adapted helicopter scenario

AutoVerse-ai · Jun 20, 2024 · 95c057e · 95c057e
1 parent 515f3b6
commit 95c057e
Showing 1 changed file with 71 additions and 72 deletions.
diff --git a/demo/fixed_points/helicopter.py b/demo/fixed_points/helicopter.py
@@ -20,41 +20,7 @@
 from fixed_points import fixed_points_fix, pp_fix, reach_at_fix
 ### full disclosure, structure of file from mp4_p2
 
-#     <mode id="0" initial="True" name="Mode0">
-#       <dai equation="p_dot= -476.851246128715*p**2 + 563.63999719734*p - 65.460328416" />
-#       <dai equation="lam_dot= -4*lam - 33.3965838336589*p**2 + 99.359272121109*p + 33.8518550719433*pe**2 - 100.713764517065*pe - 4*(-5.05643107459819*p**2 + 15.0435539636327*p - 5.244048)*(-0.240071819537891*pe**2 + 0.714245545738554*pe - 0.248979591836735) + 4*(-4.97822527866553*pe**2 + 14.8108813346529*pe - 5.16294040816327)*(-0.240071819537891*pe**2 + 0.714245545738554*pe - 0.248979591836735) + 56.0441639020408" />
-#       <dai equation="pe_dot= -478.163885472*p**2 + 567.545273568*p + 1.45848815920571*pe**2 - 4.33919596739959*pe - 65.309067936" />
-#       <dai equation="ivalue_dot= 0" />
-#       <dai equation="t_dot= 1" />
-#       <dai equation="p_out= p" />
-#       <dai equation="lam_out= lam" />
-#       <dai equation="pe_out= pe" />
-#       <dai equation="ivalue_out= ivalue" />
-#       <dai equation="t_out= t" />
-#       <invariant equation="t&lt;9.5" />
-#     </mode>
-#     <mode id="1" initial="False" name="Mode1">
-#       <dai equation="p_dot= -476.851246128715*p**2 + 563.63999719734*p - 66.685538304" />
-#       <dai equation="lam_dot= -4*lam - 33.3965838336589*p**2 + 99.359272121109*p + 82.9456*(0.0680272108843537*ivalue + 0.00272108843537415*lam + 0.0280272108843537)**2*(-3.529055747207*pe**2 + 10.4994095223567*pe - 0.366)**2 - 4*(0.0680272108843537*ivalue + 0.00272108843537415*lam + 0.0280272108843537)*(-5.05643107459819*p**2 + 15.0435539636327*p - 0.5244048)*(-3.529055747207*pe**2 + 10.4994095223567*pe - 0.366) - 141.0072*(0.0680272108843537*ivalue + 0.00272108843537415*lam + 0.0280272108843537)*(-3.529055747207*pe**2 + 10.4994095223567*pe - 0.366) + 52.10842488" />
-#       <dai equation="pe_dot= -478.163885472*p**2 + 567.545273568*p + 1.45848815920571*pe**2 - 4.33919596739959*pe - 66.670412256" />
-#       <dai equation="ivalue_dot= 0.14*lam - 2.058" />
-#       <dai equation="t_dot= 1" />
-#       <dai equation="p_out= p" />
-#       <dai equation="lam_out= lam" />
-#       <dai equation="pe_out= pe" />
-#       <dai equation="ivalue_out= ivalue" />
-#       <dai equation="t_out= t" />
-#     </mode>
-#     <transition destination="1" id="1" source="0">
-#       <guard equation="t&gt;=9.5" />
-#       <action equation="t = 0" />
-#     </transition>
-#   </automaton>
-#   <composition automata="default_automaton" />
-#   <property initialSet="Mode0:p==0.6353&amp;&amp;lam==14.7&amp;&amp;pe==0.5573&amp;&amp;ivalue==0.017&amp;&amp;t==0" name="Prop1" type="Safety" unsafeSet="lam&gt;=100">
-#     <parameters kvalue="4000.0" timehorizon="15.0" timestep="0.001" />
-
-class PowerTrainAgent(BaseAgent):
+class HelicopterAgent(BaseAgent):
     def __init__(
         self, 
         id, 
@@ -64,25 +30,38 @@ def __init__(
         super().__init__(id, code, file_name)
 
     @staticmethod
-    def dynamic_mode0(t, state):
-        p, lam, pe, ivalue, t_int = state
-        p_dot = -476.851246128715*p**2 + 563.63999719734*p - 65.460328416
-        lam_dot= -4*lam - 33.3965838336589*p**2 + 99.359272121109*p + 33.8518550719433*pe**2 - 100.713764517065*pe - 4*(-5.05643107459819*p**2 + 15.0435539636327*p - 5.244048)*(-0.240071819537891*pe**2 + 0.714245545738554*pe - 0.248979591836735) + 4*(-4.97822527866553*pe**2 + 14.8108813346529*pe - 5.16294040816327)*(-0.240071819537891*pe**2 + 0.714245545738554*pe - 0.248979591836735) + 56.0441639020408
-        pe_dot= -478.163885472*p**2 + 567.545273568*p + 1.45848815920571*pe**2 - 4.33919596739959*pe - 65.309067936
-        ivalue_dot = 0
-        t_dot = 1
-        return [p_dot, lam_dot, pe_dot, ivalue_dot, t_dot]
-
-    @staticmethod
-    def dynamic_mode1(t, state):
-        p, lam, pe, ivalue, t_int = state
-        p_dot= -476.851246128715*p**2 + 563.63999719734*p - 66.685538304
-        lam_dot= -4*lam - 33.3965838336589*p**2 + 99.359272121109*p + 82.9456*(0.0680272108843537*ivalue + 0.00272108843537415*lam + 0.0280272108843537)**2*(-3.529055747207*pe**2 + 10.4994095223567*pe - 0.366)**2 - 4*(0.0680272108843537*ivalue + 0.00272108843537415*lam + 0.0280272108843537)*(-5.05643107459819*p**2 + 15.0435539636327*p - 0.5244048)*(-3.529055747207*pe**2 + 10.4994095223567*pe - 0.366) - 141.0072*(0.0680272108843537*ivalue + 0.00272108843537415*lam + 0.0280272108843537)*(-3.529055747207*pe**2 + 10.4994095223567*pe - 0.366) + 52.10842488        
-        pe_dot= -478.163885472*p**2 + 567.545273568*p + 1.45848815920571*pe**2 - 4.33919596739959*pe - 66.670412256
-        ivalue_dot= 0.14*lam - 2.058
-        t_dot = 1
-        return [p_dot, lam_dot, pe_dot, ivalue_dot, t_dot]
-
+    def dynamic(t, state):
+        x1, x2, x3, x4, x5, x6, x7, x8, x9, x10, x11, x12, x13, x14, x15, x16, x17, x18, x19, x20, x21, x22, x23, x24, x25, x26, x27, x28 = state
+        x1_dot= (0.998573780060) *x4 + (0.053384274244) *x5
+        x2_dot= x3 + (-0.003182219341) *x4 + (0.059524655342) *x5
+        x3_dot = (-11.570495605469) *x3 + (-2.544637680054) *x4 + (-0.063602626324) *x5 + (0.106780529022) *x6 + (-0.094918668270) *x7 + (0.007107574493) *x8 + (-3.700790207851) *x9 + (-16.213284674534) *x10 + (-2.984968535139) *x11 + (-0.493137919288) *x12 + (-1.186954196152) *x13 + (-0.031106608756) *x14 + (0.024595252653) *x15 + (0.008231369923) *x16 + (0.231787619674) *x17 + (0.745302732591) *x18 + (7.895709940231) *x19 + (2.026930360369) *x20 + (0.271792657736) *x21 + (0.315196108541) *x22 + (0.015876847710) *x23 + (0.009288507454) *x24 + (0.087920280806) *x25 + (-0.103727794204) *x26 + (-4.447282126346) *x27 + (0.016271459306) *x28
+        x4_dot = (0.439356565475) *x3 + (-1.998182296753) *x4 + (0.016651883721) *x6 + (0.018462046981) *x7 + (-0.001187470742) *x8 + (-7.517319654181) *x9 + (0.236494174025) *x10 + (-0.028725044803) *x11 + (-2.442989538035) *x12 + (0.034510550810) *x13 + (-0.004683216652) *x14 + (-0.005154038690) *x15 + (-0.002104275246) *x16 + (-0.079935853309) *x17 + (1.420125114638) *x18 + (-0.117856066698) *x19 + (-0.226142434271) *x20 + (-0.002585832387) *x21 + (-0.001365917341) *x22 + (0.035962654791) *x23 + (0.028993699893) *x24 + (-0.045896888864) *x25 + (0.716358354284) *x26 + (0.029085601036) *x27 + (-0.001242728387) *x28
+        x5_dot = (-2.040895462036) *x3 + (-0.458999156952) *x4 + (-0.735027790070) *x5 + (0.019255757332) *x6 + (-0.004595622420) *x7 + (0.002120360732) *x8 + (-0.740775522612) *x9 + (-2.555714688932) *x10 + (-0.339301128908) *x11 + (-0.033104023297) *x12 + (-1.446467788369) *x13 + (-0.007442776396) *x14 + (-0.0000) *x15 + (0.030657946816) *x16 + (1.002118140789) *x17 + (0.153644862643) *x18 + (1.273828227991) *x19 + (1.983204935524) *x20 + (0.048757213739) *x21 + (0.060295617991) *x22 + (0.001605314985) *x23 + (0.000554368427) *x24 + (0.475422075598) *x25 + (-0.010880647601) *x26 + (-0.775712358056) *x27 + (-0.408545111762) *x28
+        x6_dot = (-32.103607177734) *x1 + (-0.503355026245) *x3 + (2.297859191895) *x4 + (-0.021215811372) *x6 + (-0.021167919040) *x7 + (0.015811592340) *x8 + (8.689411857722) *x9 + (-0.215429806172) *x10 + (0.063500560122) *x11 + (2.847523923644) *x12 + (-0.297021616015) *x13 + (0.001323463163) *x14 + (0.002124820781) *x15 + (0.068860932948) *x16 + (1.694077894544) *x17 + (-1.639571645676) *x18 + (0.110652545728) *x19 + (0.728735301618) *x20 + (0.003107735169) *x21 + (0.003335187976) *x22 + (-0.042347579477) *x23 + (-0.034247794709) *x24 + (0.469091132962) *x25 + (-0.814424502262) *x26 + (-0.018082452136) *x27 + (0.016747349252) *x28
+        x7_dot = (0.102161169052) *x1 + (32.057830810547) *x2 + (-2.347217559814) *x3 + (-0.503611564636) *x4 + (0.834947586060) *x5 + (0.021226570010) *x6 + (-0.037879735231) *x7 + (0.000354003860) *x8 + (-0.560681623936) *x9 + (-3.574948145694) *x10 + (-0.788176766644) *x11 + (-0.107590635594) *x12 + (0.908657075077) *x13 + (-0.008720966051) *x14 + (0.005669792925) *x15 + (0.044884407612) *x16 + (0.788227489086) *x17 + (0.111065913657) *x18 + (1.709840089441) *x19 + (-0.946574755181) *x20 + (0.054255711842) *x21 + (0.060392345409) *x22 + (0.003299051857) *x23 + (0.001965592530) *x24 + (-0.035607238660) *x25 + (-0.021984114632) *x26 + (-0.893130060176) *x27 + (0.503048977806) *x28
+        x8_dot = (-1.910972595215) *x1 + (1.713829040527) *x2 + (-0.004005432129) *x3 + (-0.057411193848) *x4 + (0.013989634812) *x6 + (-0.000906753354) *x7 + (-0.290513515472) *x8 + (-1.440209153996) *x9 + (-1.089782421583) *x10 + (-0.599051729911) *x11 + (-0.930901394778) *x12 + (5.044060722850) *x13 + (0.079229241316) *x14 + (0.074101747848) *x15 + (-1.301808243838) *x16 + (-31.393874531397) *x17 + (0.233327947688) *x18 + (0.478559456452) *x19 + (-9.198865975131) *x20 + (-0.002820980233) *x21 + (-0.034669033757) *x22 + (0.022125233836) *x23 + (0.019923408940) *x24 + (-8.159414332666) *x25 + (-0.129736796488) *x26 + (-0.298841506489) *x27 + (-0.300193732750) *x28
+        x9_dot = (0.050176870833) *x1 + (-0.003161246171) *x2 + (-0.486165175190) *x3 + (0.266534777047) *x4 + (0.003826227932) *x5 +0 *x6 +0 *x7 + (-0.0000) *x8 + (-0.020657323970) *x9 + (0.001301453941) *x10 + (0.213359280279) *x11 + (0.881596311923) *x12 + (0.051809053856) *x13 + 0 *x14 + 0 *x15 +0 *x16
+        x10_dot = (-0.019757788570) *x1 + (0.009012833714) *x2 + (0.311015942657) *x3 + (2.810181204790) *x4 + (-0.001602140073) *x5 + 0 *x6 + 0 *x7 + (0.0000) *x8 + (0.008134087133) *x9 + (-0.003710494952) *x10 + (0.863507011470) *x11 + (-1.236460821044) *x12 + (0.060184240645) *x13 +0 *x14 +0 *x15 + 0 *x16
+        x11_dot = (-0.030385323449) *x1 + (0.003110159427) *x2 + (0.312812882924) *x3 + (0.287354391281) *x4 + (-0.002331730630) *x5 + 0 *x6 + 0 *x7 + (0.0000) *x8 + (-8.414922645141) *x9 + (-36.922139523656) *x10 + (-18.505141519315) *x11 + (-3.793715804769) *x12 + (-2.765572372983) *x13 + (0.035944961732) *x14 + (-0.038910104720) *x15 + (0.025846348888) *x16 + (0.527826299191) *x17 + (1.697201876759) *x18 + (17.980094722474) *x19 + (4.615721721183) *x20 + (0.618925691035) *x21 + (0.717763941510) *x22 + (0.036154725527) *x23 + (0.021151770407) *x24 + (0.200211885807) *x25 + (-0.236208723376) *x26 + (-10.127341872304) *x27 + (0.037053334254) *x28
+        x12_dot = (0.002667394037) *x1 + (0.004496152836) *x2 + (0.045956750452) *x3 + (1.764514260408) *x4 + (0.000146052012) *x5 +0 *x6 +0 *x7 + 0 *x8 + (-17.119523267503) *x9 + (0.536693033369) *x10 + (0.353775293385) *x11 + (-8.335731095093) *x12 + (0.078527228401) *x13 + (0.005987264162) *x14 + (0.006725273267) *x15 + (-0.005979187005) *x16 + (-0.182029763642) *x17 + (3.233906041666) *x18 + (-0.268381596955) *x19 + (-0.514971094398) *x20 + (-0.005888452287) *x21 + (-0.003110464210) *x22 + (0.081894084826) *x23 + (0.066024394813) *x24 + (-0.104516302587) *x25 + (1.631289796960) *x26 + (0.066233671911) *x27 + (-0.002829938571) *x28
+        x13_dot = (0.024056576806) *x1 + (-0.001361685819) *x2 + (-0.230715295944) *x3 + (0.185551143531) *x4 + (0.001832537128) *x5 +0 *x6 +0 *x7 + (-0.0000) *x8 + (-1.696796379292) *x9 + (-5.819307733117) *x10 + (-2.712299197847) *x11 + (-0.615817527040) *x12 + (-4.029675752634) *x13 + (0.002306818331) *x14 + (-0.004623901048) *x15 + (0.071938991843) *x16 + (2.282021405408) *x17 + (0.349879770769) *x18 + (2.900759066988) *x19 + (4.516150272075) *x20 + (0.111029828612) *x21 + (0.137305059460) *x22 + (0.003655620040) *x23 + (0.001262406662) *x24 + (1.082630189953) *x25 + (-0.024777388732) *x26 + (-1.766450614425) *x27 + (-0.930338103031) *x28
+        x14_dot = (-1.753103616578) *x1 + (0.521869609890) *x2 + (23.319318958026) *x3 + (145.082271971311) *x4 + (-0.138741289403) *x5 + (-0.0000) *x6 + (-0.0000) *x7 + (0.000860128319) *x8 + (-11.594360544437) *x9 + (-0.705424902410) *x10 + (-10.592707880324) *x11 + (-54.888617486514) *x12 + (-0.619258600252) *x13 + (-0.018180886764) *x14 + (-0.016310350542) *x15 + (0.172267463350) *x16 + (3.857750758541) *x17 + (-3.733629238750) *x18 + (0.251977753557) *x19 + (1.659474556422) *x20 + (0.007076928248) *x21 + (0.007594883320) *x22 + (-0.096433822422) *x23 + (-0.077989008913) *x24 + (1.068213380174) *x25 + (-1.854605830991) *x26 + (-0.041177323469) *x27 + (0.038137029879) *x28
+        x15_dot = (1.708539622488) *x1 + (0.111898315003) *x2 + (-13.174473231922) *x3 + (91.462755556230) *x4 + (0.127584976026) *x5 + (0.0000) *x6 + (0.0000) *x7 + (-0.000723245056) *x8 + (-1.878010842263) *x9 + (23.870898681235) *x10 + (1.639719754761) *x11 + (-40.888303474223) *x12 + (2.851614162302) *x13 + (0.001349430570) *x14 + (-0.024984412428) *x15 + (0.102862439056) *x16 + (1.794950045519) *x17 + (0.252919074168) *x18 + (3.893644396914) *x19 + (-2.155538119928) *x20 + (0.123550997381) *x21 + (0.137525326941) *x22 + (0.007512594224) *x23 + (0.004476043338) *x24 + (-0.081084731931) *x25 + (-0.050062181420) *x26 + (-2.033833968448) *x27 + (1.145542115841) *x28
+        x16_dot = (-0.069753861204) *x1 + (0.041269247265) *x2 + (1.243498527057) *x3 + (13.467483657041) *x4 + (-0.005772466581) *x5 + 0 *x6 + 0 *x7 + (0.0000) *x8 + (-5.161896992464) *x9 + (-0.784811430978) *x10 + (-1.913888711445) *x11 + (-8.087612492321) *x12 + (11.488701354150) *x13 + (0.194411237470) *x14 + (0.167838434014) *x15 + (-3.255004272242) *x16 + (-71.490067651024) *x17 + (0.531333931032) *x18 + (1.089774627294) *x19 + (-20.947639012098) *x20 + (-0.006423930487) *x21 + (-0.078948253623) *x22 + (0.050383537787) *x23 + (0.045369546582) *x24 + (-18.580601832107) *x25 + (-0.295436370828) *x26 + (-0.680521274763) *x27 + (-0.683600561672) *x28
+        x17_dot =(-0.013549327978) *x6 + (-0.012135188033) *x7 + (0.226991094595) *x8+ (-0.012000000000) *x17
+        x18_dot = (-11.385989897412) *x1 + (-0.005000000000) *x18
+        x19_dot = (-4.554395958965) *x2 + (-0.005000000000) *x19
+        x20_dot =(0.243569095885) *x4 + (-4.554395958965) *x5+(-0.010000000000) *x20
+        x21_dot = (-4.554395958965) *x3 + (-8.500000000000) *x21 + (-18.000000000000) *x22
+        x22_dot = x21
+        x23_dot = (-11.385989897412) *x4 + (-8.500000000000) *x23 + (-18.000000000000) *x24
+        x24_dot = x23
+        x25_dot = (0.683186075980) *x9 + (0.514736886625) *x10 + (0.282998565164) *x11 + (0.440668616363) *x12 + (-2.382738811465) *x13 + (-0.037424700426) *x14 + (-0.035002491999) *x15 + (0.614952694278) *x16 + (14.829958398888) *x17 + (-0.110759742503) *x18 + (-0.226034186438) *x19 + (4.345468653096) *x20 + (0.001333027828) *x21 + (0.016376955559) *x22 + (-0.010465240818) *x23 + (-0.009422482600) *x24 + (-6.145615181050) *x25 + (0.061014181775) *x26 + (0.141165339638) *x27 + (0.141806743312) *x28
+        x26_dot = (-36.039354729710) *x9 + (0.767400874818) *x10 + (-0.190879388177) *x11 + (-11.678174370212) *x12 + (-0.041149877278) *x13 + (-0.026017271417) *x14 + (-0.026698725144) *x15 + (0.036415219598) *x16 + (0.738656358350) *x17 + (6.810845841283) *x18 + (-0.384784957980) *x19 + (-0.708557300741) *x20 + (-0.005524328707) *x21 + (0.002522572903) *x22 + (0.171826920583) *x23 + (0.138368426838) *x24 + (0.071909684799) *x25 + (-6.567495145681) *x26 + (0.039293511274) *x27 + (0.006041152866) *x28
+        x27_dot = (1.997224587333) *x9 + (13.482210983798) *x10 + (2.488520358003) *x11 + (0.076750797248) *x12 + (0.804972334222) *x13 + (0.023466195202) *x14 + (-0.022740687251) *x15 + (0.018646161041) *x16 + (0.436604617107) *x17 + (-0.414374632569) *x18 + (-6.563020897889) *x19 + (-1.423460802051) *x20 + (-0.224998971426) *x21 + (-0.259852011779) *x22 + (-0.008437464875) *x23 + (-0.003945344110) *x24 + (0.102235829031) *x25 + (0.191829027845) *x26 + (-6.312428841540) *x27 + (-0.038075090345) *x28
+        x28_dot = (1.761524247668) *x9 + (-3.415298165208) *x10 + (-1.836225244248) *x11 + (-0.015605131825) *x12 + (10.486845595600) *x13 + (-0.031379180918) *x14 + (0.001266746410) *x15 + (0.525873993847) *x16 + (9.808565668907) *x17 + (-0.367529750255) *x18 + (1.370405524130) *x19 + (-12.076970057329) *x20 + (0.004883176776) *x21 + (-0.015765473705) *x22 + (-0.000399777933) *x23 + (-0.000497333312) *x24 + (0.199818976539) *x25 + (-0.002648145523) *x26 + (-0.101212258081) *x27 + (-5.199268943788) *x28
+        return [x1_dot, x2_dot, x3_dot, x4_dot, x5_dot, x6_dot, x7_dot, x8_dot, x9_dot, x10_dot, x11_dot, x12_dot, x13_dot, x14_dot, x15_dot, x16_dot, x17_dot,
+                 x18_dot, x19_dot, x20_dot, x21_dot, x22_dot, x23_dot, x24_dot, x25_dot, x26_dot, x27_dot, x28_dot]
 
     def TC_simulate(
         self, mode: List[str], init, time_bound, time_step, lane_map = None
@@ -93,12 +72,7 @@ def TC_simulate(
         trace[1:, 0] = [round(i * time_step, 10) for i in range(num_points)]
         trace[0, 1:] = init
         for i in range(num_points):
-            if mode[0]=="On":
-                r = ode(self.dynamic_mode0)
-            elif mode[0]=="Off":
-                r = ode(self.dynamic_mode1)
-            else:
-                raise ValueError
+            r = ode(self.dynamic)
             r.set_initial_value(init)
             res: np.ndarray = r.integrate(r.t + time_step)
             init = res.flatten()
@@ -112,12 +86,38 @@ class HelicopterMode(Enum):
     Normal=auto()
 
 class State:
-    x1, x2, x3, x4, x5, x6, x7, x8, x9, x10, x11, x12, x13, x14, x15, x16, x17, x18, x19, x20, x21, x22, x23, x24, x25: float
+    ### is there a way to encapsulate these states with a single x[]?    
+    x1: float
+    x2: float
+    x3: float
+    x4: float
+    x5: float
+    x6: float
+    x7: float
+    x8: float
+    x9: float
+    x10: float
+    x11: float
+    x12: float
+    x13: float
+    x14: float
+    x15: float
+    x16: float
+    x17: float
+    x18: float
+    x19: float
+    x20: float
+    x21: float
+    x22: float
+    x23: float
+    x24: float
+    x25: float
     x26: float
     x27: float
     x28: float
 
-    def __init__(self, p, lam, pe, ivalue, t_int, agent_mode: PTMode):
+    agent_mode: HelicopterMode
+    def __init__(self, x1, x2, x3, x4, x5, x6, x7, x8, x9, x10, x11, x12, x13, x14, x15, x16, x17, x18, x19, x20, x21, x22, x23, x24, x25, x26, x27, x28, agent_mode: HelicopterMode.Normal):
         pass 
 
 def decisionLogic(ego: State, other: State):
@@ -130,26 +130,25 @@ def decisionLogic(ego: State, other: State):
 if __name__ == "__main__":
     import os 
     script_dir = os.path.realpath(os.path.dirname(__file__))
-    input_code_name = os.path.join(script_dir, "power_train.py")
-    PT = PowerTrainAgent('PT', file_name=input_code_name)
+    input_code_name = os.path.join(script_dir, "helicopter.py")
+    helicopter = HelicopterAgent('Helicopter', file_name=input_code_name)
 
     scenario = Scenario(ScenarioConfig(init_seg_length=1, parallel=False))
 
-    scenario.add_agent(PT) ### need to add breakpoint around here to check decision_logic of agents
-
-    init_PT = [[0.6353, 14.7, 0.5573, 0.017, 0],[0.6353, 14.7, 0.5573, 0.017, 0]]
+    scenario.add_agent(helicopter) ### need to add breakpoint around here to check decision_logic of agents
+    init_h = [[10 for _ in range(28)],[10 for _ in range(28)]]
     # # -----------------------------------------
 
     scenario.set_init_single(
-        'PT', init_PT,(PTMode.Mode0,)
+        'Helicopter', init_h, (HelicopterMode.Normal,)
     )
 
-    trace = scenario.verify(15, 0.001)
+    trace = scenario.verify(10, 0.01)
 
-    pp_fix(reach_at_fix(trace, 0, 15))
-    print(f'Fixed points exists? {fixed_points_fix(trace)}')
+    # is false, should be false
+    print(f'Fixed points exists? {fixed_points_fix(trace, 10, 0.01)}')
 
     fig = go.Figure()
-    fig = reachtube_tree(trace, None, fig, 0, 1, [0, 1], "fill", "trace")
+    fig = reachtube_tree(trace, None, fig, 6, 7, [6, 7], "fill", "trace")
     # fig = simulation_tree(trace, None, fig, 1, 2, [1, 2], "fill", "trace")
     fig.show()