| { |
| "name": "Hovering", |
| "world": "Dam", |
| "main_agent": "auv0", |
| "ticks_per_sec": 10, |
| "frames_per_sec": true, |
| "octree_min": 0.02, |
| "octree_max": 5.0, |
| "agents":[ |
| { |
| "agent_name": "auv0", |
| "agent_type": "BlueROV2", |
| "control_scheme": 0, |
| "location": [255.79588, 5.0124497, -64.576065], |
| "rotation": [-0.00020526267, -1.7126215e-05, 28.495195], |
| "sensors": [ |
| { |
| "sensor_type": "LocationSensor", |
| "socket": "COM", |
| "configuration": { |
| "Sigma": 0 |
| } |
| }, |
| { |
| "sensor_type": "RotationSensor", |
| "socket": "COM" |
| }, |
| { |
| "sensor_type": "RGBCamera", |
| "sensor_name": "FrontCamera", |
| "socket": "CameraSocket", |
| "Hz": 5, |
| "location": [0.0, 0.0, 0.0], |
| "rotation": [0.0, 0.0, 0.0], |
| "configuration": { |
| "CaptureWidth": 512, |
| "CaptureHeight": 512 |
| } |
| }, |
| { |
| "sensor_type": "RGBCamera", |
| "sensor_name": "BackCamera", |
| "socket": "CameraSocket", |
| "Hz": 5, |
| "location": [0.0, -0.65, 0.0], |
| "rotation": [0.0, 0.0, 180.0], |
| "configuration": { |
| "CaptureWidth": 512, |
| "CaptureHeight": 512 |
| } |
| }, |
| { |
|
|
| "sensor_type": "RGBCamera", |
| "sensor_name": "LeftCamera", |
| "socket": "CameraSocket", |
| "Hz": 5, |
| "location": [-0.65, 0.0, 0.0], |
| "rotation": [0.0, 0.0, 90.0], |
| "configuration": { |
| "CaptureWidth": 512, |
| "CaptureHeight": 512 |
| } |
| }, |
| { |
| "sensor_type": "RGBCamera", |
| "sensor_name": "RightCamera", |
| "socket": "CameraSocket", |
| "Hz": 5, |
| "location": [0.65, 0.0, 0.0], |
| "rotation": [0.0, 0.0, -90.0], |
| "configuration": { |
| "CaptureWidth": 512, |
| "CaptureHeight": 512 |
| } |
| }, |
| { |
| "sensor_type": "RGBCamera", |
| "sensor_name": "UpCamera", |
| "socket": "CameraSocket", |
| "Hz": 5, |
| "location": [0.0, 0.0, 0.0], |
| "rotation": [0.0, -90.0, 0.0], |
| "configuration": { |
| "CaptureWidth": 512, |
| "CaptureHeight": 512 |
| } |
| }, |
| { |
| "sensor_type": "RGBCamera", |
| "sensor_name": "DownCamera", |
| "socket": "CameraSocket", |
| "Hz": 5, |
| "location": [0.0, 0.0, 0.0], |
| "rotation": [0.0, 90.0, 0.0], |
| "configuration": { |
| "CaptureWidth": 512, |
| "CaptureHeight": 512 |
| } |
| }, |
| { |
| "sensor_type": "ImagingSonar", |
| "socket": "SonarSocket", |
| "Hz": 5, |
| "configuration": { |
| "Azimuth": 120, |
| "Elevation": 22.5, |
| "RangeMin": 0.1, |
| "RangeMax": 30, |
| "RangeBins": 512, |
| "AzimuthBins": 512, |
| "AddSigma": 0.1, |
| "MultSigma": 0.1, |
| "MultiPath": false, |
| "ClusterSize": 5, |
| "ScaleNoise": false, |
| "AzimuthStreaks": 0, |
| "RangeSigma": 0.05, |
| "ShowWarning": false, |
| "InitOctreeRange": 30, |
| "ViewRegion": false, |
| "ViewOctree": -10, |
| "WaterDensity": 997, |
| "WaterSpeedSound": 1480, |
| "UseApprox": true |
| } |
| } |
| ] |
| } |
| ], |
| "window_width": 1280, |
| "window_height": 720 |
| } |
|
|
