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- <?xml version="1.0" ?>
- <argos-configuration>
- <!-- ************************* -->
- <!-- * General configuration * -->
- <!-- ************************* -->
- <framework>
- <system threads="0" />
- <experiment length="0"
- ticks_per_second="10"
- random_seed="124" />
- </framework>
- <!-- *************** -->
- <!-- * Controllers * -->
- <!-- *************** -->
- <controllers>
- <footbot_diffusion_controller id="fdc"
- library="build/controllers/footbot_diffusion/libfootbot_diffusion.so">
- <actuators>
- <wifi implementation="extern" />
- <differential_steering implementation="default" />
- </actuators>
- <sensors>
- <footbot_proximity implementation="default" show_rays="true" />
- </sensors>
- <params alpha="7.5" delta="0.1" velocity="5" />
- </footbot_diffusion_controller>
- </controllers>
- <!-- *********************** -->
- <!-- * Arena configuration * -->
- <!-- *********************** -->
- <arena size="5, 5, 1" center="0,0,0.5">
- <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="10" max_trials="100">
- <foot-bot id="fb">
- <controller config="fdc" />
- </foot-bot>
- </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>
- </media>
- <!-- ****************** -->
- <!-- * Visualization * -->
- <!-- ****************** -->
- <visualization>
- <qt-opengl />
- </visualization>
- </argos-configuration>
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