// This is an example description file for specifying the environment // when using TBSim. //====== // SIMULATION BOUNDARY //====== // // bounds left right bottom top // // bounds statements set the bounds of the visible "playing field" in // meters for a simulation. If the aspect ratio of the bounds are not // the same as the graphical area set aside by the simulation, then // the robots may wander off the screen. bounds -5 5 -5 5 //====== // SEED //====== // // seed number // // The seed statement sets the random number seed. The default is // -1 seed 3 //====== // TIME //====== // // time accel_rate // // DEPRECATED. This statement is ignored. //====== // TIMEOUT //====== // // timeout time // // The timeout statement indicates when the simulation will terminate in // milliseconds. The program automatically terminates when this time // is reached. If no timeout statement is given, the default is no // termination. NOTE: you *must* use a timeout with a trials statement. // // timeout 10000 // ten seconds //====== // TRIALS //====== // // trials num_trials // // The trials statement indicates that the simulation should be run // a certain number of times. Each trial automatically terminates when the // timeout time is reached, then a new trial is begun. Note: certain hooks // are available in the ControlSystem class for you to know when trials // begin and end. See the javadoc documentation. // // trials 100 // 100 trials //====== // MAX TIME STEP //====== // // maxtimestep milliseconds // // DEPRECATED. This statement is processed as if it were a "timestep" statment. //====== // TIMESTEP //====== // // timestep milliseconds // // timestep statements set the time (in milliseconds) transpices // between discrete simulation steps. timestep 100 // 1/10th of a second //====== // WINDOWSIZE //====== // // windowsize width height // // The windowsize statement gives a default window size. This can be // overridden on the command line. windowsize 500 500 //====== // BACKGROUND COLOR //====== // // background color // // A background statement sets the background color for the simulation. // The color must be given in hex format as "xRRGGBB" where RR indicates // the red component (00 for none, FF for full), GG is the green component, // and BB is the blue. Here we use white: background xFFFFFF //====== // ROBOTS //====== // // robot robottype controlsystem x y theta forecolor backcolor // visionclass // // robot statements cause a robot with a control system to be instantiated // in the simulation. Be sure to include the full class name for the // abstract robot type and your control system. The x y and theta // parameters set the initial position of the robot in the field. // You can used different colors to tell robots apart from one another. // The visionclass indicates which color the robots see each other as. robot EDU.gatech.cc.is.abstractrobot.MultiForageN150Sim forage 0 -1.5 0 x000000 xFF0000 2 robot EDU.gatech.cc.is.abstractrobot.MultiForageN150Sim forage 0 1.5 0 x000000 xFF0000 2 //====== // OBJECTS //====== // // object objecttype x y theta radius forecolor backcolor visionclass // // Pbject statements instantiate things without control systems (like // balls, bins, obstacles, etc. Be sure to include the full class name for the // object. The x y and theta parameters set the initial position of // object in the field. Forecolor and backcolor are the foreground // and background colors of the object as drawn. The visionclass // parameter is used to put each kind of object into it's own perceptual // class. That way when the simulated sensors of robots look for things // they can be sorted by this identifier. // simulation of bin //object EDU.gatech.cc.is.simulation.ObstacleSim 0 0 0 0.10 xC0C0C0 x000000 4 // obstacles object EDU.gatech.cc.is.simulation.ObstacleSim -2.0 -1.0 0 0.30 xC0C0C0 x000000 2 object EDU.gatech.cc.is.simulation.ObstacleSim 2.0 2.0 0 0.10 xC0C0C0 x000000 2 object EDU.gatech.cc.is.simulation.ObstacleSim 2.3 1.8 0 0.30 xC0C0C0 x000000 2 object EDU.gatech.cc.is.simulation.ObstacleSim -4 4 0 0.25 xC0C0C0 x000000 2 object EDU.gatech.cc.is.simulation.ObstacleSim 4 -3.5 0 0.25 xC0C0C0 x000000 2 object EDU.gatech.cc.is.simulation.ObstacleSim 3.5 -2 0 0.25 xC0C0C0 x000000 2 object EDU.gatech.cc.is.simulation.ObstacleSim -3.5 -2 0 0.25 xC0C0C0 x000000 2 object EDU.gatech.cc.is.simulation.ObstacleSim 3.5 -2 0 0.25 xC0C0C0 x000000 2 object EDU.gatech.cc.is.simulation.ObstacleSim 4.0 4.0 0 0.25 xC0C0C0 x000000 2 // attractors object EDU.gatech.cc.is.simulation.AttractorSim 4.5 1.00 0 0.0762 x0000FF x000000 0 object EDU.gatech.cc.is.simulation.AttractorSim 3.0 -2.0 0 0.0762 x0000FF x000000 0 object EDU.gatech.cc.is.simulation.AttractorSim 1.0 3.50 0 0.0762 x0000FF x000000 0 object EDU.gatech.cc.is.simulation.AttractorSim 0.5 -3.0 0 0.0762 x0000FF x000000 0 object EDU.gatech.cc.is.simulation.AttractorSim -4.5 -4.5 0 0.0762 x0000FF x000000 0 object EDU.gatech.cc.is.simulation.AttractorSim 0.7 1.00 0 0.0762 x0000FF x000000 0 object EDU.gatech.cc.is.simulation.AttractorSim 0.0 2.70 0 0.0762 x0000FF x000000 0 object EDU.gatech.cc.is.simulation.AttractorSim 2.7 0.00 0 0.0762 x0000FF x000000 0 object EDU.gatech.cc.is.simulation.AttractorSim 4.0 -4.0 0 0.0762 x0000FF x000000 0 object EDU.gatech.cc.is.simulation.AttractorSim -2 3.80 0 0.0762 x0000FF x000000 0 object EDU.gatech.cc.is.simulation.SquiggleBallSim 0.9 1.80 0 0.0762 xFFA000 x000000 0 object EDU.gatech.cc.is.simulation.SquiggleBallSim 0.9 1.60 0 0.0762 xFFA000 x000000 0 object EDU.gatech.cc.is.simulation.SquiggleBallSim 0.9 1.40 0 0.0762 xFFA000 x000000 0 object EDU.gatech.cc.is.simulation.SquiggleBallSim 0.9 1.20 0 0.0762 xFFA000 x000000 0 object EDU.gatech.cc.is.simulation.SquiggleBallSim 0.9 1.00 0 0.0762 xFFA000 x000000 0 object EDU.gatech.cc.is.simulation.SquiggleBallSim 0.9 0.80 0 0.0762 xFFA000 x000000 0