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
            - 1.2666666666666673
            - 1.2666666666666673
            - 1.3000000000000007
            - 1.3000000000000007
            values:
            - ~SE2Transform:
                theta: 4.7704947205760755
                p:
                - 3.9475452949531475
                - 2.067160981707631
            - ~SE2Transform:
                theta: 4.7704947205760755
                p:
                - 3.9475452949531475
                - 2.067160981707631
            - ~SE2Transform:
                theta: 4.838918120441566
                p:
                - 3.948392982591687
                - 2.0580047689052767
            - ~SE2Transform:
                theta: 4.838918120441566
                p:
                - 3.948392982591687
                - 2.0580047689052767
            - ~SE2Transform:
                theta: 4.904277597565748
                p:
                - 3.9499780718220845
                - 2.048132996098093
            - ~SE2Transform:
                theta: 4.904277597565748
                p:
                - 3.9499780718220845
                - 2.048132996098093
            - ~SE2Transform:
                theta: 4.969637074689931
                p:
                - 3.9522045312466227
                - 2.038385828065487
            - ~SE2Transform:
                theta: 4.969637074689931
                p:
                - 3.9522045312466227
                - 2.038385828065487
            - ~SE2Transform:
                theta: 5.034996551814114
                p:
                - 3.9550628531249297
                - 2.028804888536142
            - ~SE2Transform:
                theta: 5.034996551814114
                p:
                - 3.9550628531249297
                - 2.028804888536142
            - ~SE2Transform:
                theta: 5.100356028938297
                p:
                - 3.9585408314486594
                - 2.019431091386393
            - ~SE2Transform:
                theta: 5.100356028938297
                p:
                - 3.9585408314486594
                - 2.019431091386393
            - ~SE2Transform:
                theta: 5.1657155060624795
                p:
                - 3.962623614065307
                - 2.0103044659240346
            - ~SE2Transform:
                theta: 5.1657155060624795
                p:
                - 3.962623614065307
                - 2.0103044659240346
            - ~SE2Transform:
                theta: 5.231074983186662
                p:
                - 3.9672937661019594
                - 2.001463985949535
            - ~SE2Transform:
                theta: 5.231074983186662
                p:
                - 3.9672937661019594
                - 2.001463985949535
            - ~SE2Transform:
                theta: 5.296434460310845
                p:
                - 3.972531344418144
                - 1.9929474033246315
            - ~SE2Transform:
                theta: 5.296434460310845
                p:
                - 3.972531344418144
                - 1.9929474033246315
            - ~SE2Transform:
                theta: 5.361793937435028
                p:
                - 3.9783139827698335
                - 1.9847910867590155
            - ~SE2Transform:
                theta: 5.361793937435028
                p:
                - 3.9783139827698335
                - 1.9847910867590155
            - ~SE2Transform:
                theta: 5.427153414559211
                p:
                - 3.984616987320929
                - 1.9770298665035502
            - ~SE2Transform:
                theta: 5.427153414559211
                p:
                - 3.984616987320929
                - 1.9770298665035502
            - ~SE2Transform:
                theta: 5.492512891683393
                p:
                - 3.991413442094354
                - 1.9696968856132324
            - ~SE2Transform:
                theta: 5.492512891683393
                p:
                - 3.991413442094354
                - 1.9696968856132324
            - ~SE2Transform:
                theta: 5.557872368807576
                p:
                - 3.998674323912448
                - 1.9628234584150546
            - ~SE2Transform:
                theta: 5.557872368807576
                p:
                - 3.998674323912448
                - 1.9628234584150546
            - ~SE2Transform:
                theta: 5.623231845931759
                p:
                - 4.006368626335823
                - 1.9564389367851582
            - ~SE2Transform:
                theta: 5.623231845931759
                p:
                - 4.006368626335823
                - 1.9564389367851582
            - ~SE2Transform:
                theta: 5.688591323055942
                p:
                - 4.014463492071427
                - 1.9505705848063215
            - ~SE2Transform:
                theta: 5.688591323055942
                p:
                - 4.014463492071427
                - 1.9505705848063215
            - ~SE2Transform:
                theta: 5.7539508001801245
                p:
                - 4.022924353284379
                - 1.945243462341037
            - ~SE2Transform:
                theta: 5.7539508001801245
                p:
                - 4.022924353284379
                - 1.945243462341037
            - ~SE2Transform:
                theta: 5.819310277304307
                p:
                - 4.031715079214403
                - 1.9404803180173595
            - ~SE2Transform:
                theta: 5.819310277304307
                p:
                - 4.031715079214403
                - 1.9404803180173595
            - ~SE2Transform:
                theta: 5.88466975442849
                p:
                - 4.040798130466484
                - 1.9363014920845125
            - ~SE2Transform:
                theta: 5.88466975442849
                p:
                - 4.040798130466484
                - 1.9363014920845125
            - ~SE2Transform:
                theta: 5.950029231552673
                p:
                - 4.05013471931688
                - 1.932724829553094
            - ~SE2Transform:
                theta: 5.950029231552673
                p:
                - 4.05013471931688
                - 1.932724829553094
            - ~SE2Transform:
                theta: 6.015388708676856
                p:
                - 4.059684975349911
                - 1.929765603990802
            - ~SE2Transform:
                theta: 6.015388708676856
                p:
                - 4.059684975349911
                - 1.929765603990802
            - ~SE2Transform:
                theta: 6.080748185801038
                p:
                - 4.069408115718227
                - 1.927436452299093
            - ~SE2Transform:
                theta: 6.080748185801038
                p:
                - 4.069408115718227
                - 1.927436452299093
            - ~SE2Transform:
                theta: 6.146107662925221
                p:
                - 4.079262619299459
                - 1.9257473207493105
            - ~SE2Transform:
                theta: 6.146107662925221
                p:
                - 4.079262619299459
                - 1.9257473207493105
            - ~SE2Transform:
                theta: 6.211467140049404
                p:
                - 4.089206404005556
                - 1.924705422508716
            - ~SE2Transform:
                theta: 6.211467140049404
                p:
                - 4.089206404005556
                - 1.924705422508716
            - ~SE2Transform:
                theta: 6.276826617173587
                p:
                - 4.099197006487646
                - 1.924315206837805
            - ~SE2Transform:
                theta: 6.276826617173587
                p:
                - 4.099197006487646
                - 1.924315206837805
            - ~SE2Transform:
                theta: 6.3421860942977695
                p:
                - 4.109191763469
                - 1.924578340090453
            - ~SE2Transform:
                theta: 6.3421860942977695
                p:
                - 4.109191763469
                - 1.924578340090453
            - ~SE2Transform:
                theta: 6.407545571421952
                p:
                - 4.119147993931762
                - 1.9254936985980122
            - ~SE2Transform:
                theta: 6.407545571421952
                p:
                - 4.119147993931762
                - 1.9254936985980122
            - ~SE2Transform:
                theta: 6.472905048546135
                p:
                - 4.129023181379435
                - 1.927057373467762
            - ~SE2Transform:
                theta: 6.472905048546135
                p:
                - 4.129023181379435
                - 1.927057373467762
            - ~SE2Transform:
                theta: 6.538264525670318
                p:
                - 4.138775155396814
                - 1.9292626872752132
            - ~SE2Transform:
                theta: 6.538264525670318
                p:
                - 4.138775155396814
                - 1.9292626872752132
            - ~SE2Transform:
                theta: 6.603624002794501
                p:
                - 4.148362271732023
                - 1.9321002225789838
            - ~SE2Transform:
                theta: 6.603624002794501
                p:
                - 4.148362271732023
                - 1.9321002225789838
            - ~SE2Transform:
                theta: 6.668983479918683
                p:
                - 4.157743590131661
                - 1.9355578621364842
            - ~SE2Transform:
                theta: 6.668983479918683
                p:
                - 4.157743590131661
                - 1.9355578621364842
            - ~SE2Transform:
                theta: 6.734342957042866
                p:
                - 4.1668790491696335
                - 1.9396208406486708
            - ~SE2Transform:
                theta: 6.734342957042866
                p:
                - 4.1668790491696335
                - 1.9396208406486708
            - ~SE2Transform:
                theta: 6.799702434167049
                p:
                - 4.175729637323095
                - 1.944271807812905
            - ~SE2Transform:
                theta: 6.799702434167049
                p:
                - 4.175729637323095
                - 1.944271807812905
            - ~SE2Transform:
                theta: 6.865061911291232
                p:
                - 4.18425755956494
                - 1.9494909024146563
            - ~SE2Transform:
                theta: 6.865061911291232
                p:
                - 4.18425755956494
                - 1.9494909024146563
            - ~SE2Transform:
                theta: 6.930421388415414
                p:
                - 4.192426398761448
                - 1.9552558371416557
            - ~SE2Transform:
                theta: 6.930421388415414
                p:
                - 4.192426398761448
                - 1.9552558371416557
            - ~SE2Transform:
                theta: 6.995780865539597
                p:
                - 4.200201271185856
                - 1.9615419937583143
            - ~SE2Transform:
                theta: 6.995780865539597
                p:
                - 4.200201271185856
                - 1.9615419937583143
            - ~SE2Transform:
                theta: 7.06114034266378
                p:
                - 4.207548975483753
                - 1.9683225282339758
            - ~SE2Transform:
                theta: 7.06114034266378
                p:
                - 4.207548975483753
                - 1.9683225282339758
            - ~SE2Transform:
                theta: 7.126499819787963
                p:
                - 4.214438134454181
                - 1.9755684853760758
            - ~SE2Transform:
                theta: 7.126499819787963
                p:
                - 4.214438134454181
                - 1.9755684853760758
            - ~SE2Transform:
                theta: 7.1918592969121455
                p:
                - 4.220839329040969
                - 1.983248922478679
            - ~SE2Transform:
                theta: 7.1918592969121455
                p:
                - 4.220839329040969
                - 1.983248922478679
            - ~SE2Transform:
                theta: 7.257218774036328
                p:
                - 4.226725223962133
                - 1.991331041458377
            - ~SE2Transform:
                theta: 7.257218774036328
                p:
                - 4.226725223962133
                - 1.991331041458377
          ~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
            - 1.2666666666666673
            - 1.2666666666666673
            - 1.3000000000000007
            - 1.3000000000000007
            values:
            - ~SE2Transform:
                theta: 4.7704947205760755
                p:
                - 3.9475452949531475
                - 2.067160981707631
            - ~SE2Transform:
                theta: 4.7704947205760755
                p:
                - 3.9475452949531475
                - 2.067160981707631
            - ~SE2Transform:
                theta: 4.838918120441566
                p:
                - 3.948392982591687
                - 2.0580047689052767
            - ~SE2Transform:
                theta: 4.838918120441566
                p:
                - 3.948392982591687
                - 2.0580047689052767
            - ~SE2Transform:
                theta: 4.904277597565748
                p:
                - 3.9499780718220845
                - 2.048132996098093
            - ~SE2Transform:
                theta: 4.904277597565748
                p:
                - 3.9499780718220845
                - 2.048132996098093
            - ~SE2Transform:
                theta: 4.969637074689931
                p:
                - 3.9522045312466227
                - 2.038385828065487
            - ~SE2Transform:
                theta: 4.969637074689931
                p:
                - 3.9522045312466227
                - 2.038385828065487
            - ~SE2Transform:
                theta: 5.034996551814114
                p:
                - 3.9550628531249297
                - 2.028804888536142
            - ~SE2Transform:
                theta: 5.034996551814114
                p:
                - 3.9550628531249297
                - 2.028804888536142
            - ~SE2Transform:
                theta: 5.100356028938297
                p:
                - 3.9585408314486594
                - 2.019431091386393
            - ~SE2Transform:
                theta: 5.100356028938297
                p:
                - 3.9585408314486594
                - 2.019431091386393
            - ~SE2Transform:
                theta: 5.1657155060624795
                p:
                - 3.962623614065307
                - 2.0103044659240346
            - ~SE2Transform:
                theta: 5.1657155060624795
                p:
                - 3.962623614065307
                - 2.0103044659240346
            - ~SE2Transform:
                theta: 5.231074983186662
                p:
                - 3.9672937661019594
                - 2.001463985949535
            - ~SE2Transform:
                theta: 5.231074983186662
                p:
                - 3.9672937661019594
                - 2.001463985949535
            - ~SE2Transform:
                theta: 5.296434460310845
                p:
                - 3.972531344418144
                - 1.9929474033246315
            - ~SE2Transform:
                theta: 5.296434460310845
                p:
                - 3.972531344418144
                - 1.9929474033246315
            - ~SE2Transform:
                theta: 5.361793937435028
                p:
                - 3.9783139827698335
                - 1.9847910867590155
            - ~SE2Transform:
                theta: 5.361793937435028
                p:
                - 3.9783139827698335
                - 1.9847910867590155
            - ~SE2Transform:
                theta: 5.427153414559211
                p:
                - 3.984616987320929
                - 1.9770298665035502
            - ~SE2Transform:
                theta: 5.427153414559211
                p:
                - 3.984616987320929
                - 1.9770298665035502
            - ~SE2Transform:
                theta: 5.492512891683393
                p:
                - 3.991413442094354
                - 1.9696968856132324
            - ~SE2Transform:
                theta: 5.492512891683393
                p:
                - 3.991413442094354
                - 1.9696968856132324
            - ~SE2Transform:
                theta: 5.557872368807576
                p:
                - 3.998674323912448
                - 1.9628234584150546
            - ~SE2Transform:
                theta: 5.557872368807576
                p:
                - 3.998674323912448
                - 1.9628234584150546
            - ~SE2Transform:
                theta: 5.623231845931759
                p:
                - 4.006368626335823
                - 1.9564389367851582
            - ~SE2Transform:
                theta: 5.623231845931759
                p:
                - 4.006368626335823
                - 1.9564389367851582
            - ~SE2Transform:
                theta: 5.688591323055942
                p:
                - 4.014463492071427
                - 1.9505705848063215
            - ~SE2Transform:
                theta: 5.688591323055942
                p:
                - 4.014463492071427
                - 1.9505705848063215
            - ~SE2Transform:
                theta: 5.7539508001801245
                p:
                - 4.022924353284379
                - 1.945243462341037
            - ~SE2Transform:
                theta: 5.7539508001801245
                p:
                - 4.022924353284379
                - 1.945243462341037
            - ~SE2Transform:
                theta: 5.819310277304307
                p:
                - 4.031715079214403
                - 1.9404803180173595
            - ~SE2Transform:
                theta: 5.819310277304307
                p:
                - 4.031715079214403
                - 1.9404803180173595
            - ~SE2Transform:
                theta: 5.88466975442849
                p:
                - 4.040798130466484
                - 1.9363014920845125
            - ~SE2Transform:
                theta: 5.88466975442849
                p:
                - 4.040798130466484
                - 1.9363014920845125
            - ~SE2Transform:
                theta: 5.950029231552673
                p:
                - 4.05013471931688
                - 1.932724829553094
            - ~SE2Transform:
                theta: 5.950029231552673
                p:
                - 4.05013471931688
                - 1.932724829553094
            - ~SE2Transform:
                theta: 6.015388708676856
                p:
                - 4.059684975349911
                - 1.929765603990802
            - ~SE2Transform:
                theta: 6.015388708676856
                p:
                - 4.059684975349911
                - 1.929765603990802
            - ~SE2Transform:
                theta: 6.080748185801038
                p:
                - 4.069408115718227
                - 1.927436452299093
            - ~SE2Transform:
                theta: 6.080748185801038
                p:
                - 4.069408115718227
                - 1.927436452299093
            - ~SE2Transform:
                theta: 6.146107662925221
                p:
                - 4.079262619299459
                - 1.9257473207493105
            - ~SE2Transform:
                theta: 6.146107662925221
                p:
                - 4.079262619299459
                - 1.9257473207493105
            - ~SE2Transform:
                theta: 6.211467140049404
                p:
                - 4.089206404005556
                - 1.924705422508716
            - ~SE2Transform:
                theta: 6.211467140049404
                p:
                - 4.089206404005556
                - 1.924705422508716
            - ~SE2Transform:
                theta: 6.276826617173587
                p:
                - 4.099197006487646
                - 1.924315206837805
            - ~SE2Transform:
                theta: 6.276826617173587
                p:
                - 4.099197006487646
                - 1.924315206837805
            - ~SE2Transform:
                theta: 6.3421860942977695
                p:
                - 4.109191763469
                - 1.924578340090453
            - ~SE2Transform:
                theta: 6.3421860942977695
                p:
                - 4.109191763469
                - 1.924578340090453
            - ~SE2Transform:
                theta: 6.407545571421952
                p:
                - 4.119147993931762
                - 1.9254936985980122
            - ~SE2Transform:
                theta: 6.407545571421952
                p:
                - 4.119147993931762
                - 1.9254936985980122
            - ~SE2Transform:
                theta: 6.472905048546135
                p:
                - 4.129023181379435
                - 1.927057373467762
            - ~SE2Transform:
                theta: 6.472905048546135
                p:
                - 4.129023181379435
                - 1.927057373467762
            - ~SE2Transform:
                theta: 6.538264525670318
                p:
                - 4.138775155396814
                - 1.9292626872752132
            - ~SE2Transform:
                theta: 6.538264525670318
                p:
                - 4.138775155396814
                - 1.9292626872752132
            - ~SE2Transform:
                theta: 6.603624002794501
                p:
                - 4.148362271732023
                - 1.9321002225789838
            - ~SE2Transform:
                theta: 6.603624002794501
                p:
                - 4.148362271732023
                - 1.9321002225789838
            - ~SE2Transform:
                theta: 6.668983479918683
                p:
                - 4.157743590131661
                - 1.9355578621364842
            - ~SE2Transform:
                theta: 6.668983479918683
                p:
                - 4.157743590131661
                - 1.9355578621364842
            - ~SE2Transform:
                theta: 6.734342957042866
                p:
                - 4.1668790491696335
                - 1.9396208406486708
            - ~SE2Transform:
                theta: 6.734342957042866
                p:
                - 4.1668790491696335
                - 1.9396208406486708
            - ~SE2Transform:
                theta: 6.799702434167049
                p:
                - 4.175729637323095
                - 1.944271807812905
            - ~SE2Transform:
                theta: 6.799702434167049
                p:
                - 4.175729637323095
                - 1.944271807812905
            - ~SE2Transform:
                theta: 6.865061911291232
                p:
                - 4.18425755956494
                - 1.9494909024146563
            - ~SE2Transform:
                theta: 6.865061911291232
                p:
                - 4.18425755956494
                - 1.9494909024146563
            - ~SE2Transform:
                theta: 6.930421388415414
                p:
                - 4.192426398761448
                - 1.9552558371416557
            - ~SE2Transform:
                theta: 6.930421388415414
                p:
                - 4.192426398761448
                - 1.9552558371416557
            - ~SE2Transform:
                theta: 6.995780865539597
                p:
                - 4.200201271185856
                - 1.9615419937583143
            - ~SE2Transform:
                theta: 6.995780865539597
                p:
                - 4.200201271185856
                - 1.9615419937583143
            - ~SE2Transform:
                theta: 7.06114034266378
                p:
                - 4.207548975483753
                - 1.9683225282339758
            - ~SE2Transform:
                theta: 7.06114034266378
                p:
                - 4.207548975483753
                - 1.9683225282339758
            - ~SE2Transform:
                theta: 7.126499819787963
                p:
                - 4.214438134454181
                - 1.9755684853760758
            - ~SE2Transform:
                theta: 7.126499819787963
                p:
                - 4.214438134454181
                - 1.9755684853760758
            - ~SE2Transform:
                theta: 7.1918592969121455
                p:
                - 4.220839329040969
                - 1.983248922478679
            - ~SE2Transform:
                theta: 7.1918592969121455
                p:
                - 4.220839329040969
                - 1.983248922478679
            - ~SE2Transform:
                theta: 7.257218774036328
                p:
                - 4.226725223962133
                - 1.991331041458377
            - ~SE2Transform:
                theta: 7.257218774036328
                p:
                - 4.226725223962133
                - 1.991331041458377
  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: {}