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DDMkhepera_lanes.argos
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DDMkhepera_lanes.argos
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<?xml version="1.0" ?>
<argos-configuration>
<!-- ************************* -->
<!-- * General configuration * -->
<!-- ************************* -->
<framework>
<system threads="8" />
<experiment length="6000"
ticks_per_second="10"
random_seed="4" />
</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" noise_std_dev="0.0"/>
<kheperaiv_proximity implementation="default" show_rays="false" />
<kheperaiv_light implementation="rot_z_only" show_rays="false" />
<kheperaiv_ultrasound implementation="default" show_rays="false" />
<kheperaiv_lidar implementation="default" show_rays="false" />
<range_and_bearing implementation="medium" medium="rab" show_rays="false" noise_std_dev="0" />
<positioning implementation="default" />
</sensors>
<params bytecode_file="../files/buzz_scripts/ddm_khepera.bo" debug_file="../files/buzz_scripts/ddm_khepera.bdb">
<!-- <params bytecode_file="../files/buzz_scripts/explore.bo" debug_file="../files/buzz_scripts/explore.bdb"> -->
<wheel_turning hard_turn_angle_threshold="90"
soft_turn_angle_threshold="70"
no_turn_angle_threshold="10"
max_speed="50" />
</params>
</buzz_controller_kheperaiv>
</controllers>
<loop_functions library="../files/loop_fun_src/build/libDDM_khepera_loop_function.so"
label="DDM_khepera_loop_function"
robots = "150"
dir = "/home/somz/Projects/Hierarchies_to_scale/khepera-simulations/files/data_files/"
seed = "4"
rab_range = "0.4"
rab_range_beacon = "1.2"
rab_data_size = "75"
fill_ratio_white = "0.1"
fill_ratio_black = "0.9"
out_file = "movement_congestion"/>
<!-- *********************** -->
<!-- * Arena configuration * -->
<!-- *********************** -->
<arena size="4.05, 4.85, 5" center="0,0,0.5">
<box id="wall_norther" size="4.05,0.05,0.1" movable="false">
<body position="0,2.4,0" orientation="0,0,0" />
</box>
<box id="wall_souther" size="4.05,0.05,0.1" movable="false">
<body position="0,-2.4,0" orientation="0,0,0" />
</box>
<box id="wall_north" size="4.05,0.05,0.1" movable="false">
<body position="0,2,0" orientation="0,0,0" />
</box>
<box id="wall_south" size="4.05,0.05,0.1" movable="false">
<body position="0,-2,0" orientation="0,0,0" />
</box>
<box id="wall_east" size="0.05,4.85,0.1" movable="false">
<body position="2,0,0" orientation="0,0,0" />
</box>
<box id="wall_west" size="0.05,4.85,0.1" movable="false">
<body position="-2,0,0" orientation="0,0,0" />
</box>
<!-- <box id="lane" size="0.05,0.4,0.1" movable="false">
<body position="0.2,0.8,0" orientation="0,0,0" />
</box> -->
<floor id="floor"
source="loop_functions"
pixels_per_meter="50" />
<light id="light"
position="-1.75,1.95,1"
orientation="0,0,0"
color="yellow"
intensity="1000.0"
medium="leds"/>
<!-- <light id="light1"
position="1.4,1.95,2"
orientation="0,0,0"
color="yellow"
intensity="100.0"
medium="leds"/>
<light id="light2"
position="0.7,1.95,2"
orientation="0,0,0"
color="yellow"
intensity="500.0"
medium="leds"/>
<light id="light3"
position="-1.4,1.95,2"
orientation="0,0,0"
color="yellow"
intensity="100.0"
medium="leds"/>
<light id="light4"
position="-0.7,1.95,2"
orientation="0,0,0"
color="yellow"
intensity="500.0"
medium="leds"/> -->
<!-- <distribute>
<position method="uniform" min="-1.75,-0.9,0" max="1.75,0.9,0" />
<orientation method="gaussian" mean="0,0,0" std_dev="360,0,0" />
<entity quantity="2" max_trials="100">
<kheperaiv id="kh" rab_range="1.5" rab_data_size="5000">
<controller config="khivbz" />
</kheperaiv>
</entity>
</distribute> -->
</arena>
<!-- ******************* -->
<!-- * Physics engines * -->
<!-- ******************* -->
<physics_engines>
<dynamics2d id="dyn2d" />
</physics_engines>
<!-- ********* -->
<!-- * Media * -->
<!-- ********* -->
<media>
<range_and_bearing id="rab" check_occlusions="false"/>
<led id="leds" />
</media>
<!-- ****************** -->
<!-- * Visualization * -->
<!-- ****************** -->
<visualization>
<qt-opengl>
<user_functions label="buzz_qt" />
<camera>
<placements>
<placement index="0" position="0,0,5" look_at="0,0,0" up="0,1,0" lens_focal_length="30" />
</placements>
</camera>
</qt-opengl>
</visualization>
</argos-configuration>