argosGoAround/fsm_testing.argos at master · freedomcondor/argosGoAround · GitHub

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<?xml version="1.0" ?>
<argos-configuration>

  <!-- ************************* -->
  <!-- * General configuration * -->
  <!-- ************************* -->
  <framework>
    <experiment length="0" ticks_per_second="5" />
  </framework>

  <!-- *************** -->
  <!-- * Controllers * -->
  <!-- *************** -->
  <controllers>

    <!-- ***************************************************** -->
    <!-- * This is the Lua controller to associate to robots * -->
    <!-- ***************************************************** -->
    <lua_controller id="x">
       <actuators>
        <differential_steering implementation="default" />
        <leds implementation="default" medium="leds" />
      </actuators>
      <sensors>
        <footbot_proximity implementation="default" show_rays="true" />
      </sensors>
      <!--params script="footbot.lua" /-->
      <params script="test_leds.lua" />
      <!--params script="test_eyebot.lua" /-->
    </lua_controller>

  </controllers>

  <!-- Loop Function -->
  <!--loop_functions library="/path/to/libmy_loop_functions.so" label="my_loop_functions" /-->
  <loop_functions library="loopFunction/build/libtestLoopFunction.so" label="testLoopFunction">
  	<entity id="testen">
		<test id = "test"/>
  	</entity>
  </loop_functions>


  <!-- *********************** -->
  <!-- * Arena configuration * -->
  <!-- *********************** -->
  <!-- Note: rotations are specified and performed in ZYX order (opposite of ARGoS1) -->
  <arena size="2, 2, 1" center="0, 0, 0.5">

    <box id="b0" size="1.5,.1,.1" movable="true" mass="1">
      <body position="-.05,-0.75,0" orientation="0,0,0" />
    </box>
    <box id="b1" size="1.5,.1,.1" movable="true" mass="1">
      <body position="-0.75,.05,0" orientation="90,0,0" />
    </box>
    <box id="b2" size="1.5,.1,.1" movable="true" mass="1">
      <body position=".05,0.75,0" orientation="180,0,0" />
    </box>
    <box id="b3" size="1.5,.1,.1" movable="true" mass="1">
      <body position="0.75,-.05,0" orientation="270,0,0" />
    </box>

    <cylinder id="obstacle" radius=".05" height="0.1" movable="true" mass="1">
      <body position="0,0.5,0" orientation="0,0,0" />
    </cylinder>

    <foot-bot id="fb">
      <body position="0,0,0" orientation="0,0,0"/>
      <controller config="x"/>
    </foot-bot>

  </arena>

  <!-- ******************* -->
  <!-- * Physics engines * -->
  <!-- ******************* -->
  <physics_engines>
    <dynamics2d id="dyn2d" iterations="20"/>
    <!--pointmass3d id="pm3d" iterations="20"/-->
  </physics_engines>

  <media>
     <!-- <range_and_bearing id="rab" index="grid" grid_size="2,2,1" /> -->
         <led id="leds" index="grid" grid_size="5,5,1" />
  </media>

  <!-- ****************** -->
  <!-- * Visualization * -->
  <!-- ****************** -->
  <visualization>
    <qt-opengl lua_editor="true">
      <camera>
         <placement idx="0" position="0,0,2.5" look_at="0,0,1.25" up="1,0,0" lens_focal_length="15" />
      </camera>
    </qt-opengl>
  </visualization>

</argos-configuration>