added map with loop with pedestrians

assets/duckiematrix/map/loop_with_pedestrians/cameras.yaml

@@ -0,0 +1,23 @@
+version: 1.0
+cameras:
+  map_0/vehicle_0/camera_0:
+    name: front_center
+    camera_matrix:
+    - - 294.53932068591484
+      - 0.0
+      - 309.40712721751646
+    - - 0.0
+      - 296.5367154664796
+      - 228.72814869651435
+    - - 0.0
+      - 0.0
+      - 1.0
+    distortion_parameters:
+    - -0.22642034632167934
+    - 0.032424830545866784
+    - -0.0030997885368560392
+    - 0.00026050478624311846
+    - 0.0
+    width: 640
+    height: 480
+    frame_rate: 30

assets/duckiematrix/map/loop_with_pedestrians/citizens.yaml

@@ -0,0 +1,6 @@
+version: 1.0
+citizens:
+  map_0/duckie_0: ~
+  map_0/duckie_1: ~
+  map_0/duckie_2: ~
+  map_0/duckie_3: ~

assets/duckiematrix/map/loop_with_pedestrians/frames.yaml

@@ -0,0 +1,150 @@
+version: 1.0
+frames:
+  map_0:
+    relative_to: ~
+    pose:
+      x: 0.0
+      y: 0.0
+      z: 0.0
+      roll: 0.0
+      pitch: 0.0
+      yaw: 0.0
+  map_0/tile_0_0:
+    relative_to: ~
+    unit: tiles
+    pose:
+      x: 0.0
+      y: 0.0
+      z: 0.0
+      roll: 0.0
+      pitch: 0.0
+      yaw: 4.71238898038469
+  map_0/tile_0_1:
+    relative_to: ~
+    unit: tiles
+    pose:
+      x: 0.0
+      y: 1.0
+      z: 0.0
+      roll: 0.0
+      pitch: 0.0
+      yaw: 0.0
+  map_0/tile_0_2:
+    relative_to: ~
+    unit: tiles
+    pose:
+      x: 0.0
+      y: 2.0
+      z: 0.0
+      roll: 0.0
+      pitch: 0.0
+      yaw: 3.14159265359
+  map_0/tile_1_0:
+    relative_to: ~
+    unit: tiles
+    pose:
+      x: 1.0
+      y: 0.0
+      z: 0.0
+      roll: 0.0
+      pitch: 0.0
+      yaw: 4.71238898038469
+  map_0/tile_1_1:
+    relative_to: ~
+    unit: tiles
+    pose:
+      x: 1.0
+      y: 1.0
+      z: 0.0
+      roll: 0.0
+      pitch: 0.0
+      yaw: 0.0
+  map_0/tile_1_2:
+    relative_to: ~
+    unit: tiles
+    pose:
+      x: 1.0
+      y: 2.0
+      z: 0.0
+      roll: 0.0
+      pitch: 0.0
+      yaw: 4.71238898038469
+  map_0/tile_2_0:
+    relative_to: ~
+    unit: tiles
+    pose:
+      x: 2.0
+      y: 0.0
+      z: 0.0
+      roll: 0.0
+      pitch: 0.0
+      yaw: 0.0
+  map_0/tile_2_1:
+    relative_to: ~
+    unit: tiles
+    pose:
+      x: 2.0
+      y: 1.0
+      z: 0.0
+      roll: 0.0
+      pitch: 0.0
+      yaw: 0.0
+  map_0/tile_2_2:
+    relative_to: ~
+    unit: tiles
+    pose:
+      x: 2.0
+      y: 2.0
+      z: 0.0
+      roll: 0.0
+      pitch: 0.0
+      yaw: 1.5707963267948966
+  map_0/vehicle_0:
+    relative_to: ~
+    pose:
+      x: 0.88
+      y: 0.185
+      z: 0.0
+      roll: 0.0
+      pitch: 0.0
+      yaw: 0.0
+  map_0/duckie_0:
+    relative_to: ~
+    unit: tiles
+    pose:
+      x: 1.0
+      y: 1.0
+      z: 0.0
+      roll: 0.0
+      pitch: 0.0
+      yaw: 0.0
+  map_0/duckie_1:
+    relative_to: ~
+    unit: tiles
+    pose:
+      x: 1.0
+      y: 1.0
+      z: 0.0
+      roll: 0.0
+      pitch: 0.0
+      yaw: 1.5706806282723
+  map_0/duckie_2:
+    relative_to: ~
+    unit: tiles
+    pose:
+      x: 1.0
+      y: 1.0
+      z: 0.0
+      roll: 0.0
+      pitch: 0.0
+      yaw: 3.14159265359
+  map_0/duckie_3:
+    relative_to: ~
+    unit: tiles
+    pose:
+      x: 1.0
+      y: 1.0
+      z: 0.0
+      roll: 0.0
+      pitch: 0.0
+      yaw: 4.71238898038469

assets/duckiematrix/map/loop_with_pedestrians/lights.yaml

@@ -0,0 +1,30 @@
+version: 1.0
+lights:
+  map_0/vehicle_0/light_0:
+    name: front_left
+    type: spot
+    intensity: 0.6
+    range: 2.0
+    angle: 0.0
+    color: "#ffffff"
+  map_0/vehicle_0/light_1:
+    name: front_right
+    type: spot
+    intensity: 0.6
+    range: 2.0
+    angle: 0.0
+    color: "#ffffff"
+  map_0/vehicle_0/light_2:
+    name: back_left
+    type: spot
+    intensity: 0.6
+    range: 2.0
+    angle: 0.0
+    color: "#f00000"
+  map_0/vehicle_0/light_3:
+    name: back_right
+    type: spot
+    intensity: 0.6
+    range: 2.0
+    angle: 0.0
+    color: "#f00000"

assets/duckiematrix/map/loop_with_pedestrians/main.yaml

@@ -0,0 +1,8 @@
+version: 1.0
+main:
+  cameras: !include "cameras.yaml"
+  citizens: !include "citizens.yaml"
+  frames: !include "frames.yaml"
+  tiles: !include "tiles.yaml"
+  tile_maps: !include "tile_maps.yaml"
+  vehicles: !include "vehicles.yaml"

assets/duckiematrix/map/loop_with_pedestrians/renderer_assignments.yaml

@@ -0,0 +1,5 @@
+version: 1.0
+renderer_assignments:
+  renderer_0:
+    entities:
+      - map_0/vehicle_0

assets/duckiematrix/map/loop_with_pedestrians/renderer_mode.yaml

@@ -0,0 +1,4 @@
+version: 1.0
+renderer_mode:
+  "*":
+    interactive: true

assets/duckiematrix/map/loop_with_pedestrians/rendering_configuration.yaml

@@ -0,0 +1,7 @@
+version: 1.0
+rendering_configuration:
+  map_0/vehicle_0/camera_0:
+    lens_distortion: true
+    hdr: false
+    anti_aliasing: true
+    shadows: true

assets/duckiematrix/map/loop_with_pedestrians/scripts.yaml

@@ -0,0 +1,14 @@
+version: 1.0
+scripts:
+  map_0/duckie_0:
+    scripts:
+      - straight_line_script
+  map_0/duckie_1:
+    scripts:
+      - straight_line_script
+  map_0/duckie_2:
+    scripts:
+      - straight_line_script
+  map_0/duckie_3:
+    scripts:
+      - straight_line_script

assets/duckiematrix/map/loop_with_pedestrians/scripts/__init__.py

@@ -0,0 +1 @@
+"""Loop with pedestrians scripts."""

assets/duckiematrix/map/loop_with_pedestrians/scripts/run_in_circle_script.py

@@ -0,0 +1,40 @@
+"""Run in circle script."""
+
+import math
+
+from packages.duckiematrix_engine.entities.matrix_entity import (
+    MatrixEntityBehavior,
+)
+
+
+class RunInCircleScript(MatrixEntityBehavior):
+    """Run in circle script."""
+
+    _radius: float
+    _speed: float
+    _time: float
+
+    def __init__(
+        self,
+        matrix_key: str,
+        world_key: str | None,
+        radius: float = 0.2,
+        speed: float = 0.5,
+    ) -> None:
+        """Initialize run in circle script."""
+        super().__init__(matrix_key, world_key)
+        self._radius = radius
+        self._speed = speed
+        self._time = 0
+
+    def update(self, delta_time: float) -> None:
+        """Update."""
+        self._time += delta_time
+        if self.state:
+            angle = self._speed * self._time
+            value = math.sin(angle)
+            self.state.x = self.state.initial_pose["x"] + self._radius * value
+            value = math.cos(angle)
+            self.state.y = self.state.initial_pose["y"] + self._radius * value
+            self.state.yaw = math.pi - angle
+            self.state.commit()

assets/duckiematrix/map/loop_with_pedestrians/scripts/straight_line_script.py

@@ -0,0 +1,40 @@
+"""Straight line script."""
+
+import numpy as np
+
+from packages.duckiematrix_engine.entities.matrix_entity import (
+    MatrixEntityBehavior,
+)
+
+
+class StraightLineScript(MatrixEntityBehavior):
+    """Straight line script."""
+
+    _distance: float
+    _distance_on_leg: float
+    _speed: float
+
+    def __init__(
+        self,
+        matrix_key: str,
+        world_key: str | None,
+        distance: float = 1.5,
+        speed: float = 0.1,
+    ) -> None:
+        """Initialize straight line script."""
+        super().__init__(matrix_key, world_key)
+        self._distance = distance
+        self._distance_on_leg = 0
+        self._speed = speed
+
+    def update(self, delta_time: float) -> None:
+        """Update."""
+        if self.state:
+            distance = self._speed * delta_time
+            self.state.x -= distance * np.sin(self.state.yaw)
+            self.state.y += distance * np.cos(self.state.yaw)
+            self._distance_on_leg += distance
+            if self._distance_on_leg > self._distance:
+                self.state.yaw += np.deg2rad(180)
+                self._distance_on_leg = 0
+            self.state.commit()

assets/duckiematrix/map/loop_with_pedestrians/tile_maps.yaml

@@ -0,0 +1,6 @@
+version: 1.0
+tile_maps:
+  map_0:
+    tile_size:
+      x: 0.585
+      y: 0.585

assets/duckiematrix/map/loop_with_pedestrians/tiles.yaml

@@ -0,0 +1,20 @@
+version: 1.0
+tiles:
+  map_0/tile_0_0:
+    type: curve
+  map_0/tile_0_1:
+    type: straight
+  map_0/tile_0_2:
+    type: curve
+  map_0/tile_1_0:
+    type: straight
+  map_0/tile_1_1:
+    type: floor
+  map_0/tile_1_2:
+    type: straight
+  map_0/tile_2_0:
+    type: curve
+  map_0/tile_2_1:
+    type: straight
+  map_0/tile_2_2:
+    type: curve

assets/duckiematrix/map/loop_with_pedestrians/time_of_flights.yaml

@@ -0,0 +1,7 @@
+version: 1.0
+time_of_flights:
+  map_0/vehicle_0/tof_front_center:
+    name: front_center
+    angle: 0.4363
+    maximum_distance: 1.2
+    frequency: 15

assets/duckiematrix/map/loop_with_pedestrians/vehicle_dynamics.yaml

@@ -0,0 +1,6 @@
+version: 1.0
+vehicle_dynamics:
+  map_0/vehicle_0:
+    commands_delay: 0.0
+    motor_constant_right: 27.0
+    motor_constant_left: 27.0

assets/duckiematrix/map/loop_with_pedestrians/vehicle_tags.yaml

@@ -0,0 +1,7 @@
+version: 1.0
+vehicle_tags:
+  map_0/vehicle_0/tag:
+    name: top
+    size: 0.08
+    id: 403
+    family: 36h11

assets/duckiematrix/map/loop_with_pedestrians/vehicles.yaml

@@ -0,0 +1,6 @@
+version: 1.0
+vehicles:
+  map_0/vehicle_0:
+    configuration: DB21M
+    id: ~
+    color: ~