data.yaml

ROBOT_SAY_TOPIC: "/robot_say"
ROBOT_ASK_TOPIC: "/robot_ask"
HUMAN_RESPONSE_TOPIC: "/human_response"
DINO:
  box_threshold: 0.6
  text_threshold: 0.4
MAP: "gdc3"
NAV_STATUS_TOPIC: "/navigation_goal_status"
NAV_GOAL_TOPIC: "/move_base_simple/goal_amrl"
CAM_IMG_TOPIC: /zed2i/zed_node/stereo/image_rect_color/compressed
LOCALIZATION_TOPIC: "/localization"
DIST_THRESHOLD: 1.25
SLEEP_AFTER_SAY: 0.24
SLEEP_AFTER_ASK: 0.1

# ------------------------------------------------------------
###### Format: all letters lower case, no 's or _ or - etc
# ------------------------------------------------------------
LOCATIONS:
  ahg1:
    wood shop: [34.90, 77.86, 0.98]
    elevator: [18.27, 78.91, -2.41]
    research lab: [19.46, 70.14, 1.79]
    demo area: [39.34, 76.16, 1.589]
    front door: [44.72, 74.8, -1.26]
    # fine art studio rocking chair area: [69.08, 63.96, -3.09]
    # fine art studio high table area: [70.97, 58.60, -2.83]
    # fine art studio couch area: [68.05, 47.92, -2.59]
    # fine art studio lockers area: [67.82, 44.79, -1.77]
  ahg2:
    sadanand office: [61.50, 30.57, 3.07]
    sri office: [61.85, 37.94, -3.12]
    zichao office: [61.50, 52.51, 3.06]
    luisa office: [61.50, 52.51, 3.06]
    jaci office: [61.76, 54.05, 3.11]
    zarko office: [33.48, 64.39, -1.57]
    lounge: [46.95, 66.14, 1.61]
    main entrance: [41.36, 65.20, 2.20]
    conference room: [46.70, 64.73, -1.54]
    elevator: [12.68, 65.36, -2.52]
  ahg_amrl:
    tv room: [12, 72, 0]
    elevator: [12, 69, -0.7]
    kitchen: [5.7, 71.5, 3.14]
    main conference room: [9, 69.4, -1.6]
    small conference room: [4.5, 74, 3.14]
    zichao office: [4.5, 69, 0]
    haresh office: [11.2, 73.3, 0]
    sadanand office: [12.5, 73.5, 1.5]
  gdc3:
    # kitchen: [17.7, 14.58, 2.5]
    front door: [-5.67, 15.36, -2.58]
    conference room: [17.47, 14.03, -1.02]
    soccer lab: [33.37, 13.26, 0.69]
    joydeep office: [14.89, 14.85, -1.576]
    peter office: [6.94, 14.4, -1.59]
    roberto office: [8.24, 14.35, -1.69]
    # north lab area: [20.39, 21.66, 0.67]
  gdc2:
    elevator: [-11.4, 7.47, -2.45]
    restroom: [-17.65, 11.22, 0]
    dante classroom: [-17.61, 16.12, -0.61]
    lucky lab: [-8.79, -15.5, -1.46]
    front door: [-26.36, -8.27, 3.06]
    outside: [-34.44, -7.06, -3.08]
    stairs: [-20.32, -2.21, 2.69]