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index f59ad4f5df99c656ccbb5e3ede82c71584f889a9..c3de8ebc3c201d4d5a041a6ed6dfac8f2674671d 100644
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@@ -4,7 +4,7 @@ MonoImporter:
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rename to Assets/Prefabs.meta
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new file mode 100644
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similarity index 100%
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similarity index 100%
rename from Assets/MainAssets/MainManager.prefab.meta
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new file mode 100644
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similarity index 99%
rename from Assets/Robots/RobotsModels/Cuybot_with_sensors.prefab
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similarity index 100%
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similarity index 100%
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similarity index 100%
rename from Assets/Robots/RobotsModels/Pepper.prefab.meta
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diff --git a/Assets/Robots/RobotsModels/Wheelchair 1.prefab b/Assets/Robots/RobotsModels/Wheelchair_sensors.prefab
similarity index 100%
rename from Assets/Robots/RobotsModels/Wheelchair 1.prefab
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similarity index 100%
rename from Assets/Robots/RobotsModels/Wheelchair 1.prefab.meta
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@@ -34,6 +34,7 @@ namespace RosSharp.RosBridgeClient
private MonoBehaviour[] scripts;
+ [HideInInspector]
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public void Awake()
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diff --git a/Assets/test.cs b/Assets/test.cs
deleted file mode 100644
index 7f0f949dfe75351e92989195cbb044f2f11928ef..0000000000000000000000000000000000000000
--- a/Assets/test.cs
+++ /dev/null
@@ -1,22 +0,0 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-public class test : MonoBehaviour
-{
- Rigidbody rb;
-
- public float force = 0;
-
- // Start is called before the first frame update
- void Start()
- {
- rb = GetComponent<Rigidbody>();
- }
-
- // Update is called once per frame
- void Update()
- {
- rb.AddForce(force, 0, force);
- }
-}
diff --git a/Assets/test.cs.meta b/Assets/test.cs.meta
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index bb99946b2d94e2e623021599339943fdd0aaa2d3..0000000000000000000000000000000000000000
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diff --git a/Assets/test.unity b/Assets/test.unity
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diff --git a/Scenario/Tutos/Tuto1/FileOrder.csv b/Scenario/Tutos/Tuto1/FileOrder.csv
index eaf22a5589dbc5ccdc266b7b1cf5f4e505605e0d..f6c884d9a0f8cbe78b64bca719d583513a403b4e 100644
--- a/Scenario/Tutos/Tuto1/FileOrder.csv
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diff --git a/Scenario/Tutos/Tuto1/trial.xml b/Scenario/Tutos/Tuto1/trial.xml
deleted file mode 100644
index 9ba881f5b5d2e011a018495845622d70e2749e1d..0000000000000000000000000000000000000000
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- <Goal x="4.63722372" y="-6.54846764" z="0.01" />
- <Goal x="2.585549" y="-0.600537062" z="0.01" />
- <Goal x="0.8805785" y="-0.774561167" z="0.01" />
- <Goal x="3.51519823" y="0.5313096" z="0.01" />
- <Goal x="2.9138515" y="-7.26189041" z="0.01" />
- <Goal x="5.952696" y="0.0189483166" z="0.01" />
- <Goal x="0.7005739" y="-8.467741" z="0.01" />
- <Goal x="8.876965" y="-1.22210288" z="0.01" />
- <Goal x="9.094439" y="-4.423861" z="0.01" />
- <Goal x="4.960778" y="-7.66155" z="0.01" />
- </Goals>
- </LawGoals>
- </controlLaw>
- <controlSim>
- <VOGConfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="2">
- <group groupID="-1" useFormation="true" neighbourNum="2" neighbourDist="1" neighbourDetectionDist="80" horizonTime="2" weightPrefVel="0.15" weightGroup="0.2" />
- </VOGConfig>
- </controlSim>
- </TrialRegularAgent>
- </agent>
- <agent>
- <TrialRegularAgent mesh="f005" radius="0.33" visualVariation="2" animationOffset="0.484176934" heightOffset="0.000658828765">
- <Position x="-1.19749641" y="-3.69265079" z="0.02" />
- <Rotation x="0" y="-0" z="9.664408" />
- <controlLaw>
- <LawGoals speedCurrent="0" speedDefault="1.16766071" accelerationMax="0.9813342" angularSpeed="36000" reachedDist="0.5" isLooping="true">
- <Goals>
- <Goal x="1.96750736" y="-6.897545" z="0.01" />
- <Goal x="7.58564854" y="-1.60924685" z="0.01" />
- <Goal x="1.27361393" y="1.35540247" z="0.01" />
- <Goal x="10.1684628" y="-0.440202951" z="0.01" />
- <Goal x="1.24396324" y="-1.44940519" z="0.01" />
- <Goal x="8.464057" y="-0.0442826748" z="0.01" />
- <Goal x="2.354766" y="-8.300526" z="0.01" />
- <Goal x="8.990848" y="-6.045592" z="0.01" />
- <Goal x="7.040614" y="1.14475107" z="0.01" />
- <Goal x="2.72438145" y="-5.285757" z="0.01" />
- </Goals>
- </LawGoals>
- </controlLaw>
- <controlSim>
- <VOGConfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="2">
- <group groupID="-1" useFormation="true" neighbourNum="2" neighbourDist="1" neighbourDetectionDist="80" horizonTime="2" weightPrefVel="0.15" weightGroup="0.2" />
- </VOGConfig>
- </controlSim>
- </TrialRegularAgent>
- </agent>
- <agent>
- <TrialRegularAgent mesh="f005" radius="0.33" visualVariation="1" animationOffset="0.481556" heightOffset="0.0184724331">
- <Position x="12.6052542" y="7.95360851" z="0.02" />
- <Rotation x="0" y="-0" z="121.572495" />
- <controlLaw>
- <LawGoals speedCurrent="0" speedDefault="1.54182518" accelerationMax="0.678672254" angularSpeed="36000" reachedDist="0.5" isLooping="true">
- <Goals>
- <Goal x="9.988449" y="0.8474064" z="0.01" />
- <Goal x="3.933339" y="-7.73876429" z="0.01" />
- <Goal x="5.39868164" y="-6.62797546" z="0.01" />
- <Goal x="7.57679749" y="-6.6446805" z="0.01" />
- <Goal x="4.882415" y="-4.07811928" z="0.01" />
- <Goal x="6.991761" y="-7.72784" z="0.01" />
- <Goal x="9.021321" y="-4.80845976" z="0.01" />
- <Goal x="5.724143" y="0.276999474" z="0.01" />
- <Goal x="8.109337" y="-1.21882463" z="0.01" />
- <Goal x="1.7196641" y="-1.37915277" z="0.01" />
- </Goals>
- </LawGoals>
- </controlLaw>
- <controlSim>
- <VOGConfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="2">
- <group groupID="-1" useFormation="true" neighbourNum="2" neighbourDist="1" neighbourDetectionDist="80" horizonTime="2" weightPrefVel="0.15" weightGroup="0.2" />
- </VOGConfig>
- </controlSim>
- </TrialRegularAgent>
- </agent>
- </agents>
- <obstacles />
-</Trial>
\ No newline at end of file
diff --git a/Scenario/Tutos/Tuto1/trial0.xml b/Scenario/Tutos/Tuto1/trial0.xml
new file mode 100644
index 0000000000000000000000000000000000000000..229193a66b4ec9a97fd7cb59d234e963227f81a8
--- /dev/null
+++ b/Scenario/Tutos/Tuto1/trial0.xml
@@ -0,0 +1,72 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Trial xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+ <scene meshName="Hangar">
+ <Position x="-0" y="0" z="0" />
+ <Rotation x="0" y="0" z="0" />
+ <recordingFile>Output_{USER}_{ITT}.csv</recordingFile>
+ <endingConditions>
+ <condition parameter="time" test="greater" value="60" />
+ </endingConditions>
+ </scene>
+ <player>
+ <TrialCamPlayer mesh="CamPlayer" radius="0.33" in_sim="false">
+ <Position x="-17.85" y="17.04" z="8.110001" />
+ <Rotation x="0" y="0" z="190.802734" />
+ <controlLaw>
+ <LawCamControlEditor lookSpeedH="2" lookSpeedV="2" zoomSpeed="2" dragSpeed="3" />
+ </controlLaw>
+ </TrialCamPlayer>
+ </player>
+ <robots>
+ <robot>
+ <TrialRegularRobot mesh="Cuybot_with_sensors" radius="1">
+ <Position x="-0" y="0" z="0.01" />
+ <Rotation x="0" y="0" z="0" />
+ <controlLaw>
+ <LawFake />
+ </controlLaw>
+ </TrialRegularRobot>
+ </robot>
+ </robots>
+ <agents>
+ <agent>
+ <TrialRegularAgent mesh="plasticMan" radius="0.33" visualVariation="6" animationOffset="0.231219769" heightOffset="0.04586265">
+ <Position x="-1.484395" y="-7.49597645" z="0.02" />
+ <Rotation x="-0" y="0" z="238.088959" />
+ <controlLaw>
+ <LawGoals speedCurrent="0" speedDefault="1.30167484" accelerationMax="0.6115926" angularSpeed="36000" reachedDist="0.5" isLooping="true">
+ <Goals>
+ <Goal x="3.65775585" y="-0.05359173" z="0.01" />
+ <Goal x="3.13092232" y="-0.6060767" z="0.01" />
+ </Goals>
+ </LawGoals>
+ </controlLaw>
+ <controlSim>
+ <VOGConfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="2">
+ <group groupID="-1" useFormation="true" neighbourNum="2" neighbourDist="1" neighbourDetectionDist="80" horizonTime="2" weightPrefVel="0.15" weightGroup="0.2" />
+ </VOGConfig>
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="plasticMan" radius="0.33" visualVariation="1" animationOffset="0.828815937" heightOffset="-0.008128494">
+ <Position x="13.8124113" y="-6.52328873" z="0.02" />
+ <Rotation x="0" y="-0" z="61.985424" />
+ <controlLaw>
+ <LawGoals speedCurrent="0" speedDefault="1.31559587" accelerationMax="0.8204204" angularSpeed="36000" reachedDist="0.5" isLooping="true">
+ <Goals>
+ <Goal x="2.65004134" y="-5.289126" z="0.01" />
+ <Goal x="5.20066643" y="-2.80304718" z="0.01" />
+ </Goals>
+ </LawGoals>
+ </controlLaw>
+ <controlSim>
+ <VOGConfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="2">
+ <group groupID="-1" useFormation="true" neighbourNum="2" neighbourDist="1" neighbourDetectionDist="80" horizonTime="2" weightPrefVel="0.15" weightGroup="0.2" />
+ </VOGConfig>
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ </agents>
+ <obstacles />
+</Trial>
diff --git a/Scenario/Tutos/Tuto1/trial1.xml b/Scenario/Tutos/Tuto1/trial1.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ea52ea58ed8327b07c19bc76ed633e171854e48e
--- /dev/null
+++ b/Scenario/Tutos/Tuto1/trial1.xml
@@ -0,0 +1,313 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Trial xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+ <scene meshName="Hangar">
+ <Position x="-0" y="0" z="0" />
+ <Rotation x="0" y="0" z="0" />
+ <recordingFile>Output_{USER}_{ITT}.csv</recordingFile>
+ <endingConditions>
+ <condition parameter="time" test="less" value="0" />
+ </endingConditions>
+ </scene>
+ <player>
+ <TrialCamPlayer mesh="CamPlayer" radius="0.33" in_sim="false">
+ <Position x="-17.85" y="17.04" z="8.110001" />
+ <Rotation x="0" y="0" z="190.802734" />
+ <controlLaw>
+ <LawCamControlEditor lookSpeedH="2" lookSpeedV="2" zoomSpeed="2" dragSpeed="3" />
+ </controlLaw>
+ </TrialCamPlayer>
+ </player>
+ <robots>
+ <robot>
+ <TrialRegularRobot mesh="Cuybot_with_sensors" radius="1">
+ <Position x="-0" y="0" z="0.01" />
+ <Rotation x="0" y="0" z="0" />
+ <controlLaw>
+ <LawFake />
+ </controlLaw>
+ </TrialRegularRobot>
+ </robot>
+ <robot>
+ <TrialRegularRobot mesh="Qolo_sensors" radius="1">
+ <Position x="1.89" y="1.68" z="0.01" />
+ <Rotation x="0" y="0" z="333.401581" />
+ <controlLaw>
+ <LawFake />
+ </controlLaw>
+ </TrialRegularRobot>
+ </robot>
+ </robots>
+ <agents>
+ <agent>
+ <TrialRegularAgent mesh="plasticMan" radius="0.33" visualVariation="2" animationOffset="0.038815856" heightOffset="0.0211980343">
+ <Position x="-5.42347336" y="-7.68651772" z="0.02" />
+ <Rotation x="0" y="-0" z="26.14416" />
+ <controlLaw>
+ <LawGoals speedCurrent="0" speedDefault="1.20097709" accelerationMax="0.7812619" angularSpeed="36000" reachedDist="0.5" isLooping="true">
+ <Goals>
+ <Goal x="5.03564262" y="1.21063566" z="0.01" />
+ <Goal x="1.26464367" y="-3.45951271" z="0.01" />
+ <Goal x="1.7566011" y="-3.593361" z="0.01" />
+ <Goal x="6.04617739" y="-1.69118774" z="0.01" />
+ <Goal x="1.40304089" y="-4.71165" z="0.01" />
+ <Goal x="5.29632139" y="-1.4940753" z="0.01" />
+ <Goal x="2.45224929" y="-2.32350874" z="0.01" />
+ <Goal x="7.067105" y="-2.999012" z="0.01" />
+ <Goal x="7.399534" y="-7.177228" z="0.01" />
+ <Goal x="1.4984436" y="-0.448194742" z="0.01" />
+ </Goals>
+ </LawGoals>
+ </controlLaw>
+ <controlSim>
+ <VOGConfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="2">
+ <group groupID="0" useFormation="true" neighbourNum="2" neighbourDist="1" neighbourDetectionDist="80" horizonTime="2" weightPrefVel="0.15" weightGroup="0.2" />
+ </VOGConfig>
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="plasticMan" radius="0.33" visualVariation="4" animationOffset="0.754146338" heightOffset="-0.0461755656">
+ <Position x="-5.114913" y="-8.132756" z="0.02" />
+ <Rotation x="-0" y="0" z="261.5326" />
+ <controlLaw>
+ <LawGoals speedCurrent="0" speedDefault="1.321008" accelerationMax="0.795511663" angularSpeed="36000" reachedDist="0.5" isLooping="true">
+ <Goals>
+ <Goal x="5.03564262" y="1.21063566" z="0.01" />
+ <Goal x="1.26464367" y="-3.45951271" z="0.01" />
+ <Goal x="1.7566011" y="-3.593361" z="0.01" />
+ <Goal x="6.04617739" y="-1.69118774" z="0.01" />
+ <Goal x="1.40304089" y="-4.71165" z="0.01" />
+ <Goal x="5.29632139" y="-1.4940753" z="0.01" />
+ <Goal x="2.45224929" y="-2.32350874" z="0.01" />
+ <Goal x="7.067105" y="-2.999012" z="0.01" />
+ <Goal x="7.399534" y="-7.177228" z="0.01" />
+ <Goal x="1.4984436" y="-0.448194742" z="0.01" />
+ </Goals>
+ </LawGoals>
+ </controlLaw>
+ <controlSim>
+ <VOGConfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="2">
+ <group groupID="0" useFormation="true" neighbourNum="2" neighbourDist="1" neighbourDetectionDist="80" horizonTime="2" weightPrefVel="0.15" weightGroup="0.2" />
+ </VOGConfig>
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="plasticMan" radius="0.33" visualVariation="5" animationOffset="0.07725513" heightOffset="-0.0273601077">
+ <Position x="-2.89732361" y="-8.311283" z="0.02" />
+ <Rotation x="-0" y="0" z="252.430267" />
+ <controlLaw>
+ <LawGoals speedCurrent="0" speedDefault="1.51586032" accelerationMax="0.8497275" angularSpeed="36000" reachedDist="0.5" isLooping="true">
+ <Goals>
+ <Goal x="2.51896238" y="1.02585554" z="0.01" />
+ <Goal x="10.1161995" y="-4.67172432" z="0.01" />
+ <Goal x="4.514126" y="-2.77601767" z="0.01" />
+ <Goal x="2.962148" y="-2.842608" z="0.01" />
+ <Goal x="1.718435" y="-2.716362" z="0.01" />
+ <Goal x="9.85779" y="-2.548688" z="0.01" />
+ <Goal x="9.524319" y="-8.106491" z="0.01" />
+ <Goal x="4.5019393" y="-3.81484079" z="0.01" />
+ <Goal x="3.687377" y="-1.27349043" z="0.01" />
+ <Goal x="2.560204" y="-8.401478" z="0.01" />
+ </Goals>
+ </LawGoals>
+ </controlLaw>
+ <controlSim>
+ <VOGConfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="2">
+ <group groupID="1" useFormation="true" neighbourNum="2" neighbourDist="1" neighbourDetectionDist="80" horizonTime="2" weightPrefVel="0.15" weightGroup="0.2" />
+ </VOGConfig>
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="plasticMan" radius="0.33" visualVariation="8" animationOffset="0.8062593" heightOffset="-0.0158149544">
+ <Position x="-3.03136349" y="-7.86031151" z="0.02" />
+ <Rotation x="-0" y="0" z="254.4274" />
+ <controlLaw>
+ <LawGoals speedCurrent="0" speedDefault="1.21272278" accelerationMax="0.7689549" angularSpeed="36000" reachedDist="0.5" isLooping="true">
+ <Goals>
+ <Goal x="2.51896238" y="1.02585554" z="0.01" />
+ <Goal x="10.1161995" y="-4.67172432" z="0.01" />
+ <Goal x="4.514126" y="-2.77601767" z="0.01" />
+ <Goal x="2.962148" y="-2.842608" z="0.01" />
+ <Goal x="1.718435" y="-2.716362" z="0.01" />
+ <Goal x="9.85779" y="-2.548688" z="0.01" />
+ <Goal x="9.524319" y="-8.106491" z="0.01" />
+ <Goal x="4.5019393" y="-3.81484079" z="0.01" />
+ <Goal x="3.687377" y="-1.27349043" z="0.01" />
+ <Goal x="2.560204" y="-8.401478" z="0.01" />
+ </Goals>
+ </LawGoals>
+ </controlLaw>
+ <controlSim>
+ <VOGConfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="2">
+ <group groupID="1" useFormation="true" neighbourNum="2" neighbourDist="1" neighbourDetectionDist="80" horizonTime="2" weightPrefVel="0.15" weightGroup="0.2" />
+ </VOGConfig>
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="plasticMan" radius="0.33" visualVariation="3" animationOffset="0.7507869" heightOffset="0.01420388">
+ <Position x="-4.29163933" y="6.57278061" z="0.02" />
+ <Rotation x="-0" y="0" z="303.0245" />
+ <controlLaw>
+ <LawGoals speedCurrent="0" speedDefault="1.21529484" accelerationMax="0.8390085" angularSpeed="36000" reachedDist="0.5" isLooping="true">
+ <Goals>
+ <Goal x="4.03944731" y="-5.68287659" z="0.01" />
+ <Goal x="6.94549465" y="-3.96180344" z="0.01" />
+ <Goal x="10.4328766" y="-5.068211" z="0.01" />
+ <Goal x="8.19252" y="-6.13403559" z="0.01" />
+ <Goal x="2.382215" y="-5.4139657" z="0.01" />
+ <Goal x="3.01021433" y="-1.46491194" z="0.01" />
+ <Goal x="8.950734" y="-3.16706371" z="0.01" />
+ <Goal x="6.762076" y="-2.657731" z="0.01" />
+ <Goal x="5.843275" y="-4.21183157" z="0.01" />
+ <Goal x="4.925628" y="-2.43749428" z="0.01" />
+ </Goals>
+ </LawGoals>
+ </controlLaw>
+ <controlSim>
+ <VOGConfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="2">
+ <group groupID="-1" useFormation="true" neighbourNum="2" neighbourDist="1" neighbourDetectionDist="80" horizonTime="2" weightPrefVel="0.15" weightGroup="0.2" />
+ </VOGConfig>
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="plasticMan" radius="0.33" visualVariation="8" animationOffset="0.123823166" heightOffset="-0.0256496184">
+ <Position x="5.091328" y="-6.808408" z="0.02" />
+ <Rotation x="0" y="-0" z="141.118423" />
+ <controlLaw>
+ <LawGoals speedCurrent="0" speedDefault="1.37060344" accelerationMax="0.667825162" angularSpeed="36000" reachedDist="0.5" isLooping="true">
+ <Goals>
+ <Goal x="7.668021" y="-5.25939035" z="0.01" />
+ <Goal x="3.27061772" y="1.35181665" z="0.01" />
+ <Goal x="5.73623228" y="-6.08606243" z="0.01" />
+ <Goal x="5.39282465" y="-4.56290436" z="0.01" />
+ <Goal x="7.192091" y="-5.71712446" z="0.01" />
+ <Goal x="1.33965349" y="-7.93346262" z="0.01" />
+ <Goal x="5.63861752" y="0.5440879" z="0.01" />
+ <Goal x="4.203038" y="-0.071069" z="0.01" />
+ <Goal x="10.3887129" y="-1.73038852" z="0.01" />
+ <Goal x="5.844324" y="-0.908590555" z="0.01" />
+ </Goals>
+ </LawGoals>
+ </controlLaw>
+ <controlSim>
+ <VOGConfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="2">
+ <group groupID="-1" useFormation="true" neighbourNum="2" neighbourDist="1" neighbourDetectionDist="80" horizonTime="2" weightPrefVel="0.15" weightGroup="0.2" />
+ </VOGConfig>
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="plasticMan" radius="0.33" visualVariation="7" animationOffset="0.3671201" heightOffset="-0.039615307">
+ <Position x="4.857313" y="0.37816596" z="0.02" />
+ <Rotation x="0" y="-0" z="34.6044846" />
+ <controlLaw>
+ <LawGoals speedCurrent="0" speedDefault="1.14502954" accelerationMax="0.966396451" angularSpeed="36000" reachedDist="0.5" isLooping="true">
+ <Goals>
+ <Goal x="1.16630745" y="-7.47592545" z="0.01" />
+ <Goal x="2.28349066" y="-1.93740261" z="0.01" />
+ <Goal x="6.51744032" y="-1.74873364" z="0.01" />
+ <Goal x="3.51697683" y="-7.217591" z="0.01" />
+ <Goal x="2.029513" y="-7.020886" z="0.01" />
+ <Goal x="7.11457872" y="-2.90181923" z="0.01" />
+ <Goal x="6.670225" y="-1.18185663" z="0.01" />
+ <Goal x="2.89577937" y="-4.264956" z="0.01" />
+ <Goal x="6.13799238" y="0.3083396" z="0.01" />
+ <Goal x="5.643535" y="0.143868923" z="0.01" />
+ </Goals>
+ </LawGoals>
+ </controlLaw>
+ <controlSim>
+ <VOGConfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="2">
+ <group groupID="-1" useFormation="true" neighbourNum="2" neighbourDist="1" neighbourDetectionDist="80" horizonTime="2" weightPrefVel="0.15" weightGroup="0.2" />
+ </VOGConfig>
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="plasticMan" radius="0.33" visualVariation="5" animationOffset="0.7735734" heightOffset="0.0138785485">
+ <Position x="11.2349939" y="-3.15871477" z="0.02" />
+ <Rotation x="0" y="-0" z="35.77642" />
+ <controlLaw>
+ <LawGoals speedCurrent="0" speedDefault="1.47901773" accelerationMax="0.862784564" angularSpeed="36000" reachedDist="0.5" isLooping="true">
+ <Goals>
+ <Goal x="3.53450418" y="-8.033152" z="0.01" />
+ <Goal x="4.129027" y="-6.8110013" z="0.01" />
+ <Goal x="8.753343" y="-5.73384237" z="0.01" />
+ <Goal x="3.83396387" y="-7.47682333" z="0.01" />
+ <Goal x="5.17726469" y="-7.410797" z="0.01" />
+ <Goal x="5.87397242" y="-8.008112" z="0.01" />
+ <Goal x="10.1646919" y="0.119959116" z="0.01" />
+ <Goal x="3.65288019" y="-3.994319" z="0.01" />
+ <Goal x="4.47575474" y="-8.410082" z="0.01" />
+ <Goal x="2.828338" y="-1.98769343" z="0.01" />
+ </Goals>
+ </LawGoals>
+ </controlLaw>
+ <controlSim>
+ <VOGConfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="2">
+ <group groupID="-1" useFormation="true" neighbourNum="2" neighbourDist="1" neighbourDetectionDist="80" horizonTime="2" weightPrefVel="0.15" weightGroup="0.2" />
+ </VOGConfig>
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="plasticMan" radius="0.33" visualVariation="6" animationOffset="0.231219769" heightOffset="0.04586265">
+ <Position x="-1.484395" y="-7.49597645" z="0.02" />
+ <Rotation x="-0" y="0" z="238.088959" />
+ <controlLaw>
+ <LawGoals speedCurrent="0" speedDefault="1.30167484" accelerationMax="0.6115926" angularSpeed="36000" reachedDist="0.5" isLooping="true">
+ <Goals>
+ <Goal x="4.40318727" y="-0.9915674" z="0.01" />
+ <Goal x="1.89542508" y="-5.451154" z="0.01" />
+ <Goal x="5.28285646" y="-3.72014713" z="0.01" />
+ <Goal x="1.8666122" y="-6.91352749" z="0.01" />
+ <Goal x="10.4599543" y="1.39527178" z="0.01" />
+ <Goal x="2.33558273" y="-7.23163843" z="0.01" />
+ <Goal x="4.468103" y="-5.267401" z="0.01" />
+ <Goal x="7.38371038" y="1.47667408" z="0.01" />
+ <Goal x="3.65775585" y="-0.05359173" z="0.01" />
+ <Goal x="3.13092232" y="-0.6060767" z="0.01" />
+ </Goals>
+ </LawGoals>
+ </controlLaw>
+ <controlSim>
+ <VOGConfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="2">
+ <group groupID="-1" useFormation="true" neighbourNum="2" neighbourDist="1" neighbourDetectionDist="80" horizonTime="2" weightPrefVel="0.15" weightGroup="0.2" />
+ </VOGConfig>
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="plasticMan" radius="0.33" visualVariation="1" animationOffset="0.828815937" heightOffset="-0.008128494">
+ <Position x="13.8124113" y="-6.52328873" z="0.02" />
+ <Rotation x="0" y="-0" z="61.985424" />
+ <controlLaw>
+ <LawGoals speedCurrent="0" speedDefault="1.31559587" accelerationMax="0.8204204" angularSpeed="36000" reachedDist="0.5" isLooping="true">
+ <Goals>
+ <Goal x="6.333993" y="-8.444868" z="0.01" />
+ <Goal x="5.788645" y="-7.15728855" z="0.01" />
+ <Goal x="1.45263529" y="0.5630479" z="0.01" />
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+ <Goal x="3.81109476" y="-2.16865063" z="0.01" />
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+ <Goal x="7.32022333" y="0.8329835" z="0.01" />
+ <Goal x="2.65004134" y="-5.289126" z="0.01" />
+ <Goal x="5.20066643" y="-2.80304718" z="0.01" />
+ </Goals>
+ </LawGoals>
+ </controlLaw>
+ <controlSim>
+ <VOGConfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="2">
+ <group groupID="-1" useFormation="true" neighbourNum="2" neighbourDist="1" neighbourDetectionDist="80" horizonTime="2" weightPrefVel="0.15" weightGroup="0.2" />
+ </VOGConfig>
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ </agents>
+ <obstacles />
+</Trial>
\ No newline at end of file
diff --git a/Scenario/Tutos/Tuto1/trial2.xml b/Scenario/Tutos/Tuto1/trial2.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ea52ea58ed8327b07c19bc76ed633e171854e48e
--- /dev/null
+++ b/Scenario/Tutos/Tuto1/trial2.xml
@@ -0,0 +1,313 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Trial xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+ <scene meshName="Hangar">
+ <Position x="-0" y="0" z="0" />
+ <Rotation x="0" y="0" z="0" />
+ <recordingFile>Output_{USER}_{ITT}.csv</recordingFile>
+ <endingConditions>
+ <condition parameter="time" test="less" value="0" />
+ </endingConditions>
+ </scene>
+ <player>
+ <TrialCamPlayer mesh="CamPlayer" radius="0.33" in_sim="false">
+ <Position x="-17.85" y="17.04" z="8.110001" />
+ <Rotation x="0" y="0" z="190.802734" />
+ <controlLaw>
+ <LawCamControlEditor lookSpeedH="2" lookSpeedV="2" zoomSpeed="2" dragSpeed="3" />
+ </controlLaw>
+ </TrialCamPlayer>
+ </player>
+ <robots>
+ <robot>
+ <TrialRegularRobot mesh="Cuybot_with_sensors" radius="1">
+ <Position x="-0" y="0" z="0.01" />
+ <Rotation x="0" y="0" z="0" />
+ <controlLaw>
+ <LawFake />
+ </controlLaw>
+ </TrialRegularRobot>
+ </robot>
+ <robot>
+ <TrialRegularRobot mesh="Qolo_sensors" radius="1">
+ <Position x="1.89" y="1.68" z="0.01" />
+ <Rotation x="0" y="0" z="333.401581" />
+ <controlLaw>
+ <LawFake />
+ </controlLaw>
+ </TrialRegularRobot>
+ </robot>
+ </robots>
+ <agents>
+ <agent>
+ <TrialRegularAgent mesh="plasticMan" radius="0.33" visualVariation="2" animationOffset="0.038815856" heightOffset="0.0211980343">
+ <Position x="-5.42347336" y="-7.68651772" z="0.02" />
+ <Rotation x="0" y="-0" z="26.14416" />
+ <controlLaw>
+ <LawGoals speedCurrent="0" speedDefault="1.20097709" accelerationMax="0.7812619" angularSpeed="36000" reachedDist="0.5" isLooping="true">
+ <Goals>
+ <Goal x="5.03564262" y="1.21063566" z="0.01" />
+ <Goal x="1.26464367" y="-3.45951271" z="0.01" />
+ <Goal x="1.7566011" y="-3.593361" z="0.01" />
+ <Goal x="6.04617739" y="-1.69118774" z="0.01" />
+ <Goal x="1.40304089" y="-4.71165" z="0.01" />
+ <Goal x="5.29632139" y="-1.4940753" z="0.01" />
+ <Goal x="2.45224929" y="-2.32350874" z="0.01" />
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+ <Goal x="7.399534" y="-7.177228" z="0.01" />
+ <Goal x="1.4984436" y="-0.448194742" z="0.01" />
+ </Goals>
+ </LawGoals>
+ </controlLaw>
+ <controlSim>
+ <VOGConfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="2">
+ <group groupID="0" useFormation="true" neighbourNum="2" neighbourDist="1" neighbourDetectionDist="80" horizonTime="2" weightPrefVel="0.15" weightGroup="0.2" />
+ </VOGConfig>
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="plasticMan" radius="0.33" visualVariation="4" animationOffset="0.754146338" heightOffset="-0.0461755656">
+ <Position x="-5.114913" y="-8.132756" z="0.02" />
+ <Rotation x="-0" y="0" z="261.5326" />
+ <controlLaw>
+ <LawGoals speedCurrent="0" speedDefault="1.321008" accelerationMax="0.795511663" angularSpeed="36000" reachedDist="0.5" isLooping="true">
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+ <Goal x="1.4984436" y="-0.448194742" z="0.01" />
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+ </LawGoals>
+ </controlLaw>
+ <controlSim>
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+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
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+ </LawGoals>
+ </controlLaw>
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+ </VOGConfig>
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="plasticMan" radius="0.33" visualVariation="8" animationOffset="0.8062593" heightOffset="-0.0158149544">
+ <Position x="-3.03136349" y="-7.86031151" z="0.02" />
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+ </controlLaw>
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+ </VOGConfig>
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
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+ </controlLaw>
+ <controlSim>
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+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
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+ </controlLaw>
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+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="plasticMan" radius="0.33" visualVariation="7" animationOffset="0.3671201" heightOffset="-0.039615307">
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+ </controlSim>
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+ </agent>
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+ <Goals>
+ <Goal x="6.333993" y="-8.444868" z="0.01" />
+ <Goal x="5.788645" y="-7.15728855" z="0.01" />
+ <Goal x="1.45263529" y="0.5630479" z="0.01" />
+ <Goal x="7.44857454" y="-2.583291" z="0.01" />
+ <Goal x="3.81109476" y="-2.16865063" z="0.01" />
+ <Goal x="3.74327421" y="-6.27647161" z="0.01" />
+ <Goal x="2.55329823" y="-7.158835" z="0.01" />
+ <Goal x="7.32022333" y="0.8329835" z="0.01" />
+ <Goal x="2.65004134" y="-5.289126" z="0.01" />
+ <Goal x="5.20066643" y="-2.80304718" z="0.01" />
+ </Goals>
+ </LawGoals>
+ </controlLaw>
+ <controlSim>
+ <VOGConfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="2">
+ <group groupID="-1" useFormation="true" neighbourNum="2" neighbourDist="1" neighbourDetectionDist="80" horizonTime="2" weightPrefVel="0.15" weightGroup="0.2" />
+ </VOGConfig>
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ </agents>
+ <obstacles />
+</Trial>
\ No newline at end of file