From 0a13434c6e6942844be15a0ad1ca8c33cf098b89 Mon Sep 17 00:00:00 2001 From: Vincenzo Date: Mon, 19 Apr 2021 18:07:30 +0200 Subject: [PATCH] MOOC modcon map --- .../data/gd1/maps/mooc_modcon_big_loop.yaml | 26 +++++++++++++++++++ 1 file changed, 26 insertions(+) create mode 100644 src/duckietown_world/data/gd1/maps/mooc_modcon_big_loop.yaml diff --git a/src/duckietown_world/data/gd1/maps/mooc_modcon_big_loop.yaml b/src/duckietown_world/data/gd1/maps/mooc_modcon_big_loop.yaml new file mode 100644 index 0000000..731e417 --- /dev/null +++ b/src/duckietown_world/data/gd1/maps/mooc_modcon_big_loop.yaml @@ -0,0 +1,26 @@ +# The following section defines the grid layout. +# +# Each row is an array of tiles descriptions. +# The top-left tile in this file maps to coordinates (0, 0) in the world +# Each tile contains a string with the kind of tile and its orientation. +# The orientations are North, South, East, West. This is the direction in +# which the agent is expected to drive when going onto this tile. + + +tiles: + - [grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass] + - [grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass] + - [grass, curve_left/W, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, curve_left/N, grass] + - [grass, straight/N, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, straight/S, grass] + - [grass, curve_left/S, straight/W, straight/W, straight/W, straight/W, straight/W, straight/W, straight/W, straight/W, straight/W, straight/W, straight/W, straight/W, straight/W, straight/W, straight/W, straight/W, straight/W, straight/W, straight/W, straight/W, straight/W, straight/W, straight/W, straight/W, straight/W, curve_left/E, grass] + - [grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass] + - [grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass, grass] + + +tile_size: 0.595 + +# Always start on the drivable tile +start_tile: [2, 2] + +# Fixed initial pose +# start_pose: [[1.40, 0, 1.4825], 0] \ No newline at end of file