ARGoS Example

gripping.argos

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<?xml version="1.0" ?>
<argos-configuration>
 
  <!-- ************************* -->
  <!-- * General configuration * -->
  <!-- ************************* -->
  <framework>
    <system threads="0" />
    <experiment length="20"
                ticks_per_second="10"
                random_seed="124" />
  </framework>
 
  <!-- *************** -->
  <!-- * Controllers * -->
  <!-- *************** -->
  <controllers>
 
    <footbot_gripping_controller id="fgc"
                                 library="build/controllers/footbot_gripping/libfootbot_gripping">
      <actuators>
        <differential_steering implementation="default" />
        <footbot_gripper       implementation="default" />
      </actuators>
      <sensors />
      <params />
    </footbot_gripping_controller>
 
  </controllers>
 
  <!-- *********************** -->
  <!-- * Arena configuration * -->
  <!-- *********************** -->
  <arena size="2,2,1" center="0,0,0.5">
 
    <foot-bot id="f">
      <body position="0,0,0" orientation="0,0,0" />
      <controller config="fgc" />
    </foot-bot>
 
    <!-- To use the cylinder as a grippable object, it is enough to
         set its 'movable' attribute to 'true', and define its
         mass (in kg).
    -->
    <cylinder id="c" height="0.2" radius="0.1" mass="0.1" movable="true">
      <body position="0.5,0,0" orientation="0,0,0" />
    </cylinder>
 
  </arena>
 
  <!-- ******************* -->
  <!-- * Physics engines * -->
  <!-- ******************* -->
  <physics_engines>
    <dynamics2d id="dyn2d" />
  </physics_engines>
 
  <!-- ********* -->
  <!-- * Media * -->
  <!-- ********* -->
  <media />
 
  <!-- ****************** -->
  <!-- * Visualization * -->
  <!-- ****************** -->
  <visualization>
    <qt-opengl>
      <camera>
        <placement idx="0"
                   position="0.251795,1.03178,0.515305"
                   look_at="0.233654,0.0876767,0.186165"
                   lens_focal_length="20" />
      </camera>
    </qt-opengl>
  </visualization>
 
</argos-configuration>
 

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