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sim_cfg.yml
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---
# network
host: '0.0.0.0'
port: 5567
# map
map_file: './data/maps/Day2_PM_advanced_rr_4_flipped.png'
map_scale: 0.01
image_file: '/home/advanced-10000sgdmrt/Desktop/TIL Finals/Robot/data/imgs/image_0000.png'
# display
robot_radius: 17
# simulation
start_pose:
x: 1.0
y: 1.0
z: 0.0
use_noisy_pose: false
robot_phy_length: 0.32
position_noise_stddev: 0.2
# localization proxy
proxy_real_robot: on
proxy_host: '172.16.118.20'
proxy_port: 5566
# logging
log_level: 'debug'
# location for all tasks should be same, and follows scoring_cfg.yml
# Audio password tasks
clues:
- clue_id: 1
trigger:
x: 0.5
y: 2.0
r: 0.35
location:
x: 0.5
y: 2.0
audio_file: './data/audio/evala_00001.wav'
- clue_id: 2
trigger:
x: 2.5
y: 3.5
r: 0.35
location:
x: 2.5
y: 3.5
audio_file: './data/audio/evala_00001.wav'
- clue_id: 3
trigger:
x: 6.5
y: 0.5
r: 0.35
location:
x: 6.5
y: 0.5
audio_file: './data/audio/evala_00001.wav'
# CV tasks
targets:
- target_id: 1
trigger:
x: 0.5
y: 2.0
r: 0.35
location:
x: 0.5
y: 2.0
image_file: './data/imgs/image_0000.png'
- target_id: 2
trigger:
x: 2.5
y: 3.5
r: 0.35
location:
x: 2.5
y: 3.5
image_file: './data/imgs/image_0000.png'
- target_id: 3
trigger:
x: 6.5
y: 0.5
r: 0.35
location:
x: 6.5
y: 0.5
image_file: './data/imgs/image_0000.png'