The code that defines the position of the anchors is here . From there, you can see that the center of the body is indeed the center of the body, and the communication anchor is just above it; however, the LED anchor is slightly offset. This reflects the real Kilobot. If you encounter a different re...

ARGoS can be run both with a graphical user interface and without. When it runs without interface, it runs at full speed. When it runs with the user interface, there are two buttons to execute the simulation: the "play" button and the "fast forward" button. The second button also...

how can I increase or decrease simulation time in ARGos relative to real time? In other words, I want to speed up my simulation, for example, exactly 2 times by changing some of the parameters or other stuff. In general (and this is valid for any piece of software), it is impossible to know in adva...

That's an odd bug indeed. I have never encountered, but I can have a look at it after June 7th. Maybe we can set up a Zoom chat and discuss it, because it's an important problem.

You need to contact the authors of that repository, they probably haven't updated their CMake configuration in a couple of years.

Please send me your code.

The ARGoS examples provide all of the things you ask. Check the foraging example for an FSM and the flocking example for physics-based methods.

It's not possible just out-of-the-box, unfortunately. The issue is that typical physics engines assume no border and no wrapping. The physics engine you need should be fixed to allow for wrapping, which would also impact the way collisions are handled. Chipmunk and Bullet, the engines we have at the...

What didn't work for you when you used gdb?

You do it in the loop functions, not in the robot controller. You reimplement the loop function method "IsExperimentFinished()", as shown in the embedding examples. No robot can single-handedly stop the simulation.