Update planner to run both onboard and simulation

Author: htliang517

GEMstack/onboard/interface/gem_simulator.py

@@ -19,31 +19,35 @@
     'bicyclist' : (1.8,0.5,1.6),
     'car' : (4.0,2.5,1.4),
     'medium_truck': (6.0,2.5,3.0),
-    'large_truck': (10.0,2.5,3.5)
+    'large_truck': (10.0,2.5,3.5),
+    'cone' : (0.5,0.5,1.0)
 }
 
 AGENT_TYPE_TO_ENUM = {
     'pedestrian' : AgentEnum.PEDESTRIAN,
     'bicyclist' : AgentEnum.BICYCLIST,
     'car' : AgentEnum.CAR,
     'medium_truck': AgentEnum.MEDIUM_TRUCK,
-    'large_truck': AgentEnum.LARGE_TRUCK
+    'large_truck': AgentEnum.LARGE_TRUCK,
+    'cone': AgentEnum.CONE
 }
 
 AGENT_NOMINAL_VELOCITY = {
     'pedestrian' : 1.5,
     'bicyclist' : 5.0,
     'car' : 20.0,
     'medium_truck': 15.0,
-    'large_truck': 10.0
+    'large_truck': 10.0,
+    'cone' : 0.0
 }
 
 AGENT_NOMINAL_ACCELERATION = {
     'pedestrian' : 2.0,
     'bicyclist' : 2.0,
     'car' : 5.0,
     'medium_truck': 3.0,
-    'large_truck': 2.0
+    'large_truck': 2.0,
+    'cone' : 0.0
 }
 
 class AgentSimulation: