[Question]: how to get a good initial point to robot in GRScene?

[sudalsol]

Question

is there any metadatas to get a free point to put a robot inside GRScene?

[uzuku]

Hi @sudalsol Occupancy maps for each scene are provided in GRScenes/benchmark/meta.zip (named occupancy.npy), and you can decide a possible initial position based on them along with the size of the robot.

Here're the rules for decoding the occupancy map:

1. occupancy[1:, 1:] stores a pixel map whose values are in:

• 0: free
• 1: obstacle
• -1: undefined

2. occupancy[0, i] and occupancy[j, 0] map the pixels to positions in world frame.

---

For example, the following occupancy map

       [ 0.        , -0.6124152 , -0.5985299 , -0.58464456],
       [ 9.95767   ,  1.        ,  1.        ,  1.        ],
       [ 9.943815  ,  1.        ,  1.        ,  1.        ],
       [ 9.929959  ,  0.        ,  0.        ,  0.        ]

represents the occupancy samples for nine positions in the scene, in which

• (-0.6124152, 9.929959)
• (-0.5985299, 9.929959)
• (-0.58464456, 9.929959)

are free for move while other positions are not.

[Benson722]

Hi,
There are 69 items in GRScenes-100/home_scenes/scenes, but there are only 30 items in internutopia/assets/benchmark/meta. So, how to process in the other 39 scenes?