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Commit 00ffdc8d authored by Fabien Grzeskowiak's avatar Fabien Grzeskowiak
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tuto1 done I guess

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Assets/Robots/RosSharp/Scripts/RosBridgeClient/RosCommuncation/RosConnector.cs
+ 1
− 0
View file @ 00ffdc8d
...@@ -34,6 +34,7 @@ namespace RosSharp.RosBridgeClient ...@@ -34,6 +34,7 @@ namespace RosSharp.RosBridgeClient
private MonoBehaviour[] scripts; private MonoBehaviour[] scripts;
[HideInInspector]
public bool start_scripts = false; public bool start_scripts = false;
public void Awake() public void Awake()
......
Assets/Scenes/Tutos/Tuto1.unity
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− 2020
View file @ 00ffdc8d
This diff is collapsed.
Assets/test.cs deleted 100644 → 0
+ 0
− 22
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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);
}
}
Assets/test.unity deleted 100644 → 0
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− 14877
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This diff is collapsed.
Scenario/Tutos/Tuto1/FileOrder.csv
+ 3
− 1
View file @ 00ffdc8d
/Scenario/Tutos/Tuto1/trial.xml /Scenario/Tutos/Tuto1/trial0.xml
/Scenario/Tutos/Tuto1/trial1.xml
/Scenario/Tutos/Tuto1/trial2.xml
Scenario/Tutos/Tuto1/trial0.xml 0 → 100644
+ 72
− 0
View file @ 00ffdc8d
<?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>
Scenario/Tutos/Tuto1/trial2.xml 0 → 100644
+ 313
− 0
View file @ 00ffdc8d
<?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" />
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<Goal x="3.01021433" y="-1.46491194" z="0.01" />
<Goal x="8.950734" y="-3.16706371" z="0.01" />
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<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>
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<Goals>
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<Goal x="5.73623228" y="-6.08606243" z="0.01" />
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<Goal x="7.192091" y="-5.71712446" z="0.01" />
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<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" />
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</Goals>
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<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" />
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<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">
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<controlLaw>
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<Goals>
<Goal x="3.53450418" y="-8.033152" z="0.01" />
<Goal x="4.129027" y="-6.8110013" z="0.01" />
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</LawGoals>
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</VOGConfig>
</controlSim>
</TrialRegularAgent>
</agent>
<agent>
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<controlLaw>
<LawGoals speedCurrent="0" speedDefault="1.30167484" accelerationMax="0.6115926" angularSpeed="36000" reachedDist="0.5" isLooping="true">
<Goals>
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<Goal x="1.89542508" y="-5.451154" z="0.01" />
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<Goal x="3.65775585" y="-0.05359173" z="0.01" />
<Goal x="3.13092232" y="-0.6060767" z="0.01" />
</Goals>
</LawGoals>
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<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" />
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</controlSim>
</TrialRegularAgent>
</agent>
<agent>
<TrialRegularAgent mesh="plasticMan" radius="0.33" visualVariation="1" animationOffset="0.828815937" heightOffset="-0.008128494">
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<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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<VOGConfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="2">
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</controlSim>
</TrialRegularAgent>
</agent>
</agents>
<obstacles />
</Trial>
\ No newline at end of file
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