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expSetup_2bis.argos
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<?xml version="1.0" ?>
<argos-configuration>
<!-- ************************* -->
<!-- * General configuration * -->
<!-- ************************* -->
<framework>
<experiment length="0" ticks_per_second="10" />
<system threads="0" />
</framework>
<!-- *************** -->
<!-- * Controllers * -->
<!-- *************** -->
<controllers>
<lua_controller id="lua1">
<actuators>
<differential_steering implementation="default" />
<leds implementation="default" medium="leds" />
</actuators>
<sensors>
<differential_steering implementation="default" />
<footbot_motor_ground implementation="rot_z_only" />
<footbot_proximity implementation="default" show_rays="false" />
<colored_blob_omnidirectional_camera implementation="rot_z_only" medium="leds" show_rays="true" />
</sensors>
<params/>
</lua_controller>
</controllers>
<!-- *********************** -->
<!-- * Arena configuration * -->
<!-- *********************** -->
<arena size="9, 6, 1" center="0,0,0.5">
<floor id="f" source="image" path="./circuit_01_3.png" />
<box id="bn" size="0.1, 6, 0.2" movable="false">
<body position="4.5,0,0" orientation="0,0,0" />
</box>
<box id="bs" size="0.1, 6, 0.2" movable="false">
<body position="-4.5,0,0" orientation="0,0,0" />
</box>
<box id="be" size="9, 0.1, 0.2" movable="false">
<body position="0,-3,0" orientation="0,0,0" />
</box>
<box id="bw" size="9, 0.1, 0.2" movable="false">
<body position="0,3,0" orientation="0,0,0" />
</box>
<foot-bot id="fb1">
<body position="0.4,0.4,0" orientation="0,0,0" />
<controller config="lua1" />
</foot-bot>
<foot-bot id="fb2">
<body position="0,0.4,0" orientation="0,0,0" />
<controller config="lua1" />
</foot-bot>
<foot-bot id="fb3">
<body position="-0.4,0.4,0" orientation="0,0,0" />
<controller config="lua1" />
</foot-bot>
<foot-bot id="fb4">
<body position="0.4,0,0" orientation="0,0,0" />
<controller config="lua1" />
</foot-bot>
<foot-bot id="fb5">
<body position="0,0,0" orientation="0,0,0" />
<controller config="lua1" />
</foot-bot>
<foot-bot id="fb6">
<body position="-0.4,0,0" orientation="0,0,0" />
<controller config="lua1" />
</foot-bot>
<foot-bot id="fb7">
<body position="0.4,-0.4,0" orientation="0,0,0" />
<controller config="lua1" />
</foot-bot>
<foot-bot id="fb8">
<body position="0,-0.4,0" orientation="0,0,0" />
<controller config="lua1" />
</foot-bot>
<foot-bot id="fb9">
<body position="-0.4,-0.4,0" orientation="0,0,0" />
<controller config="lua1" />
</foot-bot>
</arena>
<!-- ******************* -->
<!-- * Physics engines * -->
<!-- ******************* -->
<physics_engines>
<dynamics2d id="dyn2d" />
</physics_engines>
<!-- ********* -->
<!-- * Media * -->
<!-- ********* -->
<media>
<led id="leds" />
</media>
<!-- ****************** -->
<!-- * Visualization * -->
<!-- ****************** -->
<visualization>
<qt-opengl lua_editor="true">
<camera>
<placement idx="0" position="-2,0.1,8" look_at="-1.5,0.1,0" lens_focal_length="20" />
</camera>
</qt-opengl>
</visualization>
</argos-configuration>