moving objects

Requests regarding how to set up experiments in ARGoS.
germanpatt
Posts: 6
Joined: Wed Jul 13, 2022 6:32 pm

moving objects

Postby germanpatt » Mon Aug 08, 2022 6:24 pm

hello pincy, how are you?

is there an easy way to make kilobot push movable cylinders?

thank you in advance!

pincy
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Posts: 612
Joined: Thu Mar 08, 2012 8:04 pm
Location: Boston, MA
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Re: moving objects

Postby pincy » Mon Aug 08, 2022 7:26 pm

All good here! Kilobots can move cylinders, at least in theory, if the cylinders are small enough. What's the specific issue you're encountering?
I made ARGoS.

germanpatt
Posts: 6
Joined: Wed Jul 13, 2022 6:32 pm

Re: moving objects

Postby germanpatt » Tue Aug 09, 2022 6:32 pm

hi again,

it seems that in my experiment, cylinders (also tried boxes) are treated as unmovable objects even though I declare them to be movable. the kilobot collides with them and reorients according to the bot's random behavior

the experiment file is as follows:

Code: Select all

<?xml version="1.0" ?> <argos-configuration> <!-- ************************* --> <!-- * General configuration * --> <!-- ************************* --> <framework> <system threads="0" /> <experiment length="18000" ticks_per_second="30" random_seed="0" /> </framework> <!-- *************** --> <!-- * Controllers * --> <!-- *************** --> <controllers> <kilobot_controller id="ACT"> <actuators> <differential_steering implementation="default" /> <kilobot_communication implementation="default" /> <kilobot_led implementation="default" /> </actuators> <sensors> <kilobot_communication implementation="default" medium="kilocomm" show_rays="false" /> </sensors> <params behavior="build/examples/behaviors/random_3states" /> </kilobot_controller> </controllers> <!-- ****************** --> <!-- * Loop functions * --> <!-- ****************** --> <loop_functions library="build/examples/loop_functions/track_loop_functions/libtrack_loop_functions" label="track_loop_functions" /> <!-- *********************** --> <!-- * Arena configuration * --> <!-- *********************** --> <arena size="0.281, 0.281, 1" center="0,0,0.5"> <box id="wallID0000" size="0.001,0.268,0.05" movable="false"> <body position="0.134,0.000,0" orientation="0.000,0,0" /> </box> <box id="wallID0001" size="0.001,0.268,0.05" movable="false"> <body position="0.134,0.004,0" orientation="1.800,0,0" /> </box> <box id="wallID0002" size="0.001,0.268,0.05" movable="false"> <body position="0.134,0.008,0" orientation="3.600,0,0" /> </box> <box id="wallID0003" size="0.001,0.268,0.05" movable="false"> <body position="0.133,0.013,0" orientation="5.400,0,0" /> </box> <box id="wallID0004" size="0.001,0.268,0.05" movable="false"> <body position="0.133,0.017,0" orientation="7.200,0,0" /> </box> <box id="wallID0005" size="0.001,0.268,0.05" movable="false"> <body position="0.132,0.021,0" orientation="9.000,0,0" /> </box> <box id="wallID0006" size="0.001,0.268,0.05" movable="false"> <body position="0.132,0.025,0" orientation="10.800,0,0" /> </box> <box id="wallID0007" size="0.001,0.268,0.05" movable="false"> <body position="0.131,0.029,0" orientation="12.600,0,0" /> </box> <box id="wallID0008" size="0.001,0.268,0.05" movable="false"> <body position="0.130,0.033,0" orientation="14.400,0,0" /> </box> <box id="wallID0009" size="0.001,0.268,0.05" movable="false"> <body position="0.129,0.037,0" orientation="16.200,0,0" /> </box> <box id="wallID0010" size="0.001,0.268,0.05" movable="false"> <body position="0.127,0.041,0" orientation="18.000,0,0" /> </box> <box id="wallID0011" size="0.001,0.268,0.05" movable="false"> <body position="0.126,0.045,0" orientation="19.800,0,0" /> </box> <box id="wallID0012" size="0.001,0.268,0.05" movable="false"> <body position="0.125,0.049,0" orientation="21.600,0,0" /> </box> <box id="wallID0013" size="0.001,0.268,0.05" movable="false"> <body position="0.123,0.053,0" orientation="23.400,0,0" /> </box> <box id="wallID0014" size="0.001,0.268,0.05" movable="false"> <body position="0.121,0.057,0" orientation="25.200,0,0" /> </box> <box id="wallID0015" size="0.001,0.268,0.05" movable="false"> <body position="0.119,0.061,0" orientation="27.000,0,0" /> </box> <box id="wallID0016" size="0.001,0.268,0.05" movable="false"> <body position="0.117,0.065,0" orientation="28.800,0,0" /> </box> <box id="wallID0017" size="0.001,0.268,0.05" movable="false"> <body position="0.115,0.068,0" orientation="30.600,0,0" /> </box> <box id="wallID0018" size="0.001,0.268,0.05" movable="false"> <body position="0.113,0.072,0" orientation="32.400,0,0" /> </box> <box id="wallID0019" size="0.001,0.268,0.05" movable="false"> <body position="0.111,0.075,0" orientation="34.200,0,0" /> </box> <box id="wallID0020" size="0.001,0.268,0.05" movable="false"> <body position="0.108,0.079,0" orientation="36.000,0,0" /> </box> <box id="wallID0021" size="0.001,0.268,0.05" movable="false"> <body position="0.106,0.082,0" orientation="37.800,0,0" /> </box> <box id="wallID0022" size="0.001,0.268,0.05" 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orientation="81.000,0,0" /> </box> <box id="wallID0046" size="0.001,0.268,0.05" movable="false"> <body position="0.017,0.133,0" orientation="82.800,0,0" /> </box> <box id="wallID0047" size="0.001,0.268,0.05" movable="false"> <body position="0.013,0.133,0" orientation="84.600,0,0" /> </box> <box id="wallID0048" size="0.001,0.268,0.05" movable="false"> <body position="0.008,0.134,0" orientation="86.400,0,0" /> </box> <box id="wallID0049" size="0.001,0.268,0.05" movable="false"> <body position="0.004,0.134,0" orientation="88.200,0,0" /> </box> <box id="wallID0050" size="0.001,0.268,0.05" movable="false"> <body position="0.000,0.134,0" orientation="90.000,0,0" /> </box> <box id="wallID0051" size="0.001,0.268,0.05" movable="false"> <body position="-0.004,0.134,0" orientation="91.800,0,0" /> </box> <box id="wallID0052" size="0.001,0.268,0.05" movable="false"> <body position="-0.008,0.134,0" orientation="93.600,0,0" /> </box> <box id="wallID0053" size="0.001,0.268,0.05" movable="false"> <body 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</box> <box id="wallID0145" size="0.001,0.268,0.05" movable="false"> <body position="-0.021,-0.132,0" orientation="261.000,0,0" /> </box> <box id="wallID0146" size="0.001,0.268,0.05" movable="false"> <body position="-0.017,-0.133,0" orientation="262.800,0,0" /> </box> <box id="wallID0147" size="0.001,0.268,0.05" movable="false"> <body position="-0.013,-0.133,0" orientation="264.600,0,0" /> </box> <box id="wallID0148" size="0.001,0.268,0.05" movable="false"> <body position="-0.008,-0.134,0" orientation="266.400,0,0" /> </box> <box id="wallID0149" size="0.001,0.268,0.05" movable="false"> <body position="-0.004,-0.134,0" orientation="268.200,0,0" /> </box> <box id="wallID0150" size="0.001,0.268,0.05" movable="false"> <body position="-0.000,-0.134,0" orientation="270.000,0,0" /> </box> <box id="wallID0151" size="0.001,0.268,0.05" movable="false"> <body position="0.004,-0.134,0" orientation="271.800,0,0" /> </box> <box id="wallID0152" size="0.001,0.268,0.05" movable="false"> <body 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orientation="300.600,0,0" /> </box> <box id="wallID0168" size="0.001,0.268,0.05" movable="false"> <body position="0.072,-0.113,0" orientation="302.400,0,0" /> </box> <box id="wallID0169" size="0.001,0.268,0.05" movable="false"> <body position="0.075,-0.111,0" orientation="304.200,0,0" /> </box> <box id="wallID0170" size="0.001,0.268,0.05" movable="false"> <body position="0.079,-0.108,0" orientation="306.000,0,0" /> </box> <box id="wallID0171" size="0.001,0.268,0.05" movable="false"> <body position="0.082,-0.106,0" orientation="307.800,0,0" /> </box> <box id="wallID0172" size="0.001,0.268,0.05" movable="false"> <body position="0.085,-0.103,0" orientation="309.600,0,0" /> </box> <box id="wallID0173" size="0.001,0.268,0.05" movable="false"> <body position="0.089,-0.101,0" orientation="311.400,0,0" /> </box> <box id="wallID0174" size="0.001,0.268,0.05" movable="false"> <body position="0.092,-0.098,0" orientation="313.200,0,0" /> </box> <box id="wallID0175" size="0.001,0.268,0.05" movable="false"> <body position="0.095,-0.095,0" orientation="315.000,0,0" /> </box> <box id="wallID0176" size="0.001,0.268,0.05" movable="false"> <body position="0.098,-0.092,0" orientation="316.800,0,0" /> </box> <box id="wallID0177" size="0.001,0.268,0.05" movable="false"> <body position="0.101,-0.089,0" orientation="318.600,0,0" /> </box> <box id="wallID0178" size="0.001,0.268,0.05" movable="false"> <body position="0.103,-0.085,0" orientation="320.400,0,0" /> </box> <box id="wallID0179" size="0.001,0.268,0.05" movable="false"> <body position="0.106,-0.082,0" orientation="322.200,0,0" /> </box> <box id="wallID0180" size="0.001,0.268,0.05" movable="false"> <body position="0.108,-0.079,0" orientation="324.000,0,0" /> </box> <box id="wallID0181" size="0.001,0.268,0.05" movable="false"> <body position="0.111,-0.075,0" orientation="325.800,0,0" /> </box> <box id="wallID0182" size="0.001,0.268,0.05" movable="false"> <body position="0.113,-0.072,0" orientation="327.600,0,0" /> </box> <box id="wallID0183" size="0.001,0.268,0.05" movable="false"> <body position="0.115,-0.068,0" orientation="329.400,0,0" /> </box> <box id="wallID0184" size="0.001,0.268,0.05" movable="false"> <body position="0.117,-0.065,0" orientation="331.200,0,0" /> </box> <box id="wallID0185" size="0.001,0.268,0.05" movable="false"> <body position="0.119,-0.061,0" orientation="333.000,0,0" /> </box> <box id="wallID0186" size="0.001,0.268,0.05" movable="false"> <body position="0.121,-0.057,0" orientation="334.800,0,0" /> </box> <box id="wallID0187" size="0.001,0.268,0.05" movable="false"> <body position="0.123,-0.053,0" orientation="336.600,0,0" /> </box> <box id="wallID0188" size="0.001,0.268,0.05" movable="false"> <body position="0.125,-0.049,0" orientation="338.400,0,0" /> </box> <box id="wallID0189" size="0.001,0.268,0.05" movable="false"> <body position="0.126,-0.045,0" orientation="340.200,0,0" /> </box> <box id="wallID0190" size="0.001,0.268,0.05" movable="false"> <body position="0.127,-0.041,0" orientation="342.000,0,0" /> </box> <box id="wallID0191" size="0.001,0.268,0.05" movable="false"> <body position="0.129,-0.037,0" orientation="343.800,0,0" /> </box> <box id="wallID0192" size="0.001,0.268,0.05" movable="false"> <body position="0.130,-0.033,0" orientation="345.600,0,0" /> </box> <box id="wallID0193" size="0.001,0.268,0.05" movable="false"> <body position="0.131,-0.029,0" orientation="347.400,0,0" /> </box> <box id="wallID0194" size="0.001,0.268,0.05" movable="false"> <body position="0.132,-0.025,0" orientation="349.200,0,0" /> </box> <box id="wallID0195" size="0.001,0.268,0.05" movable="false"> <body position="0.132,-0.021,0" orientation="351.000,0,0" /> </box> <box id="wallID0196" size="0.001,0.268,0.05" movable="false"> <body position="0.133,-0.017,0" orientation="352.800,0,0" /> </box> <box id="wallID0197" size="0.001,0.268,0.05" movable="false"> <body position="0.133,-0.013,0" orientation="354.600,0,0" /> </box> <box id="wallID0198" size="0.001,0.268,0.05" movable="false"> <body position="0.134,-0.008,0" orientation="356.400,0,0" /> </box> <box id="wallID0199" size="0.001,0.268,0.05" movable="false"> <body position="0.134,-0.004,0" orientation="358.200,0,0" /> </box> <distribute> <position method="constant" values="0,0,0" /> <orientation method="uniform" min="0,0,0" max="360,0,0" /> <entity quantity="1" max_trials="10000"> <kilobot id="ACT"> <controller config="ACT" />> </kilobot> </entity> </distribute> <distribute> <position method="uniform" min="-0.125,-0.125,0" max="0.125,0.125,0" /> <orientation method="constant" values="0,0,0" /> <entity quantity="7" max_trials="10000"> <cylinder id="PAS" height="0.035" radius="0.019" mass="0.00001" movable="true" /> </entity> </distribute> </arena> <!-- ******************* --> <!-- * Physics engines * --> <!-- ******************* --> <physics_engines> <dynamics2d id="dyn2d" /> </physics_engines> <!-- ********* --> <!-- * Media * --> <!-- ********* --> <media> <kilobot_communication id="kilocomm" /> </media> <!-- ***************** --> <!-- * Visualization * --> <!-- ***************** --> <visualization> <qt-opengl> <camera> <placements> <placement index="0" position="0,0,2.5" look_at="0,0,0" up="0,-1,0" lens_focal_length="100" /> </placements> </camera> </qt-opengl> </visualization> </argos-configuration>
any idea?
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pincy
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Posts: 612
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Re: moving objects

Postby pincy » Mon Sep 19, 2022 8:34 pm

It might be that the Kilobots don't have enough strength to move the objects. In real life they might be able to, but it's possible that ARGoS is configured to have boxes and cylinder whose static friction is too high.

You can change both the linear and angular friction of the box and cylinder using the attributes "box_linear_friction", "box_angular_friction", "cylinder_linear_friction", and "cylinder_angular_friction". Check the output of

Code: Select all

argos3 -q dynamics2d
for more information.

If lowering the friction doesn't work, you can increase the drag force of the Kilobots. The lines of code to change are here.
I made ARGoS.


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