resources

HighwayRoadMap.resources

Pre-defined robot configurations, environmental features, etc.

Folder structure

All configurations are stored in .csv files. Subfolders contain:

• 2D/ and 3D/: store robot shape, map information and planning settings.
• SO3_sequence/: store pre-defined SO(3) samples using different sampling algorithms.
• mesh/: mesh information of environment
• urdf/: URDF file for multi-body robot

2D/
-- robot_{type}_2D.csv
-- env_{shape}_{map_type}_2D_arena.csv
-- env_{shape}_{map_type}_2D_obstacle.csv
-- setting_{shape}_{map_type}_2D.csv
3D/
-- robot_{type}_3D.csv
-- env_{shape}_{map_type}_3D_arena.csv
-- env_{shape}_{map_type}_3D_obstacle.csv
-- setting_{shape}_{map_type}_3D.csv
SO3_sequence/
-- q_{sample_type}_{num_samples}.csv
mesh/
urdf/

Name conventions

Important note: for 3D rotations in 3D/ folder, we use the Axis-Angle parameterization to as the storage convention; while in SO3_sequence/ folder, the storage convention is Unit-Quaternion (order: [x,y,z,w]).

Robot shape

Each line includes all parameters to define an ellipsoid (ellipse in 2D): semi axis lengths, exponents (= 1), center in Cartesian coordinates, orientation. The first line defines the base links, and the rests define other links (positions and orientations are all relative to the base link).

• 2D: 2D/robot_{type}_2D.csv, each line: semi_axis_a, semi_axis_b, epsilon = 1, center_x, center_y, rotation_angle
• 3D: 3D/robot_{type}_3D.csv, each line: semi_axis_a, semi_axis_b, semi_axis_c, epsilon_1 = 1, epsilon_2 = 1, center_x, center_y, center_z, rotation_axis_x, rotation_axis_y, rotation_axis_z, rotation_angle

{type}: name of the robot (i.e. rabbit, S-shape, etc).

Environmental features

Arena and obstacles are stored in different files. Each line includes all parameters to define a superquadric (superellipse in 2D): semi axis lengths, exponents, center in Cartesian coordinates, orientation.

• 2D: 2D/env_{ellipse/superellipse}_{map_type}_2D_{arena/obstacle}.csv, each line: semi_axis_a, semi_axis_b, epsilon, center_x, center_y, rotation_angle
• 3D: 3D/env_{ellipsoid/superquadrics}_{map_type}_3D_{arena/obstacle}.csv, each line: semi_axis_a, semi_axis_b, semi_axis_c, epsilon_1, epsilon_2, center_x, center_y, center_z, rotation_axis_x, rotation_axis_y, rotation_axis_z, rotation_angle

Planning settings

Definition of start and end poses in the planning problem.

• 2D: 2D/setting_{ellipse/superellipse}_{map_type}_2D.csv, each line: center_x, center_y, rotation_angle
• 3D: 3D/setting_{ellipsoid/superquadrics}_{map_type}_3D.csv, each line: center_x, center_y, center_z, rotation_axis_x, rotation_axis_y, rotation_axis_z, rotation_angle

{map_type}: type of the map (i.e. sparse, cluttered, maze, etc).