-{"ID": 0, "SimulationName": "example", "RunLength": 140.0, "Scenario": {"Name": "Navigation", "Options": {"MultiLevel": false, "LevelNames": ["Level1"], "GoalPoint": {"Drone1": {"X": 90.0, "Y": 0.0, "Z": -3.0}, "Drone2": {"X": -25.0, "Y": 50.0, "Z": -3.0}}}}, "Environment": {"Name": "Blocks", "StartingLevelName": "Level1", "StreamVideo": true}, "Data": {"VehicleState": {"Format": "SWARM"}, "Video": {"Format": "MP4", "VideoName": "MinSnapTest"}}, "Agents": {"Drone1": {"Vehicle": "Multirotor", "VehicleOptions": {}, "AutoPilot": "SWARM", "Sensors": {"Cameras": {"Camera1": {"Enabled": true, "PublishPose": false, "X": 0.35, "Y": 0.0, "Z": 0.0, "Roll": 0.0, "Pitch": 0.0, "Yaw": 0.0, "Settings": {"ImageType": "Scene", "Width": 640, "Height": 480, "FOV_Degrees": 90.0, "FramesPerSecond": 24.0}}}}, "Controller": {"Name": "SWARMBase", "Gains": {"P": 0.95, "I": 0.02, "D": 0.05}}, "StartingPosition": {"X": 0.0, "Y": 0.0, "Z": -1.0, "Roll": 0.0, "Pitch": 0.0, "Yaw": 0.0}, "SoftwareModules": {"Mapping": {"Algorithm": {"Parameters": {"Type": "OccupancyMap", "Center": {"X": 0.0, "Y": 0.0, "Z": 0.0}, "Size": {"X": 100, "Y": 100, "Z": 20}, "UpdateRate": 0.0, "ResolutionInMeters": 1.0}, "ClassName": "SWARMOccupancyMap", "Level": 1, "InputArgs": [], "ReturnValues": ["OccupancyMap"]}, "Publishes": ["OccupancyMap"], "Subscribes": []}, "HighLevelPathPlanning": {"Algorithm": {"Level": 3, "States": [], "Parameters": {"goal_point": [90.0, 0.0], "map_size": [100.0, 100.0], "starting_point": [0.0, 0.0], "resolution": 1.0, "agent_radius": 1.5, "flight_altitude": -3.0}, "InputArgs": ["OccupancyMap"], "ClassName": "AStar", "ReturnValues": ["Trajectory"]}, "Publishes": ["Trajectory"], "Subscribes": ["OccupancyMap", "AgentState"]}, "LowLevelPathPlanning": {"Algorithm": {"Level": 1, "States": [], "Parameters": {"default_speed": 1.0, "setpoint_type": "position"}, "InputArgs": ["Trajectory"], "ClassName": "MinSnapTrajectoryPlanner", "ReturnValues": ["Trajectory"]}, "Parameters": {"completed_waypoint_distance": 1.0}, "Publishes": [], "Subscribes": ["AgentState", "Trajectory"]}}}, "Drone2": {"Vehicle": "Multirotor", "VehicleOptions": {}, "AutoPilot": "SWARM", "Sensors": {"Cameras": {"Camera1": {"Enabled": true, "PublishPose": false, "X": 0.35, "Y": 0.0, "Z": 0.0, "Roll": 0.0, "Pitch": 0.0, "Yaw": 0.0, "Settings": {"ImageType": "Scene", "Width": 640, "Height": 480, "FOV_Degrees": 90.0, "FramesPerSecond": 24.0}}}}, "Controller": {"Name": "SWARMBase", "Gains": {"P": 0.95, "I": 0.0, "D": 0.05}}, "StartingPosition": {"X": -2.0, "Y": 2.0, "Z": -1.0, "Roll": 0.0, "Pitch": 0.0, "Yaw": 0.0}, "SoftwareModules": {"Mapping": {"Algorithm": {"Parameters": {"Type": "OccupancyMap", "Center": {"X": 0.0, "Y": 0.0, "Z": 0.0}, "Size": {"X": 100, "Y": 100, "Z": 20}, "UpdateRate": 0.0, "ResolutionInMeters": 1.0}, "ClassName": "SWARMOccupancyMap", "Level": 1, "InputArgs": [], "ReturnValues": ["OccupancyMap"]}, "Publishes": ["OccupancyMap"], "Subscribes": []}, "HighLevelPathPlanning": {"Algorithm": {"Level": 3, "States": [], "Parameters": {"goal_point": [-25.0, 50.0], "map_size": [100.0, 100.0], "starting_point": [0.0, 0.0], "resolution": 1.0, "agent_radius": 1.5, "flight_altitude": -4.0}, "InputArgs": ["OccupancyMap"], "ClassName": "AStar", "ReturnValues": ["Trajectory"]}, "Publishes": ["Trajectory"], "Subscribes": ["OccupancyMap", "AgentState"]}, "LowLevelPathPlanning": {"Algorithm": {"Level": 1, "States": [], "Parameters": {"default_speed": 1.0, "setpoint_type": "position"}, "InputArgs": ["Trajectory"], "ClassName": "MinSnapTrajectoryPlanner", "ReturnValues": ["Trajectory"]}, "Parameters": {"completed_waypoint_distance": 1.0}, "Publishes": [], "Subscribes": ["AgentState", "Trajectory"]}}}}}
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