feat: Placed sensors in reasonable positions

una-auxme · Jul 3, 2024 · 17dae8e · 17dae8e
1 parent 223195b
commit 17dae8e
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Showing 2 changed files with 24 additions and 20 deletions.
diff --git a/code/agent/config/dev_objects.json b/code/agent/config/dev_objects.json
@@ -126,12 +126,12 @@
           "type": "sensor.other.radar",
           "id": "RADAR",
           "spawn_point": {
-            "x": 0.7,
-            "y": 0.4,
-            "z": 1.60,
+            "x": 2.0,
+            "y": 0.0,
+            "z": 0.7,
             "roll": 0.0,
             "pitch": 0.0,
-            "yaw": -45.0
+            "yaw": 0.0
           },
           "horizontal_fov": 30.0,
           "vertical_fov": 30.0,
@@ -144,7 +144,7 @@
           "spawn_point": {
             "x": 0.0,
             "y": 0.0,
-            "z": 1.60
+            "z": 0.0
           },
           "noise_alt_stddev": 0.000005,
           "noise_lat_stddev": 0.000005,
@@ -157,9 +157,9 @@
           "type": "sensor.other.imu",
           "id": "IMU",
           "spawn_point": {
-            "x": 0.7,
-            "y": 0.4,
-            "z": 1.60,
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0,
             "roll": 0.0,
             "pitch": 0.0,
             "yaw": 0.0
@@ -186,7 +186,7 @@
           "spawn_point": {
             "x": 0.0,
             "y": 0.0,
-            "z": 1.60
+            "z": 0.0
           },
           "noise_alt_stddev": 0.0,
           "noise_lat_stddev": 0.0,
@@ -199,9 +199,9 @@
           "type": "sensor.other.imu",
           "id": "Ideal_IMU",
           "spawn_point": {
-            "x": 0.7,
-            "y": 0.4,
-            "z": 1.60,
+            "x": 0.0,
+            "y": 0.0,
+            "z": 0.0,
             "roll": 0.0,
             "pitch": 0.0,
             "yaw": 0.0
@@ -217,17 +217,21 @@
           "type": "sensor.other.radar",
           "id": "Ideal_RADAR",
           "spawn_point": {
-            "x": 0.7,
-            "y": 0.4,
-            "z": 1.60,
+            "x": 2.0,
+            "y": 0.0,
+            "z": 0.7,
             "roll": 0.0,
             "pitch": 0.0,
-            "yaw": 45.0
+            "yaw": 0.0
           },
           "horizontal_fov": 30.0,
           "vertical_fov": 30.0,
           "points_per_second": 1500,
           "range": 100.0
+        },
+        {
+          "type": "sensor.pseudo.odom",
+          "id": "odometry"
         }
       ]
     }

diff --git a/code/agent/src/agent/agent.py b/code/agent/src/agent/agent.py
@@ -60,19 +60,19 @@ def sensors(self):
             {
                 'type': 'sensor.other.radar',
                 'id': 'RADAR',
-                'x': 0.7, 'y': -0.4, 'z': 1.60,
-                'roll': 0.0, 'pitch': 0.0, 'yaw': -45.0,
+                'x': 2.0, 'y': 0.0, 'z': 0.7,
+                'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0,
                 'horizontal_fov': 30, 'vertical_fov': 30
                 },
             {
                 'type': 'sensor.other.gnss',
                 'id': 'GPS',
-                'x': 0.7, 'y': -0.4, 'z': 1.60
+                'x': 0.0, 'y': 0.0, 'z': 0.0
                 },
             {
                 'type': 'sensor.other.imu',
                 'id': 'IMU',
-                'x': 0.7, 'y': -0.4, 'z': 1.60,
+                'x': 0.0, 'y': 0.0, 'z': 0.0,
                 'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0
                 },
             {