From 7eb1a0479f6e541cbc95bc8f5e057686c948e730 Mon Sep 17 00:00:00 2001
From: "Diego F. Paez" <dfpg@ieee.org>
Date: Fri, 5 Jun 2020 20:57:16 +0200
Subject: [PATCH] creating scene for 1D flow
---
Assets/Scenes/CrowdBot/EPFL.meta | 8 +
Assets/Scenes/CrowdBot/EPFL/qolo_1dflow.unity | 35899 ++++++++++++++++
.../CrowdBot/EPFL/qolo_1dflow.unity.meta | 7 +
Scenario/CrowdBot/EPFL/1Dflow.xml | 3251 ++
Scenario/CrowdBot/EPFL/counter1D.xml | 3251 ++
Scenario/CrowdBot/EPFL/nocrowd.xml | 50 +
6 files changed, 42466 insertions(+)
create mode 100644 Assets/Scenes/CrowdBot/EPFL.meta
create mode 100644 Assets/Scenes/CrowdBot/EPFL/qolo_1dflow.unity
create mode 100644 Assets/Scenes/CrowdBot/EPFL/qolo_1dflow.unity.meta
create mode 100644 Scenario/CrowdBot/EPFL/1Dflow.xml
create mode 100644 Scenario/CrowdBot/EPFL/counter1D.xml
create mode 100644 Scenario/CrowdBot/EPFL/nocrowd.xml
diff --git a/Assets/Scenes/CrowdBot/EPFL.meta b/Assets/Scenes/CrowdBot/EPFL.meta
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diff --git a/Assets/Scenes/CrowdBot/EPFL/qolo_1dflow.unity b/Assets/Scenes/CrowdBot/EPFL/qolo_1dflow.unity
new file mode 100644
index 00000000..040d24b5
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+++ b/Assets/Scenes/CrowdBot/EPFL/qolo_1dflow.unity
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diff --git a/Scenario/CrowdBot/EPFL/counter1D.xml b/Scenario/CrowdBot/EPFL/counter1D.xml
new file mode 100644
index 00000000..f7176e7e
--- /dev/null
+++ b/Scenario/CrowdBot/EPFL/counter1D.xml
@@ -0,0 +1,3251 @@
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+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <RVOconfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="3" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="m017" radius="0.33" visualVariation="9" animationOffset="0.8494284" heightOffset="0.0368832462">
+ <Position x="21.002121" y="2.388689" z="0" />
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+ <controlLaw>
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+ <Waypoints>
+ <Waypoint x="-29.5029755" y="-2.416727" z="0.01" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <RVOconfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="3" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="m019" radius="0.33" visualVariation="4" animationOffset="0.795045257" heightOffset="-0.0454470627">
+ <Position x="21.7504253" y="-1.90486515" z="0" />
+ <Rotation x="0" y="-0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.63278818" speedDefault="2.09551978" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-29.8741627" y="0.908540249" z="0.01" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <RVOconfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="3" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="f019" radius="0.33" visualVariation="4" animationOffset="0.0391792059" heightOffset="-0.00773862">
+ <Position x="11.0133429" y="-3.760309" z="0" />
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+ <Waypoints>
+ <Waypoint x="-29.6384239" y="-0.626341939" z="0.01" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <RVOconfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="3" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="f017" radius="0.33" visualVariation="2" animationOffset="0.07528865" heightOffset="-0.0404335149">
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+ <Waypoints>
+ <Waypoint x="-30.37137" y="1.81600857" z="0.01" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <RVOconfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="3" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="m018" radius="0.33" visualVariation="5" animationOffset="0.333471358" heightOffset="-0.0256330986">
+ <Position x="19.68388" y="-3.42911053" z="0" />
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+ <controlLaw>
+ <LawWaypoints speedCurrent="1.59381092" speedDefault="2.34457445" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-28.9634724" y="1.32615316" z="0.01" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <RVOconfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="3" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="f019" radius="0.33" visualVariation="4" animationOffset="0.684210658" heightOffset="-0.01744985">
+ <Position x="1.5937258" y="3.27256131" z="0" />
+ <Rotation x="0" y="-0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.8587091" speedDefault="2.115087" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-30.88106" y="0.7771503" z="0.01" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <RVOconfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="3" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="f017" radius="0.33" visualVariation="4" animationOffset="0.901436448" heightOffset="0.0282878876">
+ <Position x="-14.5583944" y="4.734834" z="0" />
+ <Rotation x="0" y="-0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.5453968" speedDefault="2.15077257" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-30.9477158" y="-2.735728" z="0.01" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <RVOconfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="3" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="f020" radius="0.33" visualVariation="1" animationOffset="0.0964537859" heightOffset="-0.0472718">
+ <Position x="0.6228296" y="-0.181653023" z="0" />
+ <Rotation x="0" y="-0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.64486372" speedDefault="2.136023" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-29.3638973" y="-2.33816862" z="0.01" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <RVOconfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="3" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ <agent>
+ <TrialRegularAgent mesh="m018" radius="0.33" visualVariation="3" animationOffset="0.706061244" heightOffset="-0.024154406">
+ <Position x="12.6244612" y="-4.192709" z="0" />
+ <Rotation x="0" y="-0" z="90" />
+ <controlLaw>
+ <LawWaypoints speedCurrent="1.88431287" speedDefault="2.00866485" accelerationMax="0.8" angularSpeed="270" reachedDist="0.1" isLooping="true">
+ <Waypoints>
+ <Waypoint x="-29.6862144" y="-2.42211151" z="0.01" />
+ </Waypoints>
+ </LawWaypoints>
+ </controlLaw>
+ <controlSim>
+ <RVOconfig SimulationID="0" neighborDist="5" maxNeighbors="3" timeHorizon="5" timeHorizonObst="2" radius="0.33" maxSpeed="3" />
+ </controlSim>
+ </TrialRegularAgent>
+ </agent>
+ </agents>
+ <obstacles>
+ <obstacle>
+ <TrialObstacle>
+ <Lines>
+ <Line x1="-25" y1="-30" x2="25" y2="20" thickness="0.1" />
+ </Lines>
+ <Points />
+ </TrialObstacle>
+ </obstacle>
+ <obstacle>
+ <TrialObstacle>
+ <Lines>
+ <Line x1="-25" y1="-20" x2="25" y2="30" thickness="0.1" />
+ </Lines>
+ <Points />
+ </TrialObstacle>
+ </obstacle>
+ </obstacles>
+</Trial>
\ No newline at end of file
diff --git a/Scenario/CrowdBot/EPFL/nocrowd.xml b/Scenario/CrowdBot/EPFL/nocrowd.xml
new file mode 100644
index 00000000..eb4d2c92
--- /dev/null
+++ b/Scenario/CrowdBot/EPFL/nocrowd.xml
@@ -0,0 +1,50 @@
+<?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="ChallengeCorridor">
+ <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="0.15" y="-8.22" z="18.5" />
+ <Rotation x="-71.84722" y="-0" z="-0" />
+ <controlLaw>
+ <LawCamControlEditor lookSpeedH="2" lookSpeedV="2" zoomSpeed="2" dragSpeed="3" />
+ </controlLaw>
+ </TrialCamPlayer>
+ </player>
+ <robots>
+ <robot>
+ <TrialRegularRobot mesh="Qolo_sensors_driver" radius="0.5">
+ <Position x="-1" y="0" z="0.11" />
+ <Rotation x="0" y="-0" z="270" />
+ <controlLaw>
+ <LawFake />
+ </controlLaw>
+ </TrialRegularRobot>
+ </robot>
+ </robots>
+ <agents />
+ <obstacles>
+ <obstacle>
+ <TrialObstacle>
+ <Lines>
+ <Line x1="-25" y1="-30" x2="25" y2="20" thickness="0.1" />
+ </Lines>
+ <Points />
+ </TrialObstacle>
+ </obstacle>
+ <obstacle>
+ <TrialObstacle>
+ <Lines>
+ <Line x1="-25" y1="-20" x2="25" y2="30" thickness="0.1" />
+ </Lines>
+ <Points />
+ </TrialObstacle>
+ </obstacle>
+ </obstacles>
+</Trial>
\ No newline at end of file
--
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