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testbuzzexperiment.argos
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testbuzzexperiment.argos
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<?xml version="1.0" ?>
<argos-configuration>
<!-- ************************* -->
<!-- * General configuration * -->
<!-- ************************* -->
<framework>
<system threads="0" />
<experiment length="600"
ticks_per_second="10"
random_seed="124" />
</framework>
<!-- *************** -->
<!-- * Controllers * -->
<!-- *************** -->
<controllers>
<buzz_controller_kheperaiv id="khivbz">
<actuators>
<differential_steering implementation="default" />
<leds implementation="default" medium="leds" />
<range_and_bearing implementation="default" />
</actuators>
<sensors>
<!-- <kheperaiv_ground implementation="rot_z_only" /> -->
<kheperaiv_proximity implementation="default" show_rays="true" />
<kheperaiv_light implementation="rot_z_only" show_rays="true" />
<kheperaiv_ultrasound implementation="default" show_rays="true" />
<kheperaiv_lidar implementation="default" show_rays="true" />
<range_and_bearing implementation="medium" medium="rab" show_rays="true" noise_std_dev="0" />
<positioning implementation="default" />
</sensors>
<params>
<wheel_turning hard_turn_angle_threshold="90"
soft_turn_angle_threshold="70"
no_turn_angle_threshold="10"
max_speed="10" />
</params>
</buzz_controller_kheperaiv>
</controllers>
<!-- *********************** -->
<!-- * Arena configuration * -->
<!-- *********************** -->
<arena size="5, 5, 5" center="0,0,2.5">
<light id="light0"
position="0,0,4"
orientation="0,0,0"
color="yellow"
intensity="10.0"
medium="light"/>
<box id="wall_north" size="4,0.1,0.5" movable="false">
<body position="0,2,0" orientation="0,0,0" />
</box>
<box id="wall_south" size="4,0.1,0.5" movable="false">
<body position="0,-2,0" orientation="0,0,0" />
</box>
<box id="wall_east" size="0.1,4,0.5" movable="false">
<body position="2,0,0" orientation="0,0,0" />
</box>
<box id="wall_west" size="0.1,4,0.5" movable="false">
<body position="-2,0,0" orientation="0,0,0" />
</box>
<!--
You can distribute entities randomly. Here, we distribute
10 foot-bots in this way:
- the position is uniformly distributed
on the ground, in the square whose corners are (-2,-2) and (2,2)
- the orientations are non-zero only when rotating around Z and chosen
from a gaussian distribution, whose mean is zero degrees and
standard deviation is 360 degrees.
-->
<distribute>
<position method="uniform" min="-2,-2,0" max="2,2,0" />
<orientation method="gaussian" mean="0,0,0" std_dev="360,0,0" />
<entity quantity="1" max_trials="100">
<kheperaiv id="khiv">
<controller config="khivbz" />
</kheperaiv>
</entity>
</distribute>
<!--
We distribute 5 boxes uniformly in position and rotation around Z.
-->
<distribute>
<position method="uniform" min="-2,-2,0" max="2,2,0" />
<orientation method="uniform" min="0,0,0" max="360,0,0" />
<entity quantity="5" max_trials="100">
<box id="b" size="0.3,0.3,0.5" movable="false" />
</entity>
</distribute>
<!--
We distribute cylinders uniformly in position and with
constant rotation (rotating a cylinder around Z does not
matter)
-->
<distribute>
<position method="uniform" min="-2,-2,0" max="2,2,0" />
<orientation method="constant" values="0,0,0" />
<entity quantity="5" max_trials="100">
<cylinder id="c" height="0.5" radius="0.15" movable="false" />
</entity>
</distribute>
</arena>
<!-- ******************* -->
<!-- * Physics engines * -->
<!-- ******************* -->
<physics_engines>
<dynamics2d id="dyn2d" />
</physics_engines>
<!-- ********* -->
<!-- * Media * -->
<!-- ********* -->
<media>
<range_and_bearing id="rab" />
<led id="leds" />
<led id="light" />
</media>
<!-- ****************** -->
<!-- * Visualization * -->
<!-- ****************** -->
<visualization>
<qt-opengl>
<user_functions label="buzz_qt" />
</qt-opengl>
</visualization>
</argos-configuration>