Robot observations

Log data
~DuckietownMap:
  tile_size: 0.61
~PlacedObject:
  spatial_relations:
    0:
      ~SpatialRelation:
        a: []
        sr_type: ground_truth
        b:
        - tilemap
        transform:
          ~Scale2D:
            scale: 0.61
    1:
      ~SpatialRelation:
        a: []
        sr_type: ground_truth
        b:
        - duckiebot
        transform:
          ~Sequence:
            timestamps:
            - 0.03333333333333333
            - 0.03333333333333333
            - 0.06666666666666667
            - 0.06666666666666667
            - 0.1
            - 0.1
            - 0.13333333333333333
            - 0.13333333333333333
            - 0.16666666666666666
            - 0.16666666666666666
            - 0.19999999999999998
            - 0.19999999999999998
            - 0.2333333333333333
            - 0.2333333333333333
            - 0.26666666666666666
            - 0.26666666666666666
            - 0.3
            - 0.3
            - 0.3333333333333333
            - 0.3333333333333333
            - 0.36666666666666664
            - 0.36666666666666664
            - 0.39999999999999997
            - 0.39999999999999997
            - 0.4333333333333333
            - 0.4333333333333333
            - 0.4666666666666666
            - 0.4666666666666666
            - 0.49999999999999994
            - 0.49999999999999994
            - 0.5333333333333333
            - 0.5333333333333333
            - 0.5666666666666667
            - 0.5666666666666667
            - 0.6
            - 0.6
            - 0.6333333333333333
            - 0.6333333333333333
            - 0.6666666666666666
            - 0.6666666666666666
            - 0.7
            - 0.7
            - 0.7333333333333333
            - 0.7333333333333333
            - 0.7666666666666666
            - 0.7666666666666666
            - 0.7999999999999999
            - 0.7999999999999999
            - 0.8333333333333333
            - 0.8333333333333333
            - 0.8666666666666666
            - 0.8666666666666666
            - 0.8999999999999999
            - 0.8999999999999999
            - 0.9333333333333332
            - 0.9333333333333332
            - 0.9666666666666666
            - 0.9666666666666666
            - 0.9999999999999999
            - 0.9999999999999999
            - 1.0333333333333332
            - 1.0333333333333332
            - 1.0666666666666667
            - 1.0666666666666667
            - 1.1
            - 1.1
            - 1.1333333333333335
            - 1.1333333333333335
            - 1.166666666666667
            - 1.166666666666667
            - 1.2000000000000004
            - 1.2000000000000004
            - 1.2333333333333338
            - 1.2333333333333338
            values:
            - ~SE2Transform:
                theta: 4.588096870786468
                p:
                - 0.8441873528392035
                - 3.1400908334842788
            - ~SE2Transform:
                theta: 4.588096870786468
                p:
                - 0.8441873528392035
                - 3.1400908334842788
            - ~SE2Transform:
                theta: 4.551495563596926
                p:
                - 0.8431263237809452
                - 3.132700359562704
            - ~SE2Transform:
                theta: 4.551495563596926
                p:
                - 0.8431263237809452
                - 3.132700359562704
            - ~SE2Transform:
                theta: 4.514894256407383
                p:
                - 0.8417955647361984
                - 3.1253536618138673
            - ~SE2Transform:
                theta: 4.514894256407383
                p:
                - 0.8417955647361984
                - 3.1253536618138673
            - ~SE2Transform:
                theta: 4.478292949217841
                p:
                - 0.8401968582648721
                - 3.1180605811844977
            - ~SE2Transform:
                theta: 4.478292949217841
                p:
                - 0.8401968582648721
                - 3.1180605811844977
            - ~SE2Transform:
                theta: 4.441691642028299
                p:
                - 0.8383323458440978
                - 3.1108308868008656
            - ~SE2Transform:
                theta: 4.441691642028299
                p:
                - 0.8383323458440978
                - 3.1108308868008656
            - ~SE2Transform:
                theta: 4.405090334838756
                p:
                - 0.8362045249997079
                - 3.1036742628829748
            - ~SE2Transform:
                theta: 4.405090334838756
                p:
                - 0.8362045249997079
                - 3.1036742628829748
            - ~SE2Transform:
                theta: 4.368489027649214
                p:
                - 0.8338162459607845
                - 3.096600295772493
            - ~SE2Transform:
                theta: 4.368489027649214
                p:
                - 0.8338162459607845
                - 3.096600295772493
            - ~SE2Transform:
                theta: 4.3318877204596715
                p:
                - 0.8311707078417601
                - 3.0896184610917854
            - ~SE2Transform:
                theta: 4.3318877204596715
                p:
                - 0.8311707078417601
                - 3.0896184610917854
            - ~SE2Transform:
                theta: 4.295286413270129
                p:
                - 0.8282714543571839
                - 3.0827381110512633
            - ~SE2Transform:
                theta: 4.295286413270129
                p:
                - 0.8282714543571839
                - 3.0827381110512633
            - ~SE2Transform:
                theta: 4.258685106080587
                p:
                - 0.8251223690748947
                - 3.0759684619220384
            - ~SE2Transform:
                theta: 4.258685106080587
                p:
                - 0.8251223690748947
                - 3.0759684619220384
            - ~SE2Transform:
                theta: 4.2220837988910445
                p:
                - 0.8217276702139579
                - 3.0693185816906734
            - ~SE2Transform:
                theta: 4.2220837988910445
                p:
                - 0.8217276702139579
                - 3.0693185816906734
            - ~SE2Transform:
                theta: 4.185482491701502
                p:
                - 0.8180919049943352
                - 3.062797377912557
            - ~SE2Transform:
                theta: 4.185482491701502
                p:
                - 0.8180919049943352
                - 3.062797377912557
            - ~SE2Transform:
                theta: 4.14888118451196
                p:
                - 0.8142199435458553
                - 3.0564135857801773
            - ~SE2Transform:
                theta: 4.14888118451196
                p:
                - 0.8142199435458553
                - 3.0564135857801773
            - ~SE2Transform:
                theta: 4.112279877322417
                p:
                - 0.8101169723846454
                - 3.0501757564222816
            - ~SE2Transform:
                theta: 4.112279877322417
                p:
                - 0.8101169723846454
                - 3.0501757564222816
            - ~SE2Transform:
                theta: 4.075678570132875
                p:
                - 0.805788487465761
                - 3.0440922454495842
            - ~SE2Transform:
                theta: 4.075678570132875
                p:
                - 0.805788487465761
                - 3.0440922454495842
            - ~SE2Transform:
                theta: 4.039077262943333
                p:
                - 0.80124028682132
                - 3.038171201762374
            - ~SE2Transform:
                theta: 4.039077262943333
                p:
                - 0.80124028682132
                - 3.038171201762374
            - ~SE2Transform:
                theta: 4.00247595575379
                p:
                - 0.7964784627940034
                - 3.0324205566350155
            - ~SE2Transform:
                theta: 4.00247595575379
                p:
                - 0.7964784627940034
                - 3.0324205566350155
            - ~SE2Transform:
                theta: 3.965874648564248
                p:
                - 0.7915093938763249
                - 3.0268480130919553
            - ~SE2Transform:
                theta: 3.965874648564248
                p:
                - 0.7915093938763249
                - 3.0268480130919553
            - ~SE2Transform:
                theta: 3.9292733413747056
                p:
                - 0.786339736166601
                - 3.021461035589474
            - ~SE2Transform:
                theta: 3.9292733413747056
                p:
                - 0.786339736166601
                - 3.021461035589474
            - ~SE2Transform:
                theta: 3.8926720341851633
                p:
                - 0.7809764144530664
                - 3.0162668400170034
            - ~SE2Transform:
                theta: 3.8926720341851633
                p:
                - 0.7809764144530664
                - 3.0162668400170034
            - ~SE2Transform:
                theta: 3.856070726995621
                p:
                - 0.7754266129380776
                - 3.011272384031396
            - ~SE2Transform:
                theta: 3.856070726995621
                p:
                - 0.7754266129380776
                - 3.011272384031396
            - ~SE2Transform:
                theta: 3.8194694198060786
                p:
                - 0.7696977656148296
                - 3.0064843577371017
            - ~SE2Transform:
                theta: 3.8194694198060786
                p:
                - 0.7696977656148296
                - 3.0064843577371017
            - ~SE2Transform:
                theta: 3.782868112616536
                p:
                - 0.7637975463094769
                - 3.0019091747247306
            - ~SE2Transform:
                theta: 3.782868112616536
                p:
                - 0.7637975463094769
                - 3.0019091747247306
            - ~SE2Transform:
                theta: 3.746266805426994
                p:
                - 0.7577338584019959
                - 2.997552963480012
            - ~SE2Transform:
                theta: 3.746266805426994
                p:
                - 0.7577338584019959
                - 2.997552963480012
            - ~SE2Transform:
                theta: 3.7096654982374515
                p:
                - 0.7515148242395588
                - 2.9934215591746476
            - ~SE2Transform:
                theta: 3.7096654982374515
                p:
                - 0.7515148242395588
                - 2.9934215591746476
            - ~SE2Transform:
                theta: 3.673064191047909
                p:
                - 0.7451487742566001
                - 2.989520495850064
            - ~SE2Transform:
                theta: 3.673064191047909
                p:
                - 0.7451487742566001
                - 2.989520495850064
            - ~SE2Transform:
                theta: 3.636462883858367
                p:
                - 0.7386442358161479
                - 2.9858549990045296
            - ~SE2Transform:
                theta: 3.636462883858367
                p:
                - 0.7386442358161479
                - 2.9858549990045296
            - ~SE2Transform:
                theta: 3.5998615766688244
                p:
                - 0.7320099217873697
                - 2.9824299785935686
            - ~SE2Transform:
                theta: 3.5998615766688244
                p:
                - 0.7320099217873697
                - 2.9824299785935686
            - ~SE2Transform:
                theta: 3.563260269479282
                p:
                - 0.7252547188746297
                - 2.979250022453045
            - ~SE2Transform:
                theta: 3.563260269479282
                p:
                - 0.7252547188746297
                - 2.979250022453045
            - ~SE2Transform:
                theta: 3.5266589622897397
                p:
                - 0.7183876757136944
                - 2.9763193901537286
            - ~SE2Transform:
                theta: 3.5266589622897397
                p:
                - 0.7183876757136944
                - 2.9763193901537286
            - ~SE2Transform:
                theta: 3.4900576551001974
                p:
                - 0.7114179907510295
                - 2.973642007295573
            - ~SE2Transform:
                theta: 3.4900576551001974
                p:
                - 0.7114179907510295
                - 2.973642007295573
            - ~SE2Transform:
                theta: 3.453456347910655
                p:
                - 0.7043549999224237
                - 2.9712214602493514
            - ~SE2Transform:
                theta: 3.453456347910655
                p:
                - 0.7043549999224237
                - 2.9712214602493514
            - ~SE2Transform:
                theta: 3.4168550407211127
                p:
                - 0.6972081641474461
                - 2.9690609913526895
            - ~SE2Transform:
                theta: 3.4168550407211127
                p:
                - 0.6972081641474461
                - 2.9690609913526895
            - ~SE2Transform:
                theta: 3.3802537335315703
                p:
                - 0.6899870566564862
                - 2.967163494566936
            - ~SE2Transform:
                theta: 3.3802537335315703
                p:
                - 0.6899870566564862
                - 2.967163494566936
            - ~SE2Transform:
                theta: 3.343652426342028
                p:
                - 0.6827013501673527
                - 2.965531511600683
            - ~SE2Transform:
                theta: 3.343652426342028
                p:
                - 0.6827013501673527
                - 2.965531511600683
            - ~SE2Transform:
                theta: 3.3070511191524856
                p:
                - 0.6753608039286091
                - 2.9641672285051306
            - ~SE2Transform:
                theta: 3.3070511191524856
                p:
                - 0.6753608039286091
                - 2.9641672285051306
            - ~SE2Transform:
                theta: 3.2704498119629433
                p:
                - 0.667975250647
                - 2.9630724727458597
            - ~SE2Transform:
                theta: 3.2704498119629433
                p:
                - 0.667975250647
                - 2.9630724727458597
          ~SampledSequence:
            timestamps:
            - 0.03333333333333333
            - 0.03333333333333333
            - 0.06666666666666667
            - 0.06666666666666667
            - 0.1
            - 0.1
            - 0.13333333333333333
            - 0.13333333333333333
            - 0.16666666666666666
            - 0.16666666666666666
            - 0.19999999999999998
            - 0.19999999999999998
            - 0.2333333333333333
            - 0.2333333333333333
            - 0.26666666666666666
            - 0.26666666666666666
            - 0.3
            - 0.3
            - 0.3333333333333333
            - 0.3333333333333333
            - 0.36666666666666664
            - 0.36666666666666664
            - 0.39999999999999997
            - 0.39999999999999997
            - 0.4333333333333333
            - 0.4333333333333333
            - 0.4666666666666666
            - 0.4666666666666666
            - 0.49999999999999994
            - 0.49999999999999994
            - 0.5333333333333333
            - 0.5333333333333333
            - 0.5666666666666667
            - 0.5666666666666667
            - 0.6
            - 0.6
            - 0.6333333333333333
            - 0.6333333333333333
            - 0.6666666666666666
            - 0.6666666666666666
            - 0.7
            - 0.7
            - 0.7333333333333333
            - 0.7333333333333333
            - 0.7666666666666666
            - 0.7666666666666666
            - 0.7999999999999999
            - 0.7999999999999999
            - 0.8333333333333333
            - 0.8333333333333333
            - 0.8666666666666666
            - 0.8666666666666666
            - 0.8999999999999999
            - 0.8999999999999999
            - 0.9333333333333332
            - 0.9333333333333332
            - 0.9666666666666666
            - 0.9666666666666666
            - 0.9999999999999999
            - 0.9999999999999999
            - 1.0333333333333332
            - 1.0333333333333332
            - 1.0666666666666667
            - 1.0666666666666667
            - 1.1
            - 1.1
            - 1.1333333333333335
            - 1.1333333333333335
            - 1.166666666666667
            - 1.166666666666667
            - 1.2000000000000004
            - 1.2000000000000004
            - 1.2333333333333338
            - 1.2333333333333338
            values:
            - ~SE2Transform:
                theta: 4.588096870786468
                p:
                - 0.8441873528392035
                - 3.1400908334842788
            - ~SE2Transform:
                theta: 4.588096870786468
                p:
                - 0.8441873528392035
                - 3.1400908334842788
            - ~SE2Transform:
                theta: 4.551495563596926
                p:
                - 0.8431263237809452
                - 3.132700359562704
            - ~SE2Transform:
                theta: 4.551495563596926
                p:
                - 0.8431263237809452
                - 3.132700359562704
            - ~SE2Transform:
                theta: 4.514894256407383
                p:
                - 0.8417955647361984
                - 3.1253536618138673
            - ~SE2Transform:
                theta: 4.514894256407383
                p:
                - 0.8417955647361984
                - 3.1253536618138673
            - ~SE2Transform:
                theta: 4.478292949217841
                p:
                - 0.8401968582648721
                - 3.1180605811844977
            - ~SE2Transform:
                theta: 4.478292949217841
                p:
                - 0.8401968582648721
                - 3.1180605811844977
            - ~SE2Transform:
                theta: 4.441691642028299
                p:
                - 0.8383323458440978
                - 3.1108308868008656
            - ~SE2Transform:
                theta: 4.441691642028299
                p:
                - 0.8383323458440978
                - 3.1108308868008656
            - ~SE2Transform:
                theta: 4.405090334838756
                p:
                - 0.8362045249997079
                - 3.1036742628829748
            - ~SE2Transform:
                theta: 4.405090334838756
                p:
                - 0.8362045249997079
                - 3.1036742628829748
            - ~SE2Transform:
                theta: 4.368489027649214
                p:
                - 0.8338162459607845
                - 3.096600295772493
            - ~SE2Transform:
                theta: 4.368489027649214
                p:
                - 0.8338162459607845
                - 3.096600295772493
            - ~SE2Transform:
                theta: 4.3318877204596715
                p:
                - 0.8311707078417601
                - 3.0896184610917854
            - ~SE2Transform:
                theta: 4.3318877204596715
                p:
                - 0.8311707078417601
                - 3.0896184610917854
            - ~SE2Transform:
                theta: 4.295286413270129
                p:
                - 0.8282714543571839
                - 3.0827381110512633
            - ~SE2Transform:
                theta: 4.295286413270129
                p:
                - 0.8282714543571839
                - 3.0827381110512633
            - ~SE2Transform:
                theta: 4.258685106080587
                p:
                - 0.8251223690748947
                - 3.0759684619220384
            - ~SE2Transform:
                theta: 4.258685106080587
                p:
                - 0.8251223690748947
                - 3.0759684619220384
            - ~SE2Transform:
                theta: 4.2220837988910445
                p:
                - 0.8217276702139579
                - 3.0693185816906734
            - ~SE2Transform:
                theta: 4.2220837988910445
                p:
                - 0.8217276702139579
                - 3.0693185816906734
            - ~SE2Transform:
                theta: 4.185482491701502
                p:
                - 0.8180919049943352
                - 3.062797377912557
            - ~SE2Transform:
                theta: 4.185482491701502
                p:
                - 0.8180919049943352
                - 3.062797377912557
            - ~SE2Transform:
                theta: 4.14888118451196
                p:
                - 0.8142199435458553
                - 3.0564135857801773
            - ~SE2Transform:
                theta: 4.14888118451196
                p:
                - 0.8142199435458553
                - 3.0564135857801773
            - ~SE2Transform:
                theta: 4.112279877322417
                p:
                - 0.8101169723846454
                - 3.0501757564222816
            - ~SE2Transform:
                theta: 4.112279877322417
                p:
                - 0.8101169723846454
                - 3.0501757564222816
            - ~SE2Transform:
                theta: 4.075678570132875
                p:
                - 0.805788487465761
                - 3.0440922454495842
            - ~SE2Transform:
                theta: 4.075678570132875
                p:
                - 0.805788487465761
                - 3.0440922454495842
            - ~SE2Transform:
                theta: 4.039077262943333
                p:
                - 0.80124028682132
                - 3.038171201762374
            - ~SE2Transform:
                theta: 4.039077262943333
                p:
                - 0.80124028682132
                - 3.038171201762374
            - ~SE2Transform:
                theta: 4.00247595575379
                p:
                - 0.7964784627940034
                - 3.0324205566350155
            - ~SE2Transform:
                theta: 4.00247595575379
                p:
                - 0.7964784627940034
                - 3.0324205566350155
            - ~SE2Transform:
                theta: 3.965874648564248
                p:
                - 0.7915093938763249
                - 3.0268480130919553
            - ~SE2Transform:
                theta: 3.965874648564248
                p:
                - 0.7915093938763249
                - 3.0268480130919553
            - ~SE2Transform:
                theta: 3.9292733413747056
                p:
                - 0.786339736166601
                - 3.021461035589474
            - ~SE2Transform:
                theta: 3.9292733413747056
                p:
                - 0.786339736166601
                - 3.021461035589474
            - ~SE2Transform:
                theta: 3.8926720341851633
                p:
                - 0.7809764144530664
                - 3.0162668400170034
            - ~SE2Transform:
                theta: 3.8926720341851633
                p:
                - 0.7809764144530664
                - 3.0162668400170034
            - ~SE2Transform:
                theta: 3.856070726995621
                p:
                - 0.7754266129380776
                - 3.011272384031396
            - ~SE2Transform:
                theta: 3.856070726995621
                p:
                - 0.7754266129380776
                - 3.011272384031396
            - ~SE2Transform:
                theta: 3.8194694198060786
                p:
                - 0.7696977656148296
                - 3.0064843577371017
            - ~SE2Transform:
                theta: 3.8194694198060786
                p:
                - 0.7696977656148296
                - 3.0064843577371017
            - ~SE2Transform:
                theta: 3.782868112616536
                p:
                - 0.7637975463094769
                - 3.0019091747247306
            - ~SE2Transform:
                theta: 3.782868112616536
                p:
                - 0.7637975463094769
                - 3.0019091747247306
            - ~SE2Transform:
                theta: 3.746266805426994
                p:
                - 0.7577338584019959
                - 2.997552963480012
            - ~SE2Transform:
                theta: 3.746266805426994
                p:
                - 0.7577338584019959
                - 2.997552963480012
            - ~SE2Transform:
                theta: 3.7096654982374515
                p:
                - 0.7515148242395588
                - 2.9934215591746476
            - ~SE2Transform:
                theta: 3.7096654982374515
                p:
                - 0.7515148242395588
                - 2.9934215591746476
            - ~SE2Transform:
                theta: 3.673064191047909
                p:
                - 0.7451487742566001
                - 2.989520495850064
            - ~SE2Transform:
                theta: 3.673064191047909
                p:
                - 0.7451487742566001
                - 2.989520495850064
            - ~SE2Transform:
                theta: 3.636462883858367
                p:
                - 0.7386442358161479
                - 2.9858549990045296
            - ~SE2Transform:
                theta: 3.636462883858367
                p:
                - 0.7386442358161479
                - 2.9858549990045296
            - ~SE2Transform:
                theta: 3.5998615766688244
                p:
                - 0.7320099217873697
                - 2.9824299785935686
            - ~SE2Transform:
                theta: 3.5998615766688244
                p:
                - 0.7320099217873697
                - 2.9824299785935686
            - ~SE2Transform:
                theta: 3.563260269479282
                p:
                - 0.7252547188746297
                - 2.979250022453045
            - ~SE2Transform:
                theta: 3.563260269479282
                p:
                - 0.7252547188746297
                - 2.979250022453045
            - ~SE2Transform:
                theta: 3.5266589622897397
                p:
                - 0.7183876757136944
                - 2.9763193901537286
            - ~SE2Transform:
                theta: 3.5266589622897397
                p:
                - 0.7183876757136944
                - 2.9763193901537286
            - ~SE2Transform:
                theta: 3.4900576551001974
                p:
                - 0.7114179907510295
                - 2.973642007295573
            - ~SE2Transform:
                theta: 3.4900576551001974
                p:
                - 0.7114179907510295
                - 2.973642007295573
            - ~SE2Transform:
                theta: 3.453456347910655
                p:
                - 0.7043549999224237
                - 2.9712214602493514
            - ~SE2Transform:
                theta: 3.453456347910655
                p:
                - 0.7043549999224237
                - 2.9712214602493514
            - ~SE2Transform:
                theta: 3.4168550407211127
                p:
                - 0.6972081641474461
                - 2.9690609913526895
            - ~SE2Transform:
                theta: 3.4168550407211127
                p:
                - 0.6972081641474461
                - 2.9690609913526895
            - ~SE2Transform:
                theta: 3.3802537335315703
                p:
                - 0.6899870566564862
                - 2.967163494566936
            - ~SE2Transform:
                theta: 3.3802537335315703
                p:
                - 0.6899870566564862
                - 2.967163494566936
            - ~SE2Transform:
                theta: 3.343652426342028
                p:
                - 0.6827013501673527
                - 2.965531511600683
            - ~SE2Transform:
                theta: 3.343652426342028
                p:
                - 0.6827013501673527
                - 2.965531511600683
            - ~SE2Transform:
                theta: 3.3070511191524856
                p:
                - 0.6753608039286091
                - 2.9641672285051306
            - ~SE2Transform:
                theta: 3.3070511191524856
                p:
                - 0.6753608039286091
                - 2.9641672285051306
            - ~SE2Transform:
                theta: 3.2704498119629433
                p:
                - 0.667975250647
                - 2.9630724727458597
            - ~SE2Transform:
                theta: 3.2704498119629433
                p:
                - 0.667975250647
                - 2.9630724727458597
  children:
    tilemap:
      ~TileMap:
        H: 8
        W: 7
      ~PlacedObject:
        spatial_relations:
          0:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-0-6
              transform:
                ~TileCoords:
                  i: 0
                  j: 6
                  orientation: S
          1:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-1-6
              transform:
                ~TileCoords:
                  i: 1
                  j: 6
                  orientation: S
          2:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-2-6
              transform:
                ~TileCoords:
                  i: 2
                  j: 6
                  orientation: S
          3:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-3-6
              transform:
                ~TileCoords:
                  i: 3
                  j: 6
                  orientation: S
          4:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-4-6
              transform:
                ~TileCoords:
                  i: 4
                  j: 6
                  orientation: S
          5:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-5-6
              transform:
                ~TileCoords:
                  i: 5
                  j: 6
                  orientation: S
          6:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-6-6
              transform:
                ~TileCoords:
                  i: 6
                  j: 6
                  orientation: S
          7:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-7-6
              transform:
                ~TileCoords:
                  i: 7
                  j: 6
                  orientation: S
          8:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-0-5
              transform:
                ~TileCoords:
                  i: 0
                  j: 5
                  orientation: S
          9:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-1-5
              transform:
                ~TileCoords:
                  i: 1
                  j: 5
                  orientation: W
          10:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-2-5
              transform:
                ~TileCoords:
                  i: 2
                  j: 5
                  orientation: W
          11:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-3-5
              transform:
                ~TileCoords:
                  i: 3
                  j: 5
                  orientation: W
          12:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-4-5
              transform:
                ~TileCoords:
                  i: 4
                  j: 5
                  orientation: W
          13:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-5-5
              transform:
                ~TileCoords:
                  i: 5
                  j: 5
                  orientation: W
          14:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-6-5
              transform:
                ~TileCoords:
                  i: 6
                  j: 5
                  orientation: N
          15:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-7-5
              transform:
                ~TileCoords:
                  i: 7
                  j: 5
                  orientation: S
          16:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-0-4
              transform:
                ~TileCoords:
                  i: 0
                  j: 4
                  orientation: S
          17:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-1-4
              transform:
                ~TileCoords:
                  i: 1
                  j: 4
                  orientation: S
          18:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-2-4
              transform:
                ~TileCoords:
                  i: 2
                  j: 4
                  orientation: S
          19:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-3-4
              transform:
                ~TileCoords:
                  i: 3
                  j: 4
                  orientation: S
          20:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-4-4
              transform:
                ~TileCoords:
                  i: 4
                  j: 4
                  orientation: S
          21:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-5-4
              transform:
                ~TileCoords:
                  i: 5
                  j: 4
                  orientation: S
          22:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-6-4
              transform:
                ~TileCoords:
                  i: 6
                  j: 4
                  orientation: N
          23:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-7-4
              transform:
                ~TileCoords:
                  i: 7
                  j: 4
                  orientation: S
          24:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-0-3
              transform:
                ~TileCoords:
                  i: 0
                  j: 3
                  orientation: S
          25:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-1-3
              transform:
                ~TileCoords:
                  i: 1
                  j: 3
                  orientation: S
          26:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-2-3
              transform:
                ~TileCoords:
                  i: 2
                  j: 3
                  orientation: S
          27:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-3-3
              transform:
                ~TileCoords:
                  i: 3
                  j: 3
                  orientation: S
          28:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-4-3
              transform:
                ~TileCoords:
                  i: 4
                  j: 3
                  orientation: S
          29:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-5-3
              transform:
                ~TileCoords:
                  i: 5
                  j: 3
                  orientation: S
          30:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-6-3
              transform:
                ~TileCoords:
                  i: 6
                  j: 3
                  orientation: N
          31:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-7-3
              transform:
                ~TileCoords:
                  i: 7
                  j: 3
                  orientation: S
          32:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-0-2
              transform:
                ~TileCoords:
                  i: 0
                  j: 2
                  orientation: S
          33:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-1-2
              transform:
                ~TileCoords:
                  i: 1
                  j: 2
                  orientation: S
          34:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-2-2
              transform:
                ~TileCoords:
                  i: 2
                  j: 2
                  orientation: S
          35:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-3-2
              transform:
                ~TileCoords:
                  i: 3
                  j: 2
                  orientation: S
          36:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-4-2
              transform:
                ~TileCoords:
                  i: 4
                  j: 2
                  orientation: N
          37:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-5-2
              transform:
                ~TileCoords:
                  i: 5
                  j: 2
                  orientation: E
          38:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-6-2
              transform:
                ~TileCoords:
                  i: 6
                  j: 2
                  orientation: E
          39:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-7-2
              transform:
                ~TileCoords:
                  i: 7
                  j: 2
                  orientation: S
          40:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-0-1
              transform:
                ~TileCoords:
                  i: 0
                  j: 1
                  orientation: S
          41:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-1-1
              transform:
                ~TileCoords:
                  i: 1
                  j: 1
                  orientation: S
          42:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-2-1
              transform:
                ~TileCoords:
                  i: 2
                  j: 1
                  orientation: E
          43:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-3-1
              transform:
                ~TileCoords:
                  i: 3
                  j: 1
                  orientation: E
          44:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-4-1
              transform:
                ~TileCoords:
                  i: 4
                  j: 1
                  orientation: E
          45:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-5-1
              transform:
                ~TileCoords:
                  i: 5
                  j: 1
                  orientation: S
          46:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-6-1
              transform:
                ~TileCoords:
                  i: 6
                  j: 1
                  orientation: S
          47:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-7-1
              transform:
                ~TileCoords:
                  i: 7
                  j: 1
                  orientation: S
          48:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-0-0
              transform:
                ~TileCoords:
                  i: 0
                  j: 0
                  orientation: S
          49:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-1-0
              transform:
                ~TileCoords:
                  i: 1
                  j: 0
                  orientation: S
          50:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-2-0
              transform:
                ~TileCoords:
                  i: 2
                  j: 0
                  orientation: S
          51:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-3-0
              transform:
                ~TileCoords:
                  i: 3
                  j: 0
                  orientation: S
          52:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-4-0
              transform:
                ~TileCoords:
                  i: 4
                  j: 0
                  orientation: S
          53:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-5-0
              transform:
                ~TileCoords:
                  i: 5
                  j: 0
                  orientation: S
          54:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-6-0
              transform:
                ~TileCoords:
                  i: 6
                  j: 0
                  orientation: S
          55:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - tile-7-0
              transform:
                ~TileCoords:
                  i: 7
                  j: 0
                  orientation: S
          56:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - obj0
              transform:
                ~SE2Transform:
                  theta: 10.0
                  p:
                  - 0.5
                  - 6.5
          57:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - obj1
              transform:
                ~SE2Transform:
                  theta: 10.0
                  p:
                  - 0.5
                  - 6.3
          58:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - obj2
              transform:
                ~SE2Transform:
                  theta: 10.0
                  p:
                  - 6.5
                  - 6.3
          59:
            ~SpatialRelation:
              a: []
              sr_type: ground_truth
              b:
              - obj3
              transform:
                ~SE2Transform:
                  theta: 90.0
                  p:
                  - 0.0
                  - 4.5
        children:
          tile-2-5:
            ~PlacedObject: {}
            ~Tile:
              kind: straight
              drivable: true
          tile-7-3:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-3-6:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-0-4:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-0-5:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-0-6:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-0-0:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-0-1:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-0-2:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-0-3:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-6-6:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-7-2:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-7-1:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-6-5:
            ~PlacedObject: {}
            ~Tile:
              kind: curve_left
              drivable: true
          tile-6-2:
            ~PlacedObject: {}
            ~Tile:
              kind: curve_left
              drivable: true
          tile-7-6:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-7-5:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-7-4:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-5-5:
            ~PlacedObject: {}
            ~Tile:
              kind: straight
              drivable: true
          tile-5-4:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-5-6:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-5-1:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-7-0:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-5-3:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-6-3:
            ~PlacedObject: {}
            ~Tile:
              kind: straight
              drivable: true
          obj1:
            ~PlacedObject: {}
            ~GenericObject:
              kind: duckie
          obj0:
            ~PlacedObject: {}
            ~GenericObject:
              kind: duckie
          obj3:
            ~PlacedObject: {}
            ~GenericObject:
              kind: cone
          obj2:
            ~PlacedObject: {}
            ~GenericObject:
              kind: duckie
          tile-6-0:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-4-0:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-4-1:
            ~PlacedObject: {}
            ~Tile:
              kind: curve_left
              drivable: true
          tile-4-2:
            ~PlacedObject: {}
            ~Tile:
              kind: curve_right
              drivable: true
          tile-4-3:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-4-4:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-4-5:
            ~PlacedObject: {}
            ~Tile:
              kind: straight
              drivable: true
          tile-4-6:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-1-6:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-3-5:
            ~PlacedObject: {}
            ~Tile:
              kind: straight
              drivable: true
          tile-1-5:
            ~PlacedObject: {}
            ~Tile:
              kind: curve_left
              drivable: true
          tile-6-4:
            ~PlacedObject: {}
            ~Tile:
              kind: straight
              drivable: true
          tile-2-2:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-2-3:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-2-0:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-2-1:
            ~PlacedObject: {}
            ~Tile:
              kind: straight
              drivable: true
          tile-2-6:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-5-2:
            ~PlacedObject: {}
            ~Tile:
              kind: straight
              drivable: true
          tile-2-4:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-5-0:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-1-1:
            ~PlacedObject: {}
            ~Tile:
              kind: curve_left
              drivable: true
          tile-1-0:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-1-3:
            ~PlacedObject: {}
            ~Tile:
              kind: straight
              drivable: true
          tile-1-2:
            ~PlacedObject: {}
            ~Tile:
              kind: straight
              drivable: true
          tile-3-3:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-3-2:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-3-1:
            ~PlacedObject: {}
            ~Tile:
              kind: straight
              drivable: true
          tile-3-0:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-3-4:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-6-1:
            ~PlacedObject: {}
            ~Tile:
              kind: floor
              drivable: false
          tile-1-4:
            ~PlacedObject: {}
            ~Tile:
              kind: straight
              drivable: true
    duckiebot:
      ~Duckiebot: {}
      ~PlacedObject: {}