-
Notifications
You must be signed in to change notification settings - Fork 107
Expand file tree
/
Copy pathbenchmark_config.yaml
More file actions
232 lines (228 loc) · 5.55 KB
/
Copy pathbenchmark_config.yaml
File metadata and controls
232 lines (228 loc) · 5.55 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
# The inflation radius of the paths [float]
inflation_radius: 1.0
# The number of rooms [int]
room_number: 4
# The maximum number of objects to be spawned [float]
max_num_objects: 10
# The rate at which objects are spawned initially in hz [float]
spawn_object_rate: 1
# The rate at which objects are moved during runtime in hz [float]
move_object_rate: 1
# The number of objects that is supposed to be changed per time-step [int]
num_changed_objects: 20
# Specifies in which rooms moving objects will be spawned [list, int]
spawn_moving_objects: [0, 1, 2, 3]
# The paths to the urdf files for the models
models:
box:
package: cob_gazebo_objects
path: objects/box.urdf
column:
package: cob_gazebo_objects
path: objects/column.urdf
# The boundaries of each room
boundaries:
- room: 0
start_x: -19.95
start_y: -10.95
end_x: 1.95
end_y: 12.95
- room: 1
start_x: 2.05
start_y: -10.95
end_x: 27.45
end_y: 12.95
- room: 2
start_x: 2.05
start_y: -34.95
end_x: 27.45
end_y: -11.05
- room: 3
start_x: -19.95
start_y: -34.95
end_x: 1.95
end_y: -11.05
# The dynamic objects and their respective paths
moving_objects:
- room_id: 0
type: column
velocity: 0.8
path_type: polygon
path: [[-13.5, 4.5], [-4.5, 4.5], [-4.5, -4.5], [-13.5, -4.5], [-13.5, 4.5]]
- room_id: 0
type: column
velocity: 0.8
path_type: polygon
path: [[-4.5, 4.5], [-4.5, -4.5], [-13.5, -4.5], [-13.5, 4.5], [-13.5, 4.5]]
- room_id: 0
type: column
velocity: 0.8
path_type: polygon
path: [[-4.5, -4.5], [-13.5, -4.5], [-13.5, 4.5], [-13.5, 4.5], [-4.5, 4.5]]
- room_id: 0
type: column
velocity: 0.8
path_type: polygon
path: [[-13.5, -4.5], [-13.5, 4.5], [-13.5, 4.5], [-4.5, 4.5], [-4.5, -4.5]]
- room_id: 1
type: column
velocity: 0.8
path_type: polygon
path: [[8.5, 4.5], [21.0, 4.5], [21.0, 0.0], [8.5, 0.0], [8.5, 4.5]]
- room_id: 1
type: column
velocity: 0.8
path_type: polygon
path: [[21.0, 4.5], [21.0, -4.5], [8.5, -4.5], [8.5, 4.5], [21.0, 4.5]]
- room_id: 1
type: column
velocity: 0.8
path_type: polygon
path: [[21.0, -4.5], [8.5, -4.5], [8.5, 4.5], [21.0, 4.5], [21.0, 4.5]]
- room_id: 1
type: column
velocity: 0.8
path_type: polygon
path: [[8.5, -4.5], [8.5, 4.5], [21.0, 4.5], [21.0, 4.5], [21.0, -4.5]]
- room_id: 2
type: column
velocity: 0.8
path_type: polygon
path: [[21.0, -28.5], [8.5, -28.5], [8.5, -17.5], [21.0, -17.5], [21.0, -28.5]]
- room_id: 2
type: column
velocity: 0.8
path_type: polygon
path: [[8.5, -28.5], [8.5, -17.5], [21.0, -17.5], [21.0, -28.5], [21.0, -28.5]]
- room_id: 2
type: column
velocity: 0.8
path_type: polygon
path: [[8.5, -17.5], [21.0, -17.5], [21.0, -28.5], [21.0, -28.5], [8.5, -28.5]]
- room_id: 2
type: column
velocity: 0.8
path_type: polygon
path: [[21.0, -17.5], [21.0, -28.5], [21.0, -28.5], [8.5, -28.5], [8.5, -17.5]]
- room_id: 3
type: column
velocity: 0.8
path_type: polygon
path: [[-4.5, -17.5], [-4.5, -28.5], [-13.5, -28.5], [-13.5, -17.5], [-4.5, -17.5]]
- room_id: 3
type: column
velocity: 0.8
path_type: polygon
path: [[-4.5, -28.5], [-13.5, -28.5], [-13.5, -17.5], [-4.5, -17.5],[-4.5, -17.5]]
- room_id: 3
type: column
velocity: 0.8
path_type: polygon
path: [[-13.5, -28.5], [-13.5, -17.5], [-4.5, -17.5],[-4.5, -17.5], [-4.5, -28.5]]
- room_id: 3
type: column
velocity: 0.8
path_type: polygon
path: [[-13.5, -17.5], [-4.5, -17.5],[-4.5, -17.5], [-4.5, -28.5], [-13.5, -28.5]]
# The paths the robot will travel on sorted by room
paths:
room_0:
- start_x: -9.00
start_y: -14.50
end_x: -9.00
end_y: -7.50
- start_x: -16.5
start_y: -7.50
end_x: -1.50
end_y: -7.50
- start_x: -16.5
start_y: -7.5
end_x: -16.5
end_y: 7.5
- start_x: -16.5
start_y: 7.5
end_x: -1.5
end_y: 7.5
- start_x: -1.5
start_y: -7.5
end_x: -1.5
end_y: 7.5
- start_x: -1.5
start_y: 7.5
end_x: 5.5
end_y: 7.5
room_1:
- start_x: -1.5
start_y: 7.5
end_x: 5.5
end_y: 7.5
- start_x: 5.50
start_y: 7.50
end_x: 24.00
end_y: 7.50
- start_x: 24.00
start_y: -7.5
end_x: 24.00
end_y: 7.5
- start_x: 5.50
start_y: -7.50
end_x: 24.00
end_y: -7.50
- start_x: 5.50
start_y: -7.50
end_x: 5.50
end_y: 7.50
- start_x: 14.75
start_y: -14.50
end_x: 14.75
end_y: -7.50
room_2:
- start_x: 14.75
start_y: -14.50
end_x: 14.75
end_y: -7.50
- start_x: 5.50
start_y: -14.50
end_x: 24.00
end_y: -14.50
- start_x: 24.00
start_y: -31.50
end_x: 24.00
end_y: -14.50
- start_x: 5.50
start_y: -31.50
end_x: 24.00
end_y: -31.50
- start_x: 5.50
start_y: -31.50
end_x: 5.50
end_y: -14.50
- start_x: -1.50
start_y: -23.00
end_x: 5.50
end_y: -23.00
room_3:
- start_x: -1.50
start_y: -23.00
end_x: 5.50
end_y: -23.00
- start_x: -1.50
start_y: -31.50
end_x: -1.50
end_y: -14.50
- start_x: -16.50
start_y: -31.50
end_x: -1.50
end_y: -31.50
- start_x: -16.50
start_y: -31.50
end_x: -16.50
end_y: -14.50
- start_x: -16.50
start_y: -14.50
end_x: -1.50
end_y: -14.50
- start_x: -9.00
start_y: -14.50
end_x: -9.00
end_y: -7.50