Kitchen
Origin: (0, 0, 0) Upper Bound: (354, 160, 50) Lower Bound: (-210, -250, 0) Cell Size: 0.050米
实际工作区域: 564.46m × 350m = 197,561平方米 单元格数量: (564.46/0.05) × (350/0.05) = 11,289 × 7,000 = 约7900万个单元格！
# cell=5
"top_left": (397.5, -297.5),
# "top_right": (-397.5, -297.5),
# "bottom_left": (397.5, 297.5),
# "bottom_right": (-397.5, 297.5),
# "image_size": (160, 120),
# "origin_offset": (297.5, 397.5)
hospital
# cell size=0.5
Top Left: (29.75, -9.75) Top Right: (-54.75, -9.75)
Bottom Left: (29.75, 39.75) Bottom Right: (-54.75, 39.75)
Coordinates of top left of image (pixel 0,0) as origin, + X down, + Y right:
(9.75, 29.75)
Image size in pixels: 170, 100
isaacwarehouse_5
# cell=5
Top Left: (4497.5, -3997.5) Top Right: (-3997.5, -3997.5)
Bottom Left: (4497.5, 4497.5) Bottom Right: (-3997.5, 4497.5)
Coordinates of top left of image (pixel 0,0) as origin, + X down, + Y right:
(3997.5, 4497.5)
Image size in pixels: 1700, 1700
lobby
# cell size=5
Top Left: (2797.5, 1202.5) Top Right: (702.5, 1202.5)
Bottom Left: (2797.5, 2797.5) Bottom Right: (702.5, 2797.5)
Coordinates of top left of image (pixel 0,0) as origin, + X down, + Y right:
(-1202.5, 2797.5)
Image size in pixels: 420, 320
office
#cell size=0.05
Top Left: (-29.975, -39.975) Top Right: (-29.975, 64.975)
Bottom Left: (9.975, -39.975) Bottom Right: (9.975, 64.975)
Coordinates of top left of image (pixel 0,0) as origin, + X down, + Y right:
(39.975, 9.975)
Image size in pixels: 2100, 800
restaurant
# cell=5
Top Left: (3797.5, -397.5) Top Right: (-197.5, -397.5)
Bottom Left: (3797.5, 2797.5) Bottom Right: (-197.5, 2797.5)
Coordinates of top left of image (pixel 0,0) as origin, + X down, + Y right:
(397.5, 3797.5)
Image size in pixels: 800, 640
config = {
"maps": [
{
"name": "isaacwarehouse_5",
"file_path": "isaac_maps/isaacwarehouse_5.png",
"world_bounds": {
"top_left": [4497.5, -3997.5],
"top_right": [-3997.5, -3997.5],
"bottom_left": [4497.5, 4497.5],
"bottom_right": [-3997.5, 4497.5]
},
"image_origin": [3997.5, 4497.5],
"image_size": [1700, 1700],
"resolution": 5.0,
"description": "IsaacSim warehouse scene"
},
{
"name": "kitchen_5",
"file_path": "isaac_maps/kitchen_5.png",
"world_bounds": {
"top_left": [397.5, -297.5],
"top_right": [-397.5, -297.5],
"bottom_left": [397.5, 297.5],
"bottom_right": [-397.5, 297.5]
},
"image_origin": [297.5, 397.5],
"image_size": [160, 120],
"resolution": 5.0,
"description": "IsaacSim kitchen scene"
},
{
"name": "hospital_0.05",
"file_path": "isaac_maps/hospital_0.05.png",
"world_bounds": {
"top_left": [29.75, -9.75],
"top_right": [-54.75, -9.75],
"bottom_left": [29.75, 39.75],
"bottom_right": [-54.75, 39.75]
},
"image_origin": [9.75, 29.75],
"image_size": [170, 100],
"resolution": 0.05,
"description": "IsaacSim hospital scene"
},
{
"name": "lobby_5",
"file_path": "isaac_maps/lobby_5.png",
"world_bounds": {
"top_left": [2797.5, 1202.5],
"top_right": [702.5, 1202.5],
"bottom_left": [2797.5, 2797.5],
"bottom_right": [702.5, 2797.5]
},
"image_origin": [-1202.5, 2797.5],
"image_size": [420, 320],
"resolution": 5.0,
"description": "IsaacSim lobby scene"
},
{
"name": "office_0.05",
"file_path": "isaac_maps/office_0.05.png",
"world_bounds": {
"top_left": [-29.975, -39.975],
"top_right": [-29.975, 64.975],
"bottom_left": [9.975, -39.975],
"bottom_right": [9.975, 64.975]
},
"image_origin": [39.975, 9.975],
"image_size": [2100, 800],
"resolution": 0.05,
"description": "IsaacSim office scene"
},
{
"name": "restaurant_5",
"file_path": "isaac_maps/restaurant_5.png",
"world_bounds": {
"top_left": [3797.5, -397.5],
"top_right": [-197.5, -397.5],
"bottom_left": [3797.5, 2797.5],
"bottom_right": [-197.5, 2797.5]
},
"image_origin": [397.5, 3797.5],
"image_size": [800, 640],
"resolution": 5.0,
"description": "IsaacSim restaurant scene"
}
]
}
