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mission_config_template.argos
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mission_config_template.argos
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<?xml version="1.0" ?>
<argos-configuration>
<!-- ************* -->
<!-- * Framework * -->
<!-- ************* -->
<framework>
<experiment length="100"
ticks_per_second="10" random_seed="427557"/>
</framework>
<!-- ****************** -->
<!-- * Loop functions * -->
<!-- ****************** -->
<loop_functions library="/home/aligot/Desktop/Arena/experiments-loop-functions/build/loop-functions/Repertoire/libSDBCLoopFunc.so"
label="generic_loop_func">
<params dist_radius="1.2" number_robots="5" mission_description="$missionDescription"/>
</loop_functions>
<!-- *************** -->
<!-- * Controllers * -->
<!-- *************** -->
<controllers>
<!-- TRANSMITTER -->
<!-- <automode_controller id="automode"
library="/home/aligot/Desktop/Arena/AutoMoDe-RM12/build/src/libautomode.so">
<actuators>
<epuck_wheels implementation="default" noise_std_dev="0.05"/>
<epuck_rgb_leds implementation="default" medium="leds"/>
<epuck_range_and_bearing implementation="medium" medium="rab" data_size="4" range="0.5"/>
</actuators>
<sensors>
<epuck_proximity implementation="default" show_rays="false" noise_level="0.0" calibrated="true"/>
<epuck_range_and_bearing implementation="medium" medium="rab" data_size="4" calibrated="true" real_range_noise="true" loss_probability="0.85" show_rays="false"/>
<epuck_light implementation="default" show_rays="false" noise_level="0.05" calibrated="true"/>
<epuck_ground implementation="rot_z_only" noise_level="0.05" calibrated="true"/>
<epuck_omnidirectional_camera implementation="rot_z_only" medium="leds" show_rays="false"/>
</sensors>
<params fsm-config="-nstates 1 -s0 0 -rwm0 2"/>
</automode_controller> -->
<nn_rm_1dot1_controller id="nn_rm_1dot1_controller"
library="/home/aligot/Desktop/Arena/NEATvsEvo/NEAT/build/src/controllers/libnn_rm_1dot1.so">
<actuators>
<epuck_wheels implementation="default" noise_std_dev="0.05"/>
<epuck_rgb_leds implementation="default" medium="leds"/>
<epuck_range_and_bearing implementation="medium" medium="rab" data_size="4" range="0.7"/>
</actuators>
<sensors>
<epuck_proximity implementation="default" show_rays="false" noise_level="0.05" calibrated="true"/>
<epuck_range_and_bearing implementation="medium" medium="rab" data_size="4" nois_std_deviation="1.5" loss_probability="0.85" calibrated="true"/>
<epuck_light implementation="default" show_rays="false" noise_level="0.05" calibrated="true"/>
<epuck_ground implementation="rot_z_only" noise_level="0.05" calibrated="true"/>
<epuck_omnidirectional_camera implementation="rot_z_only" medium="leds" show_rays="false"/>
</sensors>
<params genome_file="/home/aligot/Desktop/Arena/NEATvsEvo/StartGenomes/EvoStickRM11"/>
<!-- <params genome_file="/home/aligot/Desktop/Arena/NEAT-private/gen/gen_champ_0"/> -->
</nn_rm_1dot1_controller>
</controllers>
<!-- ********* -->
<!-- * Arena * -->
<!-- ********* -->
<arena size="4, 6, 1" center="0,0,0">
<!-- ********** -->
<!-- * E-Puck * -->
<!-- ********** -->
<distribute>
<position method="uniform" min="-1,-1,0" max="1,1,0" />
<orientation method="gaussian" mean="0,0,0" std_dev="360,0,0" />
<entity quantity="5" max_trials="100">
<e-puck id="epuck">
<controller config="nn_rm_1dot1_controller" />
</e-puck>
</entity>
</distribute>
<!-- Change the floor here -->
<floor id="floor" source="loop_functions" pixels_per_meter="300"/>
<!-- Lights here -->
$lightsDescription
<!-- Arena here -->
$arenaDescription
<!-- Obstacles here -->
$obstaclesDescription
</arena>
<!-- ******************* -->
<!-- * Physics engines * -->
<!-- ******************* -->
<physics_engines>
<dynamics2d id="dyn2d" />
</physics_engines>
<!-- ********* -->
<!-- * Media * -->
<!-- ********* -->
<media>
<led id="leds" grid_size="1,1,1"/>
<range_and_bearing id="ircom"/>
<range_and_bearing id="rab"/>
</media>
<!-- ***************** -->
<!-- * Visualization * -->
<!-- ***************** -->
<visualization>
<qt-opengl>
<user_functions library="/home/aligot/Desktop/Arena/demiurge-loop-functions/build/loop-functions/visual-add-ons/libepuck_planning_user_functions.so"
label="epuck_planning_qtopengl_user_functions" />
<camera>
<placement idx="0"
position="0,0,4.5"
look_at="0,0,0"
lens_focal_length="35" />
</camera>
</qt-opengl>
</visualization>
</argos-configuration>