{
  "provenance": {
    "timestamp": "20260723T153307Z",
    "git_commit": "6836362",
    "spec": "/home/michael/Projects/mote/.claude/worktrees/param-sweep/mote_simulation/tools/benchmark/sweep/examples/office_nav.yaml",
    "wall_mps": 0.218,
    "wheel_separation_m": 0.22,
    "ros_domain_id": 42,
    "noise_floor": 0.12876944480755412
  },
  "spec": "office_nav",
  "sets": [
    {
      "index": 5,
      "label": "amcl_max_particles=3000, inflation_radius=0.3, dwb_acc_lim_x=1.0",
      "assignments": [
        {
          "id": "nav2:amcl.ros__parameters.max_particles",
          "name": "amcl_max_particles",
          "target": "nav2",
          "key_paths": [
            [
              "amcl",
              "ros__parameters",
              "max_particles"
            ]
          ],
          "value": 3000
        },
        {
          "id": "nav2:local_costmap.local_costmap.ros__parameters.inflation_layer.inflation_radius|global_costmap.global_costmap.ros__parameters.inflation_layer.inflation_radius",
          "name": "inflation_radius",
          "target": "nav2",
          "key_paths": [
            [
              "local_costmap",
              "local_costmap",
              "ros__parameters",
              "inflation_layer",
              "inflation_radius"
            ],
            [
              "global_costmap",
              "global_costmap",
              "ros__parameters",
              "inflation_layer",
              "inflation_radius"
            ]
          ],
          "value": 0.3
        },
        {
          "id": "nav2:controller_server.ros__parameters.FollowPath.acc_lim_x",
          "name": "dwb_acc_lim_x",
          "target": "nav2",
          "key_paths": [
            [
              "controller_server",
              "ros__parameters",
              "FollowPath",
              "acc_lim_x"
            ]
          ],
          "value": 1.0
        }
      ],
      "override_files": {
        "MOTE_NAV2_PARAMS_FILE": "sweep_results/20260723T153307Z/set_5/params/nav2_params.yaml"
      },
      "is_replicate": false,
      "ran": true,
      "metrics": {
        "office_world.sdf": {
          "success": 1.0,
          "localization": 0.09035374855507695,
          "time": 86.086,
          "smoothness": 26.280241468422076
        }
      },
      "feasibility": {
        "feasible": true,
        "peak_wheel_mps": 0.22227922837922437,
        "wall_mps": 0.218,
        "limit_mps": 0.22890000000000002
      },
      "score": {
        "total": 0.18945343401624065,
        "per_world": {
          "office_world.sdf": {
            "score": 0.18945343401624065,
            "weight": 1.0
          }
        },
        "per_metric": {
          "office_world.sdf": {
            "success": 0.0,
            "localization": 0.07007525211985723,
            "time": -0.0030215939102065854,
            "smoothness": 0.24479955161317998
          }
        }
      },
      "eligible": true,
      "is_winner": false
    },
    {
      "index": 3,
      "label": "amcl_max_particles=2000, inflation_radius=0.35, dwb_acc_lim_x=1.0",
      "assignments": [
        {
          "id": "nav2:amcl.ros__parameters.max_particles",
          "name": "amcl_max_particles",
          "target": "nav2",
          "key_paths": [
            [
              "amcl",
              "ros__parameters",
              "max_particles"
            ]
          ],
          "value": 2000
        },
        {
          "id": "nav2:local_costmap.local_costmap.ros__parameters.inflation_layer.inflation_radius|global_costmap.global_costmap.ros__parameters.inflation_layer.inflation_radius",
          "name": "inflation_radius",
          "target": "nav2",
          "key_paths": [
            [
              "local_costmap",
              "local_costmap",
              "ros__parameters",
              "inflation_layer",
              "inflation_radius"
            ],
            [
              "global_costmap",
              "global_costmap",
              "ros__parameters",
              "inflation_layer",
              "inflation_radius"
            ]
          ],
          "value": 0.35
        },
        {
          "id": "nav2:controller_server.ros__parameters.FollowPath.acc_lim_x",
          "name": "dwb_acc_lim_x",
          "target": "nav2",
          "key_paths": [
            [
              "controller_server",
              "ros__parameters",
              "FollowPath",
              "acc_lim_x"
            ]
          ],
          "value": 1.0
        }
      ],
      "override_files": {
        "MOTE_NAV2_PARAMS_FILE": "sweep_results/20260723T153307Z/set_3/params/nav2_params.yaml"
      },
      "is_replicate": true,
      "ran": true,
      "metrics": {
        "office_world.sdf": {
          "success": 1.0,
          "localization": 0.09582943434207358,
          "time": 85.61133333333333,
          "smoothness": 26.966375103708216
        }
      },
      "feasibility": {
        "feasible": true,
        "peak_wheel_mps": 0.2222395755311059,
        "wall_mps": 0.218,
        "limit_mps": 0.22890000000000002
      },
      "score": {
        "total": 0.12876944480755412,
        "per_world": {
          "office_world.sdf": {
            "score": 0.12876944480755412,
            "weight": 1.0
          }
        },
        "per_metric": {
          "office_world.sdf": {
            "success": 0.0,
            "localization": 0.01371925354344173,
            "time": 0.0025089327326394315,
            "smoothness": 0.2250825170629459
          }
        }
      },
      "eligible": true,
      "is_winner": false
    },
    {
      "index": 2,
      "label": "amcl_max_particles=2000, inflation_radius=0.3, dwb_acc_lim_x=1.5",
      "assignments": [
        {
          "id": "nav2:amcl.ros__parameters.max_particles",
          "name": "amcl_max_particles",
          "target": "nav2",
          "key_paths": [
            [
              "amcl",
              "ros__parameters",
              "max_particles"
            ]
          ],
          "value": 2000
        },
        {
          "id": "nav2:local_costmap.local_costmap.ros__parameters.inflation_layer.inflation_radius|global_costmap.global_costmap.ros__parameters.inflation_layer.inflation_radius",
          "name": "inflation_radius",
          "target": "nav2",
          "key_paths": [
            [
              "local_costmap",
              "local_costmap",
              "ros__parameters",
              "inflation_layer",
              "inflation_radius"
            ],
            [
              "global_costmap",
              "global_costmap",
              "ros__parameters",
              "inflation_layer",
              "inflation_radius"
            ]
          ],
          "value": 0.3
        },
        {
          "id": "nav2:controller_server.ros__parameters.FollowPath.acc_lim_x",
          "name": "dwb_acc_lim_x",
          "target": "nav2",
          "key_paths": [
            [
              "controller_server",
              "ros__parameters",
              "FollowPath",
              "acc_lim_x"
            ]
          ],
          "value": 1.5
        }
      ],
      "override_files": {
        "MOTE_NAV2_PARAMS_FILE": "sweep_results/20260723T153307Z/set_2/params/nav2_params.yaml"
      },
      "is_replicate": false,
      "ran": true,
      "metrics": {
        "office_world.sdf": {
          "success": 1.0,
          "localization": 0.08617807763954312,
          "time": 85.89333333333333,
          "smoothness": 33.8434390584914
        }
      },
      "feasibility": {
        "feasible": true,
        "peak_wheel_mps": 0.22230984199644888,
        "wall_mps": 0.218,
        "limit_mps": 0.22890000000000002
      },
      "score": {
        "total": 0.126004789366838,
        "per_world": {
          "office_world.sdf": {
            "score": 0.126004789366838,
            "weight": 1.0
          }
        },
        "per_metric": {
          "office_world.sdf": {
            "success": 0.0,
            "localization": 0.1130514405509465,
            "time": -0.0007767593599502432,
            "smoothness": 0.027460216351683473
          }
        }
      },
      "eligible": true,
      "is_winner": false
    },
    {
      "index": 4,
      "label": "amcl_max_particles=2000, inflation_radius=0.35, dwb_acc_lim_x=1.5",
      "assignments": [
        {
          "id": "nav2:amcl.ros__parameters.max_particles",
          "name": "amcl_max_particles",
          "target": "nav2",
          "key_paths": [
            [
              "amcl",
              "ros__parameters",
              "max_particles"
            ]
          ],
          "value": 2000
        },
        {
          "id": "nav2:local_costmap.local_costmap.ros__parameters.inflation_layer.inflation_radius|global_costmap.global_costmap.ros__parameters.inflation_layer.inflation_radius",
          "name": "inflation_radius",
          "target": "nav2",
          "key_paths": [
            [
              "local_costmap",
              "local_costmap",
              "ros__parameters",
              "inflation_layer",
              "inflation_radius"
            ],
            [
              "global_costmap",
              "global_costmap",
              "ros__parameters",
              "inflation_layer",
              "inflation_radius"
            ]
          ],
          "value": 0.35
        },
        {
          "id": "nav2:controller_server.ros__parameters.FollowPath.acc_lim_x",
          "name": "dwb_acc_lim_x",
          "target": "nav2",
          "key_paths": [
            [
              "controller_server",
              "ros__parameters",
              "FollowPath",
              "acc_lim_x"
            ]
          ],
          "value": 1.5
        }
      ],
      "override_files": {
        "MOTE_NAV2_PARAMS_FILE": "sweep_results/20260723T153307Z/set_4/params/nav2_params.yaml"
      },
      "is_replicate": false,
      "ran": true,
      "metrics": {
        "office_world.sdf": {
          "success": 1.0,
          "localization": 0.08714528237044768,
          "time": 86.87,
          "smoothness": 32.99181390374607
        }
      },
      "feasibility": {
        "feasible": true,
        "peak_wheel_mps": 0.2222588301867932,
        "wall_mps": 0.218,
        "limit_mps": 0.22890000000000002
      },
      "score": {
        "total": 0.11690708659342847,
        "per_world": {
          "office_world.sdf": {
            "score": 0.11690708659342847,
            "weight": 1.0
          }
        },
        "per_metric": {
          "office_world.sdf": {
            "success": 0.0,
            "localization": 0.10309692698711093,
            "time": -0.012156283983222035,
            "smoothness": 0.05193288717907914
          }
        }
      },
      "eligible": true,
      "is_winner": false
    },
    {
      "index": 1,
      "label": "amcl_max_particles=2000, inflation_radius=0.3, dwb_acc_lim_x=1.0",
      "assignments": [
        {
          "id": "nav2:amcl.ros__parameters.max_particles",
          "name": "amcl_max_particles",
          "target": "nav2",
          "key_paths": [
            [
              "amcl",
              "ros__parameters",
              "max_particles"
            ]
          ],
          "value": 2000
        },
        {
          "id": "nav2:local_costmap.local_costmap.ros__parameters.inflation_layer.inflation_radius|global_costmap.global_costmap.ros__parameters.inflation_layer.inflation_radius",
          "name": "inflation_radius",
          "target": "nav2",
          "key_paths": [
            [
              "local_costmap",
              "local_costmap",
              "ros__parameters",
              "inflation_layer",
              "inflation_radius"
            ],
            [
              "global_costmap",
              "global_costmap",
              "ros__parameters",
              "inflation_layer",
              "inflation_radius"
            ]
          ],
          "value": 0.3
        },
        {
          "id": "nav2:controller_server.ros__parameters.FollowPath.acc_lim_x",
          "name": "dwb_acc_lim_x",
          "target": "nav2",
          "key_paths": [
            [
              "controller_server",
              "ros__parameters",
              "FollowPath",
              "acc_lim_x"
            ]
          ],
          "value": 1.0
        }
      ],
      "override_files": {
        "MOTE_NAV2_PARAMS_FILE": "sweep_results/20260723T153307Z/set_1/params/nav2_params.yaml"
      },
      "is_replicate": false,
      "ran": true,
      "metrics": {
        "office_world.sdf": {
          "success": 1.0,
          "localization": 0.10064940567949464,
          "time": 85.78399999999999,
          "smoothness": 26.444591915599492
        }
      },
      "feasibility": {
        "feasible": true,
        "peak_wheel_mps": 0.22233194302984116,
        "wall_mps": 0.218,
        "limit_mps": 0.22890000000000002
      },
      "score": {
        "total": 0.08464737570984276,
        "per_world": {
          "office_world.sdf": {
            "score": 0.08464737570984276,
            "weight": 1.0
          }
        },
        "per_metric": {
          "office_world.sdf": {
            "success": 0.0,
            "localization": -0.035888103123211314,
            "time": 0.0004971259903682947,
            "smoothness": 0.24007670568537157
          }
        }
      },
      "eligible": true,
      "is_winner": false
    },
    {
      "index": 7,
      "label": "amcl_max_particles=3000, inflation_radius=0.35, dwb_acc_lim_x=1.0",
      "assignments": [
        {
          "id": "nav2:amcl.ros__parameters.max_particles",
          "name": "amcl_max_particles",
          "target": "nav2",
          "key_paths": [
            [
              "amcl",
              "ros__parameters",
              "max_particles"
            ]
          ],
          "value": 3000
        },
        {
          "id": "nav2:local_costmap.local_costmap.ros__parameters.inflation_layer.inflation_radius|global_costmap.global_costmap.ros__parameters.inflation_layer.inflation_radius",
          "name": "inflation_radius",
          "target": "nav2",
          "key_paths": [
            [
              "local_costmap",
              "local_costmap",
              "ros__parameters",
              "inflation_layer",
              "inflation_radius"
            ],
            [
              "global_costmap",
              "global_costmap",
              "ros__parameters",
              "inflation_layer",
              "inflation_radius"
            ]
          ],
          "value": 0.35
        },
        {
          "id": "nav2:controller_server.ros__parameters.FollowPath.acc_lim_x",
          "name": "dwb_acc_lim_x",
          "target": "nav2",
          "key_paths": [
            [
              "controller_server",
              "ros__parameters",
              "FollowPath",
              "acc_lim_x"
            ]
          ],
          "value": 1.0
        }
      ],
      "override_files": {
        "MOTE_NAV2_PARAMS_FILE": "sweep_results/20260723T153307Z/set_7/params/nav2_params.yaml"
      },
      "is_replicate": false,
      "ran": true,
      "metrics": {
        "office_world.sdf": {
          "success": 1.0,
          "localization": 0.10216014421679737,
          "time": 87.77666666666667,
          "smoothness": 25.982678579319746
        }
      },
      "feasibility": {
        "feasible": true,
        "peak_wheel_mps": 0.22221996524959006,
        "wall_mps": 0.218,
        "limit_mps": 0.22890000000000002
      },
      "score": {
        "total": 0.052518322334282996,
        "per_world": {
          "office_world.sdf": {
            "score": 0.052518322334282996,
            "weight": 1.0
          }
        },
        "per_metric": {
          "office_world.sdf": {
            "success": 0.0,
            "localization": -0.05143669049098041,
            "time": -0.02272021127854594,
            "smoothness": 0.2533504482076187
          }
        }
      },
      "eligible": true,
      "is_winner": false
    },
    {
      "index": 0,
      "label": "baseline",
      "assignments": [],
      "override_files": {},
      "is_replicate": false,
      "ran": true,
      "metrics": {
        "office_world.sdf": {
          "success": 1.0,
          "localization": 0.09716243035906662,
          "time": 85.82666666666667,
          "smoothness": 34.79902789326883
        }
      },
      "feasibility": {
        "feasible": true,
        "peak_wheel_mps": 0.22231749948884616,
        "wall_mps": 0.218,
        "limit_mps": 0.22890000000000002
      },
      "score": {
        "total": 0.0,
        "per_world": {
          "office_world.sdf": {
            "score": 0.0,
            "weight": 1.0
          }
        },
        "per_metric": {
          "office_world.sdf": {
            "success": 0.0,
            "localization": 0.0,
            "time": 0.0,
            "smoothness": 0.0
          }
        }
      },
      "eligible": true,
      "is_winner": false
    },
    {
      "index": 8,
      "label": "amcl_max_particles=3000, inflation_radius=0.35, dwb_acc_lim_x=1.5",
      "assignments": [
        {
          "id": "nav2:amcl.ros__parameters.max_particles",
          "name": "amcl_max_particles",
          "target": "nav2",
          "key_paths": [
            [
              "amcl",
              "ros__parameters",
              "max_particles"
            ]
          ],
          "value": 3000
        },
        {
          "id": "nav2:local_costmap.local_costmap.ros__parameters.inflation_layer.inflation_radius|global_costmap.global_costmap.ros__parameters.inflation_layer.inflation_radius",
          "name": "inflation_radius",
          "target": "nav2",
          "key_paths": [
            [
              "local_costmap",
              "local_costmap",
              "ros__parameters",
              "inflation_layer",
              "inflation_radius"
            ],
            [
              "global_costmap",
              "global_costmap",
              "ros__parameters",
              "inflation_layer",
              "inflation_radius"
            ]
          ],
          "value": 0.35
        },
        {
          "id": "nav2:controller_server.ros__parameters.FollowPath.acc_lim_x",
          "name": "dwb_acc_lim_x",
          "target": "nav2",
          "key_paths": [
            [
              "controller_server",
              "ros__parameters",
              "FollowPath",
              "acc_lim_x"
            ]
          ],
          "value": 1.5
        }
      ],
      "override_files": {
        "MOTE_NAV2_PARAMS_FILE": "sweep_results/20260723T153307Z/set_8/params/nav2_params.yaml"
      },
      "is_replicate": false,
      "ran": true,
      "metrics": {
        "office_world.sdf": {
          "success": 0.6666666666666666,
          "localization": 0.08456572828215991,
          "time": 82.95866666666666,
          "smoothness": 27.730134356433112
        }
      },
      "feasibility": {
        "feasible": true,
        "peak_wheel_mps": 0.22214064245810067,
        "wall_mps": 0.218,
        "limit_mps": 0.22890000000000002
      },
      "score": {
        "total": -0.7353706018889639,
        "per_world": {
          "office_world.sdf": {
            "score": -0.7353706018889639,
            "weight": 1.0
          }
        },
        "per_metric": {
          "office_world.sdf": {
            "success": -0.33333333333333337,
            "localization": 0.1296458109410728,
            "time": 0.03341618766506147,
            "smoothness": 0.20313479900980372
          }
        }
      },
      "eligible": false,
      "is_winner": false
    },
    {
      "index": 6,
      "label": "amcl_max_particles=3000, inflation_radius=0.3, dwb_acc_lim_x=1.5",
      "assignments": [
        {
          "id": "nav2:amcl.ros__parameters.max_particles",
          "name": "amcl_max_particles",
          "target": "nav2",
          "key_paths": [
            [
              "amcl",
              "ros__parameters",
              "max_particles"
            ]
          ],
          "value": 3000
        },
        {
          "id": "nav2:local_costmap.local_costmap.ros__parameters.inflation_layer.inflation_radius|global_costmap.global_costmap.ros__parameters.inflation_layer.inflation_radius",
          "name": "inflation_radius",
          "target": "nav2",
          "key_paths": [
            [
              "local_costmap",
              "local_costmap",
              "ros__parameters",
              "inflation_layer",
              "inflation_radius"
            ],
            [
              "global_costmap",
              "global_costmap",
              "ros__parameters",
              "inflation_layer",
              "inflation_radius"
            ]
          ],
          "value": 0.3
        },
        {
          "id": "nav2:controller_server.ros__parameters.FollowPath.acc_lim_x",
          "name": "dwb_acc_lim_x",
          "target": "nav2",
          "key_paths": [
            [
              "controller_server",
              "ros__parameters",
              "FollowPath",
              "acc_lim_x"
            ]
          ],
          "value": 1.5
        }
      ],
      "override_files": {
        "MOTE_NAV2_PARAMS_FILE": "sweep_results/20260723T153307Z/set_6/params/nav2_params.yaml"
      },
      "is_replicate": false,
      "ran": true,
      "metrics": {
        "office_world.sdf": {
          "success": 0.5,
          "localization": 0.08350648130552368,
          "time": 81.25399999999999,
          "smoothness": 28.079971076796344
        }
      },
      "feasibility": {
        "feasible": true,
        "peak_wheel_mps": 0.22230655669413027,
        "wall_mps": 0.218,
        "limit_mps": 0.22890000000000002
      },
      "score": {
        "total": -1.2096335787282222,
        "per_world": {
          "office_world.sdf": {
            "score": -1.2096335787282222,
            "weight": 1.0
          }
        },
        "per_metric": {
          "office_world.sdf": {
            "success": -0.5,
            "localization": 0.1405476273398779,
            "time": 0.05327792449899034,
            "smoothness": 0.19308173886581903
          }
        }
      },
      "eligible": false,
      "is_winner": false
    }
  ]
}