Change map #3
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schmerl
commented
Aug 17, 2021
| @@ -198,7 +198,6 @@ | |||
| "y": 5.33 | |||
| }, | |||
| "connected-to": [ | |||
| "L26", | |||
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Removing a connection in the map. Need to remove from 'connected-to' at both ends.
schmerl
commented
Aug 17, 2021
| @@ -508,11 +506,6 @@ | |||
| "to-id": "L31", | |||
| "from-id": "L29" | |||
| }, | |||
| { | |||
| "occlusion": "PARTIALLY_OCCLUDED", | |||
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Changing the occlusion data to add sparse obstacles between LX5 and L26,
schmerl
commented
Aug 17, 2021
| @@ -0,0 +1,439 @@ | |||
| { | |||
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A completely new map (based on data we had for another building at CMU).
schmerl
commented
Aug 17, 2021
| @@ -0,0 +1,27 @@ | |||
| { | |||
schmerl
commented
Aug 17, 2021
| "goal-id": "l35", | ||
| "preference-info": [ | ||
| { | ||
| "scaling-const": 0.5, |
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Here, the preference scaling is a bit more understandable. We say the relative weights between time, collision, and intrusiveness are 0.5, 0.4, 0.1. Meaning, we don't care too much in this mission about intrusiveness, and we care slightly more about time than collision.
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This PR is meant to be used for illustrative purposes to show what needs to be done to change various aspects of the mission for the mobile robot example.
==================DO NOT MERGE THIS PR===================
The PR has two example of how someone might change a mission:
To run the new mission, you would need to rebuild the image and issue: