ARGoS
Large-scale robot simulations
ARGoS Example

mpga-trial.argos

<?xml version="1.0" ?>
 
<!-- *************************************************** -->
<!-- * A fully commented XML is diffusion_1.xml. Refer * -->
<!-- * to it to have full information about what       * -->
<!-- * these options mean.                             * -->
<!-- *************************************************** -->
 
<argos-configuration>
 
  <!-- ************************* -->
  <!-- * General configuration * -->
  <!-- ************************* -->
  <framework>
    <system threads="0" />
    <experiment length="120"
                ticks_per_second="10"
                random_seed="312" />
  </framework>
 
  <!-- *************** -->
  <!-- * Controllers * -->
  <!-- *************** -->
  <controllers>
 
    <footbot_nn_controller id="fnn"
                           library="build/controllers/footbot_nn/libfootbot_nn">
      <actuators>
        <differential_steering implementation="default" />
      </actuators>
      <sensors>
        <footbot_proximity implementation="default"    show_rays="false" />
        <footbot_light     implementation="rot_z_only" show_rays="false" />
      </sensors>
      <!--  put here the network data (best_*.dat files) -->
      <params num_inputs="48"
              num_outputs="2"
              parameter_file="embedding/mpga/best_100.dat" />
    </footbot_nn_controller>
 
  </controllers>
 
  <!-- ****************** -->
  <!-- * Loop functions * -->
  <!-- ****************** -->
  <!-- Attribute 'trial' contains which trial to run (values: [0-4]) -->
  <loop_functions library="build/loop_functions/mpga_loop_functions/libmpga_phototaxis_loop_functions"
                  label="mpga_phototaxis_loop_functions"
                  trial="0" />
 
  <!-- *********************** -->
  <!-- * Arena configuration * -->
  <!-- *********************** -->
  <arena size="6, 6, 2" center="2.5,2.5,1">
 
    <!--
        Here we just put the static elements of the environment (the walls
        and the light).
        The dynamic ones, in this case the foot-bot, are placed by the
        loop functions at the beginning of each experimental run.
    -->
 
    <box id="wall_north" size="5,0.1,0.5" movable="false">
      <body position="2.5,5,0" orientation="0,0,0" />
    </box>
 
    <box id="wall_south" size="5,0.1,0.5" movable="false">
      <body position="2.5,0,0" orientation="0,0,0" />
    </box>
 
    <box id="wall_east" size="0.1,5,0.5" movable="false">
      <body position="0,2.5,0" orientation="0,0,0" />
    </box>
 
    <box id="wall_west" size="0.1,5,0.5" movable="false">
      <body position="5,2.5,0" orientation="0,0,0" />
    </box>
 
    <light id="light"
           position="0,0,1"
           orientation="0,0,0"
           color="yellow"
           intensity="3"
           medium="leds" />
 
  </arena>
 
  <!-- ******************* -->
  <!-- * Physics engines * -->
  <!-- ******************* -->
  <physics_engines>
    <dynamics2d id="dyn2d" />
  </physics_engines>
 
  <!-- ********* -->
  <!-- * Media * -->
  <!-- ********* -->
  <media>
    <led id="leds" />
  </media>
 
  <!-- ****************** -->
  <!-- * Visualization * -->
  <!-- ****************** -->
  <visualization>
    <qt-opengl>
      <camera>
        <placements>
          <placement index="0" position="2.5,2.5,6" look_at="2.5,2.5,0" up="1,0,0" lens_focal_length="20" />
        </placements>
      </camera>
    </qt-opengl>
  </visualization>
 
</argos-configuration>
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