Daniel's Agent Evolution ScratchPad

[stonier]

Upstream

• Bugfix SetDefaultState in drake ⇨ drake/pulls/89340

ToDo

• completely pull in rail car
• (drake) refactor out lanedirection, it's discombabulating
• completely pull in mobil car
• rename simple car to teleop car
• rename SimpleCarState to ???
• get init poses from initial values on pose outputs instead of calculating them
• Declare AbstractState in rail_car ⇨ [rail_car] handle abstract state the way it was intended #467
• Refactor unused? AutomotiveSimulator::ConnectCarOutputsAndPriusVis
• Teleop id -> name? ⇨ Simulator agnostic agents #481
• a unique id in AgentBase actually necessary? Yes, for fast identification (not strings) in simulation callbacks

Stretch

• Agents that can load anytime -> get inserted between updates? Can't fu with diagrams after construction, need system framework updates
• Parameters streaming/publishing

Python

• replace robot_id with human readable names

Architecture Thoughts

Jotting things down in the Agent Architecture Design Document

[stonier]

RailCar system has five outputs:

• 2D SimpleCarState ⇨ DrakeSimpleCarStatetoIgn (scene (x,y,heading) + world speed : top-down except for world speed, not 2D speed!)
• RailCarState (s, speed) ⇨ unused
• LaneDirection (lane, with_s) ⇨ unused
• 3D Pose (PoseVector) ⇨ PoseAggregator
• 3D Velocity (FrameVelocity) ⇨ PoseAggregator

Could drop the 2D output and just plug in an additional system into the agent which takes the pose output and converts to SimpleCarState. This ensures the rail car system is minimal. Always a good goal with systems.

[liangfok]

Aging out.

Rebuild this with latest information if we get back to a review of agents.