Feature/rg traversability #83
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Contributor
Schmluk
commented
Jan 25, 2026
Schmluk
commented
- Implementation of the latest traversability places.
- Naming and common interfaces is not yet ideal but going with separate attributes as discussed with @nathanhhughes.
- This also pulled in few (preliminary) from Nico's DAAAAM paper. I don't think this touches anything otherwise used but could be cleaned up if needed.
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nathanhhughes
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Jan 25, 2026
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nathanhhughes
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LGTM minus the versions potentially need a bump for the serialization changes, unless we also just merge the 2D place attribute changes (and associated PRs in Hydra) --- probably worth doing that
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| // TMP(lschmid): Labels for cognition_verifier. <label_id, weight> | ||
| std::map<int, float> cognition_labels; |
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I have/had a PR at some point that added some sort of label to weight map to SemanticNodeAttributes that I dropped because it never seemed useful (Jared had added them to the rooms for ActiveDSG at some point and I wanted to move them). All that to say it'd be nice to add these to the semantic attributes (with an actual name)
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