From 301502885cd29011e4abbb72097ea471cf67ab09 Mon Sep 17 00:00:00 2001
From: ReykCS <reyk-carstens@web.de>
Date: Fri, 28 Oct 2022 15:08:25 +0200
Subject: [PATCH 01/14] removed manual task from readme

---
 README.md | 7 -------
 1 file changed, 7 deletions(-)

diff --git a/README.md b/README.md
index 8f803df..c41eec2 100644
--- a/README.md
+++ b/README.md
@@ -15,13 +15,6 @@ Our task generator package offers four task modes. We define a task as the proce
 
 Creates random static and dynamic obstacles when a new task is started. When starting the task a random goal and start position is selected. After the robot reaching the goal a new task is started.
 
-### Manual Task
-
-Manual task mode is the same as the random task except that a goal must be set manually via the rviz *2D Nav Goal* button.
-
-![image](https://arena-rosnav-wiki.readthedocs.io/en/latest/images/manual_task.png)
-
-
 ### Staged Task
 
 The staged task mode is designed for the trainings process of arena-rosnav. In general, it behaves like the random task mode but there are multiple stages between one can switch. Between the stages, the amount of static and dynamic obstacles changes. The amount of obstacles is defined in a curriculum file, the path to said file is a key in the `paths` parameter.

From 45a683efe9bbe0db0ed606b1cbe938542c1bf2c4 Mon Sep 17 00:00:00 2001
From: ReykCS <reyk-carstens@web.de>
Date: Fri, 28 Oct 2022 15:11:56 +0200
Subject: [PATCH 02/14] removed last github merge conflict

---
 task_generator/constants.py | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/task_generator/constants.py b/task_generator/constants.py
index 34e341b..02db500 100644
--- a/task_generator/constants.py
+++ b/task_generator/constants.py
@@ -61,10 +61,6 @@ class FlatlandRandomModel:
     }
     LINEAR_VEL = 0.2
     ANGLUAR_VEL_MAX = 0.2
-<<<<<<< HEAD
-
-=======
->>>>>>> master
 
 class Pedsim:
     START_UP_MODE = "default"

From 85ebfdfce1a925c26c5c387741b3d343f2ba1fad Mon Sep 17 00:00:00 2001
From: ReykCS <reyk-carstens@web.de>
Date: Fri, 28 Oct 2022 16:21:17 +0200
Subject: [PATCH 03/14] small changes in readme

---
 README.md                               | 7 +------
 robot_setup/marl_map_empty.yaml         | 8 ++++----
 task_generator/constants.py             | 8 ++++----
 task_generator/manager/robot_manager.py | 5 +----
 task_generator/tasks/staged.py          | 4 ----
 5 files changed, 10 insertions(+), 22 deletions(-)

diff --git a/README.md b/README.md
index c41eec2..a5b4193 100644
--- a/README.md
+++ b/README.md
@@ -1,11 +1,6 @@
 # Arena Rosnav Task Generator
 
-This is the task generator package designed to work with:
-
-- [arena-rosnav](https://github.com/Arena-Rosnav/arena-rosnav)
-- [arena-rosnav-3d]()
-
-The task generator is especially designed for single robot simulations.
+This is the task generator package designed to work with the [Arena Benchmark](https://github.com/Arena-Rosnav/arena-rosnav) infrastructure.
 
 ## Task Modes
 
diff --git a/robot_setup/marl_map_empty.yaml b/robot_setup/marl_map_empty.yaml
index 7a80485..7d8f2c2 100644
--- a/robot_setup/marl_map_empty.yaml
+++ b/robot_setup/marl_map_empty.yaml
@@ -3,13 +3,13 @@ robots:
   #   planner: rosnav
   #   amount: 6
   #   agent: rto_tlabs_marl
-  - model: agvota
+  - model: jackal
     planner: teb
-    amount: 1
+    amount: 6
     agent: new_jackal
-  - model: burger
+  - model: rto
     planner: teb
-    amount: 1
+    amount: 6
     agent: new_jackal
   # - model: cob4
   #   planner: teb
diff --git a/task_generator/constants.py b/task_generator/constants.py
index 02db500..1963eb7 100644
--- a/task_generator/constants.py
+++ b/task_generator/constants.py
@@ -30,10 +30,10 @@ class TaskMode:
     SCENARIO = "scenario"
 
     class Random:
-        MIN_DYNAMIC_OBS = 1
-        MAX_DYNAMIC_OBS = 3
-        MIN_STATIC_OBS = 1
-        MAX_STATIC_OBS = 3
+        MIN_DYNAMIC_OBS = 10
+        MAX_DYNAMIC_OBS = 15
+        MIN_STATIC_OBS = 10
+        MAX_STATIC_OBS = 15
 
     class Scenario:
         RESETS_DEFAULT = 5
diff --git a/task_generator/manager/robot_manager.py b/task_generator/manager/robot_manager.py
index 35cb4fa..c257c9d 100644
--- a/task_generator/manager/robot_manager.py
+++ b/task_generator/manager/robot_manager.py
@@ -38,7 +38,7 @@ def __init__(self, namespace, map_manager, environment, robot_setup):
 
         self.robot_setup = robot_setup
 
-    def set_up_robot(self, launch_robot_controller=True):
+    def set_up_robot(self):
         if Utils.get_arena_type() == Constants.ArenaType.TRAINING:
             self.robot_radius = rospy.get_param("robot_radius")
 
@@ -56,9 +56,6 @@ def set_up_robot(self, launch_robot_controller=True):
         if Utils.get_arena_type() == Constants.ArenaType.TRAINING:
             return
 
-        if not launch_robot_controller:
-            return
-
         self.launch_robot(self.robot_setup)
 
         self.robot_radius = rospy.get_param(
diff --git a/task_generator/tasks/staged.py b/task_generator/tasks/staged.py
index 86b22b5..7cbd1b8 100644
--- a/task_generator/tasks/staged.py
+++ b/task_generator/tasks/staged.py
@@ -141,10 +141,6 @@ def _reset_robot_and_obstacles(
             **kwargs
         )
     
-    def _set_up_robot_managers(self):
-        for manager in self.robot_managers:
-            manager.set_up_robot(launch_robot_controller=False)
-
     def _init_stage(self, stage):
         static_obstacles = self._stages[stage]["static"]
         dynamic_obstacles = self._stages[stage]["dynamic"]

From 10f1475b99c666b1559eff182bc3a308e37ecfec Mon Sep 17 00:00:00 2001
From: ReykCS <reyk-carstens@web.de>
Date: Fri, 18 Nov 2022 14:17:49 +0100
Subject: [PATCH 04/14] added more robots to marl task

---
 robot_setup/marl_map_empty.yaml     |  8 ++---
 robot_setup/rosnav_agents_marl.yaml |  4 +--
 scenarios/marl_map_empty_obs0.json  | 56 +++++++++++++++++++++++++++--
 task_generator/tasks/scenario.py    |  2 ++
 4 files changed, 62 insertions(+), 8 deletions(-)

diff --git a/robot_setup/marl_map_empty.yaml b/robot_setup/marl_map_empty.yaml
index 7d8f2c2..b9306f8 100644
--- a/robot_setup/marl_map_empty.yaml
+++ b/robot_setup/marl_map_empty.yaml
@@ -4,13 +4,13 @@ robots:
   #   amount: 6
   #   agent: rto_tlabs_marl
   - model: jackal
-    planner: teb
+    planner: rosnav
     amount: 6
-    agent: new_jackal
+    agent: jackal_marl
   - model: rto
-    planner: teb
+    planner: rosnav
     amount: 6
-    agent: new_jackal
+    agent: rto_tlabs_marl
   # - model: cob4
   #   planner: teb
   #   amount: 1
diff --git a/robot_setup/rosnav_agents_marl.yaml b/robot_setup/rosnav_agents_marl.yaml
index 92238c0..6d6d3d2 100644
--- a/robot_setup/rosnav_agents_marl.yaml
+++ b/robot_setup/rosnav_agents_marl.yaml
@@ -4,8 +4,8 @@ robots:
   #   amount: 1
   #   agent: ridgeback_marl
   - model: rto
-    planner: rosnav
-    amount: 3
+    planner: teb
+    amount: 30
     agent: rto_tlabs_marl
   # - model: jackal
   #   planner: rosnav
diff --git a/scenarios/marl_map_empty_obs0.json b/scenarios/marl_map_empty_obs0.json
index 4100854..4abeab9 100644
--- a/scenarios/marl_map_empty_obs0.json
+++ b/scenarios/marl_map_empty_obs0.json
@@ -33,8 +33,60 @@
       "goal": [29.94602317350325, 20.795265461388748, 0]
     },
     {
-      "start": [3.0220509108329354, 20.442857447479454, 0],
-      "goal": [30.58035759853998, 7.262797727271735, 0]
+      "start": [2.778715176849392, 3.053770554072754, 0],
+      "goal": [30.146818089333973, 23.16670627326246, 0]
+    },
+    {
+      "start": [5.237410725688214, 3.3359159449231095, 0],
+      "goal": [28.010574415752707, 23.16670627326246, 0]
+    },
+    {
+      "start": [8.05886463419178, 3.0134640696655604, 0],
+      "goal": [24.826362147584394, 23.126399788855267, 0]
+    },
+    {
+      "start": [2.980247598885362, 4.545110477138927, 0],
+      "goal": [31.114173715106627, 21.35291447493874, 0]
+    },
+    {
+      "start": [2.778715176849392, 8.092081104971982, 0],
+      "goal": [30.469269964591522, 18.53146056643517, 0]
+    },
+    {
+      "start": [2.9399411144781684, 11.27629337314029, 0],
+      "goal": [30.42896348018433, 16.516136346075484, 0]
+    },
+    {
+      "start": [2.4965697859990357, 14.379892672494213, 0],
+      "goal": [30.18712457374117, 12.727326811799266, 0]
+    },
+    {
+      "start": [3.141473536514136, 17.080427127776197, 0],
+      "goal": [30.348350511369944, 8.93851727752305, 0]
+    },
+    {
+      "start": [3.101167052106943, 19.619735645429405, 0],
+      "goal": [30.388656995777136, 6.802273603941779, 0]
+    },
+    {
+      "start": [2.8190216612565857, 22.803947913597714, 0],
+      "goal": [30.711108871034686, 2.932851100851173, 0]
+    },
+    {
+      "start": [5.277717210095408, 22.965173851226492, 0],
+      "goal": [28.292719806603063, 3.0134640696655604, 0]
+    },
+    {
+      "start": [8.099171118598974, 22.683028460376136, 0],
+      "goal": [25.672798320135467, 3.1343835228871413, 0]
+    },
+    {
+      "start": [10.033882370144276, 22.683028460376136, 0],
+      "goal": [25.14881402284195, 3.6180613357734708, 0]
+    },
+    {
+      "start": [10.598173151844989, 22.72333494478333, 0],
+      "goal": [23.77839355299736, 3.0134640696655604, 0]
     }
   ],
   "map": "map_empty",
diff --git a/task_generator/tasks/scenario.py b/task_generator/tasks/scenario.py
index c475c7e..17711b3 100644
--- a/task_generator/tasks/scenario.py
+++ b/task_generator/tasks/scenario.py
@@ -22,6 +22,8 @@ def __init__(
 
         self.scenario_file = self.read_scenario_file(scenario_file_path)
 
+        print(scenario_file_path, self.scenario_file)
+
         super().__init__(obstacles_manager, robot_managers, map_manager, **kwargs)
 
         self._check_map_paths()

From 3afc515b96a13951f180635e780ea21b0d1828f6 Mon Sep 17 00:00:00 2001
From: ReykCS <reyk-carstens@web.de>
Date: Fri, 18 Nov 2022 14:19:11 +0100
Subject: [PATCH 05/14] changed marl task to handle all robots

---
 robot_setup/marl_map_empty.yaml | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/robot_setup/marl_map_empty.yaml b/robot_setup/marl_map_empty.yaml
index b9306f8..7bfb804 100644
--- a/robot_setup/marl_map_empty.yaml
+++ b/robot_setup/marl_map_empty.yaml
@@ -5,12 +5,16 @@ robots:
   #   agent: rto_tlabs_marl
   - model: jackal
     planner: rosnav
-    amount: 6
+    amount: 10
     agent: jackal_marl
   - model: rto
     planner: rosnav
-    amount: 6
+    amount: 10
     agent: rto_tlabs_marl
+  - model: ridgeback
+    planner: rosnav
+    amount: 10
+    agent: ridgeback_marl
   # - model: cob4
   #   planner: teb
   #   amount: 1

From acf74462f931114b8749884648a98af430f529dc Mon Sep 17 00:00:00 2001
From: ReykCS <reyk-carstens@web.de>
Date: Thu, 24 Nov 2022 18:40:10 +0100
Subject: [PATCH 06/14] removed printouts

---
 robot_setup/rosnav_agents_marl.yaml | 18 +++++++++---------
 task_generator/tasks/scenario.py    |  2 --
 task_generator/tasks/staged.py      |  2 --
 3 files changed, 9 insertions(+), 13 deletions(-)

diff --git a/robot_setup/rosnav_agents_marl.yaml b/robot_setup/rosnav_agents_marl.yaml
index 6d6d3d2..024bdb2 100644
--- a/robot_setup/rosnav_agents_marl.yaml
+++ b/robot_setup/rosnav_agents_marl.yaml
@@ -1,16 +1,16 @@
 robots:
-  # - model: ridgeback
-  #   planner: rosnav
-  #   amount: 1
-  #   agent: ridgeback_marl
+  - model: ridgeback
+    planner: teb
+    amount: 6
+    agent: ridgeback_marl
   - model: rto
     planner: teb
-    amount: 30
+    amount: 6
     agent: rto_tlabs_marl
-  # - model: jackal
-  #   planner: rosnav
-  #   amount: 1
-  #   agent: jackal_marl
+  - model: jackal
+    planner: teb
+    amount: 6
+    agent: jackal_marl
   # - model: jackal
   #   planner: rosnav
   #   amount: 1
diff --git a/task_generator/tasks/scenario.py b/task_generator/tasks/scenario.py
index 17711b3..c475c7e 100644
--- a/task_generator/tasks/scenario.py
+++ b/task_generator/tasks/scenario.py
@@ -22,8 +22,6 @@ def __init__(
 
         self.scenario_file = self.read_scenario_file(scenario_file_path)
 
-        print(scenario_file_path, self.scenario_file)
-
         super().__init__(obstacles_manager, robot_managers, map_manager, **kwargs)
 
         self._check_map_paths()
diff --git a/task_generator/tasks/staged.py b/task_generator/tasks/staged.py
index 7cbd1b8..287e0b3 100644
--- a/task_generator/tasks/staged.py
+++ b/task_generator/tasks/staged.py
@@ -48,8 +48,6 @@ def __init__(
 
         self._init_debug_mode(paths)
 
-        print("NAMESPACE PREFIX", self.namespace_prefix)
-
         self._sub_next = rospy.Subscriber(
             f"{self.namespace_prefix}next_stage", Bool, self.next_stage
         )

From d3d525d8e4862493f44a82ddef4c3fad9afaf9be Mon Sep 17 00:00:00 2001
From: ReykCS <reyk-carstens@web.de>
Date: Sat, 3 Dec 2022 23:03:46 +0100
Subject: [PATCH 07/14] added support for arena-evaluation

---
 scripts/task_generator_node.py          | 1 +
 task_generator/manager/robot_manager.py | 1 +
 2 files changed, 2 insertions(+)

diff --git a/scripts/task_generator_node.py b/scripts/task_generator_node.py
index 6ff3b86..2fdbd2a 100644
--- a/scripts/task_generator_node.py
+++ b/scripts/task_generator_node.py
@@ -60,6 +60,7 @@ def __init__(self) -> None:
         self.number_of_resets = 0
 
         self.reset_task()
+
         ## Timers
         rospy.Timer(rospy.Duration(0.5), self.check_task_status)
 
diff --git a/task_generator/manager/robot_manager.py b/task_generator/manager/robot_manager.py
index c257c9d..805e30c 100644
--- a/task_generator/manager/robot_manager.py
+++ b/task_generator/manager/robot_manager.py
@@ -168,6 +168,7 @@ def launch_robot(self, robot_setup):
             f"model:={robot_setup['model']}",
             f"local_planner:={robot_setup['planner']}",
             f"namespace:={self.namespace}",
+            f"record_data:={rospy.get_param('record_data', False) and rospy.get_param('task_mode', 'scenario') == 'scenario'}",
             *([f"agent_name:={robot_setup.get('agent')}"] if robot_setup.get('agent') else [])
         ]
 

From 2cbbf3b6d05a70a507b08c0804149b7ee4d628cb Mon Sep 17 00:00:00 2001
From: ReykCS <reyk-carstens@web.de>
Date: Tue, 6 Dec 2022 15:45:42 +0100
Subject: [PATCH 08/14] small patches for arena-evaluation

---
 task_generator/manager/robot_manager.py | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/task_generator/manager/robot_manager.py b/task_generator/manager/robot_manager.py
index 805e30c..2831f49 100644
--- a/task_generator/manager/robot_manager.py
+++ b/task_generator/manager/robot_manager.py
@@ -37,6 +37,7 @@ def __init__(self, namespace, map_manager, environment, robot_setup):
         self.is_goal_reached = False
 
         self.robot_setup = robot_setup
+        self.record_data = rospy.get_param('record_data', False)#  and rospy.get_param('task_mode', 'scenario') == 'scenario'
 
     def set_up_robot(self):
         if Utils.get_arena_type() == Constants.ArenaType.TRAINING:
@@ -87,6 +88,10 @@ def reset(self, forbidden_zones=[], start_pos=None, goal_pos=None):
             forbidden_zones, start_pos, goal_pos
         )
 
+        if self.record_data:
+            rospy.set_param(os.path.join(self.namespace, "goal"), list(self.goal_pos))
+            rospy.set_param(os.path.join(self.namespace, "start"), list(self.start_pos))
+
         self.publish_goal(self.goal_pos)
         self.move_robot_to_start()
 
@@ -168,7 +173,7 @@ def launch_robot(self, robot_setup):
             f"model:={robot_setup['model']}",
             f"local_planner:={robot_setup['planner']}",
             f"namespace:={self.namespace}",
-            f"record_data:={rospy.get_param('record_data', False) and rospy.get_param('task_mode', 'scenario') == 'scenario'}",
+            f"record_data:={self.record_data}",
             *([f"agent_name:={robot_setup.get('agent')}"] if robot_setup.get('agent') else [])
         ]
 

From 1a40590de0a3da13ec2e0f96a391b1f1969db568 Mon Sep 17 00:00:00 2001
From: ReykCS <reyk-carstens@web.de>
Date: Thu, 15 Dec 2022 12:37:51 +0100
Subject: [PATCH 09/14] started unity integration

---
 task_generator/constants.py                   |   8 +-
 .../environments/base_environment.py          |  32 +++-
 .../environments/gazebo_environment.py        |   1 -
 .../environments/unity_environment.py         | 181 ++++++++++++++++++
 task_generator/manager/robot_manager.py       |   4 +-
 task_generator/tasks/utils.py                 |   3 +-
 6 files changed, 220 insertions(+), 9 deletions(-)
 create mode 100644 task_generator/environments/unity_environment.py

diff --git a/task_generator/constants.py b/task_generator/constants.py
index 1963eb7..6a00ad9 100644
--- a/task_generator/constants.py
+++ b/task_generator/constants.py
@@ -1,6 +1,6 @@
 class Constants:
     GOAL_REACHED_TOLERANCE = 1.0
-    TIMEOUT = 3.0 * 60 ## 3 min
+    TIMEOUT = 100000000 ## 3 min
     WAIT_FOR_SERVICE_TIMEOUT = 5 # 5 secs
     MAX_RESET_FAIL_TIMES = 3
 
@@ -18,6 +18,7 @@ class RobotManager:
     class Environment:
         FLATLAND = "flatland"
         GAZEBO = "gazebo"
+        UNITY = "unity"
 
     class ArenaType:
         TRAINING = "training"
@@ -85,4 +86,7 @@ class Pedsim:
     FORCE_FACTOR_OBSTACLE = 1.0
     FORCE_FACTOR_SOCIAL = 5.0
     FORCE_FACTOR_ROBOT = 0.0
-    WAYPOINT_MODE = 0
\ No newline at end of file
+    WAYPOINT_MODE = 0
+
+class UnityEnvironmentConstants:
+    UNITY_ROS_NAVIGATION = "UNITY_ROS_NAVIGATION"
diff --git a/task_generator/environments/base_environment.py b/task_generator/environments/base_environment.py
index 762afb0..eb2796d 100644
--- a/task_generator/environments/base_environment.py
+++ b/task_generator/environments/base_environment.py
@@ -1,5 +1,7 @@
 import os
-
+import rospkg
+import subprocess
+import yaml
 
 class BaseEnvironment:
     def __init__(self, namespace):
@@ -40,7 +42,7 @@ def spawn_random_dynamic_obstacle(self, **args):
         """
         raise NotImplementedError()
 
-    def spawn_random_static_obstacles(self, **args):
+    def spawn_random_static_obstacle(self, **args):
         """
         Spawn a single random static obstacle.
         
@@ -81,4 +83,28 @@ def reset_pedsim_agents(self):
         raise NotImplementedError()
 
     def spawn_obstacle(self, position, yaml_path=""):
-        raise NotImplementedError()
\ No newline at end of file
+        raise NotImplementedError()
+
+    @staticmethod
+    def get_robot_description(robot_name, namespace):
+        arena_sim_path = rospkg.RosPack().get_path("arena-simulation-setup")
+        
+        return subprocess.check_output([
+            "rosrun", 
+            "xacro",
+            "xacro",
+            os.path.join(arena_sim_path, "robot", robot_name, "urdf", f"{robot_name}.urdf.xacro"),
+            f"robot_namespace:={namespace}"
+        ]).decode("utf-8")
+
+    @staticmethod
+    def read_robot_parameters(robot_name):
+        robot_param_path = os.path.join(
+            rospkg.RosPack().get_path("arena-simulation-setup"),
+            "robot",
+            robot_name,
+            "model_params.yaml"
+        )
+
+        with open(robot_param_path, "r") as file:
+            return yaml.safe_load(file)
\ No newline at end of file
diff --git a/task_generator/environments/gazebo_environment.py b/task_generator/environments/gazebo_environment.py
index 9720c6c..8ac9115 100644
--- a/task_generator/environments/gazebo_environment.py
+++ b/task_generator/environments/gazebo_environment.py
@@ -8,7 +8,6 @@
 from pedsim_srvs.srv import SpawnPeds
 from std_msgs.msg import Empty
 from std_srvs.srv import Empty, SetBool, Trigger
-from task_generator.environments.environment_factory import EnvironmentFactory
 from tf.transformations import quaternion_from_euler
 
 from ..constants import Constants
diff --git a/task_generator/environments/unity_environment.py b/task_generator/environments/unity_environment.py
new file mode 100644
index 0000000..6c1be79
--- /dev/null
+++ b/task_generator/environments/unity_environment.py
@@ -0,0 +1,181 @@
+import rospy
+import os
+
+from tf.transformations import quaternion_from_euler
+from geometry_msgs.msg import Pose, Quaternion
+
+from .base_environment import BaseEnvironment
+from .environment_factory import EnvironmentFactory
+from ..constants import UnityEnvironmentConstants
+
+from unity_msgs.srv import SpawnRobot, SpawnRobotRequest, MoveModel, MoveModelRequest
+
+@EnvironmentFactory.register("unity")
+class UnityEnvironment(BaseEnvironment):
+    def __init__(self, namespace):
+
+        print("STARTING UP")
+
+        rospy.wait_for_service("/unity/spawn_robot")
+        rospy.wait_for_service("/unity/move_model")
+
+        self._spawn_robot_srv = rospy.ServiceProxy("/unity/spawn_robot", SpawnRobot)
+        self._move_model_srv = rospy.ServiceProxy("/unity/move_model", MoveModel)
+
+        self.map_manager = None
+        pass
+
+    def before_reset_task(self):
+        """
+        Is executed each time before the task is reseted. This is useful in
+        order to pause the simulation.
+        """
+        pass
+
+    def after_reset_task(self):
+        """
+        Is executed after the task is reseted. This is useful to unpause the
+        simulation.
+        """
+        pass
+
+    def remove_all_obstacles(self):
+        """
+        Removes all obstacles from the current environment. Does not remove
+        the robot!
+        """
+        pass
+
+    def spawn_random_dynamic_obstacle(self, **args):
+        """
+        Spawn a single random dynamic obstacle.
+        
+        Args:
+            position: [int, int, int] denoting the x, y and angle.
+            min_radius: minimal radius of the obstacle
+            max_radius: maximal radius of the obstacle
+            linear_vel: linear velocity
+            angular_vel_max: maximal angular velocity
+        """
+        pass
+
+    def spawn_random_static_obstacle(self, **args):
+        """
+        Spawn a single random static obstacle.
+        
+        Args:
+            position: [int, int, int] denoting the x, y and angle.
+            min_radius: minimal radius of the obstacle
+            max_radius: maximal radius of the obstacle
+        """
+        pass
+
+    def publish_goal(self, goal):
+        """
+        Publishes the goal. 
+        """
+        pass
+
+    def move_robot(self, pos, name=None):
+        """
+        Move the robot to the given position. 
+        """
+
+        request = MoveModelRequest()
+
+        request.model_name = name
+
+        pose = Pose()
+        pose.position.x = pos[0]
+        pose.position.z = pos[1]
+
+        print("MOVE MODEL TO ", pos)
+        
+        pose.orientation = Quaternion(
+            *quaternion_from_euler(0.0, pos[2], 0.0, axes="sxyz")
+        )
+        request.pose = pose
+        request.reference_frame = "world"
+
+        self._move_model_srv(request)
+
+    def spawn_robot(self, name, robot_name, namespace_appendix=""):
+        """
+        Spawn a robot in the environment.
+        A position is not specified because the robot is moved at the 
+        desired position anyway.
+        """
+        print("SPAWN ROBOT CALLED")
+
+        robot_description = UnityEnvironment.get_robot_description(robot_name, namespace_appendix)
+
+        robot_urdf_file_path = os.path.join(
+            os.environ[UnityEnvironmentConstants.UNITY_ROS_NAVIGATION],
+            f"{robot_name}.urdf"
+        )
+
+        robot_parameters = UnityEnvironment.read_robot_parameters(robot_name)
+
+        UnityEnvironment.write_urdf_file_to_unity_dir(
+            robot_urdf_file_path,
+            robot_description
+        )
+
+        request = SpawnRobotRequest()
+
+        request.model_name = name
+        request.model_urdf_path = robot_urdf_file_path
+        request.model_namespace = namespace_appendix
+        request.reference_frame = "world"
+
+        linear_range = UnityEnvironment.get_robot_linear_range(
+            robot_parameters["actions"]["continuous"]["linear_range"]
+        )
+
+        request.additional_data = [
+            robot_parameters["laser"]["angle"]["min"],
+            robot_parameters["laser"]["angle"]["max"],
+            robot_parameters["laser"]["angle"]["increment"],
+            robot_parameters["laser"]["range"],
+            robot_parameters["laser"]["num_beams"],
+
+            *linear_range,
+            *robot_parameters["actions"]["continuous"]["angular_range"]
+        ]
+
+        self._spawn_robot_srv(request)
+
+        UnityEnvironment.delete_robot_file_in_unity_dir(robot_urdf_file_path)
+
+    def spawn_pedsim_agents(self, agents):
+        """
+        
+        """
+        pass
+
+    def reset_pedsim_agents(self):
+        pass
+
+    def spawn_obstacle(self, position, yaml_path=""):
+        pass
+
+    @staticmethod
+    def get_robot_linear_range(linear_range):
+        if isinstance(linear_range, dict):
+            return [*linear_range["x"], *linear_range["y"]]
+
+        return [*linear_range, 0, 0]
+
+    @staticmethod
+    def write_urdf_file_to_unity_dir(robot_file_path, robot_urdf):
+        with open(robot_file_path, "w") as file:
+            file.write(robot_urdf)
+            file.close()
+
+    @staticmethod
+    def delete_robot_file_in_unity_dir(robot_file_path):
+        try:
+            os.remove(robot_file_path)
+        except:
+            rospy.logwarn("World file could not be deleted")
+
diff --git a/task_generator/manager/robot_manager.py b/task_generator/manager/robot_manager.py
index 2831f49..d6ae94c 100644
--- a/task_generator/manager/robot_manager.py
+++ b/task_generator/manager/robot_manager.py
@@ -89,8 +89,8 @@ def reset(self, forbidden_zones=[], start_pos=None, goal_pos=None):
         )
 
         if self.record_data:
-            rospy.set_param(os.path.join(self.namespace, "goal"), list(self.goal_pos))
-            rospy.set_param(os.path.join(self.namespace, "start"), list(self.start_pos))
+            rospy.set_param(os.path.join(self.namespace, "goal"), str(list(self.goal_pos)))
+            rospy.set_param(os.path.join(self.namespace, "start"), str(list(self.start_pos)))
 
         self.publish_goal(self.goal_pos)
         self.move_robot_to_start()
diff --git a/task_generator/tasks/utils.py b/task_generator/tasks/utils.py
index fad4dd0..9ecc6b4 100644
--- a/task_generator/tasks/utils.py
+++ b/task_generator/tasks/utils.py
@@ -7,7 +7,8 @@
 
 from task_generator.environments.environment_factory import EnvironmentFactory
 from task_generator.environments.gazebo_environment import GazeboEnvironment
-from task_generator.environments.flatland_environment import FlatlandRandomModel
+from task_generator.environments.flatland_environment import FlatlandEnvironment
+from task_generator.environments.unity_environment import UnityEnvironment
 from task_generator.manager.map_manager import MapManager
 from task_generator.manager.obstacle_manager import ObstacleManager
 from task_generator.manager.robot_manager import RobotManager

From f81e7e50bb205fdedf945a18e4d25c92dfe434f7 Mon Sep 17 00:00:00 2001
From: ReykCS <reyk-carstens@web.de>
Date: Thu, 15 Dec 2022 12:38:33 +0100
Subject: [PATCH 10/14] convert positions to string when setting param

---
 task_generator/manager/robot_manager.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/task_generator/manager/robot_manager.py b/task_generator/manager/robot_manager.py
index 2831f49..d6ae94c 100644
--- a/task_generator/manager/robot_manager.py
+++ b/task_generator/manager/robot_manager.py
@@ -89,8 +89,8 @@ def reset(self, forbidden_zones=[], start_pos=None, goal_pos=None):
         )
 
         if self.record_data:
-            rospy.set_param(os.path.join(self.namespace, "goal"), list(self.goal_pos))
-            rospy.set_param(os.path.join(self.namespace, "start"), list(self.start_pos))
+            rospy.set_param(os.path.join(self.namespace, "goal"), str(list(self.goal_pos)))
+            rospy.set_param(os.path.join(self.namespace, "start"), str(list(self.start_pos)))
 
         self.publish_goal(self.goal_pos)
         self.move_robot_to_start()

From e90c2274ea3050606c4b3336875090e732bd606d Mon Sep 17 00:00:00 2001
From: ReykCS <reyk-carstens@web.de>
Date: Thu, 5 Jan 2023 21:33:56 +0100
Subject: [PATCH 11/14] changed marl setup

---
 robot_setup/rosnav_agents_marl.yaml | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/robot_setup/rosnav_agents_marl.yaml b/robot_setup/rosnav_agents_marl.yaml
index 024bdb2..ec142a3 100644
--- a/robot_setup/rosnav_agents_marl.yaml
+++ b/robot_setup/rosnav_agents_marl.yaml
@@ -1,16 +1,16 @@
 robots:
-  - model: ridgeback
-    planner: teb
-    amount: 6
-    agent: ridgeback_marl
+  # - model: ridgeback
+  #   planner: teb
+  #   amount: 6
+  #   agent: ridgeback_marl
   - model: rto
     planner: teb
     amount: 6
     agent: rto_tlabs_marl
-  - model: jackal
-    planner: teb
-    amount: 6
-    agent: jackal_marl
+  # - model: jackal
+  #   planner: teb
+  #   amount: 6
+  #   agent: jackal_marl
   # - model: jackal
   #   planner: rosnav
   #   amount: 1

From 8663ce7dfdf30d1bc5ef4c3ef66af2534e3179db Mon Sep 17 00:00:00 2001
From: ReykCS <reyk-carstens@web.de>
Date: Thu, 19 Jan 2023 23:02:11 +0100
Subject: [PATCH 12/14] removed unused publish goal in flatland env | fixed
 small typo in robot manager and scenario task

---
 robot_setup/marl_map_empty.yaml               |  8 +++---
 task_generator/constants.py                   |  2 +-
 .../environments/flatland_environment.py      | 27 +++----------------
 task_generator/manager/robot_manager.py       | 10 ++++---
 task_generator/tasks/scenario.py              |  2 +-
 5 files changed, 16 insertions(+), 33 deletions(-)

diff --git a/robot_setup/marl_map_empty.yaml b/robot_setup/marl_map_empty.yaml
index 7bfb804..e310576 100644
--- a/robot_setup/marl_map_empty.yaml
+++ b/robot_setup/marl_map_empty.yaml
@@ -5,15 +5,15 @@ robots:
   #   agent: rto_tlabs_marl
   - model: jackal
     planner: rosnav
-    amount: 10
+    amount: 2
     agent: jackal_marl
   - model: rto
     planner: rosnav
-    amount: 10
-    agent: rto_tlabs_marl
+    amount: 2
+    agent: rto_marl
   - model: ridgeback
     planner: rosnav
-    amount: 10
+    amount: 2
     agent: ridgeback_marl
   # - model: cob4
   #   planner: teb
diff --git a/task_generator/constants.py b/task_generator/constants.py
index 1963eb7..f24ee46 100644
--- a/task_generator/constants.py
+++ b/task_generator/constants.py
@@ -33,7 +33,7 @@ class Random:
         MIN_DYNAMIC_OBS = 10
         MAX_DYNAMIC_OBS = 15
         MIN_STATIC_OBS = 10
-        MAX_STATIC_OBS = 15
+        MAX_STATIC_OBS = 20
 
     class Scenario:
         RESETS_DEFAULT = 5
diff --git a/task_generator/environments/flatland_environment.py b/task_generator/environments/flatland_environment.py
index 2b5058d..a18a759 100644
--- a/task_generator/environments/flatland_environment.py
+++ b/task_generator/environments/flatland_environment.py
@@ -56,18 +56,14 @@ def __init__(self, namespace):
         self._namespace = namespace
         self._ns_prefix = "" if namespace == "" else "/" + namespace + "/"
 
-        self._goal_pub = rospy.Publisher(
-            f"{self._ns_prefix}goal", PoseStamped, queue_size=1, latch=True
-        )
-
         self._move_robot_pub = rospy.Publisher(
             self._ns_prefix + "move_model", MoveModelMsg, queue_size=10
         )
 
-        self._robot_name = rospy.get_param("robot_model")
-        self._robot_radius = rospy.get_param("robot_radius")
-        self._is_training_mode = rospy.get_param("train_mode")
-        self._step_size = rospy.get_param("step_size")
+        self._robot_name = rospy.get_param("robot_model", "")
+        self._robot_radius = rospy.get_param("robot_radius", "")
+        self._is_training_mode = rospy.get_param("train_mode", "")
+        self._step_size = rospy.get_param("step_size", "")
         # self._robot_yaml_path = rospy.get_param("robot_yaml_path")
         self._tmp_model_path = rospy.get_param("tmp_model_path", "/tmp")
 
@@ -204,21 +200,6 @@ def _spawn_model(self, yaml_path, name, namespace, position, srv=None):
 
         srv(request)
 
-    def publish_goal(self, goal):
-        goal_msg = PoseStamped()
-        goal_msg.header.seq = 0
-        goal_msg.header.stamp = rospy.get_rostime()
-        goal_msg.header.frame_id = "map"
-        goal_msg.pose.position.x = goal[0]
-        goal_msg.pose.position.y = goal[1]
-
-        goal_msg.pose.orientation.w = 0
-        goal_msg.pose.orientation.x = 0
-        goal_msg.pose.orientation.y = 0
-        goal_msg.pose.orientation.z = 1
-
-        self._goal_pub.publish(goal_msg)
-
     def move_robot(self, pos, name=None):
         pose = Pose2D()
         pose.x = pos[0]
diff --git a/task_generator/manager/robot_manager.py b/task_generator/manager/robot_manager.py
index c2f2c94..17f0924 100644
--- a/task_generator/manager/robot_manager.py
+++ b/task_generator/manager/robot_manager.py
@@ -26,7 +26,6 @@ def __init__(self, namespace, map_manager, environment, robot_setup):
         self.namespace_prefix = "" if namespace == "" else "/" + namespace + "/"
         self.ns_prefix = lambda *topic: os.path.join(self.namespace, *topic)
 
-
         self.map_manager = map_manager
         self.environment = environment
 
@@ -95,7 +94,7 @@ def reset(self, forbidden_zones=[], start_pos=None, goal_pos=None):
         self.publish_goal(self.goal_pos)
         self.move_robot_to_start()
 
-        self.set_is_goal_goached(self.start_pos, self.goal_pos)
+        self.set_is_goal_reached(self.start_pos, self.goal_pos)
 
         time.sleep(0.1)
 
@@ -168,6 +167,9 @@ def launch_robot(self, robot_setup):
         roslaunch_file = roslaunch.rlutil.resolve_launch_arguments(
             ["arena_bringup", "robot.launch"]
         )
+
+        print("START WITH MODEL", robot_setup["model"])
+
         args = [
             f"model:={robot_setup['model']}",
             f"local_planner:={robot_setup['planner']}",
@@ -205,12 +207,12 @@ def launch_robot(self, robot_setup):
     def robot_pos_callback(self, data):
         current_position = data.pose.pose.position
 
-        self.set_is_goal_goached(
+        self.set_is_goal_reached(
             [current_position.x, current_position.y],
             self.goal_pos
         )
 
-    def set_is_goal_goached(self, start, goal):
+    def set_is_goal_reached(self, start, goal):
         distance_to_goal = math.sqrt(
             (start[0] - goal[0]) ** 2
             + (start[1] - goal[1]) ** 2 
diff --git a/task_generator/tasks/scenario.py b/task_generator/tasks/scenario.py
index c475c7e..e73a0be 100644
--- a/task_generator/tasks/scenario.py
+++ b/task_generator/tasks/scenario.py
@@ -104,4 +104,4 @@ def _check_robot_manager_length(self):
 
         if scenario_robots_length > setup_robot_length:
             self.scenario_file["robots"] = self.scenario_file["robots"][:setup_robot_length]
-            rospy.logwarn("Scenario file contains more robots that setup.")
\ No newline at end of file
+            rospy.logwarn("Scenario file contains more robots than setup.")
\ No newline at end of file

From 527249aab3ecc2f2e55a820290834077eb6b187d Mon Sep 17 00:00:00 2001
From: ReykCS <reyk-carstens@web.de>
Date: Sat, 21 Jan 2023 13:50:08 +0100
Subject: [PATCH 13/14] renamed environment to simulator

---
 README.md                                     |  8 +++---
 scripts/task_generator_node.py                |  8 +++---
 task_generator/constants.py                   |  6 ++---
 .../environments/environment_factory.py       | 23 ----------------
 task_generator/manager/obstacle_manager.py    | 18 ++++++-------
 task_generator/manager/robot_manager.py       |  8 +++---
 .../base_simulator.py}                        |  6 ++---
 .../flatland_simulator.py}                    | 20 +++++++-------
 .../gazebo_simulator.py}                      | 10 +++----
 .../simulators/simulator_factory.py           | 23 ++++++++++++++++
 .../unity_simulator.py}                       | 26 +++++++++----------
 task_generator/tasks/task_factory.py          | 12 ++++-----
 task_generator/tasks/utils.py                 | 26 +++++++++----------
 task_generator/utils.py                       |  4 +--
 14 files changed, 99 insertions(+), 99 deletions(-)
 delete mode 100644 task_generator/environments/environment_factory.py
 rename task_generator/{environments/base_environment.py => simulators/base_simulator.py} (95%)
 rename task_generator/{environments/flatland_environment.py => simulators/flatland_simulator.py} (94%)
 rename task_generator/{environments/gazebo_environment.py => simulators/gazebo_simulator.py} (96%)
 create mode 100644 task_generator/simulators/simulator_factory.py
 rename task_generator/{environments/unity_environment.py => simulators/unity_simulator.py} (84%)

diff --git a/README.md b/README.md
index a5b4193..fd237aa 100644
--- a/README.md
+++ b/README.md
@@ -39,10 +39,10 @@ robot are defined.
 The scenario declaration file can be created with [arena-tools](https://github.com/Arena-Rosnav/arena-tools) and has to follow
 the specified file schema.
 
-## Environment Factory
+## Simulator Factory
 
-To be able to use the task generator module in all our environments without changes, a unified interface between environment and task generator is needed. The interface contains a lot of functions to spawn, publish or move robots or obstacles, and a lot more.
+To be able to use the task generator module in all our simulators without changes, a unified interface between simulator and task generator is needed. The interface contains a lot of functions to spawn, publish or move robots or obstacles, and a lot more.
 
-At the moment we provide environment interfaces for **Flatland** and **Gazebo**. In order to add a new environment, in which the task generator should be used, a new environment interface has to be created in `/taks_generator/environments/` and has to be registrated in the environment factory.
+At the moment we provide simulator interfaces for **Flatland** and **Gazebo**. In order to add a new simulator, in which the task generator should be used, a new simulator interface has to be created in `/taks_generator/simulators/` and has to be registrated in the simulator factory.
 
-Your newly created environment interface should derive the **BaseEnvironment** located [here](TODO) and implement all functions. A detailed description of the functions is contained in the **BaseEnvironment** itself.
+Your newly created simulator interface should derive the **BaseSimulator** located [here](TODO) and implement all functions. A detailed description of the functions is contained in the **BaseSimulator** itself.
diff --git a/scripts/task_generator_node.py b/scripts/task_generator_node.py
index 2fdbd2a..f65a66e 100644
--- a/scripts/task_generator_node.py
+++ b/scripts/task_generator_node.py
@@ -13,9 +13,9 @@
 from task_generator.constants import Constants, TaskMode
 
 from task_generator.tasks.utils import get_predefined_task
-from task_generator.environments.environment_factory import EnvironmentFactory
-from task_generator.environments.gazebo_environment import GazeboEnvironment
-from task_generator.environments.flatland_environment import FlatlandRandomModel
+from task_generator.simulators.simulator_factory import SimulatorFactory
+from task_generator.simulators.gazebo_simulator import GazeboSimulator
+from task_generator.simulators.flatland_simulator import FlatlandRandomModel
 
 
 class TaskGenerator:
@@ -37,7 +37,7 @@ def __init__(self) -> None:
         rospy.Service("reset_task", Empty, self.reset_task_srv_callback)
 
         ## Vars
-        self.env_wrapper = EnvironmentFactory.instantiate(Utils.get_environment())("")
+        self.env_wrapper = SimulatorFactory.instantiate(Utils.get_simulator())("")
 
         rospy.loginfo(f"Launching task mode: {self.task_mode}")
 
diff --git a/task_generator/constants.py b/task_generator/constants.py
index 6a00ad9..3b9b5ee 100644
--- a/task_generator/constants.py
+++ b/task_generator/constants.py
@@ -1,6 +1,6 @@
 class Constants:
     GOAL_REACHED_TOLERANCE = 1.0
-    TIMEOUT = 100000000 ## 3 min
+    TIMEOUT = 10 ## 3 min
     WAIT_FOR_SERVICE_TIMEOUT = 5 # 5 secs
     MAX_RESET_FAIL_TIMES = 3
 
@@ -15,7 +15,7 @@ class ObstacleManager:
     class RobotManager:
         SPAWN_ROBOT_SAFE_DIST = 0.4
 
-    class Environment:
+    class Simulator:
         FLATLAND = "flatland"
         GAZEBO = "gazebo"
         UNITY = "unity"
@@ -88,5 +88,5 @@ class Pedsim:
     FORCE_FACTOR_ROBOT = 0.0
     WAYPOINT_MODE = 0
 
-class UnityEnvironmentConstants:
+class UnitySimulatorConstants:
     UNITY_ROS_NAVIGATION = "UNITY_ROS_NAVIGATION"
diff --git a/task_generator/environments/environment_factory.py b/task_generator/environments/environment_factory.py
deleted file mode 100644
index 67ec1d6..0000000
--- a/task_generator/environments/environment_factory.py
+++ /dev/null
@@ -1,23 +0,0 @@
-from .base_environment import BaseEnvironment
-
-class EnvironmentFactory:
-    registry = {}
-
-    @classmethod
-    def register(cls, name):
-        def inner_wrapper(wrapped_class):
-            assert name not in cls.registry, f"Environment '{name}' already exists!"
-            assert issubclass(wrapped_class, BaseEnvironment)
-
-            cls.registry[name] = wrapped_class
-            return wrapped_class
-
-        return inner_wrapper
-
-    @classmethod
-    def instantiate(cls, name: str):
-        assert name in cls.registry, f"Environment '{name}' is not registered!"
-
-        environment = cls.registry[name]
-        
-        return environment
diff --git a/task_generator/manager/obstacle_manager.py b/task_generator/manager/obstacle_manager.py
index e8f2d7d..763638b 100644
--- a/task_generator/manager/obstacle_manager.py
+++ b/task_generator/manager/obstacle_manager.py
@@ -2,21 +2,21 @@
 
 
 class ObstacleManager:
-    def __init__(self, namespace, map_manager, environment):
+    def __init__(self, namespace, map_manager, simulator):
         self.map_manager = map_manager
         self.namespace = namespace
-        self.environment = environment
+        self.simulator = simulator
 
     def start_scenario(self, scenario):
-        self.environment.spawn_pedsim_agents(scenario["obstacles"]["dynamic"])
+        self.simulator.spawn_pedsim_agents(scenario["obstacles"]["dynamic"])
 
     def reset_scenario(self, scenario):
-        self.environment.reset_pedsim_agents()
+        self.simulator.reset_pedsim_agents()
 
-        self.environment.remove_all_obstacles()
+        self.simulator.remove_all_obstacles()
 
         for obstacle in scenario["obstacles"]["static"]:
-            self.environment.spawn_obstacle(
+            self.simulator.spawn_obstacle(
                 [*obstacle["pos"], 0],
                 yaml_path=obstacle["yaml_path"],
             )
@@ -27,7 +27,7 @@ def reset_random(
             static_obstacles=Constants.ObstacleManager.STATIC_OBSTACLES,
             forbidden_zones=[]
         ):
-        self.environment.remove_all_obstacles()
+        self.simulator.remove_all_obstacles()
 
         for _ in range(dynamic_obstacles):
             position = self.map_manager.get_random_pos_on_map(
@@ -35,7 +35,7 @@ def reset_random(
                 forbidden_zones=forbidden_zones
             )
 
-            self.environment.spawn_random_dynamic_obstacle(position=position)
+            self.simulator.spawn_random_dynamic_obstacle(position=position)
         
         for _ in range(static_obstacles):
             position = self.map_manager.get_random_pos_on_map(
@@ -43,4 +43,4 @@ def reset_random(
                 forbidden_zones=forbidden_zones
             )
 
-            self.environment.spawn_random_static_obstacle(position=position)
\ No newline at end of file
+            self.simulator.spawn_random_static_obstacle(position=position)
\ No newline at end of file
diff --git a/task_generator/manager/robot_manager.py b/task_generator/manager/robot_manager.py
index d6ae94c..060244d 100644
--- a/task_generator/manager/robot_manager.py
+++ b/task_generator/manager/robot_manager.py
@@ -21,14 +21,14 @@ class RobotManager:
         position of a robot for all task modes.
     """
 
-    def __init__(self, namespace, map_manager, environment, robot_setup):
+    def __init__(self, namespace, map_manager, simulator, robot_setup):
         self.namespace = namespace
         self.namespace_prefix = "" if namespace == "" else "/" + namespace + "/"
         self.ns_prefix = lambda *topic: os.path.join(self.namespace, *topic)
 
 
         self.map_manager = map_manager
-        self.environment = environment
+        self.simulator = simulator
 
         self.start_pos = [0, 0]
         self.goal_pos = [0, 0]
@@ -43,7 +43,7 @@ def set_up_robot(self):
         if Utils.get_arena_type() == Constants.ArenaType.TRAINING:
             self.robot_radius = rospy.get_param("robot_radius")
 
-        self.environment.spawn_robot(self.namespace, self.robot_setup["model"], self._robot_name())
+        self.simulator.spawn_robot(self.namespace, self.robot_setup["model"], self._robot_name())
 
         self.move_base_goal_pub = rospy.Publisher(self.ns_prefix(self.namespace, "move_base_simple", "goal"), PoseStamped, queue_size=10)
         self.pub_goal_timer = rospy.Timer(rospy.Duration(0.25), self.publish_goal_periodically)
@@ -156,7 +156,7 @@ def move_robot_to_start(self):
             self.move_robot_to_pos(self.start_pos)
 
     def move_robot_to_pos(self, pos):
-        self.environment.move_robot(pos, name=self.namespace)
+        self.simulator.move_robot(pos, name=self.namespace)
 
     def _default_position(self, pos, callback_pos):
         if not pos == None:
diff --git a/task_generator/environments/base_environment.py b/task_generator/simulators/base_simulator.py
similarity index 95%
rename from task_generator/environments/base_environment.py
rename to task_generator/simulators/base_simulator.py
index eb2796d..d40e32f 100644
--- a/task_generator/environments/base_environment.py
+++ b/task_generator/simulators/base_simulator.py
@@ -3,7 +3,7 @@
 import subprocess
 import yaml
 
-class BaseEnvironment:
+class BaseSimulator:
     def __init__(self, namespace):
         self._namespace = namespace
         self._ns_prefix = lambda *topic: os.path.join(self._namespace, *topic)
@@ -24,7 +24,7 @@ def after_reset_task(self):
 
     def remove_all_obstacles(self):
         """
-        Removes all obstacles from the current environment. Does not remove
+        Removes all obstacles from the current simulator. Does not remove
         the robot!
         """
         raise NotImplementedError()
@@ -67,7 +67,7 @@ def move_robot(self, pos, name=None):
 
     def spawn_robot(self):
         """
-        Spawn a robot in the environment.
+        Spawn a robot in the simulator.
         A position is not specified because the robot is moved at the 
         desired position anyway.
         """
diff --git a/task_generator/environments/flatland_environment.py b/task_generator/simulators/flatland_simulator.py
similarity index 94%
rename from task_generator/environments/flatland_environment.py
rename to task_generator/simulators/flatland_simulator.py
index 2b5058d..174e48e 100644
--- a/task_generator/environments/flatland_environment.py
+++ b/task_generator/simulators/flatland_simulator.py
@@ -21,20 +21,20 @@
 from task_generator.utils import Utils
 
 from ..constants import Constants, FlatlandRandomModel
-from .base_environment import BaseEnvironment
-from .environment_factory import EnvironmentFactory
+from .base_simulator import BaseSimulator
+from .simulator_factory import SimulatorFactory
 
 
 T = Constants.WAIT_FOR_SERVICE_TIMEOUT
 
 
-@EnvironmentFactory.register("flatland")
-class FlatlandEnvironment(BaseEnvironment):
+@SimulatorFactory.register("flatland")
+class FlatlandSimulator(BaseSimulator):
     """
         This is the flatland encoder for connecting
         flatland with the arena-benchmark task
         generator. The class implements all methods
-        defined in `BaseEnvironment`.
+        defined in `BaseSimulator`.
 
         For flatland to work properly, a dedicated .yaml
         file has to be created for each used model. This
@@ -105,7 +105,7 @@ def after_reset_task(self):
 
     def remove_all_obstacles(self):
         for obs in range(self._obstacles_amount):
-            obs_name = FlatlandEnvironment.create_obs_name(obs)
+            obs_name = FlatlandSimulator.create_obs_name(obs)
 
             self._delete_model(obs_name)
 
@@ -134,7 +134,7 @@ def reset_pedsim_agents(self):
         pass
 
     def spawn_obstacle(self, position, yaml_path=""):
-        name = FlatlandEnvironment.create_obs_name(self._obstacles_amount)
+        name = FlatlandSimulator.create_obs_name(self._obstacles_amount)
 
         self._spawn_model(yaml_path, name, self._namespace, position)
 
@@ -151,7 +151,7 @@ def _spawn_random_obstacle(
         ):
         model = self._generate_random_obstacle(is_dynamic=is_dynamic, **args)
 
-        obstacle_name = FlatlandEnvironment.create_obs_name(
+        obstacle_name = FlatlandSimulator.create_obs_name(
             self._obstacles_amount
         )
 
@@ -338,8 +338,8 @@ def _update_plugin_topics(self, file_content, namespace):
         plugins = file_content["plugins"]
 
         for plugin in plugins:
-            if FlatlandEnvironment.PLUGIN_PROPS_TO_EXTEND.get(plugin["type"]):
-                prop_names = FlatlandEnvironment.PLUGIN_PROPS_TO_EXTEND.get(plugin["type"])
+            if FlatlandSimulator.PLUGIN_PROPS_TO_EXTEND.get(plugin["type"]):
+                prop_names = FlatlandSimulator.PLUGIN_PROPS_TO_EXTEND.get(plugin["type"])
 
                 for name in prop_names:
                     plugin[name] = os.path.join(namespace, plugin[name])
diff --git a/task_generator/environments/gazebo_environment.py b/task_generator/simulators/gazebo_simulator.py
similarity index 96%
rename from task_generator/environments/gazebo_environment.py
rename to task_generator/simulators/gazebo_simulator.py
index 8ac9115..d64b154 100644
--- a/task_generator/environments/gazebo_environment.py
+++ b/task_generator/simulators/gazebo_simulator.py
@@ -11,14 +11,14 @@
 from tf.transformations import quaternion_from_euler
 
 from ..constants import Constants
-from .base_environment import BaseEnvironment
-from .environment_factory import EnvironmentFactory
+from .base_simulator import BaseSimulator
+from .simulator_factory import SimulatorFactory
 
 T = Constants.WAIT_FOR_SERVICE_TIMEOUT
 
 
-@EnvironmentFactory.register("gazebo")
-class GazeboEnvironment(BaseEnvironment):
+@SimulatorFactory.register("gazebo")
+class GazeboSimulator(BaseSimulator):
     def __init__(self, namespace):
         super().__init__(namespace)
 
@@ -124,7 +124,7 @@ def spawn_robot(self, name, robot_name, namespace_appendix=""):
 
         robot_namespace = self._ns_prefix(namespace_appendix)
         
-        robot_description = GazeboEnvironment.get_robot_description(
+        robot_description = GazeboSimulator.get_robot_description(
             robot_name, robot_namespace
         )
         rospy.set_param(os.path.join(robot_namespace, "robot_description"), robot_description)
diff --git a/task_generator/simulators/simulator_factory.py b/task_generator/simulators/simulator_factory.py
new file mode 100644
index 0000000..8425999
--- /dev/null
+++ b/task_generator/simulators/simulator_factory.py
@@ -0,0 +1,23 @@
+from .base_simulator import BaseSimulator
+
+class SimulatorFactory:
+    registry = {}
+
+    @classmethod
+    def register(cls, name):
+        def inner_wrapper(wrapped_class):
+            assert name not in cls.registry, f"Simulator '{name}' already exists!"
+            assert issubclass(wrapped_class, BaseSimulator)
+
+            cls.registry[name] = wrapped_class
+            return wrapped_class
+
+        return inner_wrapper
+
+    @classmethod
+    def instantiate(cls, name: str):
+        assert name in cls.registry, f"Simulator '{name}' is not registered!"
+
+        simulator = cls.registry[name]
+        
+        return simulator
diff --git a/task_generator/environments/unity_environment.py b/task_generator/simulators/unity_simulator.py
similarity index 84%
rename from task_generator/environments/unity_environment.py
rename to task_generator/simulators/unity_simulator.py
index 6c1be79..8efb0d3 100644
--- a/task_generator/environments/unity_environment.py
+++ b/task_generator/simulators/unity_simulator.py
@@ -4,14 +4,14 @@
 from tf.transformations import quaternion_from_euler
 from geometry_msgs.msg import Pose, Quaternion
 
-from .base_environment import BaseEnvironment
-from .environment_factory import EnvironmentFactory
-from ..constants import UnityEnvironmentConstants
+from .base_simulator import BaseSimulator
+from .simulator_factory import SimulatorFactory
+from ..constants import UnitySimulatorConstants
 
 from unity_msgs.srv import SpawnRobot, SpawnRobotRequest, MoveModel, MoveModelRequest
 
-@EnvironmentFactory.register("unity")
-class UnityEnvironment(BaseEnvironment):
+@SimulatorFactory.register("unity")
+class UnitySimulator(BaseSimulator):
     def __init__(self, namespace):
 
         print("STARTING UP")
@@ -41,7 +41,7 @@ def after_reset_task(self):
 
     def remove_all_obstacles(self):
         """
-        Removes all obstacles from the current environment. Does not remove
+        Removes all obstacles from the current simulator. Does not remove
         the robot!
         """
         pass
@@ -101,22 +101,22 @@ def move_robot(self, pos, name=None):
 
     def spawn_robot(self, name, robot_name, namespace_appendix=""):
         """
-        Spawn a robot in the environment.
+        Spawn a robot in the simulator.
         A position is not specified because the robot is moved at the 
         desired position anyway.
         """
         print("SPAWN ROBOT CALLED")
 
-        robot_description = UnityEnvironment.get_robot_description(robot_name, namespace_appendix)
+        robot_description = UnitySimulator.get_robot_description(robot_name, namespace_appendix)
 
         robot_urdf_file_path = os.path.join(
-            os.environ[UnityEnvironmentConstants.UNITY_ROS_NAVIGATION],
+            os.environ[UnitySimulatorConstants.UNITY_ROS_NAVIGATION],
             f"{robot_name}.urdf"
         )
 
-        robot_parameters = UnityEnvironment.read_robot_parameters(robot_name)
+        robot_parameters = UnitySimulator.read_robot_parameters(robot_name)
 
-        UnityEnvironment.write_urdf_file_to_unity_dir(
+        UnitySimulator.write_urdf_file_to_unity_dir(
             robot_urdf_file_path,
             robot_description
         )
@@ -128,7 +128,7 @@ def spawn_robot(self, name, robot_name, namespace_appendix=""):
         request.model_namespace = namespace_appendix
         request.reference_frame = "world"
 
-        linear_range = UnityEnvironment.get_robot_linear_range(
+        linear_range = UnitySimulator.get_robot_linear_range(
             robot_parameters["actions"]["continuous"]["linear_range"]
         )
 
@@ -145,7 +145,7 @@ def spawn_robot(self, name, robot_name, namespace_appendix=""):
 
         self._spawn_robot_srv(request)
 
-        UnityEnvironment.delete_robot_file_in_unity_dir(robot_urdf_file_path)
+        UnitySimulator.delete_robot_file_in_unity_dir(robot_urdf_file_path)
 
     def spawn_pedsim_agents(self, agents):
         """
diff --git a/task_generator/tasks/task_factory.py b/task_generator/tasks/task_factory.py
index 8e4aa30..e5b4ba2 100644
--- a/task_generator/tasks/task_factory.py
+++ b/task_generator/tasks/task_factory.py
@@ -6,7 +6,7 @@ class TaskFactory:
     @classmethod
     def register(cls, name):
         def inner_wrapper(wrapped_class):
-            assert name not in cls.registry, f"Environment '{name}' already exists!"
+            assert name not in cls.registry, f"Simulator '{name}' already exists!"
             assert issubclass(wrapped_class, BaseTask)
 
             cls.registry[name] = wrapped_class
@@ -16,10 +16,10 @@ def inner_wrapper(wrapped_class):
 
     @classmethod
     def instantiate(cls, name: str, *args, **kwargs):
-        assert name in cls.registry, f"Environment '{name}' is not registered!"
-        environment = cls.registry[name]
+        assert name in cls.registry, f"Simulator '{name}' is not registered!"
+        simulator = cls.registry[name]
         
-        if issubclass(environment, BaseTask):
-            return environment(*args, **kwargs)
+        if issubclass(simulator, BaseTask):
+            return simulator(*args, **kwargs)
         else:
-            return environment
+            return simulator
diff --git a/task_generator/tasks/utils.py b/task_generator/tasks/utils.py
index 9ecc6b4..6975a35 100644
--- a/task_generator/tasks/utils.py
+++ b/task_generator/tasks/utils.py
@@ -5,10 +5,10 @@
 import os
 from task_generator.constants import Constants
 
-from task_generator.environments.environment_factory import EnvironmentFactory
-from task_generator.environments.gazebo_environment import GazeboEnvironment
-from task_generator.environments.flatland_environment import FlatlandEnvironment
-from task_generator.environments.unity_environment import UnityEnvironment
+from task_generator.simulators.simulator_factory import SimulatorFactory
+from task_generator.simulators.gazebo_simulator import GazeboSimulator
+from task_generator.simulators.flatland_simulator import FlatlandSimulator
+from task_generator.simulators.unity_simulator import UnitySimulator
 from task_generator.manager.map_manager import MapManager
 from task_generator.manager.obstacle_manager import ObstacleManager
 from task_generator.manager.robot_manager import RobotManager
@@ -21,12 +21,12 @@
 from map_distance_server.srv import GetDistanceMap
 
 
-def get_predefined_task(namespace, mode, environment=None, **kwargs):
+def get_predefined_task(namespace, mode, simulator=None, **kwargs):
     """
     Gets the task based on the passed mode
     """
-    if environment == None:
-        environment = EnvironmentFactory.instantiate(Utils.get_environment())(namespace)
+    if simulator == None:
+        simulator = SimulatorFactory.instantiate(Utils.get_simulator())(namespace)
 
     rospy.wait_for_service("/distance_map")
 
@@ -36,11 +36,11 @@ def get_predefined_task(namespace, mode, environment=None, **kwargs):
 
     map_manager = MapManager(map_response)
 
-    environment.map_manager = map_manager
+    simulator.map_manager = map_manager
 
-    obstacle_manager = ObstacleManager(namespace, map_manager, environment)
+    obstacle_manager = ObstacleManager(namespace, map_manager, simulator)
 
-    robot_managers = create_robot_managers(namespace, map_manager, environment)
+    robot_managers = create_robot_managers(namespace, map_manager, simulator)
 
     # For every robot
     # - Create a unique namespace name
@@ -58,7 +58,7 @@ def get_predefined_task(namespace, mode, environment=None, **kwargs):
 
     return task
 
-def create_robot_managers(namespace, map_manager, environment):
+def create_robot_managers(namespace, map_manager, simulator):
     # Read robot setup file
     robot_setup_file = rospy.get_param('/robot_setup_file', "")
 
@@ -72,7 +72,7 @@ def create_robot_managers(namespace, map_manager, environment):
         robots = read_robot_setup_file(robot_setup_file)
 
     if Utils.get_arena_type() == Constants.ArenaType.TRAINING:
-        return [RobotManager(namespace, map_manager, environment, robots[0])]
+        return [RobotManager(namespace, map_manager, simulator, robots[0])]
 
     robot_managers = []
 
@@ -83,7 +83,7 @@ def create_robot_managers(namespace, map_manager, environment):
             name = f"{robot['model']}_{r}_{len(robot_managers)}"  
 
             robot_managers.append(
-                RobotManager(namespace + "/" + name, map_manager, environment, robot)
+                RobotManager(namespace + "/" + name, map_manager, simulator, robot)
             )
 
     return robot_managers
diff --git a/task_generator/utils.py b/task_generator/utils.py
index bd621af..8e4ff43 100644
--- a/task_generator/utils.py
+++ b/task_generator/utils.py
@@ -3,8 +3,8 @@
 
 
 class Utils:
-    def get_environment():
-        return rospy.get_param("environment", "flatland").lower()
+    def get_simulator():
+        return rospy.get_param("simulator", "flatland").lower()
     
     def get_arena_type():
         return os.getenv("ARENA_TYPE", "training").lower()

From 33a13f8fbc618b0fd40acd56d372ffdbc9c2ee25 Mon Sep 17 00:00:00 2001
From: ReykCS <reyk-carstens@web.de>
Date: Mon, 23 Jan 2023 00:09:27 +0100
Subject: [PATCH 14/14] adapted angular velocity

---
 task_generator/constants.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/task_generator/constants.py b/task_generator/constants.py
index 98f8717..491ada1 100644
--- a/task_generator/constants.py
+++ b/task_generator/constants.py
@@ -1,6 +1,6 @@
 class Constants:
     GOAL_REACHED_TOLERANCE = 1.0
-    TIMEOUT = 10 ## 3 min
+    TIMEOUT = 60 * 3 ## 3 min
     WAIT_FOR_SERVICE_TIMEOUT = 5 # 5 secs
     MAX_RESET_FAIL_TIMES = 3
 
@@ -61,7 +61,7 @@ class FlatlandRandomModel:
         "body": "base_link"
     }
     LINEAR_VEL = 0.2
-    ANGLUAR_VEL_MAX = 0.2
+    ANGLUAR_VEL_MAX = 0.1
 
 class Pedsim:
     START_UP_MODE = "default"