decision_making: 
  plugin: plugins.grape.grape.GRAPE
  GRAPE:
    cost_weight_factor: 1.0
    social_inhibition_factor: 100
    initialize_partition: Distance # Options: None; Distance      
    reinitialize_partition_on_completion: Distance # Options: None; Distance; 

agents:
  behavior_tree_xml: default_bt.xml 
  quantity: 10
  locations:
    x_min: 0
    x_max: 1400
    y_min: 0
    y_max: 1000
    non_overlap_radius: 0 
  max_speed: 0.25  
  max_accel: 0.05
  max_angular_speed: 0.25
  target_approaching_radius: 50
  work_rate: 1  # work rate for each agent (per 1.0/simulation.sampling_freq)
  communication_radius: 150 # 0 represents "global", meaning that each agent can access to the information of all the other agents
  situation_awareness_radius: 150 # 0 represents "global", meaning that each agent can access to the information of all the tasks
  random_exploration_duration: 1000.0 # sec

tasks:
  quantity: 75
  locations:
    x_min: 0
    x_max: 1400
    y_min: 0
    y_max: 1000
    non_overlap_radius: 0
  threshold_done_by_arrival: 10.0
  amounts:  # Added amounts range for tasks
    min: 6.0
    max: 60.0      
  dynamic_task_generation:
    enabled: True
    interval_seconds: 1000
    max_generations: 10
    tasks_per_generation: 10

simulation:
  sampling_freq: 1.0 
  speed_up_factor: 0 # 0 mean max booster; 1 means normal; 10 means 10-times faster
  max_simulation_time: 15000 # 0 means no limit
  agent_track_size: 400  
  screen_width: 1400 
  screen_height: 1000 
  gif_recording_fps: 0.05  
  task_visualisation_factor: 3  # visualization factor for tasks : 10 means converting 10 amount to 1 pixel
  profiling_mode: False
  rendering_mode: Screen  # Options: Screen; Terminal; None
  rendering_options: # Only works if `rendering_mode` is `Screen`
    agent_tail: True
    agent_communication_topology: True
    agent_situation_awareness_circle: True
    agent_id: True
    agent_work_done: True
    agent_assigned_task_id: True
    agent_path_to_assigned_tasks: True
    task_id: False
  saving_options:
    output_folder: output
    with_date_subfolder: True
    save_gif: True  # Only works if `rendering_mode` is `Screen`
    save_timewise_result_csv: True    
    save_agentwise_result_csv: True
    save_config_yaml: True
