Merge pull request #288 from bdaiinstitute/wud_predicators_integration

Adds Floor 5 and Floor 8 Green Room Scene Graphs for WUD Integration
bdaiinstitute · May 23, 2024 · d1bc95f · d1bc95f
2 parents acc72dc + 7860e02
commit d1bc95f
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diff --git a/...aph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_agleam-bison-JdITG+HLba5r9bkqiFaPxA== b/...aph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_agleam-bison-JdITG+HLba5r9bkqiFaPxA==
diff --git a/...ph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_booted-spider-Abj+k3Mb5JyNnzDH3EjIqA== b/...ph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_booted-spider-Abj+k3Mb5JyNnzDH3EjIqA==
diff --git a/...aph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_bulgy-mayfly-aUl+CKE8dx08ACEMoRyFFA== b/...aph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_bulgy-mayfly-aUl+CKE8dx08ACEMoRyFFA==
diff --git a/.../graph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_dopey-pig-I7ZL6T2aOF2fu9N9vPjNVg== b/.../graph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_dopey-pig-I7ZL6T2aOF2fu9N9vPjNVg==
diff --git a/...raph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_dyed-kelpie-yt74tBHzCCP+4aEFE.WYgg== b/...raph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_dyed-kelpie-yt74tBHzCCP+4aEFE.WYgg==
diff --git a/...aph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_edited-krill-Dyir.CuEsJ9Yi76FY.8NvA== b/...aph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_edited-krill-Dyir.CuEsJ9Yi76FY.8NvA==
@@ -0,0 +1,2 @@
+
+6edge_snapshot_id_edited-krill-Dyir.CuEsJ9Yi76FY.8NvA==
diff --git a/.../graph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_fab-prawn-bY2o695gTKBeQ.yDSxzf3A== b/.../graph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_fab-prawn-bY2o695gTKBeQ.yDSxzf3A==
diff --git a/...graph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_flip-moose-AmpTeRfT6FUzZv623PvI6g== b/...graph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_flip-moose-AmpTeRfT6FUzZv623PvI6g==
diff --git a/...s/graph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_flip-ram-FD.7hybQmVcHaxdMoThhmA== b/...s/graph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_flip-ram-FD.7hybQmVcHaxdMoThhmA==
diff --git a/...raph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_frumpy-germ-M6A7Ty3uFei8BXVPNNIXXA== b/...raph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_frumpy-germ-M6A7Ty3uFei8BXVPNNIXXA==
@@ -0,0 +1,2 @@
+
+5edge_snapshot_id_frumpy-germ-M6A7Ty3uFei8BXVPNNIXXA==
diff --git a/...aph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_furred-filly-LlP+6gRrHPy3j27tQF8CPw== b/...aph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_furred-filly-LlP+6gRrHPy3j27tQF8CPw==
diff --git a/...aph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_gonzo-puffer-M+LQvV5YEzVyWA0d.BSBEQ== b/...aph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_gonzo-puffer-M+LQvV5YEzVyWA0d.BSBEQ==
diff --git a/...raph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_laic-bronco-cyUdgaL9NGKsapwodYd9lA== b/...raph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_laic-bronco-cyUdgaL9NGKsapwodYd9lA==
diff --git a/...raph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_leased-oxen-C9QTv1oewKxjw59m07ZWKw== b/...raph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_leased-oxen-C9QTv1oewKxjw59m07ZWKw==
diff --git a/...aph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_milky-racoon-FfT8.QiJUnFGQrd+Li100Q== b/...aph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_milky-racoon-FfT8.QiJUnFGQrd+Li100Q==
diff --git a/...graph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_myriad-cod-l7Y3YOgGHjl6e2WlGRBQ7w== b/...graph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_myriad-cod-l7Y3YOgGHjl6e2WlGRBQ7w==
diff --git a/...raph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_rabid-mamba-evvt85PZj4tdOVI+teLh9w== b/...raph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_rabid-mamba-evvt85PZj4tdOVI+teLh9w==
diff --git a/...ph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_rococo-mammut-KZ5+drQgf7oYL4ukgiiNoA== b/...ph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_rococo-mammut-KZ5+drQgf7oYL4ukgiiNoA==
diff --git a/...graph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_russet-dog-Hx68G7kZIT0GBDBRKzZ3iw== b/...graph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_russet-dog-Hx68G7kZIT0GBDBRKzZ3iw==
diff --git a/...aph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_spiffy-filly-ur9b0gjL7N31Brw2YJPXRA== b/...aph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_spiffy-filly-ur9b0gjL7N31Brw2YJPXRA==
diff --git a/...ph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_spruce-tsetse-WR2w9Q22NRHzXMKgy4hcng== b/...ph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_spruce-tsetse-WR2w9Q22NRHzXMKgy4hcng==
diff --git a/...ls/graph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_tan-auk-KVgXd1p0pNArOUUXGAuCNw== b/...ls/graph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_tan-auk-KVgXd1p0pNArOUUXGAuCNw==
diff --git a/.../graph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_tarry-bee-OJoihwL7yutiFlPFo8Ca5A== b/.../graph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_tarry-bee-OJoihwL7yutiFlPFo8Ca5A==
diff --git a/...ph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_unclad-jackal-UNHPJGrBYyb1gltPNL8BkQ== b/...ph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_unclad-jackal-UNHPJGrBYyb1gltPNL8BkQ==
diff --git a/...aph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_vatic-rhesus-lAq1bEbA78wiuXVguB0.bQ== b/...aph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_vatic-rhesus-lAq1bEbA78wiuXVguB0.bQ==
diff --git a/...raph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_vestal-clam-ofeYFRyuroBst.2iyuzOWg== b/...raph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_vestal-clam-ofeYFRyuroBst.2iyuzOWg==
diff --git a/...ph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_wobbly-grouse-eSdwKkZ5cwX.F28qKBjhWQ== b/...ph_nav_maps/floor5/edge_snapshots/edge_snapshot_id_wobbly-grouse-eSdwKkZ5cwX.F28qKBjhWQ==
diff --git a/predicators/spot_utils/graph_nav_maps/floor5/graph b/predicators/spot_utils/graph_nav_maps/floor5/graph
diff --git a/predicators/spot_utils/graph_nav_maps/floor5/metadata.yaml b/predicators/spot_utils/graph_nav_maps/floor5/metadata.yaml
@@ -0,0 +1,91 @@
+# Additional info associated with the map.
+---
+spot-home-pose:
+  x: 1.5
+  y: 0.7
+  angle: -0.3
+# The info below is used to transform april tag x, y, z detections into object
+# x, y, z. For example, if a tag is hanging off the side of a table, we would
+# want to use the center of the table as the origin of the table object.
+april-tag-offsets:
+  tag-408:  # smooth table
+    x: 0.25
+    y: 0.1
+    z: -0.2
+# Known immovable objects. Assuming default rotations.
+known-immovable-objects:
+  smooth_table:
+    x: 0.72
+    y: 1.25
+    z: -0.42
+  floor:
+    x: 0.0
+    y: 0.0
+    z: -0.5
+# Static object features, including the shapes and sizes of known objects.
+static-object-features:
+  smooth_table:
+    shape: 2  # cylinder
+    height: 0.52
+    length: 0.51
+    width: 0.51
+    flat_top_surface: 1
+    placeable: 0
+  sticky_table:
+    shape: 2  # cylinder
+    height: 0.52
+    length: 0.51
+    width: 0.51
+    flat_top_surface: 1
+    placeable: 0
+  cube:
+    shape: 1  # cuboid
+    height: 0.083
+    length: 0.083
+    width: 0.083
+    placeable: 1
+  soda_can:
+    shape: 2
+    height: 0.114
+    length: 0.065
+    width: 0.065
+    placeable: 1
+  bike_seat:
+    shape: 2
+    height: 0.114
+    length: 0.065
+    width: 0.065
+    placeable: 1
+  mount_wall:
+    shape: 1  # cylinder
+    height: 0.52
+    length: 0.51
+    width: 0.51
+    flat_top_surface: 1
+    placeable: 0
+  floor:
+    shape: 1
+    height: 0.0001
+    length: 10000000  # effectively infinite
+    width: 10000000
+    flat_top_surface: 0
+    placeable: 0
+  white-table:
+    shape: 1
+    height: 0.74
+    length: 1.07
+    width: 0.51
+    flat_top_surface: 1
+    placeable: 0
+  bucket:
+    shape: 2
+    height: 0.4
+    width: 0.23
+    length: 0.23
+    placeable: 1
+  chair:
+    shape: 2
+    height: 0.8
+    length: 0.5
+    width: 0.5
+    placeable: 0
diff --git a/...ls/graph_nav_maps/floor5/waypoint_snapshots/snapshot_amok-iguana-yMDeO1tKBi0eBrdAJ1vy3w== b/...ls/graph_nav_maps/floor5/waypoint_snapshots/snapshot_amok-iguana-yMDeO1tKBi0eBrdAJ1vy3w==
diff --git a/...ls/graph_nav_maps/floor5/waypoint_snapshots/snapshot_arced-sloth-qz4KuJsppVoaS0AR3m7KIA== b/...ls/graph_nav_maps/floor5/waypoint_snapshots/snapshot_arced-sloth-qz4KuJsppVoaS0AR3m7KIA==
diff --git a/...tils/graph_nav_maps/floor5/waypoint_snapshots/snapshot_awny-swan-l7Fq2kh0Z27oBv+FMtI4nQ== b/...tils/graph_nav_maps/floor5/waypoint_snapshots/snapshot_awny-swan-l7Fq2kh0Z27oBv+FMtI4nQ==
diff --git a/...s/graph_nav_maps/floor5/waypoint_snapshots/snapshot_azonal-leech-fkn4wbNsv6+hZ90Pg4qiEg== b/...s/graph_nav_maps/floor5/waypoint_snapshots/snapshot_azonal-leech-fkn4wbNsv6+hZ90Pg4qiEg==
diff --git a/...ils/graph_nav_maps/floor5/waypoint_snapshots/snapshot_bigger-rat-UOwJtUVkCcrZ1R7MmYZCyw== b/...ils/graph_nav_maps/floor5/waypoint_snapshots/snapshot_bigger-rat-UOwJtUVkCcrZ1R7MmYZCyw==
diff --git a/.../graph_nav_maps/floor5/waypoint_snapshots/snapshot_birken-vervet-QNI4AUhO6MPRz8WZpXSY0Q== b/.../graph_nav_maps/floor5/waypoint_snapshots/snapshot_birken-vervet-QNI4AUhO6MPRz8WZpXSY0Q==
diff --git a/...ils/graph_nav_maps/floor5/waypoint_snapshots/snapshot_curled-ram-XCJgDKP2MNjnBF1EUees3A== b/...ils/graph_nav_maps/floor5/waypoint_snapshots/snapshot_curled-ram-XCJgDKP2MNjnBF1EUees3A==
diff --git a/...ls/graph_nav_maps/floor5/waypoint_snapshots/snapshot_deific-bird-.dSABTB1Ss.PRP70LkJhwg== b/...ls/graph_nav_maps/floor5/waypoint_snapshots/snapshot_deific-bird-.dSABTB1Ss.PRP70LkJhwg==
diff --git a/...s/graph_nav_maps/floor5/waypoint_snapshots/snapshot_dreaded-tern-lGBS6dpc+OH9wwwvwcHLOA== b/...s/graph_nav_maps/floor5/waypoint_snapshots/snapshot_dreaded-tern-lGBS6dpc+OH9wwwvwcHLOA==
diff --git a/...ils/graph_nav_maps/floor5/waypoint_snapshots/snapshot_flukey-bat-X.ZtIwAZXOTpKUzVN8Nehg== b/...ils/graph_nav_maps/floor5/waypoint_snapshots/snapshot_flukey-bat-X.ZtIwAZXOTpKUzVN8Nehg==
diff --git a/...ils/graph_nav_maps/floor5/waypoint_snapshots/snapshot_iffy-bovid-GSghALAxPeP0YvgieY63QA== b/...ils/graph_nav_maps/floor5/waypoint_snapshots/snapshot_iffy-bovid-GSghALAxPeP0YvgieY63QA==
diff --git a/.../graph_nav_maps/floor5/waypoint_snapshots/snapshot_jovial-beaver-pSbySLEG7VmWP99r2RBswA== b/.../graph_nav_maps/floor5/waypoint_snapshots/snapshot_jovial-beaver-pSbySLEG7VmWP99r2RBswA==
diff --git a/...utils/graph_nav_maps/floor5/waypoint_snapshots/snapshot_mat-kelp-z1rHPx3lJ0F.tpJXH3Ymow== b/...utils/graph_nav_maps/floor5/waypoint_snapshots/snapshot_mat-kelp-z1rHPx3lJ0F.tpJXH3Ymow==
diff --git a/...s/graph_nav_maps/floor5/waypoint_snapshots/snapshot_naiant-llama-cQbS+YwfkOiklGuL9YDUKA== b/...s/graph_nav_maps/floor5/waypoint_snapshots/snapshot_naiant-llama-cQbS+YwfkOiklGuL9YDUKA==
diff --git a/...ils/graph_nav_maps/floor5/waypoint_snapshots/snapshot_nosey-puma-Cag4Q4JwGlJiYth4WIvD+A== b/...ils/graph_nav_maps/floor5/waypoint_snapshots/snapshot_nosey-puma-Cag4Q4JwGlJiYth4WIvD+A==
diff --git a/.../graph_nav_maps/floor5/waypoint_snapshots/snapshot_nubbly-vermin-1K7mFzTUFTc1lyyKrOeWFw== b/.../graph_nav_maps/floor5/waypoint_snapshots/snapshot_nubbly-vermin-1K7mFzTUFTc1lyyKrOeWFw==
diff --git a/...ls/graph_nav_maps/floor5/waypoint_snapshots/snapshot_oaken-equid-55Ut+wBbQHnSfIkK9UHSfw== b/...ls/graph_nav_maps/floor5/waypoint_snapshots/snapshot_oaken-equid-55Ut+wBbQHnSfIkK9UHSfw==
diff --git a/...s/graph_nav_maps/floor5/waypoint_snapshots/snapshot_parted-horse-wq46kIzyTyiubaomkfpX9A== b/...s/graph_nav_maps/floor5/waypoint_snapshots/snapshot_parted-horse-wq46kIzyTyiubaomkfpX9A==
diff --git a/.../graph_nav_maps/floor5/waypoint_snapshots/snapshot_saline-merlin-BwcwMVpOgEqum.xIQah4pA== b/.../graph_nav_maps/floor5/waypoint_snapshots/snapshot_saline-merlin-BwcwMVpOgEqum.xIQah4pA==
diff --git a/...s/graph_nav_maps/floor5/waypoint_snapshots/snapshot_setose-coati-wLWF6PH87jzfTYcIoVtH2A== b/...s/graph_nav_maps/floor5/waypoint_snapshots/snapshot_setose-coati-wLWF6PH87jzfTYcIoVtH2A==
diff --git a/...tils/graph_nav_maps/floor5/waypoint_snapshots/snapshot_spiky-fly-LP9CNyVL.8EIoR2E78eCBQ== b/...tils/graph_nav_maps/floor5/waypoint_snapshots/snapshot_spiky-fly-LP9CNyVL.8EIoR2E78eCBQ==
diff --git a/...ils/graph_nav_maps/floor5/waypoint_snapshots/snapshot_trusty-emu-s23FWNkOqv1nlFMI2fk4SA== b/...ils/graph_nav_maps/floor5/waypoint_snapshots/snapshot_trusty-emu-s23FWNkOqv1nlFMI2fk4SA==
diff --git a/...ls/graph_nav_maps/floor5/waypoint_snapshots/snapshot_turbid-deer-l.tGM8dHMtFmApew5kBbCg== b/...ls/graph_nav_maps/floor5/waypoint_snapshots/snapshot_turbid-deer-l.tGM8dHMtFmApew5kBbCg==
diff --git a/...s/graph_nav_maps/floor5/waypoint_snapshots/snapshot_utile-scarab-WSSOfs209aaFY0Pa6WOt6w== b/...s/graph_nav_maps/floor5/waypoint_snapshots/snapshot_utile-scarab-WSSOfs209aaFY0Pa6WOt6w==
diff --git a/...ls/graph_nav_maps/floor5/waypoint_snapshots/snapshot_veined-fowl-qfD0LURLPM27rLmEXinAjA== b/...ls/graph_nav_maps/floor5/waypoint_snapshots/snapshot_veined-fowl-qfD0LURLPM27rLmEXinAjA==
diff --git a/...s/graph_nav_maps/floor5/waypoint_snapshots/snapshot_whippy-hydra-5qvzmNB+ERAoIJix9BiU8w== b/...s/graph_nav_maps/floor5/waypoint_snapshots/snapshot_whippy-hydra-5qvzmNB+ERAoIJix9BiU8w==
diff --git a/.../graph_nav_maps/floor5/waypoint_snapshots/snapshot_wifely-donkey-CWKTba.yydYMCk4nVX0HSA== b/.../graph_nav_maps/floor5/waypoint_snapshots/snapshot_wifely-donkey-CWKTba.yydYMCk4nVX0HSA==
diff --git a/predicators/spot_utils/graph_nav_maps/floor8-bike-room/metadata.yaml b/predicators/spot_utils/graph_nav_maps/floor8-bike-room/metadata.yaml
@@ -29,21 +29,27 @@ static-object-features:
     height: 0.52
     length: 0.51
     width: 0.51
+    flat_top_surface: 1
+    placeable: 0
   sticky_table:
     shape: 2  # cylinder
     height: 0.52
     length: 0.51
     width: 0.51
+    flat_top_surface: 1
+    placeable: 0
   cube:
     shape: 1  # cuboid
     height: 0.083
     length: 0.083
     width: 0.083
+    placeable: 1
   soda_can:
     shape: 2
     height: 0.114
     length: 0.065
     width: 0.065
+    placeable: 1
   floor:
     shape: 1
     height: 0.0001
@@ -54,13 +60,17 @@ static-object-features:
     height: 0.74
     length: 1.07
     width: 0.51
+    flat_top_surface: 1
+    placeable: 0
   bucket:
     shape: 2
     height: 0.4
     width: 0.23
     length: 0.23
+    placeable: 1
   chair:
     shape: 2
     height: 0.8
     length: 0.5
     width: 0.5
+    placeable: 0
diff --git a/.../floor8-green-room/edge_snapshots/edge_snapshot_id_aghast-agouti-aD3S0V2FC4GVeN.4zdiSnA== b/.../floor8-green-room/edge_snapshots/edge_snapshot_id_aghast-agouti-aD3S0V2FC4GVeN.4zdiSnA==
diff --git a/...s/floor8-green-room/edge_snapshots/edge_snapshot_id_alary-walrus-JHj1M8ckOj8k0jPJ+YpIbg== b/...s/floor8-green-room/edge_snapshots/edge_snapshot_id_alary-walrus-JHj1M8ckOj8k0jPJ+YpIbg==
diff --git a/...aps/floor8-green-room/edge_snapshots/edge_snapshot_id_arced-buck-fQjrcbrmZJfXMcw7CCoSHw== b/...aps/floor8-green-room/edge_snapshots/edge_snapshot_id_arced-buck-fQjrcbrmZJfXMcw7CCoSHw==
diff --git a/...aps/floor8-green-room/edge_snapshots/edge_snapshot_id_azure-lynx-8sD4lc0x0bQoXMkjPeW7QQ== b/...aps/floor8-green-room/edge_snapshots/edge_snapshot_id_azure-lynx-8sD4lc0x0bQoXMkjPeW7QQ==
diff --git a/.../floor8-green-room/edge_snapshots/edge_snapshot_id_bedrid-cicada-XB2+tCI4yqiwEvf+WDrHOQ== b/.../floor8-green-room/edge_snapshots/edge_snapshot_id_bedrid-cicada-XB2+tCI4yqiwEvf+WDrHOQ==
diff --git a/...ps/floor8-green-room/edge_snapshots/edge_snapshot_id_blonde-lion-v2O94mD31R4BMztpxz2DMA== b/...ps/floor8-green-room/edge_snapshots/edge_snapshot_id_blonde-lion-v2O94mD31R4BMztpxz2DMA==
diff --git a/...maps/floor8-green-room/edge_snapshots/edge_snapshot_id_bogus-moa-37IK3YcTub+jRdFuMNhJOA== b/...maps/floor8-green-room/edge_snapshots/edge_snapshot_id_bogus-moa-37IK3YcTub+jRdFuMNhJOA==
diff --git a/...s/floor8-green-room/edge_snapshots/edge_snapshot_id_callow-dingo-N2sXLbRe4904oOHQeHhTXQ== b/...s/floor8-green-room/edge_snapshots/edge_snapshot_id_callow-dingo-N2sXLbRe4904oOHQeHhTXQ==
diff --git a/.../floor8-green-room/edge_snapshots/edge_snapshot_id_cheery-oxtail-A9PeDsnbCnEt77EtlnQ2WQ== b/.../floor8-green-room/edge_snapshots/edge_snapshot_id_cheery-oxtail-A9PeDsnbCnEt77EtlnQ2WQ==
diff --git a/...s/floor8-green-room/edge_snapshots/edge_snapshot_id_crazed-hyena-uMitbDA.SQ+9UsoMB.2WSg== b/...s/floor8-green-room/edge_snapshots/edge_snapshot_id_crazed-hyena-uMitbDA.SQ+9UsoMB.2WSg==
diff --git a/...ps/floor8-green-room/edge_snapshots/edge_snapshot_id_epic-conger-31qgqq9BXO8S1Tx55fE9tQ== b/...ps/floor8-green-room/edge_snapshots/edge_snapshot_id_epic-conger-31qgqq9BXO8S1Tx55fE9tQ==
diff --git a/.../floor8-green-room/edge_snapshots/edge_snapshot_id_floppy-sponge-Nf+11fbYm5Ad0IJf2QM80g== b/.../floor8-green-room/edge_snapshots/edge_snapshot_id_floppy-sponge-Nf+11fbYm5Ad0IJf2QM80g==
diff --git a/.../floor8-green-room/edge_snapshots/edge_snapshot_id_gnarly-locust-nI+WN9rqj22qjSSZycUibQ== b/.../floor8-green-room/edge_snapshots/edge_snapshot_id_gnarly-locust-nI+WN9rqj22qjSSZycUibQ==
diff --git a/.../floor8-green-room/edge_snapshots/edge_snapshot_id_goaded-beagle-f476VkWezY95pK+6241tFQ== b/.../floor8-green-room/edge_snapshots/edge_snapshot_id_goaded-beagle-f476VkWezY95pK+6241tFQ==
diff --git a/...s/floor8-green-room/edge_snapshots/edge_snapshot_id_hated-wrasse-z6Xfh409Yg3l.SB1BMW12A== b/...s/floor8-green-room/edge_snapshots/edge_snapshot_id_hated-wrasse-z6Xfh409Yg3l.SB1BMW12A==
diff --git a/...ps/floor8-green-room/edge_snapshots/edge_snapshot_id_homy-weevil-lSksHijm0C9B6DbfM+ffwA== b/...ps/floor8-green-room/edge_snapshots/edge_snapshot_id_homy-weevil-lSksHijm0C9B6DbfM+ffwA==
diff --git a/...maps/floor8-green-room/edge_snapshots/edge_snapshot_id_iron-hare-NkSwsITI59uoYqj5+RsKHQ== b/...maps/floor8-green-room/edge_snapshots/edge_snapshot_id_iron-hare-NkSwsITI59uoYqj5+RsKHQ==
diff --git a/.../floor8-green-room/edge_snapshots/edge_snapshot_id_joking-mudcat-SAfk8omtRH35e9Ngd2JB1Q== b/.../floor8-green-room/edge_snapshots/edge_snapshot_id_joking-mudcat-SAfk8omtRH35e9Ngd2JB1Q==
diff --git a/...ps/floor8-green-room/edge_snapshots/edge_snapshot_id_jolly-finch-pSXxWjH8.Jx.emXsp5wP8Q== b/...ps/floor8-green-room/edge_snapshots/edge_snapshot_id_jolly-finch-pSXxWjH8.Jx.emXsp5wP8Q==
diff --git a/...aps/floor8-green-room/edge_snapshots/edge_snapshot_id_kept-squid-tSEwNbHE0jKeiyUzLTfKwQ== b/...aps/floor8-green-room/edge_snapshots/edge_snapshot_id_kept-squid-tSEwNbHE0jKeiyUzLTfKwQ==
diff --git a/...s/floor8-green-room/edge_snapshots/edge_snapshot_id_mined-simian-Fgd0dsKmcXRnKjaeTw.vkQ== b/...s/floor8-green-room/edge_snapshots/edge_snapshot_id_mined-simian-Fgd0dsKmcXRnKjaeTw.vkQ==
diff --git a/...aps/floor8-green-room/edge_snapshots/edge_snapshot_id_miry-otter-kL8anadiZRyDwYjoPFugAg== b/...aps/floor8-green-room/edge_snapshots/edge_snapshot_id_miry-otter-kL8anadiZRyDwYjoPFugAg==
diff --git a/.../floor8-green-room/edge_snapshots/edge_snapshot_id_morose-ermine-kjh2cf82.Uqx.69SmsqnIQ== b/.../floor8-green-room/edge_snapshots/edge_snapshot_id_morose-ermine-kjh2cf82.Uqx.69SmsqnIQ==
diff --git a/...aps/floor8-green-room/edge_snapshots/edge_snapshot_id_must-drake-wp8OvzuD4DonJuSeh44MjA== b/...aps/floor8-green-room/edge_snapshots/edge_snapshot_id_must-drake-wp8OvzuD4DonJuSeh44MjA==
diff --git a/...maps/floor8-green-room/edge_snapshots/edge_snapshot_id_must-goby-k6aVVamd.LAQewG3bul3JQ== b/...maps/floor8-green-room/edge_snapshots/edge_snapshot_id_must-goby-k6aVVamd.LAQewG3bul3JQ==
diff --git a/...aps/floor8-green-room/edge_snapshots/edge_snapshot_id_proof-vole-YVmXS9KCUsErLtSJpwqAdQ== b/...aps/floor8-green-room/edge_snapshots/edge_snapshot_id_proof-vole-YVmXS9KCUsErLtSJpwqAdQ==
diff --git a/...s/floor8-green-room/edge_snapshots/edge_snapshot_id_quaggy-krill-9i1EPjus7OQ1rnYzCL92pQ== b/...s/floor8-green-room/edge_snapshots/edge_snapshot_id_quaggy-krill-9i1EPjus7OQ1rnYzCL92pQ==
diff --git a/.../floor8-green-room/edge_snapshots/edge_snapshot_id_radial-lapdog-KGOqS+TlNYFt2ATRV4T+9w== b/.../floor8-green-room/edge_snapshots/edge_snapshot_id_radial-lapdog-KGOqS+TlNYFt2ATRV4T+9w==
@@ -0,0 +1,2 @@
+
+7edge_snapshot_id_radial-lapdog-KGOqS+TlNYFt2ATRV4T+9w==
diff --git a/.../floor8-green-room/edge_snapshots/edge_snapshot_id_rueful-simian-htd9bcUhbsPl6ye7c.rhBg== b/.../floor8-green-room/edge_snapshots/edge_snapshot_id_rueful-simian-htd9bcUhbsPl6ye7c.rhBg==
@@ -0,0 +1,2 @@
+
+7edge_snapshot_id_rueful-simian-htd9bcUhbsPl6ye7c.rhBg==
diff --git a/...s/floor8-green-room/edge_snapshots/edge_snapshot_id_soiled-prawn-S4WRgflOJNXAoZR5Kuui6w== b/...s/floor8-green-room/edge_snapshots/edge_snapshot_id_soiled-prawn-S4WRgflOJNXAoZR5Kuui6w==
diff --git a/...aps/floor8-green-room/edge_snapshots/edge_snapshot_id_spiky-hawk-LIOiEhzstLNZCKKmMTWUyg== b/...aps/floor8-green-room/edge_snapshots/edge_snapshot_id_spiky-hawk-LIOiEhzstLNZCKKmMTWUyg==
diff --git a/...s/floor8-green-room/edge_snapshots/edge_snapshot_id_trifid-camel-gn0jNzUScy+1ms0ER8L6nw== b/...s/floor8-green-room/edge_snapshots/edge_snapshot_id_trifid-camel-gn0jNzUScy+1ms0ER8L6nw==
diff --git a/...aps/floor8-green-room/edge_snapshots/edge_snapshot_id_unmown-bat-fOdxtCJ0chTTcWvn9ve8yw== b/...aps/floor8-green-room/edge_snapshots/edge_snapshot_id_unmown-bat-fOdxtCJ0chTTcWvn9ve8yw==
diff --git a/...ps/floor8-green-room/edge_snapshots/edge_snapshot_id_unopen-flea-qiZ9UO0.BcCiYDL+S.egiw== b/...ps/floor8-green-room/edge_snapshots/edge_snapshot_id_unopen-flea-qiZ9UO0.BcCiYDL+S.egiw==
diff --git a/...s/floor8-green-room/edge_snapshots/edge_snapshot_id_venal-mudcat-b0ub6muFuu0mrcT9Hmx8kQ== b/...s/floor8-green-room/edge_snapshots/edge_snapshot_id_venal-mudcat-b0ub6muFuu0mrcT9Hmx8kQ==
diff --git a/.../floor8-green-room/edge_snapshots/edge_snapshot_id_wobbly-howler-rO8lm871HhVUT0T.EKR9mg== b/.../floor8-green-room/edge_snapshots/edge_snapshot_id_wobbly-howler-rO8lm871HhVUT0T.EKR9mg==
diff --git a/...aps/floor8-green-room/edge_snapshots/edge_snapshot_id_worst-beef-hco+mp96SpIZ6z29Bujavg== b/...aps/floor8-green-room/edge_snapshots/edge_snapshot_id_worst-beef-hco+mp96SpIZ6z29Bujavg==
diff --git a/predicators/spot_utils/graph_nav_maps/floor8-green-room/graph b/predicators/spot_utils/graph_nav_maps/floor8-green-room/graph
diff --git a/predicators/spot_utils/graph_nav_maps/floor8-green-room/metadata.yaml b/predicators/spot_utils/graph_nav_maps/floor8-green-room/metadata.yaml
@@ -0,0 +1,78 @@
+# Additional info associated with the map.
+---
+spot-home-pose:
+  x: 1.5
+  y: 0.7
+  angle: -0.3
+# The info below is used to transform april tag x, y, z detections into object
+# x, y, z. For example, if a tag is hanging off the side of a table, we would
+# want to use the center of the table as the origin of the table object.
+april-tag-offsets:
+  tag-408:  # smooth table
+    x: 0.25
+    y: 0.1
+    z: -0.2
+# Known immovable objects. Assuming default rotations.
+known-immovable-objects:
+  smooth_table:
+    x: 0.72
+    y: 1.25
+    z: -0.42
+  floor:
+    x: 0.0
+    y: 0.0
+    z: -0.5
+# Static object features, including the shapes and sizes of known objects.
+static-object-features:
+  smooth_table:
+    shape: 2  # cylinder
+    height: 0.52
+    length: 0.51
+    width: 0.51
+    flat_top_surface: 1
+    placeable: 0
+  sticky_table:
+    shape: 2  # cylinder
+    height: 0.52
+    length: 0.51
+    width: 0.51
+    flat_top_surface: 1
+    placeable: 0
+  cube:
+    shape: 1  # cuboid
+    height: 0.083
+    length: 0.083
+    width: 0.083
+    placeable: 1
+  soda_can:
+    shape: 2
+    height: 0.114
+    length: 0.065
+    width: 0.065
+    placeable: 1
+  floor:
+    shape: 1
+    height: 0.0001
+    length: 10000000  # effectively infinite
+    width: 10000000
+    flat_top_surface: 0
+    placeable: 0
+  white-table:
+    shape: 1
+    height: 0.74
+    length: 1.07
+    width: 0.51
+    flat_top_surface: 1
+    placeable: 0
+  bucket:
+    shape: 2
+    height: 0.4
+    width: 0.23
+    length: 0.23
+    placeable: 1
+  chair:
+    shape: 2
+    height: 0.8
+    length: 0.5
+    width: 0.5
+    placeable: 0
diff --git a/...av_maps/floor8-green-room/waypoint_snapshots/snapshot_azonic-doe-Xjq0nDceF5Mti.iYElTVdw== b/...av_maps/floor8-green-room/waypoint_snapshots/snapshot_azonic-doe-Xjq0nDceF5Mti.iYElTVdw==
diff --git a/..._maps/floor8-green-room/waypoint_snapshots/snapshot_blamed-chimp-N6+Eqmm0229Z79XWyqW5DQ== b/..._maps/floor8-green-room/waypoint_snapshots/snapshot_blamed-chimp-N6+Eqmm0229Z79XWyqW5DQ==
diff --git a/...maps/floor8-green-room/waypoint_snapshots/snapshot_bronzy-taipan-HRH5pajHin1Pb5wlukPvmw== b/...maps/floor8-green-room/waypoint_snapshots/snapshot_bronzy-taipan-HRH5pajHin1Pb5wlukPvmw==
diff --git a/...nav_maps/floor8-green-room/waypoint_snapshots/snapshot_brusk-boa-gpTP50JPBlrPn9hcYOnaFw== b/...nav_maps/floor8-green-room/waypoint_snapshots/snapshot_brusk-boa-gpTP50JPBlrPn9hcYOnaFw==
diff --git a/..._maps/floor8-green-room/waypoint_snapshots/snapshot_callow-tiger-9eQLT29Y6WJ+oge16ywCMA== b/..._maps/floor8-green-room/waypoint_snapshots/snapshot_callow-tiger-9eQLT29Y6WJ+oge16ywCMA==
diff --git a/...av_maps/floor8-green-room/waypoint_snapshots/snapshot_cosy-boxer-PeDuIcXLIWFtXnZKJs.DAA== b/...av_maps/floor8-green-room/waypoint_snapshots/snapshot_cosy-boxer-PeDuIcXLIWFtXnZKJs.DAA==
diff --git a/...av_maps/floor8-green-room/waypoint_snapshots/snapshot_dank-snail-rARx905196hbRvU0MqN0yA== b/...av_maps/floor8-green-room/waypoint_snapshots/snapshot_dank-snail-rARx905196hbRvU0MqN0yA==
diff --git a/...v_maps/floor8-green-room/waypoint_snapshots/snapshot_faddy-eagle-YL0Fe1OveIgK33xF0j0biA== b/...v_maps/floor8-green-room/waypoint_snapshots/snapshot_faddy-eagle-YL0Fe1OveIgK33xF0j0biA==
diff --git a/...maps/floor8-green-room/waypoint_snapshots/snapshot_flaxen-iguana-C1TlmgxVSND8vKJYMxOnIw== b/...maps/floor8-green-room/waypoint_snapshots/snapshot_flaxen-iguana-C1TlmgxVSND8vKJYMxOnIw==
diff --git a/...maps/floor8-green-room/waypoint_snapshots/snapshot_fourth-maggot-kZR+ENPJr1Xa9erKZqOsPA== b/...maps/floor8-green-room/waypoint_snapshots/snapshot_fourth-maggot-kZR+ENPJr1Xa9erKZqOsPA==
diff --git a/...v_maps/floor8-green-room/waypoint_snapshots/snapshot_galled-wolf-.pgn1pIrBbi1nkxBt9AXOw== b/...v_maps/floor8-green-room/waypoint_snapshots/snapshot_galled-wolf-.pgn1pIrBbi1nkxBt9AXOw==
diff --git a/...v_maps/floor8-green-room/waypoint_snapshots/snapshot_ginger-goat-AJYVHQd8ui92qdJiAIlPUg== b/...v_maps/floor8-green-room/waypoint_snapshots/snapshot_ginger-goat-AJYVHQd8ui92qdJiAIlPUg==
diff --git a/...v_maps/floor8-green-room/waypoint_snapshots/snapshot_gratis-puma-3.irZJ0YRf6jysMIEvflBQ== b/...v_maps/floor8-green-room/waypoint_snapshots/snapshot_gratis-puma-3.irZJ0YRf6jysMIEvflBQ==
diff --git a/...maps/floor8-green-room/waypoint_snapshots/snapshot_haired-rodent-gSqT77NKhIBfenuE51S6mg== b/...maps/floor8-green-room/waypoint_snapshots/snapshot_haired-rodent-gSqT77NKhIBfenuE51S6mg==
diff --git a/..._maps/floor8-green-room/waypoint_snapshots/snapshot_handed-equid-wuG0o4cg+ajPMV1dIE87tg== b/..._maps/floor8-green-room/waypoint_snapshots/snapshot_handed-equid-wuG0o4cg+ajPMV1dIE87tg==
diff --git a/...v_maps/floor8-green-room/waypoint_snapshots/snapshot_heard-llama-QoY9fu8fHZ9se1QeSvKCDg== b/...v_maps/floor8-green-room/waypoint_snapshots/snapshot_heard-llama-QoY9fu8fHZ9se1QeSvKCDg==
diff --git a/..._maps/floor8-green-room/waypoint_snapshots/snapshot_horned-angus-LtDQpzpcfnlY1ptqSbwIdw== b/..._maps/floor8-green-room/waypoint_snapshots/snapshot_horned-angus-LtDQpzpcfnlY1ptqSbwIdw==
diff --git a/...v_maps/floor8-green-room/waypoint_snapshots/snapshot_indigo-ibex-fAPKgJauziG3xc2EeOGcPg== b/...v_maps/floor8-green-room/waypoint_snapshots/snapshot_indigo-ibex-fAPKgJauziG3xc2EeOGcPg==
diff --git a/...v_maps/floor8-green-room/waypoint_snapshots/snapshot_least-corgi-9HTZIbj31NimH.P9IPXSdA== b/...v_maps/floor8-green-room/waypoint_snapshots/snapshot_least-corgi-9HTZIbj31NimH.P9IPXSdA==
diff --git a/...av_maps/floor8-green-room/waypoint_snapshots/snapshot_mired-worm-c8xKgNJMpjJgQ.2ZSm21Aw== b/...av_maps/floor8-green-room/waypoint_snapshots/snapshot_mired-worm-c8xKgNJMpjJgQ.2ZSm21Aw==
diff --git a/...maps/floor8-green-room/waypoint_snapshots/snapshot_molten-cicala-iE65wOAB.ozn.18plE7tDA== b/...maps/floor8-green-room/waypoint_snapshots/snapshot_molten-cicala-iE65wOAB.ozn.18plE7tDA==
diff --git a/..._maps/floor8-green-room/waypoint_snapshots/snapshot_oblate-civet-7yHUtvZe+b4mvz+n6Wmltw== b/..._maps/floor8-green-room/waypoint_snapshots/snapshot_oblate-civet-7yHUtvZe+b4mvz+n6Wmltw==
diff --git a/...v_maps/floor8-green-room/waypoint_snapshots/snapshot_plush-husky-0Q.stW1jNIurPLdM9ceHxQ== b/...v_maps/floor8-green-room/waypoint_snapshots/snapshot_plush-husky-0Q.stW1jNIurPLdM9ceHxQ==
diff --git a/...v_maps/floor8-green-room/waypoint_snapshots/snapshot_raspy-drone-nzBMAUTpaA2wOquB6ILV.w== b/...v_maps/floor8-green-room/waypoint_snapshots/snapshot_raspy-drone-nzBMAUTpaA2wOquB6ILV.w==
diff --git a/...av_maps/floor8-green-room/waypoint_snapshots/snapshot_rococo-moa-oFK8xqMXskejV93Di8XOkA== b/...av_maps/floor8-green-room/waypoint_snapshots/snapshot_rococo-moa-oFK8xqMXskejV93Di8XOkA==
diff --git a/...av_maps/floor8-green-room/waypoint_snapshots/snapshot_ruly-skate-Mdk4kpztSCNPPDgBWyCiMg== b/...av_maps/floor8-green-room/waypoint_snapshots/snapshot_ruly-skate-Mdk4kpztSCNPPDgBWyCiMg==
diff --git a/..._maps/floor8-green-room/waypoint_snapshots/snapshot_scaley-adder-l8oD7U48zgEjOri3ZfA4pg== b/..._maps/floor8-green-room/waypoint_snapshots/snapshot_scaley-adder-l8oD7U48zgEjOri3ZfA4pg==
diff --git a/...maps/floor8-green-room/waypoint_snapshots/snapshot_scaley-dugong-ntdjSxS3QAQjuYRlfhd+4Q== b/...maps/floor8-green-room/waypoint_snapshots/snapshot_scaley-dugong-ntdjSxS3QAQjuYRlfhd+4Q==
diff --git a/...maps/floor8-green-room/waypoint_snapshots/snapshot_slippy-dugong-y0H4yCTaBXlnviIo2qnFfQ== b/...maps/floor8-green-room/waypoint_snapshots/snapshot_slippy-dugong-y0H4yCTaBXlnviIo2qnFfQ==
diff --git a/...maps/floor8-green-room/waypoint_snapshots/snapshot_sneaky-earwig-dEKhhJr5LtfoMvKhJqEwLw== b/...maps/floor8-green-room/waypoint_snapshots/snapshot_sneaky-earwig-dEKhhJr5LtfoMvKhJqEwLw==
diff --git a/...v_maps/floor8-green-room/waypoint_snapshots/snapshot_solo-cicala-2H4Xi.amLd4GzW7lpYnWZQ== b/...v_maps/floor8-green-room/waypoint_snapshots/snapshot_solo-cicala-2H4Xi.amLd4GzW7lpYnWZQ==
diff --git a/...av_maps/floor8-green-room/waypoint_snapshots/snapshot_sugary-gnu-MIvJfFRAlEqUHlUOiBSAHg== b/...av_maps/floor8-green-room/waypoint_snapshots/snapshot_sugary-gnu-MIvJfFRAlEqUHlUOiBSAHg==
diff --git a/...v_maps/floor8-green-room/waypoint_snapshots/snapshot_surly-tiger-2miNJbT0+KmLPIdJGQghqQ== b/...v_maps/floor8-green-room/waypoint_snapshots/snapshot_surly-tiger-2miNJbT0+KmLPIdJGQghqQ==
diff --git a/..._maps/floor8-green-room/waypoint_snapshots/snapshot_teeny-fleece-ipnbsgI1UAhLljtvnu6ubA== b/..._maps/floor8-green-room/waypoint_snapshots/snapshot_teeny-fleece-ipnbsgI1UAhLljtvnu6ubA==
diff --git a/...ps/floor8-green-room/waypoint_snapshots/snapshot_ultimate-cocoon-C5WNr+5ivZ8mtzt56MUiFg== b/...ps/floor8-green-room/waypoint_snapshots/snapshot_ultimate-cocoon-C5WNr+5ivZ8mtzt56MUiFg==
diff --git a/...maps/floor8-green-room/waypoint_snapshots/snapshot_unkept-mayfly-Xfr.t0mbZzAJrhF3KrLbIA== b/...maps/floor8-green-room/waypoint_snapshots/snapshot_unkept-mayfly-Xfr.t0mbZzAJrhF3KrLbIA==
diff --git a/..._maps/floor8-green-room/waypoint_snapshots/snapshot_unopen-shark-czJUmZuCtCw.igpVf3in5Q== b/..._maps/floor8-green-room/waypoint_snapshots/snapshot_unopen-shark-czJUmZuCtCw.igpVf3in5Q==