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circuit-learning.argos
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<?xml version="1.0" ?>
<argos-configuration>
<!-- ************************* -->
<!-- * General configuration * -->
<!-- ************************* -->
<framework>
<system threads="0" />
<experiment length="5000" ticks_per_second="10"/>
</framework>
<!-- *************** -->
<!-- * Controllers * -->
<!-- *************** -->
<controllers>
<lua_controller id="lua">
<actuators>
<differential_steering implementation="default" noise_level="0.0"/>
</actuators>
<sensors>
<differential_steering implementation="default" noise_level="0.0" />
<footbot_base_ground implementation="rot_z_only" noise_level="0.0" />
<positioning implementation="default" noise_level="0.0" />
</sensors>
<params script="circuit-learning.lua" />
</lua_controller>
</controllers>
<!-- *********************** -->
<!-- * Arena configuration * -->
<!-- *********************** -->
<arena size="4, 4, 1" center="0,0,0.5" positional_grid_size="8,8,1">
<floor id="f" source="image" path="./images/complex-exagon.png" />
<box id="bn" size="0.1, 4, 0.2" movable="false">
<body position="1.9, 0, 0" orientation="0,0,0" />
</box>
<box id="bs" size="0.1, 4, 0.2" movable="false">
<body position="-1.9,0,0" orientation="0,0,0" />
</box>
<box id="be" size="4, 0.1, 0.2" movable="false">
<body position="0,-1.9,0" orientation="0,0,0" />
</box>
<box id="bw" size="4, 0.1, 0.2" movable="false">
<body position="0,1.9,0" orientation="0,0,0" />
</box>
<foot-bot id="fb">
<controller config="lua" />
<body position="0.0,0.0,0" orientation="0,0,0" />
</foot-bot>
<!-- If you want to place the robot in a random position you may want to use this piece of code -->
<!--
<distribute>
<position method="uniform" min="-1.9,-1.9,0" max="1.9,1.9,0" />
<orientation method="uniform" min="0,0,0" max="360,0,0" />
<entity quantity="1" max_trials="100">
<foot-bot id="fb">
<controller config="lua" />
</foot-bot>
</entity>
</distribute>
-->
</arena>
<!-- ******************* -->
<!-- * Physics engines * -->
<!-- ******************* -->
<physics_engines>
<dynamics2d id="dyn2d" />
</physics_engines>
<!-- ********* -->
<!-- * Media * -->
<!-- ********* -->
<media>
<led id="leds" />
</media>
<!-- ****************** -->
<!-- * Visualization * -->
<!-- ****************** -->
<!--
<visualization>
<qt-opengl lua_editor="true">
<camera>
<placement idx="0" position="-2.0767,0.015,2.74921" look_at="-1.59254,0.015,1.87423" lens_focal_length="20" />
</camera>
</qt-opengl>
</visualization> -->
</argos-configuration>