Repository Layout#

This page shows the folders of the repository and the content of each folder.

Top Level#

Folder	Content
`Acres/`	The Unreal project: the game module, the configuration, the shaders and the assets.
`Core/`	ACRES Core: the simulator without Unreal, its Python module, tests, tools and scripts.
`ROS/`	The ROS 2 Humble workspace: the messages, the ROS 2 bridge, the Core server and the Polaris description.
`Learning/`	The learning stack `acres_learn`. Refer to Learning.
`Verification/`	The formal proofs in Lean 4 and their differential tests. Refer to Verification.
`Calibration/`	The studies that compare the simulator with real data: the map, the Polaris, the tractor and the weather.
`Tools/`	The model tests without Unreal, the control tools, the benchmarks and the map and asset pipelines.
`Demo/`	Example sessions as scripts.
`Documentation/`	The source of this site.
`mkdocs.yml`	The configuration of this site.
`README.md`, `LICENSE`	The summary of the project and the Apache License 2.0.

The file .gitignore permits only these paths. Build outputs, packaged games and local environments stay local.

Path	Content
`Acres/Acres.uproject`	The project file.
`Acres/Config/`	`DefaultEngine.ini`, `DefaultGame.ini`, `DefaultGameUserSettings.ini`, `DefaultInput.ini`.
`Acres/Source/Acres/`	The C++ game module. Architecture describes its file groups.
`Acres/Shaders/`	The shaders of the GPU LiDAR and the ground layer.
`Acres/Content/Maps/V03ACRE`	The farm map.
`Acres/Content/ACRE/`	The farm assets: terrain, crops, structures, materials, weather, traffic.
`Acres/Content/FarmEquipment/`	The skeletal meshes of the Maxxum, the implements and the Polaris.
`Acres/Content/Simulation/`	The configuration files and the survey grids that the simulation reads at run time.
`Acres/Content/Simulation/ACRE/`	The map products: heights, soils, fields, surfaces, places.
`Acres/Content/Simulation/ACRE/Scouting/`	The map products of the scouting task.
`Acres/Content/Simulation/implements/`	One JSON file for each implement.
`Acres/Content/Simulation/rigs/`	The equipment rig maps.
`Acres/Raw/farm-equipment/`	The source models and the mechanics data of the farm equipment.

Path	Content
`Core/CMakeLists.txt`, `Core/build.sh`	The build of the library, the Python module, the tests and the tools.
`Core/Source/`	The world, the terrain, the scene, the Polaris environment, the LiDAR, the farm state, the batch and the episode log.
`Core/Python/`	The pybind11 module `acres_core`.
`Core/Tests/`	The C++ tests and the Python tests.
`Core/Tools/`	The command-line tools `core_replay` and `lidar_compare`.
`Core/Scripts/`	The benchmark, the scene builder and the comparison tools.
`Core/Data/acre_scene.json`	The static scene of the Core: buildings, trees and other obstacles.

Path	Content
`ROS/Env/`	The conda environment file and the scripts of the DDS loopback fence.
`ROS/acres_interfaces/`	The messages and services of the simulator.
`ROS/acres_sim/`	The ROS 2 bridge `sim_bridge`, the J1939 codec, the demonstration driver and the launch files.
`ROS/acres_core_sim/`	The Core server `core_sim`: ACRES Core behind the sockets of the game.
`ROS/acres_description/`	The Polaris description: URDF, meshes, RViz configuration and launch files.
`ROS/vendor/`	Third-party message packages: `ds_dbw_msgs` and `rslidar_msg`.
`ROS/Tools/`	The checks of the message definitions and the topic parity, and the benchmarks.

Path	Content
`Tools/Terramechanics/`	The tests and the bench of the Maxxum model and the tyre and soil model.
`Tools/ImplementModel/`	The tests of the implement model.
`Tools/PolarisModel/`	The tests of the Polaris model, the replay tool and the recorded drive-by-wire extracts.
`Tools/LidarModel/`	The tests of the LiDAR radiometry.
`Tools/EpisodeLog/`	The tests of the episode log and the schema generator.
`Tools/SimControl/`	The Python client of the simulator control channel and the determinism and render checks.
`Tools/Performance/`	The frame-rate benchmarks.
`Tools/ACRE/Map/`	The map pipeline: sources, lanes, fields, crops, buildings, surfaces, places.
`Tools/ACRE/Structures/`, `Props/`, `Vegetation/`	The generators of buildings, props and trees.
`Tools/ACRE/Vehicles/`	The import of the farm equipment and the export of the rig maps.
`Tools/ACRE/Tools/`	The editor scripts that import assets and change the level.
`Tools/ui_text_check.py`	The check of the UI text style.

Tools and Scripts describes each tool.

Path	Content
`Calibration/Map/`	The data sources of the map, the layers, the validation and the error budget.
`Calibration/Polaris/`	The inventory of the real logs, the LiDAR and camera studies and the closed-loop tests.
`Calibration/Polaris/FieldDay/`	The field-day kit.
`Calibration/Tractor/`	The soil and weather study of the Maxxum.
`Calibration/Weather/`	The ground conditions from the Purdue Mesonet record and the weather replay files.

Path	Content
`Demo/gameplay.sh`, `Demo/record_all.sh`, `Demo/Menu/`	A recorded session that the menu starts.
`Demo/multi_agent_demo.sh`, `Demo/Multi/`	A session with the Maxxum and the Polaris.
`Demo/soil_weather.sh`, `Demo/SoilWeather/`	The soil and weather study.
`Demo/lockstep_drive.py`	A lockstep drive through ROS 2 with an episode log.

Path	Content
`Documentation/<Section>/`	The pages of each section of the navigation.
`Documentation/Assets/Diagrams/`	The SVG diagrams.
`Documentation/Assets/Images/`	The screenshots.
`Documentation/Stylesheets/`, `Documentation/JavaScripts/`	The theme.
`Documentation/Tools/`	The generator and the checks.

These folders are local. Git does not contain them.

Path	Content
`Packaged/`	The packaged game.
`Acres/Saved/`, `Acres/Intermediate/`, `Acres/Binaries/`	The outputs of the editor and the build.
`Core/Build/`	The build of ACRES Core.
`ROS/build/`, `ROS/install/`, `ROS/log/`	The build of the ROS 2 workspace.
`ROS/vendor/purdue_ranger/`	The vehicle package of the lab. It is proprietary.
`site/`	The built documentation.