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test-mission.argos
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test-mission.argos
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<?xml version="1.0" ?>
<argos-configuration>
<!-- ************* -->
<!-- * Framework * -->
<!-- ************* -->
<framework>
<experiment length="120"
ticks_per_second="10" random_seed="0"/>
</framework>
<!-- ****************** -->
<!-- * Loop functions * -->
<!-- ****************** -->
<loop_functions library="/home/trackingsystem/jkuckling/AutoMoDe-loopfunctions/build/loop-functions/vanilla/libforaging_loopfunc.so"
label="foraging_loop_functions">
<params dist_radius="1.2" number_robots="20"/>
</loop_functions>
<!-- *************** -->
<!-- * Controllers * -->
<!-- *************** -->
<controllers>
<!-- TRANSMITTER -->
<automode_controller id="automode" library="/home/trackingsystem/jkuckling/AutoMoDe-FSM/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="0.7"/>
</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 fsm-config="--nstates 1 --s0 1"/>
</automode_controller>
</controllers>
<!-- ********* -->
<!-- * Arena * -->
<!-- ********* -->
<arena size="10, 10, 2" center="0,0,0">
<!-- Change the floor here -->
<floor id="floor" source="loop_functions" pixels_per_meter="300"/>
<!-- Change the light here -->
<!-- Please note that this light has an intensity equal to 0 -->
<!-- and therefore does not affect the experiment. -->
<!-- ARGoS requires at least one light when using the light sensor -->
<light id="light" position="0,-1.25,0.75" orientation="0,0,0" color="yellow" intensity="5.0" medium="leds"/>
<!--Dodecagonal arena with side of length .66-->
<box id="wall_1" size="0.01,.66,0.08" movable="false">
<body position="-1.231,0,0" orientation="0,0,0"/>
</box>
<box id="wall_2" size="0.01,.66,0.08" movable="false">
<body position="1.231,0,0" orientation="0,0,0"/>
</box>
<box id="wall_3" size="0.01,.66,0.08" movable="false">
<body position="0,1.231,0" orientation="90,0,0"/>
</box>
<box id="wall_4" size="0.01,.66,0.08" movable="false">
<body position="0,-1.231,0" orientation="90,0,0"/>
</box>
<box id="wall_5" size="0.01,.66,0.08" movable="false">
<body position="-.615,-1.066,0" orientation="60,0,0"/>
</box>
<box id="wall_6" size="0.01,.66,0.08" movable="false">
<body position="-1.066,-.615,0" orientation="30,0,0"/>
</box>
<box id="wall_7" size="0.01,.66,0.08" movable="false">
<body position=".615,1.066,0" orientation="60,0,0"/>
</box>
<box id="wall_8" size="0.01,.66,0.08" movable="false">
<body position="1.066,.615,0" orientation="30,0,0"/>
</box>
<box id="wall_9" size="0.01,.66,0.08" movable="false">
<body position="-.615,1.066,0" orientation="-60,0,0"/>
</box>
<box id="wall_10" size="0.01,.66,0.08" movable="false">
<body position="-1.066,.615,0" orientation="-30,0,0"/>
</box>
<box id="wall_11" size="0.01,.66,0.08" movable="false">
<body position=".615,-1.066,0" orientation="-60,0,0"/>
</box>
<box id="wall_12" size="0.01,.66,0.08" movable="false">
<body position="1.066,-.615,0" orientation="-30,0,0"/>
</box>
<!-- ********** -->
<!-- * E-Puck * -->
<!-- ********** -->
<!-- The epucks are distributed by the AutoMoDeLoopFunctions. -->
<e-puck id="epuck_36_28">
<body orientation="0,0,0" position="-0.2,0.2,0" />
<controller config="automode" />
</e-puck>
<e-puck id="epuck_33_33">
<body orientation="0,0,0" position="-0.1,0.2,0" />
<controller config="automode" />
</e-puck>
<e-puck id="epuck_22_34">
<body orientation="0,0,0" position="0.0,0.2,0" />
<controller config="automode" />
</e-puck>
<e-puck id="epuck_41_40">
<body orientation="0,0,0" position="0.1,0.2,0" />
<controller config="automode" />
</e-puck>
<e-puck id="epuck_37_48">
<body orientation="0,0,0" position="0.2,0.2,0" />
<controller config="automode" />
</e-puck>
<e-puck id="epuck_26_51">
<body orientation="0,0,0" position="-0.2,0.1,0" />
<controller config="automode" />
</e-puck>
<e-puck id="epuck_13_52">
<body orientation="0,0,0" position="-0.1,0.1,0" />
<controller config="automode" />
</e-puck>
<e-puck id="epuck_40_57">
<body orientation="0,0,0" position="0.0,0.1,0" />
<controller config="automode" />
</e-puck>
<e-puck id="epuck_31_72">
<body orientation="0,0,0" position="0.1,0.1,0" />
<controller config="automode" />
</e-puck>
<e-puck id="epuck_30_76">
<body orientation="0,0,0" position="0.2,0.1,0" />
<controller config="automode" />
</e-puck>
<e-puck id="epuck_17_77">
<body orientation="0,0,0" position="-0.2,-0.1,0" />
<controller config="automode" />
</e-puck>
<e-puck id="epuck_45_80">
<body orientation="0,0,0" position="-0.1,-0.1,0" />
<controller config="automode" />
</e-puck>
<e-puck id="epuck_23_82">
<body orientation="0,0,0" position="0.0,-0.1,0" />
<controller config="automode" />
</e-puck>
<e-puck id="epuck_25_83">
<body orientation="0,0,0" position="0.1,-0.1,0" />
<controller config="automode" />
</e-puck>
<e-puck id="epuck_38_84">
<body orientation="0,0,0" position="0.2,-0.1,0" />
<controller config="automode" />
</e-puck>
<e-puck id="epuck_43_85">
<body orientation="0,0,0" position="-0.2,-0.2,0" />
<controller config="automode" />
</e-puck>
<e-puck id="epuck_3_86">
<body orientation="0,0,0" position="-0.1,-0.2,0" />
<controller config="automode" />
</e-puck>
<e-puck id="epuck_24_87">
<body orientation="0,0,0" position="0.0,-0.2,0" />
<controller config="automode" />
</e-puck>
<e-puck id="epuck_16_88">
<body orientation="0,0,0" position="0.1,-0.2,0" />
<controller config="automode" />
</e-puck>
<e-puck id="epuck_10_89">
<body orientation="0,0,0" position="0.2,-0.2,0" />
<controller config="automode" />
</e-puck>
</arena>
<!-- ******************* -->
<!-- * Physics engines * -->
<!-- ******************* -->
<physics_engines>
<iridia_tracking_system
id="its"
translate_x="0"
translate_y="0"
its_host="10.129.240.162"
its_port="4040"
topic="odometry/filtered"
/>
<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>
<camera>
<placement idx="0"
position="0,0,4.5"
look_at="0,0,0"
lens_focal_length="30" />
</camera>
</qt-opengl>
</visualization>
</argos-configuration>