[Bug]: Lifts and doors not positioned correctly by fiducials

[Vortex-TH]

Before proceeding, is there an existing issue or discussion for this?

• I have done a search for similar issues and discussions.

OS and version

Ubuntu 22.04.3

Open-RMF installation type

Binaries

Other Open-RMF installation methods

No response

Open-RMF version or commit hash

https://github.com/open-rmf/rmf/releases/tag/release-iron-231229

ROS distribution

Iron

ROS installation type

Binaries

Other ROS installation methods

No response

Package or library, if applicable

No response

Description of the bug

I had some relocalization and map issues when my bot arrives at L2 (coming from L1 with the lift), so I did some tests with the hotel demo, which makes me think there are some bugs with the map building tools.

I am using the iron branch of rmf_demos and started the hotel demo, which works fine:
ros2 launch rmf_demos_gz hotel.launch.xml

I then did the following:

Steps to reproduce the bug

1. Changed the drawing image for L2 by rotating it 45° (Image 1).
2. In traffic-editor, load L2, then adjust all objects, nodes, fiducials, etc. according to the drawing (Image 2).
3. Reload traffic-editor, expecting that the position (and orientation, scale) of the lifts is automatically adjusted according to the changed fiducials
4. Notice that only the position of the lift was adjusted, but not orientation (and probabably scale, which I didn't check) (Image 3)
5. After building and launching the hotel demo again, I notice that lifts (and apparently doors) didn't move in RViz. The 3D model in Gazebo looks fine though. (Image 4 and 5)

Expected behavior

The lift and doors should be correctly positioned.

Actual behavior

No response

Additional information or screenshots

Image 1

Image 2

Image 3

Image 4

Image 5

[aaronchongth]

Hello @Vortex-TH! Just to make sure I understand the problem clearly, the issue here is currently related to the rviz visualizations, where the doors and lift positions are not aligned with the floor plan?

Could you share the modified .building.yaml for the rotated hotel world, so we can look into it locally?

Yeah the simulation looks alright, have you tried running some patrol tasks with the robots, such that they attempt to go through doors and lifts? That can help narrow down where the issue is.

rmf visualizations on rviz is generally using the same building map file that generates the simulation, so there should not be any discrepancies. Some sanity checks,

• run some patrol tasks that go through door and lifts, and verify if the simulation works, this validates that the navigation graph generated from the building map works properly with the building map
• just in case this is caused by some artifact in old DDS messages, can you try running with cyclonedds? https://docs.ros.org/en/humble/Installation/DDS-Implementations/Working-with-Eclipse-CycloneDDS.html

[Vortex-TH]

Sure, here is my updated hotel.building.yaml and also my modified hotel_L2.png

hotel.building.yaml

coordinate_system: reference_image
crowd_sim:
  agent_groups:
    - {agents_name: [cleanerBotA_2, cleanerBotA_1, tinyBot_1, deliveryBot_1], agents_number: 4, group_id: 0, profile_selector: external_agent, state_selector: external_static, x: 0, y: 0}
  agent_profiles:
    - {ORCA_tau: 1, ORCA_tauObst: 0.40000000000000002, class: 1, max_accel: 0, max_angle_vel: 0, max_neighbors: 10, max_speed: 0, name: external_agent, neighbor_dist: 5, obstacle_set: 1, pref_speed: 0, r: 0.25}
  enable: 0
  goal_sets: []
  model_types: []
  obstacle_set: {class: 1, file_name: L1_navmesh.nav, type: nav_mesh}
  states:
    - {final: 1, goal_set: -1, name: external_static, navmesh_file_name: ""}
  transitions: []
  update_time_step: 0.10000000000000001
graphs:
  {}
levels:
  L1:
    doors:
      - [40, 39, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, -1], name: [1, L1_door1], plugin: [1, normal], right_left_ratio: [3, 1], type: [1, double_hinged]}]
      - [10, 9, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_door2], plugin: [1, normal], right_left_ratio: [3, 1], type: [1, double_sliding]}]
      - [35, 34, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L1_door3], plugin: [1, normal], right_left_ratio: [3, 1], type: [1, double_sliding]}]
      - [49, 52, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, -1], name: [1, L1_door4], plugin: [1, normal], right_left_ratio: [3, 1], type: [1, hinged]}]
      - [47, 45, {motion_axis: [1, start], motion_degrees: [3, -90], motion_direction: [2, 1], name: [1, L1_door5], plugin: [1, normal], right_left_ratio: [3, 1], type: [1, double_sliding]}]
    drawing:
      filename: hotel_L1.png
    elevation: 0
    fiducials:
      - [275.62799999999999, 469.55099999999999, ref3]
      - [274.93400000000003, 304.34699999999998, ref1]
      - [383.59300000000002, 367.916, ref2]
    floors:
      - parameters: {ceiling_scale: [3, 1], ceiling_texture: [1, blue_linoleum], indoor: [2, 0], texture_name: [1, concrete2], texture_rotation: [3, 0], texture_scale: [3, 1]}
        vertices: [44, 43, 36, 37, 38, 39, 40, 41, 42, 0]
      - parameters: {ceiling_scale: [3, 1], ceiling_texture: [1, blue_linoleum], indoor: [2, 0], texture_name: [1, red_tiles], texture_rotation: [3, 0], texture_scale: [3, 1]}
        vertices: [1, 2, 3, 4, 5, 6, 7, 8]
      - parameters: {ceiling_scale: [3, 1], ceiling_texture: [1, blue_linoleum], indoor: [2, 0], texture_name: [1, white_beige_tiles], texture_rotation: [3, 0], texture_scale: [3, 1]}
        vertices: [33, 32, 28, 27, 26, 25, 24, 6, 7, 8, 1, 0, 42, 41, 40, 39, 38, 37, 36]
    lanes:
      - [56, 57, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [56, 58, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [58, 59, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [57, 60, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [61, 62, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [61, 55, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [67, 68, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [71, 72, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [72, 76, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [76, 77, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [77, 78, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [62, 82, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [83, 68, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [83, 69, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [82, 94, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [62, 95, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [96, 58, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [96, 79, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [75, 67, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [67, 74, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [68, 98, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [98, 99, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [76, 100, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [101, 71, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [101, 102, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [101, 70, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [70, 98, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [55, 103, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [103, 104, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [103, 56, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [77, 105, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [71, 106, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [106, 73, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 1], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [81, 80, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [80, 56, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [56, 58, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [58, 96, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [56, 103, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [103, 104, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [103, 55, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [55, 61, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [61, 72, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [72, 76, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [76, 100, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [76, 66, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [66, 63, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [63, 64, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [63, 65, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [61, 62, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [62, 95, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [62, 82, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [82, 94, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [61, 72, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [72, 76, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [76, 100, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [76, 66, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [66, 63, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [63, 64, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
    layers:
      {}
    measurements:
      - [53, 54, {distance: [3, 3.3999999999999999]}]
    models:
      - {dispensable: false, model_name: OpenRobotics/NurseDesk, name: OpenRobotics/NurseDesk, static: true, x: 355.55599999999998, y: 505.45400000000001, yaw: -0, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Sofa, name: OpenRobotics/Sofa, static: true, x: 141.244, y: 482.72500000000002, yaw: 0.0066, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Sofa, name: OpenRobotics/Sofa, static: true, x: 174.44, y: 516.49300000000005, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Cafe table, name: OpenRobotics/Cafe table, static: true, x: 174.726, y: 481.29399999999998, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/HeadphonesRack1, name: OpenRobotics/HeadphonesRack1, static: true, x: 172.398, y: 565.65200000000004, yaw: 0.89029999999999998, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Bookshelf, name: OpenRobotics/Bookshelf, static: true, x: 139.11000000000001, y: 640.34699999999998, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Bookshelf, name: OpenRobotics/Bookshelf, static: true, x: 138.75899999999999, y: 621.923, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Bookshelf, name: OpenRobotics/Bookshelf, static: true, x: 138.934, y: 603.14800000000002, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Bookshelf, name: OpenRobotics/Bookshelf, static: true, x: 99.980000000000004, y: 641.04899999999998, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Bookshelf, name: OpenRobotics/Bookshelf, static: true, x: 99.980000000000004, y: 622.44899999999996, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Bookshelf, name: OpenRobotics/Bookshelf, static: true, x: 99.980000000000004, y: 603.85000000000002, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/FoodCourtTable1, name: OpenRobotics/FoodCourtTable1, static: true, x: 220.92699999999999, y: 164.71799999999999, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/FoodCourtTable1, name: OpenRobotics/FoodCourtTable1, static: true, x: 185.87799999999999, y: 165.43799999999999, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/FoodCourtTable1, name: OpenRobotics/FoodCourtTable1, static: true, x: 186.42500000000001, y: 207.05000000000001, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/FoodCourtTable1, name: OpenRobotics/FoodCourtTable1, static: true, x: 150.43199999999999, y: 252.09999999999999, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/FoodCourtBenchShort, name: OpenRobotics/FoodCourtBenchShort, static: true, x: 186.56299999999999, y: 219.50299999999999, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/FoodCourtBenchShort, name: OpenRobotics/FoodCourtBenchShort, static: true, x: 187.54499999999999, y: 178.66, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/FoodCourtBenchShort, name: OpenRobotics/FoodCourtBenchShort, static: true, x: 220.91999999999999, y: 151.47499999999999, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/FoodCourtBenchShort, name: OpenRobotics/FoodCourtBenchShort, static: true, x: 150.82499999999999, y: 264.07799999999997, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/FoodCourtBenchShort, name: OpenRobotics/FoodCourtBenchShort, static: true, x: 186.16999999999999, y: 195.351, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/FoodCourtBenchShort, name: OpenRobotics/FoodCourtBenchShort, static: true, x: 186.97300000000001, y: 151.47499999999999, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/FoodCourtBenchShort, name: OpenRobotics/FoodCourtBenchShort, static: true, x: 150.23500000000001, y: 241.30000000000001, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/FoodCourtBenchShort, name: OpenRobotics/FoodCourtBenchShort, static: true, x: 151.38300000000001, y: 220.465, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/FoodCourtBenchShort, name: OpenRobotics/FoodCourtBenchShort, static: true, x: 151.38300000000001, y: 195.82599999999999, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/FoodCourtBenchShort, name: OpenRobotics/FoodCourtBenchShort, static: true, x: 150.56200000000001, y: 177.483, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/FoodCourtBenchShort, name: OpenRobotics/FoodCourtBenchShort, static: true, x: 150.28800000000001, y: 152.023, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/FoodCourtTable1, name: OpenRobotics/FoodCourtTable1, static: true, x: 151.93100000000001, y: 208.14500000000001, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/FoodCourtTable1, name: OpenRobotics/FoodCourtTable1, static: true, x: 151, y: 164.15100000000001, yaw: 1.5708, z: 0}
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      - {dispensable: false, model_name: OpenRobotics/KitchenCountertop, name: OpenRobotics/KitchenCountertop, static: true, x: 374.86000000000001, y: 177.446, yaw: -0, z: 0}
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      - {dispensable: false, model_name: OpenRobotics/CoffeeTable, name: OpenRobotics/CoffeeTable, static: true, x: 152.50999999999999, y: 290.96800000000002, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/CoffeeTable, name: OpenRobotics/CoffeeTable, static: true, x: 183.16200000000001, y: 250.798, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/CoffeeTable, name: OpenRobotics/CoffeeTable, static: true, x: 259.87599999999998, y: 172.70699999999999, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/CoffeeTable, name: OpenRobotics/CoffeeTable, static: true, x: 259.55700000000002, y: 147.55099999999999, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/CoffeeTable, name: OpenRobotics/CoffeeTable, static: true, x: 289.935, y: 146.72399999999999, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/CoffeeTable, name: OpenRobotics/CoffeeTable, static: true, x: 291.57400000000001, y: 172.24100000000001, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/StorageRack, name: OpenRobotics/StorageRack, static: true, x: 61.962000000000003, y: 599.24900000000002, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/StorageRack, name: OpenRobotics/StorageRack, static: true, x: 61.962000000000003, y: 627.15999999999997, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/StorageRack, name: OpenRobotics/StorageRack, static: true, x: 62.792000000000002, y: 659.88900000000001, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/StorageRack, name: OpenRobotics/StorageRack, static: true, x: 105.17100000000001, y: 682.803, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Fridge, name: OpenRobotics/Fridge, static: true, x: 63.284999999999997, y: 683.78899999999999, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Fridge, name: OpenRobotics/Fridge, static: true, x: 62.792000000000002, y: 704.97799999999995, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/VendingMachine, name: OpenRobotics/VendingMachine, static: true, x: 465.76100000000002, y: 683.04399999999998, yaw: 3.1263999999999998, z: 0}
      - {dispensable: false, model_name: OpenRobotics/VendingMachine, name: OpenRobotics/VendingMachine, static: true, x: 465.18799999999999, y: 703.64800000000002, yaw: 3.1212, z: 0}
      - {dispensable: false, model_name: OpenRobotics/DeskChair, name: OpenRobotics/DeskChair, static: true, x: 344.42700000000002, y: 496.88099999999997, yaw: -1.5847, z: 0}
      - {dispensable: false, model_name: OpenRobotics/DeskChair, name: OpenRobotics/DeskChair, static: true, x: 372.14100000000002, y: 497.625, yaw: -1.5580000000000001, z: 0}
      - {dispensable: false, model_name: OpenRobotics/EscalatorStart, name: OpenRobotics/EscalatorStart, static: true, x: 572.98500000000001, y: 511.75299999999999, yaw: -1.5741000000000001, z: 0}
      - {dispensable: false, model_name: OpenRobotics/MainTable, name: OpenRobotics/MainTable, static: true, x: 195.34999999999999, y: 702.76099999999997, yaw: -3.1415999999999999, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Suitcase2, name: OpenRobotics/Suitcase2, static: true, x: 376.596, y: 526.73099999999999, yaw: -2.8586999999999998, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Suitcase1, name: OpenRobotics/Suitcase1, static: true, x: 365.77800000000002, y: 527.24699999999996, yaw: -0.26400000000000001, z: 0}
      - {dispensable: false, model_name: OpenRobotics/DigitalKiosk, name: OpenRobotics/DigitalKiosk, static: true, x: 299.76499999999999, y: 479.17500000000001, yaw: -1.5475000000000001, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Toilet, name: OpenRobotics/Toilet, static: true, x: 495.84300000000002, y: 647.94399999999996, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Toilet, name: OpenRobotics/Toilet, static: true, x: 518.50199999999995, y: 648.11300000000006, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Toilet, name: OpenRobotics/Toilet, static: true, x: 539.97699999999998, y: 647.94399999999996, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Toilet, name: OpenRobotics/Toilet, static: true, x: 562.80399999999997, y: 647.94399999999996, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Toilet, name: OpenRobotics/Toilet, static: true, x: 492.46100000000001, y: 712.70699999999999, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Toilet, name: OpenRobotics/Toilet, static: true, x: 512.07600000000002, y: 712.36800000000005, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Toilet, name: OpenRobotics/Toilet, static: true, x: 537.60900000000004, y: 712.19899999999996, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Toilet, name: OpenRobotics/Toilet, static: true, x: 559.92999999999995, y: 712.87599999999998, yaw: 1.5708, z: 0}
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      - [6, 48, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [5, 50, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [50, 51, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [51, 52, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [4, 50, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [12, 13, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, black_concrete], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [25, 97, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [47, 46, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [45, 97, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
  L2:
    doors:
      - [52, 49, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_door2], plugin: [1, normal], right_left_ratio: [3, 1], type: [1, double_hinged]}]
      - [70, 69, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_door5], plugin: [1, normal], right_left_ratio: [3, 1], type: [1, hinged]}]
      - [33, 34, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_door9], plugin: [1, normal], right_left_ratio: [3, 1], type: [1, hinged]}]
      - [10, 28, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_door11], plugin: [1, normal], right_left_ratio: [3, 1], type: [1, hinged]}]
      - [79, 42, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, -1], name: [1, L2_door12], plugin: [1, normal], right_left_ratio: [3, 1], type: [1, hinged]}]
      - [45, 46, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, -1], name: [1, L2_door14], plugin: [1, normal], right_left_ratio: [3, 1], type: [1, hinged]}]
      - [63, 64, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L2_door15], plugin: [1, normal], right_left_ratio: [3, 1], type: [1, hinged]}]
    drawing:
      filename: hotel_L2.png
    elevation: 8
    fiducials:
      - [363.80099999999999, 473.92599999999999, ref1]
      - [489.65600000000001, 441.39600000000002, ref2]
      - [484.32299999999998, 588.58100000000002, ref3]
    floors:
      - parameters: {ceiling_scale: [3, 1], ceiling_texture: [1, blue_linoleum], indoor: [2, 0], texture_name: [1, brown_marble], texture_rotation: [3, 0], texture_scale: [3, 1]}
        vertices: [11, 12, 17, 21, 20, 24, 43, 47, 84, 65, 102, 7, 41]
      - parameters: {ceiling_scale: [3, 1], ceiling_texture: [1, blue_linoleum], indoor: [2, 0], texture_name: [1, concrete], texture_rotation: [3, 0], texture_scale: [3, 1]}
        vertices: [12, 16, 22, 3]
      - parameters: {ceiling_scale: [3, 1], ceiling_texture: [1, blue_linoleum], indoor: [2, 0], texture_name: [1, concrete], texture_rotation: [3, 0], texture_scale: [3, 1]}
        vertices: [11, 4, 5, 6, 7, 41]
      - parameters: {ceiling_scale: [3, 1], ceiling_texture: [1, blue_linoleum], indoor: [2, 0], texture_name: [1, concrete], texture_rotation: [3, 0], texture_scale: [3, 1]}
        vertices: [51, 9, 0, 65, 102, 7, 8]
      - parameters: {ceiling_scale: [3, 1], ceiling_texture: [1, blue_linoleum], indoor: [2, 0], texture_name: [1, concrete], texture_rotation: [3, 0], texture_scale: [3, 1]}
        vertices: [25, 43, 47, 48, 2, 20, 27, 26]
    lanes:
      - [90, 91, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [90, 92, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [92, 93, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [93, 94, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [94, 95, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [92, 96, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [96, 97, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [97, 98, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [98, 99, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [99, 100, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [100, 101, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [103, 104, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [104, 105, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [97, 103, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [121, 91, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [90, 122, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [95, 94, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [94, 93, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [93, 92, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [92, 90, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [90, 91, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [91, 121, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [90, 122, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [92, 96, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [96, 97, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [97, 98, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [98, 99, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [99, 100, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [100, 101, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [97, 103, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [103, 104, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [104, 105, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
    layers:
      {}
    measurements:
      - [88, 89, {distance: [3, 3.3999999999999999]}]
    models:
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 497.06999999999999, y: 896.87699999999995, yaw: 0, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Shower, name: OpenRobotics/Shower, static: true, x: 195.77799999999999, y: 636.22000000000003, yaw: -3.1355, z: 1}
      - {dispensable: false, model_name: OpenRobotics/Toilet, name: OpenRobotics/Toilet, static: true, x: 510.94499999999999, y: 805.697, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/BathroomSink, name: OpenRobotics/BathroomSink, static: true, x: 500.04300000000001, y: 789.34400000000005, yaw: -1.5708, z: 1}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 488.14999999999998, y: 877.05499999999995, yaw: -0, z: 0}
      - {dispensable: false, model_name: OpenRobotics/BedsideTable, name: OpenRobotics/BedsideTable, static: true, x: 444.04700000000003, y: 859.71100000000001, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Desk, name: OpenRobotics/Desk, static: true, x: 533.74000000000001, y: 817.59000000000003, yaw: -3.1415999999999999, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Chair, name: OpenRobotics/Chair, static: true, x: 560.00400000000002, y: 847.32299999999998, yaw: 2.6311, z: 0}
      - {dispensable: false, model_name: OpenRobotics/WoodenChair, name: OpenRobotics/WoodenChair, static: true, x: 525.81100000000004, y: 833.447, yaw: 0.1608, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Chair, name: OpenRobotics/Chair, static: true, x: 547.61500000000001, y: 833.447, yaw: -2.875, z: 0}
      - {dispensable: false, model_name: OpenRobotics/TrashBin, name: OpenRobotics/TrashBin, static: true, x: 422.24299999999999, y: 843.35799999999995, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 434.19400000000002, y: 724.03499999999997, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 375, y: 668.57299999999998, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 317.40600000000001, y: 602.98000000000002, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 255.012, y: 544.85199999999998, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 196.88499999999999, y: 479.79199999999997, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 351.86000000000001, y: 336.94900000000001, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 410.41199999999998, y: 398.04700000000003, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 587.19100000000003, y: 575.19600000000003, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 666.77599999999995, y: 492.65100000000001, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 687.83000000000004, y: 478.71800000000002, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/WoodenChair, name: OpenRobotics/WoodenChair, static: true, x: 452.32600000000002, y: 714.96900000000005, yaw: -1.5893999999999999, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Fridge, name: OpenRobotics/Fridge, static: true, x: 413.81799999999998, y: 831.96100000000001, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Desk, name: OpenRobotics/Desk, static: true, x: 454.99200000000002, y: 724.56799999999998, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Desk, name: OpenRobotics/Desk, static: true, x: 392.59899999999999, y: 664.84100000000001, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Desk, name: OpenRobotics/Desk, static: true, x: 335.53800000000001, y: 598.71400000000006, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Desk, name: OpenRobotics/Desk, static: true, x: 274.20999999999998, y: 538.98599999999999, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Desk, name: OpenRobotics/Desk, static: true, x: 219.816, y: 476.05900000000003, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Desk, name: OpenRobotics/Desk, static: true, x: 332.767, y: 368.346, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Desk, name: OpenRobotics/Desk, static: true, x: 393.01600000000002, y: 427.32299999999998, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Desk, name: OpenRobotics/Desk, static: true, x: 563.67700000000002, y: 613.673, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Desk, name: OpenRobotics/Desk, static: true, x: 653.46299999999997, y: 523.92200000000003, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Chair, name: OpenRobotics/Chair, static: true, x: 544.00999999999999, y: 633.34000000000003, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Chair, name: OpenRobotics/Chair, static: true, x: 642.31700000000001, y: 537.85500000000002, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Chair, name: OpenRobotics/Chair, static: true, x: 406.99700000000001, y: 654.17499999999995, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Chair, name: OpenRobotics/Chair, static: true, x: 349.40300000000002, y: 588.048, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Chair, name: OpenRobotics/Chair, static: true, x: 287.54199999999997, y: 527.25400000000002, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Chair, name: OpenRobotics/Chair, static: true, x: 235.81399999999999, y: 463.79399999999998, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Chair, name: OpenRobotics/Chair, static: true, x: 307.30900000000003, y: 381.92399999999998, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Chair, name: OpenRobotics/Chair, static: true, x: 376.89299999999997, y: 445.14299999999997, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 583.29499999999996, y: 807.67899999999997, yaw: -0, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 643.75099999999998, y: 750.19600000000003, yaw: -0.018499999999999999, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 701.23500000000001, y: 689.73900000000003, yaw: 0.0088000000000000005, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 762.68200000000002, y: 630.274, yaw: 0.0161, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 823.96900000000005, y: 567.827, yaw: 0.0143, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Toilet, name: OpenRobotics/Toilet, static: true, x: 571.89700000000005, y: 744.745, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Toilet, name: OpenRobotics/Toilet, static: true, x: 632.35400000000004, y: 685.279, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Toilet, name: OpenRobotics/Toilet, static: true, x: 692.80999999999995, y: 621.84900000000005, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Toilet, name: OpenRobotics/Toilet, static: true, x: 751.28499999999997, y: 560.40200000000004, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Toilet, name: OpenRobotics/Toilet, static: true, x: 807.41899999999998, y: 493.786, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/CoffeeTable, name: OpenRobotics/CoffeeTable, static: true, x: 554.553, y: 794.79499999999996, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/CoffeeTable, name: OpenRobotics/CoffeeTable, static: true, x: 616.49599999999998, y: 735.32899999999995, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/CoffeeTable, name: OpenRobotics/CoffeeTable, static: true, x: 675.96199999999999, y: 672.39499999999998, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/CoffeeTable, name: OpenRobotics/CoffeeTable, static: true, x: 738.39999999999998, y: 613.92100000000005, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/CoffeeTable, name: OpenRobotics/CoffeeTable, static: true, x: 797.40099999999995, y: 551.27700000000004, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/BathroomSink, name: OpenRobotics/BathroomSink, static: true, x: 619.47000000000003, y: 666.44899999999996, yaw: -0, z: 0}
      - {dispensable: false, model_name: OpenRobotics/BathroomSink, name: OpenRobotics/BathroomSink, static: true, x: 678.93499999999995, y: 603.51400000000001, yaw: -0, z: 0}
      - {dispensable: false, model_name: OpenRobotics/BathroomSink, name: OpenRobotics/BathroomSink, static: true, x: 741.37400000000002, y: 543.553, yaw: -0, z: 0}
      - {dispensable: false, model_name: OpenRobotics/BathroomSink, name: OpenRobotics/BathroomSink, static: true, x: 557.03099999999995, y: 725.41800000000001, yaw: -0.034500000000000003, z: 0}
    vertices:
      - [889.29999999999995, 549.09900000000005, 0, ""]
      - [708.05600000000004, 364.31999999999999, 0, ""]
      - [561.298, 513.47199999999998, 0, ""]
      - [320.46199999999999, 268.21300000000002, 0, ""]
      - [144.62299999999999, 442.46300000000002, 0, ""]
      - [139.82400000000001, 456.32799999999997, 0, ""]
      - [143.023, 466.45999999999998, 0, ""]
      - [435.79399999999998, 758.16499999999996, 0, ""]
      - [430.46100000000001, 761.36400000000003, 0, ""]
      - [499.548, 939.99000000000001, 0, ""]
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      - [113, 114, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [115, 116, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [116, 117, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [118, 119, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [119, 120, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
  L3:
    doors:
      - [52, 49, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L3_door2], plugin: [1, normal], right_left_ratio: [3, 1], type: [1, double_hinged]}]
      - [70, 69, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L3_door5], plugin: [1, normal], right_left_ratio: [3, 1], type: [1, hinged]}]
      - [33, 34, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L3_door9], plugin: [1, normal], right_left_ratio: [3, 1], type: [1, hinged]}]
      - [10, 28, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L3_door11], plugin: [1, normal], right_left_ratio: [3, 1], type: [1, hinged]}]
      - [79, 42, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, -1], name: [1, L3_door12], plugin: [1, normal], right_left_ratio: [3, 1], type: [1, hinged]}]
      - [45, 46, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, -1], name: [1, L3_door14], plugin: [1, normal], right_left_ratio: [3, 1], type: [1, hinged]}]
      - [63, 64, {motion_axis: [1, start], motion_degrees: [3, 90], motion_direction: [2, 1], name: [1, L3_door15], plugin: [1, normal], right_left_ratio: [3, 1], type: [1, hinged]}]
    drawing:
      filename: hotel_L3.png
    elevation: 16
    fiducials:
      - [267.78199999999998, 249.94999999999999, ref1]
      - [374.24200000000002, 313.697, ref2]
      - [268.411, 414.95800000000003, ref3]
    floors:
      - parameters: {ceiling_scale: [3, 1], ceiling_texture: [1, blue_linoleum], indoor: [2, 0], texture_name: [1, brown_marble], texture_rotation: [3, 0], texture_scale: [3, 1]}
        vertices: [11, 12, 17, 21, 20, 24, 43, 47, 84, 65, 102, 7, 41]
      - parameters: {ceiling_scale: [3, 1], ceiling_texture: [1, blue_linoleum], indoor: [2, 0], texture_name: [1, concrete], texture_rotation: [3, 0], texture_scale: [3, 1]}
        vertices: [12, 16, 22, 3]
      - parameters: {ceiling_scale: [3, 1], ceiling_texture: [1, blue_linoleum], indoor: [2, 0], texture_name: [1, concrete], texture_rotation: [3, 0], texture_scale: [3, 1]}
        vertices: [11, 4, 5, 6, 7, 41]
      - parameters: {ceiling_scale: [3, 1], ceiling_texture: [1, blue_linoleum], indoor: [2, 0], texture_name: [1, concrete], texture_rotation: [3, 0], texture_scale: [3, 1]}
        vertices: [51, 9, 0, 65, 102, 7, 8]
      - parameters: {ceiling_scale: [3, 1], ceiling_texture: [1, blue_linoleum], indoor: [2, 0], texture_name: [1, concrete], texture_rotation: [3, 0], texture_scale: [3, 1]}
        vertices: [25, 43, 47, 48, 2, 20, 27, 26]
    lanes:
      - [90, 91, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [90, 92, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [92, 93, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [93, 94, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [94, 95, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [92, 96, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [96, 97, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [97, 98, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [98, 99, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [99, 100, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [100, 101, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [103, 104, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [104, 105, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [97, 103, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [90, 122, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [121, 91, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [95, 94, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [94, 93, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [93, 92, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [92, 90, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [90, 91, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [91, 121, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [90, 122, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [92, 96, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [96, 97, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [97, 98, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [98, 99, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [99, 100, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [100, 101, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [97, 103, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [103, 104, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
      - [104, 105, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 2], mutex: [1, ""], orientation: [1, ""], speed_limit: [3, 0]}]
    layers:
      {}
    measurements:
      - [88, 89, {distance: [3, 3.3999999999999999]}]
    models:
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 53.886000000000003, y: 644.327, yaw: 0, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Shower, name: OpenRobotics/Shower, static: true, x: 148.12100000000001, y: 604.93700000000001, yaw: -3.1355, z: 1}
      - {dispensable: false, model_name: OpenRobotics/Toilet, name: OpenRobotics/Toilet, static: true, x: 126.101, y: 598.07000000000005, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/BathroomSink, name: OpenRobotics/BathroomSink, static: true, x: 151.18799999999999, y: 575.02099999999996, yaw: -1.5708, z: 1}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 53.881, y: 627.08699999999999, yaw: -0, z: 0}
      - {dispensable: false, model_name: OpenRobotics/BedsideTable, name: OpenRobotics/BedsideTable, static: true, x: 44.478999999999999, y: 610.07100000000003, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Desk, name: OpenRobotics/Desk, static: true, x: 144.56700000000001, y: 620.976, yaw: -3.1415999999999999, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Chair, name: OpenRobotics/Chair, static: true, x: 141.84100000000001, y: 661.86800000000005, yaw: 2.6311, z: 0}
      - {dispensable: false, model_name: OpenRobotics/WoodenChair, name: OpenRobotics/WoodenChair, static: true, x: 131.715, y: 622.923, yaw: 0.1608, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Chair, name: OpenRobotics/Chair, static: true, x: 138.72499999999999, y: 645.12199999999996, yaw: -2.875, z: 0}
      - {dispensable: false, model_name: OpenRobotics/TrashBin, name: OpenRobotics/TrashBin, static: true, x: 44.088999999999999, y: 594.10400000000004, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 132.059, y: 482.51299999999998, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 132.351, y: 394.98899999999998, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 134.393, y: 309.798, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 133.755, y: 224.19499999999999, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 135.58500000000001, y: 141.137, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 353.45299999999997, y: 142.27000000000001, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 354.52499999999998, y: 228.56100000000001, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 351.96600000000001, y: 479.29199999999997, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 496.33699999999999, y: 480.07799999999997, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 478.60199999999998, y: 479.93099999999998, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/WoodenChair, name: OpenRobotics/WoodenChair, static: true, x: 153.148, y: 485.80799999999999, yaw: -1.5893999999999999, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Fridge, name: OpenRobotics/Fridge, static: true, x: 43.310000000000002, y: 564.50599999999997, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Desk, name: OpenRobotics/Desk, static: true, x: 153.649, y: 495.93400000000003, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Desk, name: OpenRobotics/Desk, static: true, x: 153.357, y: 408.11700000000002, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Desk, name: OpenRobotics/Desk, static: true, x: 153.51400000000001, y: 321.15699999999998, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Desk, name: OpenRobotics/Desk, static: true, x: 154.977, y: 234.07400000000001, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Desk, name: OpenRobotics/Desk, static: true, x: 156.80699999999999, y: 152.47999999999999, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Desk, name: OpenRobotics/Desk, static: true, x: 330.72300000000001, y: 152.785, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Desk, name: OpenRobotics/Desk, static: true, x: 329.14999999999998, y: 240.90199999999999, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Desk, name: OpenRobotics/Desk, static: true, x: 316.95499999999998, y: 495.02699999999999, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Desk, name: OpenRobotics/Desk, static: true, x: 449.52499999999998, y: 496.20699999999999, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Chair, name: OpenRobotics/Chair, static: true, x: 293.745, y: 493.45299999999997, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Chair, name: OpenRobotics/Chair, static: true, x: 425.52800000000002, y: 494.24000000000001, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Chair, name: OpenRobotics/Chair, static: true, x: 169.613, y: 407.50700000000001, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Chair, name: OpenRobotics/Chair, static: true, x: 171.44200000000001, y: 321.52199999999999, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Chair, name: OpenRobotics/Chair, static: true, x: 169.24700000000001, y: 234.44, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Chair, name: OpenRobotics/Chair, static: true, x: 172.83099999999999, y: 152.185, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Chair, name: OpenRobotics/Chair, static: true, x: 315.238, y: 152.846, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Chair, name: OpenRobotics/Chair, static: true, x: 307.51400000000001, y: 239.72200000000001, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 177.05099999999999, y: 641.81399999999996, yaw: -0, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 260.57499999999999, y: 642.51999999999998, yaw: -0.018499999999999999, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 346.923, y: 641.34400000000005, yaw: 0.0088000000000000005, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 431.85899999999998, y: 642.755, yaw: 0.0161, z: 0}
      - {dispensable: false, model_name: OpenRobotics/NormalBed, name: OpenRobotics/NormalBed, static: true, x: 517.73500000000001, y: 641.10799999999995, yaw: 0.0143, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Toilet, name: OpenRobotics/Toilet, static: true, x: 211.87299999999999, y: 593.11199999999997, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Toilet, name: OpenRobotics/Toilet, static: true, x: 298.45499999999998, y: 592.87599999999998, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Toilet, name: OpenRobotics/Toilet, static: true, x: 384.09699999999998, y: 585.81799999999998, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Toilet, name: OpenRobotics/Toilet, static: true, x: 468.09199999999998, y: 586.053, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/Toilet, name: OpenRobotics/Toilet, static: true, x: 553.49800000000005, y: 587.46500000000003, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/CoffeeTable, name: OpenRobotics/CoffeeTable, static: true, x: 164.67400000000001, y: 619.42700000000002, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/CoffeeTable, name: OpenRobotics/CoffeeTable, static: true, x: 252.125, y: 621.06700000000001, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/CoffeeTable, name: OpenRobotics/CoffeeTable, static: true, x: 335.75, y: 620.51999999999998, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/CoffeeTable, name: OpenRobotics/CoffeeTable, static: true, x: 421.01400000000001, y: 623.79999999999995, yaw: 1.5708, z: 0}
      - {dispensable: false, model_name: OpenRobotics/CoffeeTable, name: OpenRobotics/CoffeeTable, static: true, x: 507.91800000000001, y: 623.25300000000004, yaw: 1.5708, z: 0}
    vertices:
      - [582.48800000000006, 671.26199999999994, 0, ""]
      - [582.47900000000004, 415.81, 0, ""]
      - [374.78199999999998, 415.56400000000002, 0, ""]
      - [374.35599999999999, 75.272999999999996, 0, ""]
      - [130.374, 76.744, 0, ""]
      - [121.71899999999999, 82.369, 0, ""]
      - [116.09399999999999, 92.754999999999995, 0, ""]
      - [116.108, 502.34500000000003, 0, ""]
      - [34.353000000000002, 527.50800000000004, 0, ""]
      - [34.353000000000002, 670.82500000000005, 0, ""]
      - [227.73599999999999, 82.369, 0, ""]
      - [228.05000000000001, 75.682000000000002, 0, ""]
      - [264.94400000000002, 75.703999999999994, 0, ""]
      - [265.02800000000002, 82.763000000000005, 0, ""]
      - [264.78899999999999, 169.50700000000001, 0, ""]
      - [264.94400000000002, 197.881, 0, ""]
      - [265.09899999999999, 250.59700000000001, 0, ""]
      - [265.02800000000002, 314.46499999999997, 0, ""]
      - [264.65300000000002, 111.62, 0, ""]
      - [264.363, 163.00899999999999, 0, ""]
      - [374.51499999999999, 354.31799999999998, 0, ""]
      - [374.24200000000002, 313.50999999999999, 0, ""]
      - [373.995, 250.34299999999999, 0, ""]
      - [374.78199999999998, 163.01300000000001, 0, ""]
      - [266.68099999999998, 353.25200000000001, 0, ""]
      - [266.85399999999998, 414.95800000000003, 0, ""]
      - [335.916, 415.13099999999997, 0, ""]
      - [335.23000000000002, 353.70999999999998, 0, ""]
      - [227.73599999999999, 110.929, 0, ""]
      - [226.69200000000001, 161.62700000000001, 0, ""]
      - [226.084, 168.91300000000001, 0, ""]
      - [226.477, 194.87700000000001, 0, ""]
      - [226.87, 245.62299999999999, 0, ""]
      - [226.477, 252.70400000000001, 0, ""]
      - [226.87, 277.48700000000002, 0, ""]
      - [227.5, 330.66300000000001, 0, ""]
      - [227.5, 341.11500000000001, 0, ""]
      - [227.232, 366.03699999999998, 0, ""]
      - [226.74100000000001, 414.95800000000003, 0, ""]
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      - [246.066, 264.19499999999999, 0, ""]
      - [246.38300000000001, 182.16200000000001, 0, ""]
      - [247.477, 96.537999999999997, 0, L3_room1]
      - [244.89099999999999, 436.29599999999999, 0, ""]
      - [244.65700000000001, 533.95500000000004, 0, ""]
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      - [74.567999999999998, 598.899, 0, L3_master_suite]
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      - [346.69099999999997, 285.97199999999998, 0, "", {lift_cabin: [1, Lift1]}]
      - [297.15199999999999, 380.09500000000003, 0, "", {lift_cabin: [1, Lift2]}]
    walls:
      - [4, 5, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [5, 6, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [10, 11, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [3, 12, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [12, 11, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [11, 4, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [12, 13, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [15, 16, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [16, 17, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [18, 19, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [19, 14, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [2, 20, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [20, 21, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_beige_tiles], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [21, 22, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [22, 23, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [23, 3, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [16, 22, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [19, 23, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [24, 25, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [25, 26, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [26, 27, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [27, 20, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_beige_tiles], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [28, 29, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [29, 30, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [31, 32, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [32, 33, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [34, 35, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [35, 36, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [37, 38, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [38, 39, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [40, 41, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [41, 7, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [42, 43, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [43, 44, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [44, 2, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [2, 26, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [44, 45, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [46, 47, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
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      - [2, 48, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
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      - [53, 54, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [54, 55, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [55, 56, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [55, 57, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [50, 58, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [54, 59, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [59, 60, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [60, 61, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [61, 0, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [62, 61, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [62, 63, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [64, 65, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [65, 0, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [66, 62, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [67, 68, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [67, 60, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [67, 69, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [70, 71, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [71, 59, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [71, 72, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [24, 73, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_beige_tiles], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [74, 27, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_beige_tiles], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [17, 75, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_beige_tiles], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [76, 77, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_beige_tiles], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [78, 21, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_beige_tiles], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [79, 25, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [6, 80, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [80, 81, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [81, 82, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [82, 83, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [38, 83, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [83, 7, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [82, 35, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [81, 32, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [80, 29, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [1, 84, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
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      - [85, 86, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [86, 87, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [49, 102, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [102, 50, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [8, 7, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [7, 52, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [75, 76, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, black_concrete], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [106, 107, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [107, 108, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [109, 110, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [110, 111, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [112, 113, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [113, 114, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [115, 116, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [116, 117, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [118, 119, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
      - [119, 120, {alpha: [3, 1], texture_height: [3, 2.5], texture_name: [1, white_brick], texture_scale: [3, 1], texture_width: [3, 1]}]
lifts:
  Lift1:
    depth: 2.7000000000000002
    doors:
      lift1_door:
        door_type: 2
        motion_axis_orientation: 0
        width: 1.7
        x: 0
        y: -1.5
    highest_floor: L3
    initial_floor_name: L1
    level_doors:
      L1: [lift1_door]
      L2: [lift1_door]
      L3: [lift1_door]
    lowest_floor: L1
    plugins: true
    reference_floor_name: L1
    width: 2.7000000000000002
    x: 355
    y: 340
    yaw: 0
  Lift2:
    depth: 2.7000000000000002
    doors:
      lift2_door:
        door_type: 2
        motion_axis_orientation: 0
        width: 1.7
        x: 0
        y: 1.5
    highest_floor: L3
    initial_floor_name: L1
    level_doors:
      L1: [lift2_door]
      L2: [lift2_door]
      L3: [lift2_door]
    lowest_floor: L1
    plugins: true
    reference_floor_name: L1
    width: 2.7000000000000002
    x: 305
    y: 435
    yaw: 0
name: hotel

hotel_L2.png

The first issue is that the lift position/rotation is obviously not updated correctly in traffic editor for L2.

And yes, the positions in Rviz are not displayed correctly (maybe this is a seperate issue).

I didn't do any robot tasks because I would assume that the robot positions in L2 are incorrect anyway because in the demo there are no level specific reference coordinates in the robot config for the coordinate transformations. But I'll see if I can get it to work.

[aaronchongth]

I see what you mean now

The first issue is that the lift position/rotation is obviously not updated correctly in traffic editor for L2.

The lift position is not tied to the waypoints or vertices in the traffic editor, hence it will not be updated. The only connection is the designated waypoint within the lift. You will just need to

• adjust the lift position with the lift tab, like the image below
• and ensure that the designated waypoint leads into the lift

[Vortex-TH]

But then it's wrong in L1 and L3, that's the whole point. Or am I missing something here?

[Vortex-TH]

@aaronchongth Could you have another look at this? My assumption was that I only position the lift once in L1, because that is the reference floor. The position, orientation and scale of the lift on the other floors should then be automatically derived from that by the traffic editor based on the fiducial markers.

[aaronchongth]

I see what you mean about the orientation across levels, I'll reopen this issue and take a look at it

[TanJunKiat]

HI @aaronchongth, I opened up a PR with the graphic fix for the lift cabin.

We still need to fix the alignment for the lift_cabin vertex but I want to discuss on the approach to take on this.

Should we implement the drawing of lift_cabin vertices within the vertex.draw function or should we implement it in the lift.draw function itself.

The consideration is that for the first method, we will need to pass the transform variable from all the lifts' reference level to the current viewport's level downstream to the vertex.draw function which can be messy.

The second method might be cleaner but might affect the interaction with the vertex, such as being unable to click and select the lift_cabin vertex.

Please advice.

[aaronchongth]

Hey @TanJunKiat! Thanks for adding the fix, I'll be looking into it momentarily.

Off the top of my head, I would agree that the second method would be ideal, and semantically more accurate too. As for being able to select the lift vertex on the UI or not, if it comes to it, the backup plan could be to set the lift_cabin vertex as selected when the lift is selected on the right-top lifts panel.

I'll go through the changes and put up any other comments I have in the PR

[NgNhatHai]

@aaronchongth hi! Have you updated this issue? I also have this issue and have no solution yet.
I scan map floor to get L1.png

L1.png

And map L2.png

L2.png

Two map are the same floor

Two maps on RMF-Traffic Editor

L1 map on Traffic Editor

L2 map on Traffic Editor

and You can see position and rotation of Lift is wrong
Please advice.

[TanJunKiat]

Hi @aaronchongth

Some updates on this.

After thinking about it and looking at the code, I feel there is a better approach to the problem on lift_cabin alignment.

The baseline is that vertices are defined in the level's coordinate in the building.yaml file. This means that we cannot be drawing the vertices in the lift.draw() because the elements of the lift are drawn in the lift's local frame before shifting it to the level's coordinate.

The objective for the lift cabin alignment is to get the coordinates of the lift_cabin vertex at the reference level of each lift, and apply the level transform across levels.

We also need to ensure that the users can only move the lift_cabin vertex at the reference level and allow the fiducials to handle the other levels.

I uploaded a commit based on these and the following pointers are the summary of change:

• Modified the move button logic to check if selected vertex is a lift_cabin
  • If yes, check if vertex is at reference level
    • If no, return prematurely to prevent moving of vertex
• Modified the move logic to align lift_cabin vertex
  • If a lift_cabin vertex of a lift is moved, modify other level's vertex of said lift
• Create a function in the Building class to return a Lift class for a given lift name.

I will see what else can be optimize in the new codes and check for potential bugs, but the fix seems to be working for now.

[mxgrey]

This issue is now fixed by #513

This one was a community effort, so I want to give special thanks to @Vortex-TH for the detailed and reproducible report, @aaronchongth for triaging the problem, and @TanJunKiat for delivering the solution. Community contributions like this are greatly appreciated!