type: [1, sliding]}] - - [91, 96, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_left_consult_rm_5_outer], plugin: [1, none], type: [1, sliding]}] - - [89, 90, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_left_consult_rm_4_outer], plugin: [1, none], type: [1, sliding]}] - - [87, 88, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_left_consult_rm_3_outer], plugin: [1, none], type: [1, sliding]}] - - [85, 86, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_left_consult_rm_2_outer], plugin: [1, none], type: [1, sliding]}] - - [84, 83, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_left_consult_rm_1_outer], plugin: [1, none], type: [1, sliding]}] - - [143, 142, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_left_consult_rm_7_outer], plugin: [1, none], type: [1, sliding]}] - - [140, 139, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_left_consult_rm_8_outer], plugin: [1, none], type: [1, sliding]}] - - [137, 136, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_left_consult_rm_9_outer], plugin: [1, none], type: [1, sliding]}] - - [134, 133, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_left_consult_rm_10_outer], plugin: [1, none], type: [1, sliding]}] - - [131, 130, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_left_consult_rm_11_outer], plugin: [1, none], type: [1, sliding]}] - - [240, 239, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_right_consult_rm_7_outer], plugin: [1, none], type: [1, sliding]}] - - [237, 236, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_right_consult_rm_8_outer], plugin: [1, none], type: [1, sliding]}] - - [234, 233, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_right_consult_rm_9_outer], plugin: [1, none], type: [1, sliding]}] - - [231, 230, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_right_consult_rm_10_outer], plugin: [1, none], type: [1, sliding]}] - - [228, 227, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_right_consult_rm_11_outer], plugin: [1, none], type: [1, sliding]}] - - [225, 224, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_right_consult_rm_12_outer], plugin: [1, none], type: [1, sliding]}] - - [222, 221, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_right_consult_rm_13_outer], plugin: [1, none], type: [1, sliding]}] - - [186, 187, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_right_consult_rm_1_outer], plugin: [1, none], type: [1, sliding]}] - - [189, 190, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_right_consult_rm_2_outer], plugin: [1, none], type: [1, sliding]}] - - [192, 193, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_right_consult_rm_3_outer], plugin: [1, none], type: [1, sliding]}] - - [195, 196, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_right_consult_rm_4_outer], plugin: [1, none], type: [1, sliding]}] - - [198, 199, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_right_consult_rm_5_outer], plugin: [1, none], type: [1, sliding]}] - - [201, 202, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_right_consult_rm_6_outer], plugin: [1, none], type: [1, sliding]}] - - [269, 270, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_clinic_b], plugin: [1, normal], type: [1, double_sliding]}] - - [98, 99, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_left_consult_rm_6_outer], plugin: [1, none], type: [1, sliding]}] - - [126, 125, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_left_consult_rm_13_inner], plugin: [1, none], type: [1, hinged]}] - - [124, 167, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_left_consult_rm_12_inner], plugin: [1, none], type: [1, hinged]}] - - [165, 164, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_left_consult_rm_11_inner], plugin: [1, none], type: [1, sliding]}] - - [162, 161, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_left_consult_rm_10_inner], plugin: [1, none], type: [1, sliding]}] - - [159, 158, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_left_consult_rm_9_inner], plugin: [1, none], type: [1, sliding]}] - - [157, 156, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_left_consult_rm_8_inner], plugin: [1, none], type: [1, hinged]}] - - [155, 154, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_left_consult_rm_7_inner], plugin: [1, none], type: [1, hinged]}] - - [101, 103, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_left_consult_rm_6_inner], plugin: [1, none], type: [1, hinged]}] - - [104, 105, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_left_consult_rm_5_inner], plugin: [1, none], type: [1, sliding]}] - - [107, 108, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_left_consult_rm_4_inner], plugin: [1, none], type: [1, sliding]}] - - [110, 111, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_left_consult_rm_3_inner], plugin: [1, none], type: [1, sliding]}] - - [113, 114, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_left_consult_rm_2_inner], plugin: [1, none], type: [1, sliding]}] - - [116, 117, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_left_consult_rm_1_inner], plugin: [1, none], type: [1, sliding]}] - - [268, 267, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_right_consult_rm_13_inner], plugin: [1, none], type: [1, sliding]}] - - [217, 218, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_right_consult_rm_1_inner], plugin: [1, none], type: [1, hinged]}] - - [265, 264, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_right_consult_rm_12_inner], plugin: [1, none], type: [1, sliding]}] - - [262, 261, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_right_consult_rm_11_inner], plugin: [1, none], type: [1, sliding]}] - - [259, 258, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_right_consult_rm_10_inner], plugin: [1, none], type: [1, sliding]}] - - [256, 255, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_right_consult_rm_9_inner], plugin: [1, none], type: [1, sliding]}] - - [254, 253, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_right_consult_rm_8_inner], plugin: [1, none], type: [1, hinged]}] - - [252, 244, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_right_consult_rm_7_inner], plugin: [1, none], type: [1, hinged]}] - - [204, 205, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_right_consult_rm_6_inner], plugin: [1, none], type: [1, hinged]}] - - [207, 208, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_right_consult_rm_5_inner], plugin: [1, none], type: [1, sliding]}] - - [210, 211, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_right_consult_rm_4_inner], plugin: [1, none], type: [1, sliding]}] - - [213, 214, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_right_consult_rm_3_inner], plugin: [1, none], type: [1, sliding]}] - - [215, 216, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_right_consult_rm_2_inner], plugin: [1, none], type: [1, hinged]}] - - [70, 71, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_cleaning_supplies], plugin: [1, none], type: [1, hinged]}] - - [329, 328, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, m], plugin: [1, normal], type: [1, sliding]}] - - [331, 330, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_right_inner], plugin: [1, normal], type: [1, sliding]}] - drawing: - filename: clinic.png - elevation: 10 - fiducials: - - [422.069, 221.683, 1] - - [1154.882, 952.5599999999999, 5] - - [1882.855, 221.683, 3] - - [1154, 224, 2] - - [1155, 585, 4] - flattened_x_offset: 0 - flattened_y_offset: 0 - floors: - - parameters: {texture_name: [1, blue_linoleum], texture_rotation: [3, 0], texture_scale: [3, 1]} - vertices: [2, 54, 55, 33, 32, 37, 36, 56, 57, 58, 59, 60, 43, 38, 39, 40, 61, 62, 63, 64, 65, 45, 44, 49, 48, 66, 67, 69, 50, 53, 22, 23, 24, 26, 27, 28, 29, 31, 75, 76, 77, 78, 79, 21, 20, 19, 18, 80, 272, 273, 281, 274, 271, 275, 3, 11, 10, 9, 8, 7, 6, 5, 4] - human_lanes: - - [343, 312, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [312, 313, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 1.5]}] - - [313, 319, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [319, 314, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [314, 315, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [315, 316, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [316, 318, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [318, 334, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [334, 366, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [366, 322, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [322, 350, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [350, 304, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [304, 305, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [305, 345, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [345, 344, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - - [344, 343, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 9], orientation: [1, ""], width: [3, 2]}] - lanes: - - [284, 294, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [294, 295, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [295, 296, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [296, 297, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [299, 300, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [302, 303, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [302, 299, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [299, 304, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [304, 305, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [305, 306, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [305, 307, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [307, 308, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [307, 309, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [309, 310, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [310, 311, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [311, 283, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [310, 312, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [312, 313, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [314, 315, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [315, 316, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [316, 317, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [316, 318, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [318, 295, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [314, 319, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [319, 320, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [320, 321, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [302, 322, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [322, 296, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [320, 323, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [321, 324, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [324, 325, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [324, 326, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [326, 327, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [326, 322, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [313, 319, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [300, 301, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [297, 298, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}] - - [332, 333, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [333, 334, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [335, 334, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [334, 336, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [337, 338, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [337, 339, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [339, 340, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [340, 341, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [341, 342, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [342, 343, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [343, 344, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [344, 345, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [345, 346, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [343, 347, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [347, 283, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [348, 349, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [348, 350, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [350, 351, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [351, 352, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [352, 353, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [351, 354, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [354, 355, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [354, 356, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [356, 357, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [358, 359, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [358, 360, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [360, 361, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [360, 340, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [356, 362, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [362, 363, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [363, 364, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [362, 365, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [365, 334, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [365, 366, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [366, 284, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [369, 370, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [369, 358, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [357, 371, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [336, 337, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [345, 348, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - - [357, 369, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], orientation: [1, ""]}] - layers: - {} - measurements: - - [0, 1, {distance: [3, 0.7]}] - models: - - {agent_group_id: 1, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: perimeter_stroller, static: false, x: 625.995, y: 1631.365, yaw: 0, z: 0} - - {agent_group_id: 2, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: perimeter_stroller, static: false, x: 1825.957, y: 1364.327, yaw: 0, z: 0} - - {agent_group_id: 3, model_name: OpenRobotics/MaleVisitorPhone, name: MaleVisitorPhone, profile_selector: human, state_selector: perimeter_stroller, static: false, x: 1216.882, y: 443.767, yaw: 0, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1927.091, y: 1509.158, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 2024.263, y: 1509.451, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 2023.971, y: 1456.767, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 2023.385, y: 1404.083, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1927.383, y: 1404.083, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1927.383, y: 1456.767, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1641.097, y: 1587.555, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1671.445, y: 1536.787, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1656.216, y: 1659.9, yaw: 1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1312.368, y: 332.465, yaw: -1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1216.237, y: 332.465, yaw: -1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1216.237, y: 278.23, yaw: -1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1311.507, y: 278.804, yaw: -1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 1312.942, y: 226.577, yaw: -1.5708, z: 0} - - {model_name: OpenRobotics/PotatoChipChair, name: OpenRobotics/PotatoChipChair, static: true, x: 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z>2&(e`wQm#_w(rw-n(-LcTV?=Hy_a7udm;C)9;m+YJA+|s27e#c$5TUeEYaCfAV^* zwXI91Z|;@aPbcGkyFDIHCX;sr;2i*bEdbz!T;c2$fB5j>)k=b{?Y(iwZ{o0000 - - - MaleVisitorPhone - 1.0 - model.sdf - - - - - - - - An animated walking male visitor with phone. - - - diff --git a/rmf_demo_assets/models/MaleVisitorPhone/model.sdf b/rmf_demo_assets/models/MaleVisitorPhone/model.sdf deleted file mode 100644 index d2334ffa..00000000 --- a/rmf_demo_assets/models/MaleVisitorPhone/model.sdf +++ /dev/null @@ -1,29 +0,0 @@ - - - - model://MaleVisitorPhone/meshes/MaleVisitorPhoneWalk.dae - 1.0 - - 0 0 0 0 0 0 - - model://MaleVisitorPhone/meshes/MaleVisitorPhoneWalk.dae - 1.000000 - true - - - model://MaleVisitorPhone/meshes/MaleVisitorPhoneIdle.dae - 1.000000 - true - - - model://MaleVisitorPhone/meshes/MaleVisitorPhoneWalkToIdle.dae - 1.000000 - true - - - model://MaleVisitorPhone/meshes/MaleVisitorPhoneIdleToWalk.dae - 1.000000 - true - - - From 350373a5022e00f4b9f3e94bc5dd410a3846b179 Mon Sep 17 00:00:00 2001 From: Chong Tian En Date: Wed, 21 Oct 2020 18:10:37 +0800 Subject: [PATCH 05/25] changed bsdtar to unzip (more commonly used) in CMakeLists.txt in rmf_demo_assets --- rmf_demo_assets/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rmf_demo_assets/CMakeLists.txt b/rmf_demo_assets/CMakeLists.txt index 22200644..18e53f7f 100644 --- a/rmf_demo_assets/CMakeLists.txt +++ b/rmf_demo_assets/CMakeLists.txt @@ -9,7 +9,7 @@ set(model_name MaleVisitorPhone) set(models_path models) execute_process(COMMAND wget https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/${model_name}.zip -P ${CMAKE_CURRENT_LIST_DIR}/models/${model_name}) -execute_process(COMMAND bsdtar xC ${CMAKE_CURRENT_LIST_DIR}/models/${model_name} -f ${CMAKE_CURRENT_LIST_DIR}/models/${model_name}/${model_name}.zip) +execute_process(COMMAND unzip ${CMAKE_CURRENT_LIST_DIR}/models/${model_name}/${model_name}.zip) execute_process(COMMAND rm ${CMAKE_CURRENT_LIST_DIR}/models/${model_name}/${model_name}.zip) From 53b3ee03f1219c36a3457d2ca9dadc4d4ba45ef6 Mon Sep 17 00:00:00 2001 From: Chong Tian En Date: Wed, 4 Nov 2020 11:42:35 +0800 Subject: [PATCH 06/25] removed airport_terminal_crowd temporarily, will add it back later. Modified office_crowd demo building.yaml with new yaml format. --- .../launch/airport_terminal_crowd.launch.xml | 79 - .../meshes/MaleVisitorPhoneIdle.dae | 1527 ++++++++++++++++ .../meshes/MaleVisitorPhoneIdleToWalk.dae | 1595 +++++++++++++++++ .../meshes/MaleVisitorPhoneWalk.dae | 1527 ++++++++++++++++ .../meshes/MaleVisitorPhoneWalkToIdle.dae | 1595 +++++++++++++++++ .../meshes/MaleVisitorPhone_Diffuse.png | Bin 0 -> 438608 bytes .../models/MaleVisitorPhone/model.config | 17 + .../models/MaleVisitorPhone/model.sdf | 29 + .../models/MaleVisitorPhone/static_model.sdf | 21 + .../models/MaleVisitorPhone/thumbnails/1.png | Bin 0 -> 20510 bytes .../models/MaleVisitorPhone/thumbnails/2.png | Bin 0 -> 22819 bytes .../models/MaleVisitorPhone/thumbnails/3.png | Bin 0 -> 23231 bytes .../models/MaleVisitorPhone/thumbnails/4.png | Bin 0 -> 13842 bytes .../models/MaleVisitorPhone/thumbnails/5.png | Bin 0 -> 21456 bytes rmf_demo_maps/CMakeLists.txt | 3 +- .../airport_terminal.building.yaml | 39 - .../maps/office/office.building.yaml | 83 +- 17 files changed, 6356 insertions(+), 159 deletions(-) delete mode 100644 demos/launch/airport_terminal_crowd.launch.xml create mode 100644 rmf_demo_assets/models/MaleVisitorPhone/meshes/MaleVisitorPhoneIdle.dae create mode 100644 rmf_demo_assets/models/MaleVisitorPhone/meshes/MaleVisitorPhoneIdleToWalk.dae create mode 100644 rmf_demo_assets/models/MaleVisitorPhone/meshes/MaleVisitorPhoneWalk.dae create mode 100644 rmf_demo_assets/models/MaleVisitorPhone/meshes/MaleVisitorPhoneWalkToIdle.dae create mode 100644 rmf_demo_assets/models/MaleVisitorPhone/meshes/MaleVisitorPhone_Diffuse.png create mode 100644 rmf_demo_assets/models/MaleVisitorPhone/model.config create mode 100644 rmf_demo_assets/models/MaleVisitorPhone/model.sdf create mode 100644 rmf_demo_assets/models/MaleVisitorPhone/static_model.sdf create mode 100644 rmf_demo_assets/models/MaleVisitorPhone/thumbnails/1.png create mode 100644 rmf_demo_assets/models/MaleVisitorPhone/thumbnails/2.png create mode 100644 rmf_demo_assets/models/MaleVisitorPhone/thumbnails/3.png create mode 100644 rmf_demo_assets/models/MaleVisitorPhone/thumbnails/4.png create mode 100644 rmf_demo_assets/models/MaleVisitorPhone/thumbnails/5.png diff --git a/demos/launch/airport_terminal_crowd.launch.xml b/demos/launch/airport_terminal_crowd.launch.xml deleted file mode 100644 index 22f0e1b1..00000000 --- a/demos/launch/airport_terminal_crowd.launch.xml +++ /dev/null @@ -1,79 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/rmf_demo_assets/models/MaleVisitorPhone/meshes/MaleVisitorPhoneIdle.dae b/rmf_demo_assets/models/MaleVisitorPhone/meshes/MaleVisitorPhoneIdle.dae new file mode 100644 index 00000000..eb2386b4 --- /dev/null +++ b/rmf_demo_assets/models/MaleVisitorPhone/meshes/MaleVisitorPhoneIdle.dae @@ -0,0 +1,1527 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