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[Garden] Wildlife scoring plugin - Part2 #547

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merged 6 commits into from
Dec 1, 2022
Merged

[Garden] Wildlife scoring plugin - Part2 #547

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7736275
All code ported.
caguero Nov 21, 2022
928721f
Plugin added to the wildlife world.
caguero Nov 21, 2022
a7626f6
Plugin working.
caguero Nov 24, 2022
d03679b
Fix contacts.
caguero Nov 24, 2022
32b09fa
tweaks to comments
M1chaelM Dec 1, 2022
2f77bdf
Feedback
caguero Dec 1, 2022
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Plugin added to the wildlife world. 
Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
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@caguero
caguero committed Nov 21, 2022
commit 928721f50d67f5eef8cca562f71040421e242424
31 changes: 31 additions & 0 deletions vrx_gz/worlds/wildlife_task.sdf
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Expand Up @@ -632,5 +632,36 @@
</vertical>
</plugin>

<!-- The scoring plugin -->
<plugin name="vrx::WildlifeScoringPlugin"
filename="libWildlifeScoringPlugin.so">
<!-- Common parameters -->
<vehicle>wamv</vehicle>
<task_name>wildlife</task_name>
<initial_state_duration>10</initial_state_duration>
<ready_state_duration>10</ready_state_duration>
<running_state_duration>300</running_state_duration>
<collision_buffer>10</collision_buffer>

<!-- wildlife specific parameters -->
<buoys>
<buoy>
<name>crocodile_buoy::link</name>
<goal>avoid</goal>
</buoy>
<buoy>
<name>platypus_buoy::link</name>
<goal>circumnavigate_clockwise</goal>
</buoy>
<buoy>
<name>turtle_buoy::link</name>
<goal>circumnavigate_counterclockwise</goal>
</buoy>
</buoys>
<engagement_distance>10.0</engagement_distance>
<time_bonus>30.0</time_bonus>
<animals_topic>/vrx/wildlife/animals/poses</animals_topic>
</plugin>

</world>
</sdf>