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lgsvl / simulator

A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles
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On realism of pedestrians motion and interaction #1892

Open TimeEscaper opened 2 years ago

TimeEscaper commented 2 years ago

Dear SVL team,

Thank you for your efforts in delivering new features to the simulator. Recently, I tried to run an API-only indoor simulation with the "Warehouse" map, LGCloi robot and some pedestrians. I observed following effects regarding the pedestrians simulation: 1) When two pedestrians are colliding, they just go through each other like "ghosts". 2) When robot is colliding the pedestrian, pedestrian's trajectory is not changed, and robot is just being "crowded out" by the pedestrian. Are there any plans to make agents interaction more realistic for more advanced applications in social robotics? Or probably there is an already existing solution in form of external plugin or something else?

Thank you in advance!

EricBoiseLGSVL commented 2 years ago

Glad you are liking svl simulator. Yes, API agents have no collision. You can change this in the code, there are a few issues asking about this. Interaction with the new articulated bodies is still a work in progress. To improve this, you will need to look to animations and collision detection.