feat(scenarios): add "Junction Twoway"

config/simulations/Junction Twoway/config.toml

@@ -1,117 +1,116 @@
-# environment = "junction"
 environment_image = "junction_twoway"
-environment       = "./config/simulations/Intersection/environment.yaml"
-formation_group   = "./config/simulations/Intersection/formation.ron"
-
-[interaction]
-ui-focus-cancels-inputs = true
-default-cam-distance    = 100.0
-
-[visualisation.uncertainty]
-max-radius = 2.5
-scale      = 30.0
+environment = "./config/simulations/Intersection/environment.yaml"
+formation_group = "./config/simulations/Intersection/formation.ron"
 
 [visualisation.height]
-objects    = 0.5
+objects = 0.5
 height-map = 1.0
 
 [visualisation.draw]
-robots                             = true
-communication-graph                = false
-predicted-trajectories             = false
-waypoints                          = true
-uncertainty                        = false
-paths                              = true
-generated-map                      = true
-height-map                         = false
-sdf                                = true
-communication-radius               = false
-obstacle-factors                   = false
-tracking                           = false
-interrobot-factors                 = false
+robots = true
+communication-graph = true
+predicted-trajectories = true
+waypoints = true
+uncertainty = false
+paths = false
+communication-radius = false
+obstacle-factors = false
+tracking = false
+interrobot-factors = true
 interrobot-factors-safety-distance = false
-robot-colliders                    = false
-environment-colliders              = false
-robot-robot-collisions             = false
-robot-environment-collisions       = false
+generated-map = true
+sdf = false
+robot-colliders = false
+environment-colliders = false
+robot-robot-collisions = false
+robot-environment-collisions = false
 
+[visualisation.uncertainty]
+max-radius = 2.5
+scale = 30.0
 
-[gbp]
-sigma-pose-fixed        = 1e-15
-sigma-factor-dynamics   = 0.1
-sigma-factor-interrobot = 0.001
-sigma-factor-obstacle   = 0.001
-sigma-factor-tracking   = 0.01
-lookahead-multiple      = 3
+[interaction]
+ui-focus-cancels-inputs = true
+default-cam-distance = 100.0
 
-[gbp.factors-enabled]
-tracking = false
-obstacle = true
+[gbp]
+sigma-pose-fixed = 0.0000000000000010000000036274937
+sigma-factor-dynamics = 0.10000000149011612
+sigma-factor-interrobot = 0.009999999776482582
+sigma-factor-obstacle = 0.009999999776482582
+sigma-factor-tracking = 0.009999999776482582
+lookahead-multiple = 3
+variables = 10
+
+[gbp.tracking]
+switch-padding = 1.0
+attraction-distance = 2.0
 
 [gbp.iteration-schedule]
 internal = 10
 external = 10
 schedule = "interleave-evenly"
 
+[gbp.factors-enabled]
+dynamic = true
+interrobot = true
+obstacle = true
+tracking = false
+
 [robot]
-planning-horizon                       = 2.0
-target-speed                           = 15.0
-inter-robot-safety-distance-multiplier = 2.2
+planning-horizon = 5.0
+target-speed = 5.0
+inter-robot-safety-distance-multiplier = 2.5
 
 [robot.radius]
 min = 1.0
 max = 1.0
 
 [robot.communication]
-radius       = 20.0
+radius = 20.0
 failure-rate = 0.0
 
 [simulation]
-max-time           = 10000.0
-time-scale         = 1.0
+max-time = 10000.0
+time-scale = 2.0
 manual-step-factor = 1
-hz                 = 10.0
-# world-size                                = 100.0
-prng-seed                                 = 2
-pause-on-spawn                            = false
-despawn-robot-when-final-waypoint-reached = false
-
+hz = 10.0
+prng-seed = 2
+pause-on-spawn = false
+despawn-robot-when-final-waypoint-reached = true
+exit-application-on-scenario-finished = false
 
 [rrt]
-max-iterations       = 5000000
-step-size            = 5.0
-collision-radius     = 3.0
+max-iterations = 5000000
+step-size = 5.0
+collision-radius = 3.0
 neighbourhood-radius = 8.0
 
 [rrt.smoothing]
-enabled        = true
+enabled = true
 max-iterations = 500
-step-size      = 0.5
-
-# [rrt]
-# max-iterations       = 10000000
-# step-size            = 0.5
-# collision-radius     = 0.1
-# neighbourhood-radius = 10.0
-#
-# [rrt.smoothing]
-# enabled        = false
-# max-iterations = 100
-# step-size      = 1.0
+step-size = 0.5
 
 [graphviz]
 export-location = "./assets/export/"
 
 [graphviz.interrobot.active]
 style = "dashed"
-len   = 8.0
+len = 8.0
 color = "red"
 
 [graphviz.interrobot.inactive]
 style = "dashed"
-len   = 8.0
+len = 8.0
 color = "gray"
 
-
 [manual]
 timesteps-per-step = 1
+
+[debug.on-variable-clicked]
+obstacle = false
+dynamic = false
+interrobot = false
+tracking = false
+variable = false
+inbox = false

config/simulations/Junction Twoway/environment.yaml

@@ -7,6 +7,6 @@ tiles:
     obstacle-height: 2.0
     sdf:
       resolution: 200
-      expansion: 0.05
+      expansion: 0.01
       blur: 0.01
 obstacles: []