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Update settings for multi-agent example
1 parent ec288ea commit f461c38

6 files changed

Lines changed: 305 additions & 374 deletions

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‎settings/DefaultSimulationSettings.json‎

Lines changed: 197 additions & 22 deletions
Original file line numberDiff line numberDiff line change
@@ -1,28 +1,36 @@
11
{
22
"ID": 0,
33
"SimulationName": "example",
4-
"RunLength": 120.0,
4+
"RunLength": 140.0,
55
"Scenario": {
6-
"Name": "DataCollection",
6+
"Name": "Navigation",
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"Options": {
8-
"MultiLevel": true,
8+
"MultiLevel": false,
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"LevelNames": [
10-
"Home1"
11-
]
10+
"Level1"
11+
],
12+
"GoalPoint": {
13+
"Drone1": {
14+
"X": 40.0,
15+
"Y": 30.0,
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"Z": -3.0
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},
18+
"Drone2": {
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"X": -25.0,
20+
"Y": 0.0,
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"Z": -3.0
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}
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}
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}
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},
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"Environment": {
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"Name": "SWARMHome",
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"StartingLevelName": "Home1",
27+
"Name": "Blocks",
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"StartingLevelName": "Level1",
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"StreamVideo": true
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},
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"Data": {
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"VehicleState": {
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"Format": "SWARM"
22-
},
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"Video": {
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"Format": "MP4",
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"VideoName": "DemoVideo"
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}
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},
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"Agents": {
@@ -49,7 +57,7 @@
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"Controller": {
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"Name": "SWARMBase",
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"Gains": {
52-
"P": 0.45,
60+
"P": 0.6,
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"I": 0.0,
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"D": 0.05
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}
@@ -60,43 +68,210 @@
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"Z": 0.0
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},
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"SoftwareModules": {
63-
"HighLevelBehavior": {
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"Mapping": {
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"Algorithm": {
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"Parameters": {
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"Type": "OccupancyMap",
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"Center": {
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"X": 0.0,
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"Y": 0.0,
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"Z": 0.0
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},
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"Size": {
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"X": 100,
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"Y": 100,
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"Z": 20
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},
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"UpdateRate": 0.0,
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"ResolutionInMeters": 1.0
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},
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"ClassName": "SWARMOccupancyMap",
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"Level": 1,
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"InputArgs": [],
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"ReturnValues": [
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"OccupancyMap"
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]
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},
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"Publishes": [
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"OccupancyMap"
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],
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"Subscribes": []
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},
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"HighLevelPathPlanning": {
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"Algorithm": {
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"Level": 3,
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"States": [],
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"Parameters": {
68-
"completed_waypoint_distance": 2.0
105+
"goal_point": [
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40.0,
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30.0
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],
109+
"map_size": [
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100.0,
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100.0
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],
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"starting_point": [
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0.0,
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0.0
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],
117+
"resolution": 1.0,
118+
"agent_radius": 1.5,
119+
"flight_altitude": -3.0
69120
},
70-
"ClassName": "PathFollowing",
71-
"InputArgs": [],
121+
"InputArgs": [
122+
"OccupancyMap"
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],
124+
"ClassName": "AStar",
72125
"ReturnValues": [
73-
"Position",
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"Heading",
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"Speed"
126+
"Trajectory"
76127
]
77128
},
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"Publishes": [
79-
"MovementCommand"
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"Trajectory"
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],
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"Subscribes": [
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"OccupancyMap",
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"AgentState"
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]
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},
85-
"PathPlanning": {
137+
"LowLevelPathPlanning": {
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"Algorithm": {
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"Level": 1,
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"States": [],
89141
"Parameters": {},
142+
"InputArgs": [
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"MovementCommand"
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],
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"ClassName": "PassThroughPlanner",
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"ReturnValues": [
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"MovementCommand"
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]
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},
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"Publishes": [],
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"Subscribes": [
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"AgentState",
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"Trajectory"
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]
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}
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}
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},
158+
"Drone2": {
159+
"Vehicle": "Multirotor",
160+
"AutoPilot": "SWARM",
161+
"Sensors": {
162+
"Cameras": {
163+
"Camera1": {
164+
"X": 0.35,
165+
"Y": 0.0,
166+
"Z": 0.0,
167+
"Roll": 0.0,
168+
"Pitch": 0.0,
169+
"Yaw": 0.0,
170+
"Settings": {
171+
"Width": 640,
172+
"Height": 480,
173+
"FOV_Degrees": 90
174+
}
175+
}
176+
}
177+
},
178+
"Controller": {
179+
"Name": "SWARMBase",
180+
"Gains": {
181+
"P": 0.6,
182+
"I": 0.0,
183+
"D": 0.05
184+
}
185+
},
186+
"StartingPosition": {
187+
"X": -2.0,
188+
"Y": 2.0,
189+
"Z": 0.0
190+
},
191+
"SoftwareModules": {
192+
"Mapping": {
193+
"Algorithm": {
194+
"Parameters": {
195+
"Type": "OccupancyMap",
196+
"Center": {
197+
"X": 0.0,
198+
"Y": 0.0,
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"Z": 0.0
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},
201+
"Size": {
202+
"X": 100,
203+
"Y": 100,
204+
"Z": 20
205+
},
206+
"UpdateRate": 0.0,
207+
"ResolutionInMeters": 1.0
208+
},
209+
"ClassName": "SWARMOccupancyMap",
210+
"Level": 1,
91211
"InputArgs": [],
212+
"ReturnValues": [
213+
"OccupancyMap"
214+
]
215+
},
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"Publishes": [
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"OccupancyMap"
218+
],
219+
"Subscribes": []
220+
},
221+
"HighLevelPathPlanning": {
222+
"Algorithm": {
223+
"Level": 3,
224+
"States": [],
225+
"Parameters": {
226+
"goal_point": [
227+
-25.0,
228+
0.0
229+
],
230+
"map_size": [
231+
100.0,
232+
100.0
233+
],
234+
"starting_point": [
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0.0,
236+
0.0
237+
],
238+
"resolution": 1.0,
239+
"agent_radius": 1.5,
240+
"flight_altitude": -4.0
241+
},
242+
"InputArgs": [
243+
"OccupancyMap"
244+
],
245+
"ClassName": "AStar",
246+
"ReturnValues": [
247+
"Trajectory"
248+
]
249+
},
250+
"Publishes": [
251+
"Trajectory"
252+
],
253+
"Subscribes": [
254+
"OccupancyMap",
255+
"AgentState"
256+
]
257+
},
258+
"LowLevelPathPlanning": {
259+
"Algorithm": {
260+
"Level": 1,
261+
"States": [],
262+
"Parameters": {},
263+
"InputArgs": [
264+
"MovementCommand"
265+
],
266+
"ClassName": "PassThroughPlanner",
92267
"ReturnValues": [
93268
"MovementCommand"
94269
]
95270
},
96271
"Publishes": [],
97272
"Subscribes": [
98273
"AgentState",
99-
"MovementCommand"
274+
"Trajectory"
100275
]
101276
}
102277
}

‎settings/DefaultTrajectory.json‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
{
22
"Trajectory": {
3-
"Home1": [
3+
"Level1": [
44
{
55
"X": 0.0,
66
"Y": 0.0,

‎settings/SWARMHomeSimulationSettings.json‎

Lines changed: 105 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,105 @@
1+
{
2+
"ID": 0,
3+
"SimulationName": "example",
4+
"RunLength": 120.0,
5+
"Scenario": {
6+
"Name": "DataCollection",
7+
"Options": {
8+
"MultiLevel": false,
9+
"LevelNames": [
10+
"Level1"
11+
]
12+
}
13+
},
14+
"Environment": {
15+
"Name": "Blocks",
16+
"StartingLevelName": "Level1",
17+
"StreamVideo": true
18+
},
19+
"Data": {
20+
"VehicleState": {
21+
"Format": "SWARM"
22+
},
23+
"Video": {
24+
"Format": "MP4",
25+
"VideoName": "DemoVideo"
26+
}
27+
},
28+
"Agents": {
29+
"Drone1": {
30+
"Vehicle": "Multirotor",
31+
"AutoPilot": "SWARM",
32+
"Sensors": {
33+
"Cameras": {
34+
"Camera1": {
35+
"X": 0.35,
36+
"Y": 0.0,
37+
"Z": 0.0,
38+
"Roll": 0.0,
39+
"Pitch": 0.0,
40+
"Yaw": 0.0,
41+
"Settings": {
42+
"Width": 640,
43+
"Height": 480,
44+
"FOV_Degrees": 90
45+
}
46+
}
47+
}
48+
},
49+
"Controller": {
50+
"Name": "SWARMBase",
51+
"Gains": {
52+
"P": 0.45,
53+
"I": 0.0,
54+
"D": 0.05
55+
}
56+
},
57+
"StartingPosition": {
58+
"X": 0.0,
59+
"Y": 0.0,
60+
"Z": 0.0
61+
},
62+
"SoftwareModules": {
63+
"HighLevelBehavior": {
64+
"Algorithm": {
65+
"Level": 1,
66+
"States": [],
67+
"Parameters": {
68+
"completed_waypoint_distance": 2.0
69+
},
70+
"ClassName": "PathFollowing",
71+
"InputArgs": [],
72+
"ReturnValues": [
73+
"Position",
74+
"Heading",
75+
"Speed"
76+
]
77+
},
78+
"Publishes": [
79+
"MovementCommand"
80+
],
81+
"Subscribes": [
82+
"AgentState"
83+
]
84+
},
85+
"LowLevelPathPlanning": {
86+
"Algorithm": {
87+
"Level": 1,
88+
"States": [],
89+
"Parameters": {},
90+
"ClassName": "PassThroughPlanner",
91+
"InputArgs": [],
92+
"ReturnValues": [
93+
"MovementCommand"
94+
]
95+
},
96+
"Publishes": [],
97+
"Subscribes": [
98+
"AgentState",
99+
"MovementCommand"
100+
]
101+
}
102+
}
103+
}
104+
}
105+
}

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