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Update multi-agent settings
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‎settings/MultiAgentSimulationSettings.json‎

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{"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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{
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"ID": 0,
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"SimulationName": "example",
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"RunLength": 140.0,
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"Scenario": {
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"Name": "Navigation",
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"Options": {
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"MultiLevel": false,
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"LevelNames": [
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"Level1"
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],
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"GoalPoint": {
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"Drone1": {
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"X": 45.0,
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"Y": 45.0,
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"Z": -3.0
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},
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"Drone2": {
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"X": -25.0,
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"Y": 50.0,
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"Z": -3.0
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}
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}
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}
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},
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"Environment": {
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"Name": "Blocks",
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"StartingLevelName": "Level1",
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"StreamVideo": true
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},
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"Data": {
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"VehicleState": {
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"Format": "SWARM"
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},
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"Video": {
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"Format": "MP4",
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"VideoName": "MinSnapTest",
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"CameraName": "Camera1"
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}
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},
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"Agents": {
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"Drone1": {
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"Vehicle": "Multirotor",
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"VehicleOptions": {},
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"AutoPilot": "SWARM",
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"Sensors": {
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"Cameras": {
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"Camera1": {
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"Enabled": true,
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"PublishPose": false,
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"X": 0.35,
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"Y": 0.0,
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"Z": 0.0,
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"Roll": 0.0,
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"Pitch": 0.0,
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"Yaw": 0.0,
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"Settings": {
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"ImageType": "Scene",
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"Width": 640,
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"Height": 480,
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"FOV_Degrees": 90.0,
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"FramesPerSecond": 24.0
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}
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}
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}
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},
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"Controller": {
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"Name": "SWARMBase",
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"Gains": {
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"P": 0.95,
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"I": 0.02,
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"D": 0.05
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}
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},
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"StartingPosition": {
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"X": 0.0,
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"Y": 0.0,
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"Z": -1.0,
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"Roll": 0.0,
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"Pitch": 0.0,
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"Yaw": 0.0
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},
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"SoftwareModules": {
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"Mapping": {
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"Algorithm": {
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"Parameters": {
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"Type": "OccupancyMap",
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"Center": {
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"X": 0.0,
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"Y": 0.0,
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"Z": 0.0
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},
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"Size": {
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"X": 100,
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"Y": 100,
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"Z": 20
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},
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"UpdateRate": 0.0,
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"ResolutionInMeters": 1.0
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},
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"ClassName": "SWARMOccupancyMap",
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"Level": 1,
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"InputArgs": [],
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"ReturnValues": [
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"OccupancyMap"
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]
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},
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"Publishes": [
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"OccupancyMap"
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],
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"Subscribes": []
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},
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"HighLevelPathPlanning": {
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"Algorithm": {
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"Level": 3,
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"States": [],
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"Parameters": {
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"goal_point": [
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45.0,
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45.0
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],
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"map_size": [
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100.0,
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100.0
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],
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"starting_point": [
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0.0,
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0.0
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],
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"resolution": 1.0,
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"agent_radius": 1.5,
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"flight_altitude": -3.0
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},
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"InputArgs": [
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"OccupancyMap"
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],
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"ClassName": "AStar",
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"ReturnValues": [
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"Trajectory"
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]
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},
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"Publishes": [
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"Trajectory"
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],
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"Subscribes": [
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"OccupancyMap",
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"AgentState"
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]
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},
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"LowLevelPathPlanning": {
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"Algorithm": {
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"Level": 1,
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"States": [],
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"Parameters": {
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"default_speed": 1.0,
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"setpoint_type": "position"
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},
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"InputArgs": [
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"Trajectory"
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],
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"ClassName": "MinSnapTrajectoryPlanner",
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"ReturnValues": [
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"Trajectory"
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]
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},
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"Parameters": {
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"completed_waypoint_distance": 1.0
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},
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"Publishes": [],
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"Subscribes": [
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"AgentState",
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"Trajectory"
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]
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}
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}
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},
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"Drone2": {
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"Vehicle": "Multirotor",
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"VehicleOptions": {},
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"AutoPilot": "SWARM",
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"Sensors": {
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"Cameras": {
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"Camera1": {
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"Enabled": true,
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"PublishPose": false,
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"X": 0.35,
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"Y": 0.0,
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"Z": 0.0,
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"Roll": 0.0,
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"Pitch": 0.0,
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"Yaw": 0.0,
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"Settings": {
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"ImageType": "Scene",
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"Width": 640,
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"Height": 480,
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"FOV_Degrees": 90.0,
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"FramesPerSecond": 24.0
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}
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}
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}
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},
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"Controller": {
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"Name": "SWARMBase",
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"Gains": {
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"P": 0.95,
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"I": 0.0,
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"D": 0.05
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}
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},
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"StartingPosition": {
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"X": -2.0,
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"Y": 2.0,
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"Z": -1.0,
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"Roll": 0.0,
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"Pitch": 0.0,
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"Yaw": 0.0
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},
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"SoftwareModules": {
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"Mapping": {
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"Algorithm": {
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"Parameters": {
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"Type": "OccupancyMap",
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"Center": {
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"X": 0.0,
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"Y": 0.0,
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"Z": 0.0
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},
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"Size": {
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"X": 100,
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"Y": 100,
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"Z": 20
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},
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"UpdateRate": 0.0,
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"ResolutionInMeters": 1.0
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},
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"ClassName": "SWARMOccupancyMap",
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"Level": 1,
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"InputArgs": [],
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"ReturnValues": [
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"OccupancyMap"
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]
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},
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"Publishes": [
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"OccupancyMap"
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],
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"Subscribes": []
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},
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"HighLevelPathPlanning": {
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"Algorithm": {
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"Level": 3,
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"States": [],
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"Parameters": {
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"goal_point": [
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-25.0,
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50.0
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],
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"map_size": [
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100.0,
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100.0
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],
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"starting_point": [
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0.0,
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0.0
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],
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"resolution": 1.0,
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"agent_radius": 1.5,
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"flight_altitude": -4.0
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},
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"InputArgs": [
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"OccupancyMap"
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],
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"ClassName": "AStar",
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"ReturnValues": [
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"Trajectory"
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]
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},
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"Publishes": [
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"Trajectory"
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],
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"Subscribes": [
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"OccupancyMap",
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"AgentState"
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]
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},
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"LowLevelPathPlanning": {
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"Algorithm": {
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"Level": 1,
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"States": [],
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"Parameters": {
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"default_speed": 1.0,
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"setpoint_type": "position"
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},
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"InputArgs": [
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"Trajectory"
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],
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"ClassName": "MinSnapTrajectoryPlanner",
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"ReturnValues": [
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"Trajectory"
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]
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},
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"Parameters": {
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"completed_waypoint_distance": 1.0
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},
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"Publishes": [],
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"Subscribes": [
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"AgentState",
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"Trajectory"
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]
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}
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}
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}
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}
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}

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