Commit eb767975 authored by Jean Meurice's avatar Jean Meurice
Browse files

Vis Update, New Task based scenarios

parent 8028ad87
Pipeline #371756 passed with stage
in 56 seconds
{
"name": "new_basic",
"map_name": "aachen",
"cars": [
{
"name": "TestVehicle",
"start_coords": [
0,
0
],
"end_coords": [
-63.83,
-171.96
],
"body": {
"mass": 1642.0,
"length": 4.971,
"width": 1.87,
"height": 1.383,
"center_of_gravity_height": 0.34575
},
"wheels": {
"diameter": 0.6612,
"width": 0.255,
"front_wheel_axis_offset": 1.0,
"max_turning_angle": 30.0,
"front_track_width": 1.57988,
"back_track_dist": 1.60274,
"wheelbase": 2.812,
"wheelbase_offset": 0.0
},
"powertrain": {
"type": "electrical",
"traction": "rear",
"braking": "front",
"max_braking_force": 5000.0,
"motor": {
"motor_efficiency": 0.7,
"regen_efficiency": 0.5,
"motor_peek_torque": 450.0
},
"battery": {
"type": "infinite",
"capacity": 1.8E8,
"critical_charge": 10.0
},
"transmission_ratio": 9.0
},
"physics": {
"type": "rigidbody"
},
"components": [
{
"type": "actuator",
"name": "SteeringActuator",
"priority": {},
"buses": [
"DefaultBus"
],
"physical_value_name": "steering",
"change_rate": 60.0,
"sensor": {
"type": "sensor",
"name": "UnnamedComponent",
"priority": {},
"buses": [
"DefaultBus"
],
"update_interval": [
0,
100000000
],
"read_time": [
0,
1000000
],
"send_only_changed": false
}
},
{
"type": "actuator",
"name": "BrakingActuator",
"priority": {},
"buses": [
"DefaultBus"
],
"physical_value_name": "braking",
"change_rate": 10.0,
"sensor": {
"type": "sensor",
"name": "UnnamedComponent",
"priority": {},
"buses": [
"DefaultBus"
],
"update_interval": [
0,
100000000
],
"read_time": [
0,
1000000
],
"send_only_changed": false
}
},
{
"type": "actuator",
"name": "GasActuator",
"priority": {},
"buses": [
"DefaultBus"
],
"physical_value_name": "gas",
"change_rate": "Infinity",
"sensor": {
"type": "sensor",
"name": "UnnamedComponent",
"priority": {},
"buses": [
"DefaultBus"
],
"update_interval": [
0,
100000000
],
"read_time": [
0,
1000000
],
"send_only_changed": false
}
},
{
"type": "sensor",
"name": "TrueVelocitySensor",
"priority": {},
"buses": [
"DefaultBus"
],
"physical_value_name": "true_velocity",
"update_interval": [
0,
100000000
],
"read_time": [
0,
10000000
],
"send_only_changed": false
},
{
"type": "sensor",
"name": "TruePositionSensor",
"priority": {},
"buses": [
"DefaultBus"
],
"physical_value_name": "true_position",
"update_interval": [
0,
100000000
],
"read_time": [
0,
10000000
],
"send_only_changed": false
},
{
"type": "sensor",
"name": "TrueCompassSensor",
"priority": {},
"buses": [
"DefaultBus"
],
"physical_value_name": "true_compass",
"update_interval": [
0,
100000000
],
"read_time": [
0,
10000000
],
"send_only_changed": false
},
{
"type": "navigation",
"name": "Navigation",
"priority": {},
"buses": [
"DefaultBus"
]
},
{
"type": "constant_bus",
"name": "DefaultBus",
"priority": {},
"mode": "instant",
"rate": 0.0
},
{
"type": "computer",
"software_name": "BasicAutopilot",
"emulator_type": "emu",
"os": "windows",
"time_model": {
"type": "models",
"cpu_frequency": 4000000000,
"memory_frequency": 2500000000,
"caches": [
{"type": "I", "level": 1, "size": 262144, "read_ticks": 4, "write_ticks": 4},
{"type": "D", "level": 1, "size": 262144, "read_ticks": 4, "write_ticks": 4},
{"type": "shared", "level": 2, "size": 2097152, "read_ticks": 6, "write_ticks": 6},
{"type": "shared", "level": 3, "size": 12582912, "read_ticks": 40, "write_ticks": 40}
]
}
}
]
}
]
}
\ No newline at end of file
{
"name": "EMADL_native",
"map_name": "aachen",
"cars": [
{
"name": "EMADLTestVehicle",
"start_pos": [ 0, 0 ],
"task": {
"goals": [
{
"type": "path",
"ltl_operator": "eventually",
"path": [ [-63.83, -171.96] ],
"range": 5
}
]
},
"components": [
{ "type": "constant_bus" },
{
"type": "actuator",
"name": "SteeringActuator",
"physical_value_name": "steering",
"change_rate": 60.0,
"sensor": { "type": "sensor" }
},
{
"type": "actuator",
"name": "BrakingActuator",
"physical_value_name": "braking",
"change_rate": 10.0,
"sensor": { "type": "sensor" }
},
{
"type": "actuator",
"name": "GasActuator",
"physical_value_name": "gas",
"sensor": { "type": "sensor" }
},
{
"type": "sensor",
"name": "TrueVelocitySensor",
"physical_value_name": "true_velocity"
},
{
"type": "sensor",
"name": "TruePositionSensor",
"physical_value_name": "true_position"
},
{
"type": "sensor",
"name": "TrueCompassSensor",
"physical_value_name": "true_compass"
},
{ "type": "navigation" },
{
"type": "computer",
"software_name": "TestEMADLAP",
"emulator_type": "direct",
"os": "windows",
"time_model": {
"type": "instant"
}
}
]
}
]
}
\ No newline at end of file
{
"name": "EMAM_emu",
"map_name": "aachen",
"cars": [
{
"name": "EMAMTestVehicle",
"start_pos": [ 0, 0 ],
"task": {
"goals": [
{
"type": "path",
"ltl_operator": "eventually",
"path": [ [-63.83, -171.96] ],
"range": 5
}
]
},
"components": [
{ "type": "constant_bus" },
{
"type": "actuator",
"name": "SteeringActuator",
"physical_value_name": "steering",
"change_rate": 60.0,
"sensor": { "type": "sensor" }
},
{
"type": "actuator",
"name": "BrakingActuator",
"physical_value_name": "braking",
"change_rate": 10.0,
"sensor": { "type": "sensor" }
},
{
"type": "actuator",
"name": "GasActuator",
"physical_value_name": "gas",
"sensor": { "type": "sensor" }
},
{
"type": "sensor",
"name": "TrueVelocitySensor",
"physical_value_name": "true_velocity"
},
{
"type": "sensor",
"name": "TruePositionSensor",
"physical_value_name": "true_position"
},
{
"type": "sensor",
"name": "TrueCompassSensor",
"physical_value_name": "true_compass"
},
{ "type": "navigation" },
{
"type": "computer",
"software_name": "TestEMAMAP",
"emulator_type": "emu",
"os": "windows",
"time_model": {
"type": "models",
"cpu_frequency": 4000000000,
"memory_frequency": 2500000000,
"caches": [
{"type": "I", "level": 1, "size": 262144, "read_ticks": 4, "write_ticks": 4},
{"type": "D", "level": 1, "size": 262144, "read_ticks": 4, "write_ticks": 4},
{"type": "shared", "level": 2, "size": 2097152, "read_ticks": 6, "write_ticks": 6},
{"type": "shared", "level": 3, "size": 12582912, "read_ticks": 40, "write_ticks": 40}
]
}
}
]
}
]
}
\ No newline at end of file
{ {
"name": "new_basic", "name": "EMAM_native",
"map_name": "aachen", "map_name": "aachen",
"cars": [ "cars": [
{ {
"start_coords": [ 0, 0 ], "name": "EMAMTestVehicle",
"end_coords": [ -63.83, -171.96 ], "start_pos": [ 0, 0 ],
"task": {
"goals": [
{
"type": "path",
"ltl_operator": "eventually",
"path": [ [-63.83, -171.96] ],
"range": 5
}
]
},
"components": [ "components": [
{ "type": "constant_bus" }, { "type": "constant_bus" },
{ {
...@@ -44,8 +54,13 @@ ...@@ -44,8 +54,13 @@
}, },
{ "type": "navigation" }, { "type": "navigation" },
{ {
"type": "java_autopilot", "type": "computer",
"maxVehicleAccel": 7.460690450979396 "software_name": "TestEMAMAP",
"emulator_type": "direct",
"os": "windows",
"time_model": {
"type": "instant"
}
} }
] ]
} }
......
...@@ -4,202 +4,55 @@ ...@@ -4,202 +4,55 @@
"cars": [ "cars": [
{ {
"name": "TestVehicle", "name": "TestVehicle",
"start_coords": [ "start_pos": [ 0, 0 ],
0, "task": {
0 "goals": [
], {
"end_coords": [ "type": "path",
-63.83, "ltl_operator": "eventually",
-171.96 "path": [ [-63.83, -171.96] ],
], "range": 5
"body": { }
"mass": 1642.0, ]
"length": 4.971,
"width": 1.87,
"height": 1.383,
"center_of_gravity_height": 0.34575
},
"wheels": {
"diameter": 0.6612,
"width": 0.255,
"front_wheel_axis_offset": 1.0,
"max_turning_angle": 30.0,
"front_track_width": 1.57988,
"back_track_dist": 1.60274,
"wheelbase": 2.812,
"wheelbase_offset": 0.0
},
"powertrain": {
"type": "electrical",
"traction": "rear",
"braking": "front",
"max_braking_force": 5000.0,
"motor": {
"motor_efficiency": 0.7,
"regen_efficiency": 0.5,
"motor_peek_torque": 450.0
},
"battery": {
"type": "infinite",
"capacity": 1.8E8,
"critical_charge": 10.0
},
"transmission_ratio": 9.0
},
"physics": {
"type": "rigidbody"
}, },
"components": [ "components": [
{ "type": "constant_bus" },
{ {
"type": "actuator", "type": "actuator",
"name": "SteeringActuator", "name": "SteeringActuator",
"priority": {},
"buses": [
"DefaultBus"
],
"physical_value_name": "steering", "physical_value_name": "steering",
"change_rate": 60.0, "change_rate": 60.0,
"sensor": { "sensor": { "type": "sensor" }
"type": "sensor",
"name": "UnnamedComponent",
"priority": {},
"buses": [
"DefaultBus"
],
"update_interval": [
0,
100000000
],
"read_time": [
0,
1000000
],
"send_only_changed": false
}
}, },
{ {
"type": "actuator", "type": "actuator",
"name": "BrakingActuator", "name": "BrakingActuator",
"priority": {},
"buses": [
"DefaultBus"
],
"physical_value_name": "braking", "physical_value_name": "braking",
"change_rate": 10.0, "change_rate": 10.0,
"sensor": { "sensor": { "type": "sensor" }
"type": "sensor",
"name": "UnnamedComponent",
"priority": {},
"buses": [
"DefaultBus"
],
"update_interval": [
0,
100000000
],
"read_time": [
0,
1000000
],
"send_only_changed": false
}
}, },
{ {
"type": "actuator", "type": "actuator",
"name": "GasActuator", "name": "GasActuator",
"priority": {},
"buses": [
"DefaultBus"
],
"physical_value_name": "gas", "physical_value_name": "gas",
"change_rate": "Infinity", "sensor": { "type": "sensor" }
"sensor": {
"type": "sensor",
"name": "UnnamedComponent",
"priority": {},
"buses": [
"DefaultBus"
],
"update_interval": [
0,
100000000
],
"read_time": [
0,
1000000
],
"send_only_changed": false
}
}, },
{ {
"type": "sensor", "type": "sensor",
"name": "TrueVelocitySensor", "name": "TrueVelocitySensor",
"priority": {}, "physical_value_name": "true_velocity"
"buses": [
"DefaultBus"
],
"physical_value_name": "true_velocity",
"update_interval": [
0,
100000000
],
"read_time": [
0,
10000000