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>
<placements>
<placement index="0" position="0.251795,1.03178,0.515305" look_at="0.233654,0.0876767,0.186165" lens_focal_length="20" />
</placements>
</camera>
</qt-opengl>
</visualization>
</argos-configuration>
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