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roundabout with nav
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<?xml version="1.0"?> | |
<Project | |
scene="carla_roundabout/carla_roundaboutS.xml" | |
behavior="carla_roundabout/carla_roundaboutB.xml" | |
view="carla_roundabout/carla_roundaboutV.xml" | |
model="orca" | |
dumpPath="images/carla_roundabout" | |
/> |
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<?xml version="1.0"?> | |
<BFSM> | |
<GoalSet id="0"> | |
<Goal capacity="10000" id="0" type="AABB" weight="1.00" max_x="-19.90" min_x="-22.68" max_y="1.28" min_y="0.58"/> | |
<Goal capacity="10000" id="1" type="AABB" weight="1.00" max_x="-17.10" min_x="-19.92" max_y="1.28" min_y="0.57"/> | |
<Goal capacity="10000" id="2" type="AABB" weight="1.00" max_x="-15.00" min_x="-17.11" max_y="1.25" min_y="0.58"/> | |
<Goal capacity="10000" id="3" type="AABB" weight="1.00" max_x="-12.70" min_x="-14.99" max_y="1.28" min_y="0.63"/> | |
<Goal capacity="10000" id="4" type="AABB" weight="1.00" max_x="-21.44" min_x="-22.35" max_y="15.78" min_y="10.98"/> | |
<Goal capacity="10000" id="6" type="AABB" weight="1.00" max_x="-11.50" min_x="-14.63" max_y="-8.82" min_y="-9.57"/> | |
<Goal capacity="10000" id="7" type="AABB" weight="1.00" max_x="-16.70" min_x="-18.96" max_y="-18.27" min_y="-19.02"/> | |
<Goal capacity="10000" id="8" type="AABB" weight="1.00" max_x="-16.70" min_x="-18.77" max_y="-21.25" min_y="-21.74"/> | |
<Goal capacity="10000" id="9" type="AABB" weight="1.00" max_x="-19.10" min_x="-19.72" max_y="-18.83" min_y="-20.87"/> | |
<Goal capacity="10000" id="10" type="AABB" weight="1.00" max_x="-10.40" min_x="-14.15" max_y="-24.43" min_y="-24.98"/> | |
<Goal capacity="10000" id="11" type="AABB" weight="1.00" max_x="-17.20" min_x="-20.14" max_y="-29.16" min_y="-29.98"/> | |
<Goal capacity="10000" id="12" type="AABB" weight="1.00" max_x="-12.50" min_x="-14.48" max_y="-29.23" min_y="-29.98"/> | |
<Goal capacity="10000" id="13" type="AABB" weight="1.00" max_x="4.21" min_x="1.06" max_y="-27.13" min_y="-27.55"/> | |
<Goal capacity="10000" id="14" type="AABB" weight="1.00" max_x="18.10" min_x="15.99" max_y="-27.93" min_y="-28.62"/> | |
<Goal capacity="10000" id="15" type="AABB" weight="1.00" max_x="14.60" min_x="13.81" max_y="-24.41" min_y="-26.47"/> | |
<Goal capacity="10000" id="16" type="AABB" weight="1.00" max_x="20.30" min_x="19.48" max_y="-23.11" min_y="-24.99"/> | |
<Goal capacity="10000" id="17" type="AABB" weight="1.00" max_x="18.50" min_x="16.08" max_y="-22.01" min_y="-22.90"/> | |
<Goal capacity="10000" id="18" type="AABB" weight="1.00" max_x="8.97" min_x="6.64" max_y="-13.60" min_y="-14.41"/> | |
<Goal capacity="10000" id="19" type="AABB" weight="1.00" max_x="6.63" min_x="5.85" max_y="-11.45" min_y="-13.44"/> | |
<Goal capacity="10000" id="21" type="AABB" weight="1.00" max_x="-3.24" min_x="-5.63" max_y="-7.21" min_y="-7.96"/> | |
<Goal capacity="10000" id="22" type="AABB" weight="1.00" max_x="-6.82" min_x="-7.74" max_y="-8.45" min_y="-10.78"/> | |
<Goal capacity="10000" id="23" type="AABB" weight="1.00" max_x="4.68" min_x="-1.38" max_y="8.84" min_y="8.24"/> | |
<Goal capacity="10000" id="24" type="AABB" weight="1.00" max_x="18.20" min_x="15.80" max_y="16.89" min_y="15.96"/> | |
<Goal capacity="10000" id="25" type="AABB" weight="1.00" max_x="19.30" min_x="18.41" max_y="19.23" min_y="17.09"/> | |
<Goal capacity="10000" id="26" type="AABB" weight="1.00" max_x="18.10" min_x="15.87" max_y="20.24" min_y="19.52"/> | |
<Goal capacity="10000" id="27" type="AABB" weight="1.00" max_x="2.78" min_x="-0.67" max_y="28.33" min_y="27.36"/> | |
<Goal capacity="10000" id="28" type="AABB" weight="1.00" max_x="-6.06" min_x="-9.02" max_y="28.14" min_y="27.03"/> | |
<Goal capacity="10000" id="29" type="AABB" weight="1.00" max_x="-2.97" min_x="-6.01" max_y="28.14" min_y="27.09"/> | |
<Goal capacity="10000" id="30" type="AABB" weight="1.00" max_x="-19.30" min_x="-21.66" max_y="24.76" min_y="23.67"/> | |
<Goal capacity="10000" id="31" type="AABB" weight="1.00" max_x="-17.00" min_x="-19.56" max_y="28.54" min_y="27.68"/> | |
<Goal capacity="10000" id="32" type="AABB" weight="1.00" max_x="12.80" min_x="12.01" max_y="8.67" min_y="6.33"/> | |
<Goal capacity="10000" id="33" type="AABB" weight="1.00" max_x="12.80" min_x="12.03" max_y="6.20" min_y="3.67"/> | |
<Goal capacity="10000" id="34" type="AABB" weight="1.00" max_x="21.50" min_x="19.54" max_y="-3.46" min_y="-4.23"/> | |
<Goal capacity="10000" id="35" type="AABB" weight="1.00" max_x="-13.20" min_x="-15.25" max_y="18.47" min_y="17.79"/> | |
<Goal capacity="10000" id="36" type="AABB" weight="1.00" max_x="-10.70" min_x="-11.57" max_y="22.44" min_y="20.39"/> | |
<Goal capacity="10000" id="37" type="AABB" weight="1.00" max_x="2.86" min_x="0.04" max_y="17.34" min_y="16.36"/> | |
<Goal capacity="10000" id="38" type="AABB" weight="1.00" max_x="5.47" min_x="3.04" max_y="17.25" min_y="16.34"/> | |
<Goal capacity="10000" id="39" type="AABB" weight="1.00" max_x="21.40" min_x="20.51" max_y="-13.89" min_y="-15.81"/> | |
<Goal capacity="10000" id="40" type="AABB" weight="1.00" max_x="21.50" min_x="20.51" max_y="-15.91" min_y="-18.43"/> | |
<Goal capacity="10000" id="41" type="AABB" weight="1.00" max_x="19.60" min_x="18.75" max_y="7.24" min_y="4.45"/> | |
</GoalSet> | |
<State name="Walk" final="0" > | |
<GoalSelector type="random" goal_set="0" per_agent="1" /> | |
<VelComponent type="nav_mesh" file_name="test.nav" heading_threshold="5"/> | |
<Action type="offset_property" property="priority" dist="c" value="0.0" exit_reset="0"/> | |
</State> | |
<State name="Arrive" final="0"> | |
<VelComponent type="zero"/> | |
<Action type="offset_property" property="priority" dist="c" value="1.0" exit_reset="0"/> | |
</State> | |
<State name="Decide" final="0"> | |
<VelComponent type="zero"/> | |
</State> | |
<State name="Happy" final="0"> | |
<VelComponent type="zero"/> | |
</State> | |
<State name="Angry" final="0"> | |
<VelComponent type="zero"/> | |
</State> | |
<Transition from="Walk" to="Arrive" > | |
<Condition type="goal_reached" distance="0.4" /> | |
</Transition> | |
<Transition from="Arrive" to="Decide" > | |
<Condition type="timer" dist="u" min="2" max="4" seed="5" per_agent="1" /> | |
</Transition> | |
<Transition from="Decide" > | |
<Condition type="auto" /> | |
<Target type="prob"> | |
<State name="Happy" weight="1.0" /> | |
<State name="Angry" weight="1.0" /> | |
</Target> | |
</Transition> | |
<Transition from="Happy" to="Walk" > | |
<Condition type="timer" dist="u" min="4" max="6" seed="6" per_agent="1" /> | |
</Transition> | |
<Transition from="Angry" to="Walk" > | |
<Condition type="timer" dist="u" min="1" max="2" seed="7" per_agent="1" /> | |
</Transition> | |
</BFSM> |
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<?xml version="1.0"?> | |
<Experiment version="2.0"> | |
<SpatialQuery type="kd-tree" test_visibility="false" /> | |
<OpenSteer max_force="8" leak_through="0.1" reaction_time="0.5" /> | |
<Common time_step="0.1" /> | |
<GCF reaction_time="0.5" max_agent_dist="2" max_agent_force="3" agent_interp_width="0.1" nu_agent="0.35" /> | |
<Helbing agent_scale="2000" obstacle_scale="4000" reaction_time="0.5" body_force="1200" friction="2400" force_distance="0.015" /> | |
<Johansson agent_scale="25" obstacle_scale="35" reaction_time="0.5" force_distance="0.15" stride_time="0.5" /> | |
<Karamouzas orient_weight="0.8" fov="200" reaction_time="0.4" wall_steepness="2" wall_distance="2" colliding_count="5" d_min="1" d_mid="8" d_max="10" agent_force="4" /> | |
<Zanlungo agent_scale="2000" obstacle_scale="4000" reaction_time="0.5" force_distance="0.005" /> | |
<Dummy stddev="1.0" /> | |
<AgentProfile name="group1" > | |
<OpenSteer tau="3" tauObst="6" /> | |
<Common max_angle_vel="180" max_neighbors="10" obstacleSet="1" neighbor_dist="5" r="0.19" class="4" pref_speed="1.04" max_speed="2" max_accel="5" external="0" /> | |
<PedVO factor="1.57" buffer="0.9" tau="3" tauObst="0.1" turningBias="1.0" /> | |
<GCF stand_depth="0.18" move_scale="0.53" slow_width="0.25" sway_change="0.05" orient_weight="0.75" /> | |
<Helbing mass="80" /> | |
<Johansson fov_weight="0.16" /> | |
<Karamouzas personal_space="0.69" anticipation="8" /> | |
<ORCA tau="3" tauObst="0.15" /> | |
<Zanlungo mass="80" orient_weight="0.75" /> | |
</AgentProfile> | |
<AgentProfile name="robot" inherits="group1" > | |
<ORCA tau="3" tauObst="0.15" /> | |
<Common class="3" r="0.3" external="1"/> | |
<Helbing mass="320"/> | |
</AgentProfile> | |
<AgentGroup> | |
<ProfileSelector type="const" name="robot" /> | |
<StateSelector type="const" name="Walk" /> | |
<Generator type="explicit"> | |
<Agent p_x="22.00" p_y="-20.00"/> | |
</Generator> | |
</AgentGroup> | |
<AgentGroup> | |
<ProfileSelector type="const" name="group1" /> | |
<StateSelector type="const" name="Walk" /> | |
<Generator type="explicit"> | |
<Agent p_x="22.3" p_y="-12.375" /> | |
<Agent p_x="22.6625" p_y="-16.98125" /> | |
</Generator> | |
</AgentGroup> | |
<ObstacleSet type="explicit" class="1"> | |
<Obstacle closed="1" > | |
<Vertex p_x="-0.180494" p_y="-4.075476" /> | |
<Vertex p_x="-0.180495" p_y="-2.075475" /> | |
<Vertex p_x="1.819505" p_y="-2.075475" /> | |
<Vertex p_x="1.819505" p_y="-4.075475" /> | |
</Obstacle> | |
</ObstacleSet> | |
</Experiment> |
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<?xml version="1.0"?> | |
<View width="640" height="480" > | |
<!-- Multiple cameras are mapped to a key from 1-9 in the order they are defined here --> | |
<Camera xpos="0" ypos="19.13" zpos="0.01" xtgt="0" ytgt="0" ztgt="0" far="500" near="0.01" fov="0.0" orthoScale="0.148687" /> | |
<Camera xpos="-50.4039" ypos="42.0134" zpos="-1.68529" xtgt="-2.92525" ytgt="-3.08614" ztgt="-1.48571" far="500" near="0.01" fov="45" /> | |
<Camera xpos="9.66527" ypos="19.1216" zpos="16.1774" xtgt="9.66527" ytgt="-0.00845144" ztgt="16.1674" far="500" near="0.01" fov="0.0" orthoScale="0.143958" /> | |
<Camera xpos="9.83013" ypos="25.4353" zpos="49.3125" xtgt="-1.6328" ytgt="-0.234482" ztgt="9.07047" far="500" near="0.01" fov="45" /> | |
<Camera xpos="0" ypos="19.13" zpos="0.01" xtgt="0" ytgt="0" ztgt="0" far="500" near="0.01" fov="0.0" orthoScale="1" /> | |
<Camera xpos="-4.69053" ypos="19.1347" zpos="-8.93903" xtgt="-4.69053" ytgt="0.00467801" ztgt="-8.94903" far="500" near="0.01" fov="0.0" orthoScale="0.774902" /> | |
<!-- Comment out lights for a constant-illuminated visualization --> | |
<Light x="1" y="0" z="-1" type="directional" diffR="1.0" diffG="0.8" diffB="0.8" space="camera"/> | |
<Light x="-1" y="0" z="-1" type="directional" diffR="0.8" diffG="0.8" diffB="1.0" space="camera"/> | |
<Light x="0" y="1" z="0" type="directional" diffR="0.8" diffG="0.8" diffB="0.8" space="world"/> | |
</View> |
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# Blender v2.79 (sub 0) OBJ File: '' | |
# www.blender.org | |
mtllib test.mtl | |
o Cube | |
v 1.819505 -0.010132 -4.075475 | |
v 1.819505 -0.010132 -2.075475 | |
v -0.180495 -0.010132 -2.075475 | |
v -0.180494 -0.010132 -4.075476 | |
v 1.819506 1.989868 -4.075475 | |
v 1.819505 1.989868 -2.075475 | |
v -0.180495 1.989868 -2.075476 | |
v -0.180495 1.989868 -4.075475 | |
v -0.319590 1.916499 -3.075456 | |
v 1.680410 1.916499 -3.075456 | |
v -0.319590 1.916499 -5.075456 | |
v 1.680410 1.916499 -5.075456 | |
v -0.319590 0.758043 -3.264297 | |
v -0.319590 2.727659 -2.917000 | |
v -0.319590 1.105339 -5.233912 | |
v -0.319590 3.074955 -4.886616 | |
v 1.680410 0.758043 -3.264297 | |
v 1.680410 2.727659 -2.917000 | |
v 1.680410 1.105339 -5.233912 | |
v 1.680410 3.074955 -4.886616 | |
vn 0.0000 -1.0000 0.0000 | |
vn 0.0000 1.0000 0.0000 | |
vn 1.0000 0.0000 0.0000 | |
vn -0.0000 -0.0000 1.0000 | |
vn -1.0000 -0.0000 -0.0000 | |
vn 0.0000 0.0000 -1.0000 | |
vn 0.0000 0.1736 -0.9848 | |
vn 0.0000 -0.1736 0.9848 | |
vn 0.0000 -0.9848 -0.1736 | |
vn 0.0000 0.9848 0.1736 | |
usemtl Material | |
s off | |
f 1//1 2//1 3//1 4//1 | |
f 5//2 8//2 7//2 6//2 | |
f 1//3 5//3 6//3 2//3 | |
f 2//4 6//4 7//4 3//4 | |
f 3//5 7//5 8//5 4//5 | |
f 5//6 1//6 4//6 8//6 | |
f 9//2 10//2 12//2 11//2 | |
f 13//5 14//5 16//5 15//5 | |
f 15//7 16//7 20//7 19//7 | |
f 19//3 20//3 18//3 17//3 | |
f 17//8 18//8 14//8 13//8 | |
f 15//9 19//9 17//9 13//9 | |
f 20//10 16//10 14//10 18//10 |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
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# Blender v2.79 (sub 0) OBJ File: '' | |
# www.blender.org | |
mtllib test.mtl | |
o Cube | |
v 1.819505 -0.010132 -4.075475 | |
v 1.819505 -0.010132 -2.075475 | |
v -0.180495 -0.010132 -2.075475 | |
v -0.180494 -0.010132 -4.075476 | |
v 1.819506 1.989868 -4.075475 | |
v 1.819505 1.989868 -2.075475 | |
v -0.180495 1.989868 -2.075476 | |
v -0.180495 1.989868 -4.075475 | |
v -0.319590 1.916499 -3.075456 | |
v 1.680410 1.916499 -3.075456 | |
v -0.319590 1.916499 -5.075456 | |
v 1.680410 1.916499 -5.075456 | |
v -0.319590 0.758043 -3.264297 | |
v -0.319590 2.727659 -2.917000 | |
v -0.319590 1.105339 -5.233912 | |
v -0.319590 3.074955 -4.886616 | |
v 1.680410 0.758043 -3.264297 | |
v 1.680410 2.727659 -2.917000 | |
v 1.680410 1.105339 -5.233912 | |
v 1.680410 3.074955 -4.886616 | |
vn 0.0000 -1.0000 0.0000 | |
vn 0.0000 1.0000 0.0000 | |
vn 1.0000 0.0000 0.0000 | |
vn -0.0000 -0.0000 1.0000 | |
vn -1.0000 -0.0000 -0.0000 | |
vn 0.0000 0.0000 -1.0000 | |
vn 0.0000 0.1736 -0.9848 | |
vn 0.0000 -0.1736 0.9848 | |
vn 0.0000 -0.9848 -0.1736 | |
vn 0.0000 0.9848 0.1736 | |
usemtl Material | |
s off | |
f 1//1 2//1 3//1 4//1 | |
f 5//2 8//2 7//2 6//2 | |
f 1//3 5//3 6//3 2//3 | |
f 2//4 6//4 7//4 3//4 | |
f 3//5 7//5 8//5 4//5 | |
f 5//6 1//6 4//6 8//6 | |
f 9//2 10//2 12//2 11//2 | |
f 13//5 14//5 16//5 15//5 | |
f 15//7 16//7 20//7 19//7 | |
f 19//3 20//3 18//3 17//3 | |
f 17//8 18//8 14//8 13//8 | |
f 15//9 19//9 17//9 13//9 | |
f 20//10 16//10 14//10 18//10 |
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