Recent changes to CustomizingRobots

CustomizingRobots modified by Tomassino Ferrauto

Tomassino Ferrauto — Fri, 20 Nov 2015 10:21:47 -0000

CustomizingRobots modified by Tomassino Ferrauto

Tomassino Ferrauto — Tue, 17 Nov 2015 13:59:20 -0000

CustomizingRobots modified by Tomassino Ferrauto

Tomassino Ferrauto — Sat, 14 Nov 2015 08:52:39 -0000

--- v8
+++ v9
@@ -9,9 +9,9 @@
 How to use and configure the Robots
 ======

-FARSA provide a series of robotic models (i.e. Khepera, ePuck, MarxBot, and iCub) that are ready to use. In your experiment, however, you might need to define how the position and orientation of the robot is initialized at the beginning of each trial. Moreover, you might need to access to the robots' state to perform analisys or to evaluate the robots' performance. In this section we explain how you can do that.
+FARSA provides a series of robotic models (i.e. Khepera, ePuck, MarxBot, and iCub) that are ready to use. In your experiment, however, you might need to define how the position and orientation of the robot is initialized at the beginning of each trial. Moreover, you might need to access to the robots' state to perform analisys or to evaluate the robots' performance. In this section we explain how you can do that.

-The type and number of robots that you want to use should be specified in the configuration file, as illustrated below. You should also specify here whether FARSA should use a kinematic or dynamic mode to simulate the movements of the robots and the effect of the physical interaction between the robots and the environment. The dynamic simulation (which is the default value of the parameter) is much more accurate but also much more computational expensive. The type of sensors and motors that you are going to use should be also be specified in the configuration file.
+For each robot you will find two different classes, one with the same name of the robot (e.g. *Khepera*, *Epuck*, ...) and another one whose name is prefixed with *Phy* (e.g. *PhyKhepera*, *PhyEpuck*, ...). The *Phy* classes are the physical model of the robot and contain all the phsical objects, joints and low-level motors and sensors. The other classes are the component associated with robots. Components expose most of the corresponding robot properties as configuration parameters. For example it is possible to specify whether FARSA should use a kinematic or dynamic mode to simulate the movements of the robots and the effect of the physical interaction between the robots and the environment (the dynamic simulation, which is the default value of the parameter, is much more accurate but also much more computationally expensive). Robot components can be used in the *ROBOT* subgroup of *Experiment* when using an *EvoRobotExperiment* component. In this case it is also possible to specify the number of robots that you want to use, as illustrated below.

 ~~~~~~~~~~~~~~~~
 [Component/GA/Experiment]
@@ -24,4 +24,4 @@
 kinematicRobot = true
 ~~~~~~~~~~~~~~~~

-The initial position and the orientation of the robot in the environment, instead, should be specified in the source code of the experimental plugin as explained in the [Wheeled Robots]([WheeledRobots]) and [The iCub robot]([iCubRobot]) pages.
+The initial position and the orientation of the robot in the environment, should be specified in the source code of the experimental plugin as explained in the [wheeled robots]([WheeledRobots]) and in the [iCub robot]([iCubRobot]) pages.

CustomizingRobots modified by Tomassino Ferrauto

Tomassino Ferrauto — Fri, 13 Nov 2015 10:31:35 -0000

CustomizingRobots modified by Tomassino Ferrauto

Tomassino Ferrauto — Thu, 12 Nov 2015 10:36:31 -0000

--- v6
+++ v7
@@ -1,4 +1,4 @@
-[Prev: The Worldsim Library]([Worldsim]) |  | [Next: Wheeled robots]([WheeledRobots])
+[Prev: The Worldsim Library]([Worldsim]) | [Up: Home]([Home]) | [Next: Wheeled robots]([WheeledRobots])
  -------|--------|----------
         |        |

CustomizingRobots modified by Tomassino Ferrauto

Tomassino Ferrauto — Thu, 12 Nov 2015 10:21:25 -0000

--- v5
+++ v6
@@ -1,3 +1,11 @@
+[Prev: The Worldsim Library]([Worldsim]) |  | [Next: Wheeled robots]([WheeledRobots])
+ -------|--------|----------
+        |        |
+
+**Table of contents**
+
+[TOC]
+
 How to use and configure the Robots
 ======

CustomizingRobots modified by Stefano Nolfi

Stefano Nolfi — Wed, 28 Oct 2015 12:51:58 -0000

--- v4
+++ v5
@@ -1,7 +1,9 @@
-How to use and configure the Robot Component
+How to use and configure the Robots
 ======

-The number of robots concurrently located in the environment, the number of trials and steps, the type of robotic platform (i.e. Khepera, ePuck, or iCub), and the type of simulation (dynamic or kinematic) can and should be specified parametrically in the .ini file as indicated below. 
+FARSA provide a series of robotic models (i.e. Khepera, ePuck, MarxBot, and iCub) that are ready to use. In your experiment, however, you might need to define how the position and orientation of the robot is initialized at the beginning of each trial. Moreover, you might need to access to the robots' state to perform analisys or to evaluate the robots' performance. In this section we explain how you can do that.
+
+The type and number of robots that you want to use should be specified in the configuration file, as illustrated below. You should also specify here whether FARSA should use a kinematic or dynamic mode to simulate the movements of the robots and the effect of the physical interaction between the robots and the environment. The dynamic simulation (which is the default value of the parameter) is much more accurate but also much more computational expensive. The type of sensors and motors that you are going to use should be also be specified in the configuration file.

 ~~~~~~~~~~~~~~~~
 [Component/GA/Experiment]
@@ -14,6 +16,4 @@
 kinematicRobot = true
 ~~~~~~~~~~~~~~~~

-The position and the orientation of the robot in the environment, and the way in which their position is initialized at the beginning of each trial, instead, should be specified within the source code of the experimental plugin as explained in the [Wheeled Robots]([WheeledRobots]) and [The iCub robot]([iCubRobot]) sections.
-
-Finally, the sensory-motor system of the robot, can be configured parametrically by adding and/or removing sensors and motors units. 
+The initial position and the orientation of the robot in the environment, instead, should be specified in the source code of the experimental plugin as explained in the [Wheeled Robots]([WheeledRobots]) and [The iCub robot]([iCubRobot]) pages.

CustomizingRobots modified by Tomassino Ferrauto

Tomassino Ferrauto — Wed, 21 Oct 2015 14:10:24 -0000

--- v3
+++ v4
@@ -14,6 +14,6 @@
 kinematicRobot = true
 ~~~~~~~~~~~~~~~~

-The position and the orientation of the robot in the environment, and the way in which their position is initialized at the beginning of each trial, instead, should be specified within the source code of the experimental plugin as explained in the [Configuring Wheeled Robots] and [Configuring the iCub Robot] sections.
+The position and the orientation of the robot in the environment, and the way in which their position is initialized at the beginning of each trial, instead, should be specified within the source code of the experimental plugin as explained in the [Wheeled Robots]([WheeledRobots]) and [The iCub robot]([iCubRobot]) sections.

 Finally, the sensory-motor system of the robot, can be configured parametrically by adding and/or removing sensors and motors units.

CustomizingRobots modified by Tomassino Ferrauto

Tomassino Ferrauto — Thu, 08 Oct 2015 14:39:04 -0000

Customizing the robots modified by Stefano Nolfi

Stefano Nolfi — Mon, 13 Jan 2014 11:00:47 -0000

--- v1
+++ v2
@@ -3,6 +3,7 @@

 The number of robots concurrently located in the environment, the number of trials and steps, the type of robotic platform (i.e. Khepera, ePuck, or iCub), and the type of simulation (dynamic or kinematic) can and should be specified parametrically in the .ini file as indicated below. 

+~~~~~~~~~~~~~~~~
 [Component/GA/Experiment]
 ntrials = 3
 nsteps = 2000
@@ -11,6 +12,7 @@
 [Component/GA/Experiment/ROBOT]
 type = Khepera
 kinematicRobot = true
+~~~~~~~~~~~~~~~~

 The position and the orientation of the robot in the environment, and the way in which their position is initialized at the beginning of each trial, instead, should be specified within the source code of the experimental plugin as explained in the [Configuring Wheeled Robots] and [Configuring the iCub Robot] sections.