/////////////////////////////////////////////
// Antler configuration block
ProcessConfig = ANTLER
{
MSBetweenLaunches = 200
ExecutablePath =
//crucial processes
Run = MOOSDB @ NewConsole = false
Run = pGenericSensor @ NewConsole=false ~ LASER_FRONT
Run = pGenericSensor @ NewConsole=false ~ LASER_REAR
// Run = pGenericSensor @ NewConsole=false ~ LASER_BOTTOM
// Run = pGenericSensor @ NewConsole=true ~ SONAR_RIG
// Run = pGenericSensor @ NewConsole=false ~ IR_RIG
Run = pMobileRobot_Pioneer @ NewConsole=true
// Run = pMobileRobot_Simul @ NewConsole =false
// Run = pJoystickControl @ NewConsole =false
// Run = pGenericSensor @ NewConsole=true ~ KINECT
// Run = pVision @ NewConsole =false
Run = iRobotGUI2010 @ NewConsole =false
Run = pLocalizationPF @ NewConsole =false
Run = pLocalizationFusion @ NewConsole =false
Run = pNavigatorReactivePTG @ NewConsole =false
Run = pDocking @ NewConsole =true
// Run = pLookAtPoint @ NewConsole=false
//Run = pNeck @ NewConsole=false
//Run = pDomotics_IpPower @ NewConsole=false
Run = pWorldModel @ NewConsole =true
Run = pVoiceVerbio @ NewConsole =true
Run = pAgenda @ NewConsole =true
Run = pPlanner @ NewConsole =TRUE
Run = pExecutor @ NewConsole =TRUE
Run = pStateChart @ NewConsole =true
// Run = pWifiWatch @ NewConsole = false
// Run = SkypeComm @ NewConsole = false
// Run = pRawlog-grabber @ NewConsole = false
// MOOS-Scope: Visualizer of MOOS-DB
//Run = uMS @ NewConsole=false
Run = pDataAcquisition @ NewConsole = false
Run = pBatteryManager @ NewConsole = true
}
ProcessConfig = pDataAcquisition
{
AppTick = 5 //Hz
CommsTick = 5 //Hz
Mode = 1 //Mode, 0: Single Input, 1: Multiple Inputs
m_dwDeviceNum = 0 //The number that identifies the device
Chan = 0 //The sampled channel for Single Input or start one of scanned channels for Multiple Inputs
Gain = 15 //Gain Code: Refer to hardware manual for Code Range
TrigMode = 0 //Trigger Mode, 0: internal trigger, 1:external trigger
}
ProcessConfig = pBatteryManager
{
AppTick = 5 //Hz
CommsTick = 5 //Hz
Battery_V = Volt1 //Battery Voltage Variable
Battery_I = Volt2 //Battery Intensity Variable
Charger_I = Volt3 //Charger Intensity Variable
Conv_Battery_V = 1 //Battery Voltage Conversion Factor
Conv_Battery_I = 9.6 //Battery Intensity Conversion Factor
Conv_Charger_I = 9.6 //Charger Intensity Conversion Factor
Conv_Battery_Life = 8 //Duration of a 10% charge of the battery with 1Ah of consumption (Units = Minutes)
Holding_Current = 0.5 //Charger Holding Current (Units = Amps)
Level_0 = 11.0 //Voltage Level 0, 0% Charged (Units = Volts) Discharged
Level_1 = 11.5 //Voltage Level 1, 10% Charged (Units = Volts) Obligatory recharge level
Level_2 = 11.8 //Voltage Level 2, 20% Charged (Units = Volts) Necessary recharge level
Level_3 = 12.0 //Voltage Level 3, 30% Charged (Units = Volts)
Level_4 = 12.2 //Voltage Level 4, 40% Charged (Units = Volts)
Level_5 = 12.4 //Voltage Level 5, 50% Charged (Units = Volts)
Level_6 = 12.6 //Voltage Level 1, 60% Charged (Units = Volts)
Level_7 = 12.8 //Voltage Level 2, 70% Charged (Units = Volts)
Level_8 = 13.0 //Voltage Level 3, 80% Charged (Units = Volts)
Level_9 = 13.2 //Voltage Level 4, 90% Charged (Units = Volts)
Level_10 = 13.6 //Voltage Level 5, 100% Charged (Units = Volts) Full Charged
Min_I_Charge = 0.3 //Minimum level of intensity for detecting the charging (Units = Amps)
}
ProcessConfig = pMobileRobot_Pioneer
{
CommsTick = 15
AppTick = 15
driver = CActivMediaRobotBase
robotPort_WIN = COM12
robotPort_LIN = /dev/ttyUSB0
robotBaud = 115200
enableSonars = 1 ; 0:Disabled (default), 1: Enabled
}
ProcessConfig = pLocalizationFusion
{
CommsTick = 30
AppTick = 30
}
ProcessConfig = pMobileRobot_Simul
{
CommsTick = 15
AppTick = 15
enable_laser = true
laser_fov_deg = 320 // FOV of the laser, in degrees
// Sensors to emulate on the robot
// ---------------------------------------------------------
show_3d = true // Whether to show the 3D window or not
// The map used to simulate laser scanners and/or sonars:
// ---------------------------------------------------------
// If "simplemap_file" is present, the other map entries are ignored.
simplemap_file = map_pasillo.simplemap
//gridmap_image_file = newmapa.png
gridmap_image_res = 0.1 // Resolution: Size of each pixel (meters)
//gridmap_image_cx = 100 // Pixel coordinates of the origin (0,0)
//gridmap_image_cy = 100 // If not present, use the image center.
}
ProcessConfig = pLocalizationPF
{
CommsTick = 2
AppTick = 2
// The map used as a reference for localization
// ---------------------------------------------------------
// If "simplemap_file" is present, the other map entries are ignored.
//simplemap_file = granada_22MAR2010.simplemap
simplemap_file = ./map_pasillo.simplemap
//simplemap_file = ./_finalmap_.simplemap
//gridmap_image_file = example_map1.png
//gridmap_image_res = 0.05 // Resolution: Size of each pixel (meters)
//gridmap_image_cx = 100 // Pixel coordinates of the origin (0,0)
//gridmap_image_cy = 100 // If not present, use the image center.
// Initial uniform distribution:
X_MIN = -2
X_MAX = 2
Y_MIN = -2
Y_MAX = 2
// Number of initial particles
sampleSize=20000
// The Particle Filter algorithm:
// 0: pfStandardProposal ***
// 1: pfAuxiliaryPFStandard
// 2: pfOptimalProposal
// 3: pfAuxiliaryPFOptimal ***
//
PF_algorithm=0
// The Particle Filter Resampling method:
// 0: prMultinomial
// 1: prResidual
// 2: prStratified
// 3: prSystematic
resamplingMethod=0
// Set to 1 to enable KLD adaptive sample size:
adaptiveSampleSize=1
// Only for algorithm=3 (pfAuxiliaryPFOptimal)
pfAuxFilterOptimal_MaximumSearchSamples=250
// Resampling threshold
BETA=0.5
// KLD-sampling
KLD_binSize_PHI_deg=2.5
KLD_binSize_XY=0.07
KLD_delta=0.01
KLD_epsilon=0.01
KLD_maxSampleSize=40000
KLD_minSampleSize=150
// ====================================================
// MULTIMETRIC MAP CONFIGURATION
// ====================================================
// [MetricMap]
// Creation of maps:
occupancyGrid_count = 1
gasGrid_count = 0
landmarksMap_count = 0
pointsMap_count = 0
beaconMap_count = 0
// Selection of map for likelihood: (fuseAll=-1,occGrid=0, points=1,landmarks=2,gasGrid=3)
likelihoodMapSelection=-1
// ====================================================
// MULTIMETRIC MAP: OccGrid #00
// ====================================================
// Creation Options for OccupancyGridMap 00:
// [MetricMap_occupancyGrid_00_creationOpts]
resolution=0.10
// Insertion Options for OccupancyGridMap 00:
// [MetricMap_occupancyGrid_00_insertOpts]
mapAltitude=0
useMapAltitude=0
maxDistanceInsertion=15
maxOccupancyUpdateCertainty=0.55
considerInvalidRangesAsFreeSpace=0
minLaserScanNoiseStd=0.001
// Likelihood Options for OccupancyGridMap 00:
// [MetricMap_occupancyGrid_00_likelihoodOpts]
likelihoodMethod=4 // 0=MI, 1=Beam Model, 2=RSLC, 3=Cells Difs, 4=LF_Trun, 5=LF_II
LF_decimation=20
LF_stdHit=0.20
LF_maxCorrsDistance=0.30
LF_zHit=0.95
LF_zRandom=0.05
LF_maxRange=80
LF_alternateAverageMethod=0
}
ProcessConfig = pJoystickControl
{
CommsTick = 10
AppTick = 10
max_v = 1 // Maximum linear speed (m/s)
max_w = 20 // Maximum angular speed (deg/s)
}
ProcessConfig = LASER_FRONT
{
CommsTick = 100
AppTick = 200
driver = CHokuyoURG
process_rate = 90 ; Hz
grab_decimation = 3
sensorLabel = LASER1
pose_x = 0.14 ; Laser range scaner 3D position in the robot (meters)
pose_y = 0
pose_z = 0.29
pose_yaw = 0 ; Angles in degrees
pose_pitch = 0
pose_roll = 0
COM_port_WIN = COM16
COM_port_LIN = ttyACM_FRONT
// Optional: Exclusion zones to avoid the robot seeing itself:
//exclusionZone1_x = -0.0.20 0.30 0.30 0.20
//exclusionZone1_y = 0.20 0.30 0.30 0.20
// Optional: Exclusion zones to avoid the robot seeing itself:
exclusionAngles1_ini = 90 // Deg
exclusionAngles1_end =-90 // Deg
}
ProcessConfig = KINECT
{
CommsTick = 100
AppTick = 200
driver = CKinect
process_rate = 90 ; Hz
grab_decimation = 4
sensorLabel = KINECT1
pose_x = 0.13 ; Laser range scaner 3D position in the robot (meters)
pose_y = 0
pose_z = 1.09
pose_yaw = 0 ; Angles in degrees
pose_pitch = 20
pose_roll = 0
initial_tilt_angle = -20
grab_image = true // Grab the RGB image channel? (Default=true)
grab_depth = false // Grab the depth channel? (Default=true)
grab_3D_points = true // Grab the 3D point cloud? (Default=true) If disabled, points can be generated later on.
grab_IMU = false // Grab the accelerometers? (Default=true)
video_channel = VIDEO_CHANNEL_IR // VIDEO_CHANNEL_RGB or VIDEO_CHANNEL_IR
//decimate_type = "simple_decimate"
//rows_to_include =[240 210 180 150 270 300 330 360]
//only_one_of_each = 5
//decimate_type = "regions_decimate"
//regions_decimate_height = 480
//regions_decimate_width = 1
decimate_type = "cols_decimate"
//decimate_type = "customized_decimate"
//COM_port_WIN = COM11
//COM_port_LIN = ttyACM_FRONT
}
ProcessConfig = LASER_REAR
{
CommsTick = 100
AppTick = 200
driver = CHokuyoURG
process_rate = 90 ; Hz
grab_decimation = 3
sensorLabel = LASER2
pose_x = -0.23 ; Laser range scaner 3D position in the robot (meters)
pose_y = 0
pose_z = 0.29
pose_yaw = 180 ; Angles in degrees
pose_pitch = 0
pose_roll = 0
COM_port_WIN = COM15
COM_port_LIN = ttyACM_REAR
exclusionAngles1_ini = 90 // Deg
exclusionAngles1_end =-90 // Deg
}
ProcessConfig = LASER_BOTTOM
{
CommsTick = 100
AppTick = 200
driver = CHokuyoURG
process_rate = 90 ; Hz
grab_decimation = 4
sensorLabel = LASER3
pose_x = 0.15 ; Laser range scaner 3D position in the robot (meters)
pose_y = 0.17
pose_z = 0.02
pose_yaw = 0 ; Angles in degrees
pose_pitch = 0
pose_roll = 180
COM_port_WIN = COM11
COM_port_LIN = ttyACM_BOTTOM
exclusionAngles1_ini = 56 // Deg
exclusionAngles1_end =-130 // Deg
// Optional: Exclusion zones to avoid the robot seeing itself:
//exclusionZone1_x = -0.0.20 0.30 0.30 0.20
//exclusionZone1_y = 0.20 0.30 0.30 0.20
}
ProcessConfig = iRobotGUI2010
{
CommsTick = 4
AppTick = 4
// The 3D model of the robot (empty: default model)
//robot_3DS_model_file = ./mapir_sancho_robot.3ds.gz
mission1 = ./s_patrulla_lab.scxml
mission1_title = Patrullar el laboratorio
mission2 = ./s_patrulla_pasillo.scxml
mission2_title = Patrullar el pasillo entero
mission3 = ./s_patrulla_231.scxml
mission3_title = Ir al laboratorio 2.3.1
mission4 = ./s_patrulla_2310.scxml
mission4_title = Ir al laboratorio 2.3.10
mission5 = ./s_patrulla_lab_pasillo.scxml
mission5_title = Dar un paseo largo
mission6 = ./s_volver.scxml
mission6_title = Volver
stop_mission = ./Objetivo.scxml
}
ProcessConfig = pDocking
{
CommsTick = 15
AppTick = 15
distancia_corte = 2
distancia_comprobacion= 2
longitud_total_patron=22
error_pendiente = 0.05
distancia_parada = 30
v_lineal_f2_len = 0.03
v_lineal_f2_rap = 0.07
agiro_f2_len = 1.5
agiro_f2_rap = 4
v_lineal_mover = 0.12
agiro_mover = 4
demasiado_cerca = 10
lon_sp1i = 3.3
lon_sp1s = 6
lon_sp2i = 2.3
lon_sp2s = 5.8
lon_aux1i = 5
lon_aux1s = 6.5
lon_sp3i = 1.4
lon_sp3s = 4.6
lon_aux2i = 3.5
lon_aux2s = 6
debug=false
}
ProcessConfig = pNavigatorReactivePTG
{
CommsTick = 10
AppTick = 10
// [xs...; ys...; zs...]
virtual_obstacles_file = lab_virtual_obs.txt
// -----------------------------------------------------
// Memory configuration
// -----------------------------------------------------
obs_win_type = "memory_win"
show_short_term_memory = true
//[ROBOT_NAME]
Name=SANCHO
//[GLOBAL_CONFIG]
// 0: VFF, 1: ND
HOLONOMIC_METHOD=1
debugWindows=1
ALARM_SEEMS_NOT_APPROACHING_TARGET_TIMEOUT=100
// ----------------------------------------------------
// Parameters for the "Nearness diagram" Holonomic method
// ----------------------------------------------------
//[ND_CONFIG]
factorWeights=[1.0,0.5,2.0,0.4]
// 1: Free space
// 2: Dist. in sectors
// 3: Closer to target (euclidean)
// 4: Hysteresis
WIDE_GAP_SIZE_PERCENT=0.50
MAX_SECTOR_DIST_FOR_D2_PERCENT=0.25
RISK_EVALUATION_SECTORS_PERCENT=0.25
RISK_EVALUATION_DISTANCE=0.2 //0.15
TARGET_SLOW_APPROACHING_DISTANCE=0.3
TOO_CLOSE_OBSTACLE=0.05 //0.02
// ----------------------------------------------------
// Parameters for the navigation on the ROBOT
// ----------------------------------------------------
//[THE_ROBOT]
weights=[0.5, 0.05, 0.5, 2.0, 0.5, 0.1]
// 1: Free space
// 2: Dist. in sectors
// 3: Heading toward target
// 4: Closer to target (euclidean)
// 5: Hysteresis
// 6: Security Distance
DIST_TO_TARGET_FOR_SENDING_EVENT=1.10 //1.25
// Minimum. distance to target for sending the end event. Set to 0 to send it just on navigation end
MinObstaclesHeight=0.08
// Minimum coordinate in the "z" axis for an obstacle to be taken into account.
MaxObstaclesHeight=1.20
//Maximum coordinate in the "z" axis for an obstacle to be taken into account.
robotMax_V_mps=0.55
//Speed limits 0.4
robotMax_W_degps=25 //20
ROBOTMODEL_DELAY=0
// The delay until motor reaction
ROBOTMODEL_TAU=0
// The TAU time constant of a first order lowpass filter
MAX_REFERENCE_DISTANCE=4.50
WIDE_GAP_SIZE_PERCENT=0.40
RISK_EVALUATION_DISTANCE=0.1
RISK_EVALUATION_SECTORS_PERCENT=0.20
MAX_SECTOR_DIST_FOR_D2_PERCENT=0.25
RESOLUCION_REJILLA_X=0.03
RESOLUCION_REJILLA_Y=0.03
PTG_COUNT=3
// C-PTGs:
// ------------------------------------
PTG0_Type=1
PTG0_nAlfas=300
PTG0_v_max_mps=0.8
PTG0_w_max_gps=40 Run = pNeck @ NewConsole=false
PTG0_K=1.0
PTG1_Type=1
PTG1_nAlfas=300
PTG1_v_max_mps=0.45 //0.4
PTG1_w_max_gps=40
PTG1_K=-1.0
// a-A type PTGs:
// ------------------------------------
PTG2_Type=2
PTG2_nAlfas=300
PTG2_v_max_mps=0.8
PTG2_w_max_gps=40
PTG2_cte_a0v_deg=30
PTG2_cte_a0w_deg=40
//RobotModel_shape2D_xs=[-0.3, 0.22, 0.22, -0.3]
// RobotModel_shape2D_ys=[0.24, 0.24, -0.24, -0.24]
RobotModel_shape2D_xs=[-0.33, 0.23, 0.23, -0.33]
RobotModel_shape2D_ys=[0.25, 0.25, -0.25, -0.25]
}
ProcessConfig = pNeck
{
CommsTick = 10
AppTick = 10
filterDepth = 2
truncateFactor = 0.5
}
ProcessConfig = SONAR_RIG
{
CommsTick = 10
AppTick = 10
driver = CBoardSonars
process_rate = 10 ; Hz
sensorLabel = SONAR1
USB_serialNumber = SONAR001
gain = 5 // Value between 0 and 16, for analog gains between 40 and 700.
maxRange = 7.0 // In meters, used for device internal timer.
minTimeBetweenPings = 0.15 // In seconds
// The order in which sonars will be fired, indexed by their I2C addresses [0,15]
// Up to 16 devices, but you can put any number of devices (from 1 to 16).
firingOrder=0 11 2 4 3 5 1 10 6 8 7 9
// The individual gains of the sonars, indexed by their I2C addresses [0x00, 0x16] Typical: 0x05
// Up to 16 devices, but you can put any number of devices (from 1 to 16).
sonarGains=5 5 5 5 5 5 3 3 3 3 5 5
// The poses of the sonars: x[m] y[m] z[m] yaw[deg] pitch[deg] roll[deg]
// Up to 16 devices, but you can put any number of devices (from 1 to 16).
pose0 = 0.2 -0.16 0.76 -10 0 0
pose1 = 0.2 0.16 0.76 10 0 0
pose2 = 0.2 -0.16 0.56 -5 0 0
pose3 = 0.2 0.16 0.56 5 0 0
pose4 = -0.03 0.2 0.76 90 0 0
pose5 = -0.03 -0.2 0.76 -90 0 0
pose6 = 0.2 0.19 0.12 2 0 0
pose7 = 0.2 -0.19 0.12 -2 0 0
pose8 = -0.27 -0.13 0.11 180 0 0
pose9 = -0.27 0.13 0.11 180 0 0
pose10 = -0.27 -0.13 0.55 180 0 0
pose11 = -0.27 0.13 0.55 180 0 0
}
ProcessConfig = IR_RIG
{
CommsTick = 20
AppTick = 20
driver = CBoardIR
process_rate = 10 ; Hz
sensorLabel = INFRARED1
COM_port_WIN = COM1
COM_port_LIN = ttyUSB1
baudRate = 4800
// The poses of the IR sensors: x[m] y[m] z[m] yaw[deg] pitch[deg] roll[deg]
// Up to 6 devices, but you can put any number of devices (from 1 to 16).
pose0 = -0.2 -0.1 0.05 180 0 0
pose1 = -0.2 +0.1 0.05 180 0 0
pose2 = 0.23 0.21 0.05 0 0 0
pose3 = 0.33 0.05 0.05 0 0 0
pose4 = 0.33 -0.05 0.05 0 0 0
pose5 = 0.23 -0.21 0.05 0 0 0
}
ProcessConfig = pDomotics_IpPower
{
CommsTick = 10
AppTick = 10
// IP address of the IP Power server
IP = 192.168.0.200
user = admin
password =
}
ProcessConfig = pLookAtPoint
{
CommsTick = 10
AppTick = 10
maxRotationSpeed = 120
maxAngleNeck = 10
}
ProcessConfig = pVision
{
CommsTick = 20
AppTick = 40
// If desired, some vision sub-modules can be set to be enabled at start-up
// (default is all disabled at start-up).
// One or more names, separated by spaces and/or commas, from this list:
// DISPLAY_IMAGE
// CAMSHIFT
active_modules =
//DISPLAY_IMAGE //DISPLAY_IMAGE //, CAMSHIFT
// -----------------------------------------------------------------
// MRPT's CCameraSensor-compatible configuration block to select
// which video source to open:
// -----------------------------------------------------------------
driver = CCameraSensor
sensorLabel = CAMERA1
grab_decimation = 3
//bumblebee_frame_width = 640
//bumblebee_frame_height = 480
// Type of camera driver:
grabber_type = opencv
// grabber_type = bumblebee
// grabber_type = ffmpeg
cv_camera_index = 0 // [opencv] Number of camera to open
// ffmpeg_url = /media/ALMACENAMIENTO/Videos/Bienvenidos.Al.Norte.avi // [ffmpeg] The video file or IP camera to open
// =============== Params for DISPLAY_IMAGE ====================
// =============== Params for CAMSHIFT ====================
// =============== Params for FACEDETECTOR ====================
cascadeName = ./haarcascade_frontalface_alt.xml
nestedCascadeName = ./haarcascade_eye_tree_eyeglasses.xml
useNestedCascade = 0
framesRepeatDetect = 200
scale = 1
thresholdSameFace = 1
scaleSearchFace = 0.6
numGeneralSearch = 4
displayMode = 1
traceMode = 1
thresholdExistFace = 3
minSizeDetector = 3
cameraIndex = 0
cameraWidth = 640
cameraHeight = 480
saveVideo = 0
neckTrackMode = true
neckMovFreq = 1
}
ProcessConfig = pRawlog-grabber
{
AppTick = 15 //Hz
CommsTick = 15 //Hz
}
ProcessConfig = pWifiWatch
{
CommsTick = 15
AppTick = 15
GUID = {6F87DE5A-3798-4152-B753-731EC38B0F35}
SSID = BIKT2
}
ProcessConfig = SkypeComm
{
CommsTick = 15
AppTick = 15
SubscribeTo = SAY
}
ProcessConfig = pStateChart
{
CommsTick = 15
AppTick = 15
;;objective_file = demo28M.scxml
;;objective_file =s_patrulla_2310.scxml
}
ProcessConfig = pWorldModel
{
CommsTick = 15
AppTick = 15
world_model_file = test2.xml
}
ProcessConfig = pAgenda
{
CommsTick = 2
AppTick = 2
}
ProcessConfig = pExecutor
{
CommsTick = 25
AppTick = 25
dir = C:\\Librerias\\OpenMORA-src\\trunk\\missions\\mapir_sancho_full_demo_lab236_05-2010\\
num_jokes = 10
joke1=Soy como robocop. Tengo los nervios de acero.
joke2=De mi cerebro cibernético salen pepitas de oro.
joke3=Este es mi lugar de trabajo. Aquí paseo sin parar hasta que me quedo sin baterías.
joke4=Ya va haciendo calorcito no? O es que se me empiezan a chamuscar mis circuitos?
joke5=Creo que me a mi también me está afectando la nube del volcán.
joke6=Hola soy Sancho el guardian del laboratorio
joke7=Mira que insisto pero, no me quieren construir una compañera robótica.
joke8=Para empezar bien el día no hay nada mejor que un buen chupito de aceite.
joke9=Queréis que os cuente un chiste?. Mejor no, seguro que no lo íbais a pillar
joke10=Tengo muy mala memoria. Igual me estoy repitiendo. O no, no me acuerdo.
joke11=
joke12=
joke13=
joke14=
joke15=
joke16=
num_vbles=1
vble1=Complete_Recharge
}
ProcessConfig = pCommon
{
num_actions = 2;;11;;18
actions_names = SAY@MOVE@SAY_TIME@PAUSE_MOVE@RESUME_MOVE@TRACK_OBJECT@STOP_TRACK_OBJECT@PLAY_ITEM@HELLO@START@FIN@WAIT_TO_START@WAIT_TO_PRESENT@PRESENT@SAY_JOKES@END_SAY_JOKES@WAIT_TO_GO@LOOK_AT@PRESENCE_ALERT@WAIT_TIME@GO_TO_RECHARGE
num_elements = 1 //here by now, it should be published by the world model module
}
ProcessConfig = pVoiceVerbio
{
CommsTick = 25
AppTick = 25
say_welcome = Hola Javier, es un placer estar aquí
say_welcome1 = Sí, estoy preparado y con muchas ganas de que me conozcáis
action0=SAY#T#SAY,say#LOCATION
action1=MOVE#T#go to,GO TO#LOCATION
action2=PAUSE_MOVE#NT#pause,PAUSE#
;; action1=PAUSE_MOVE#NT#sancho para,sancho parate#
;; action2=RESUME_MOVE#NT#sancho sigue,sancho puedes seguir#
;; action3=TRACK_OBJECT#NT#mira aqui,busca,busca busca,mira lo que tengo#
;; action3=STOP_TRACK_OBJECT#NT#deja de mirar,no mires,deja de buscar#
action3=PRESENT#NT#sancho comienza la presentación#
action4=HELLO#NT#hola sancho,hola#
action5=HELLO1#NT#sancho estás preparado#
action6=END#NT#sancho puedes irte#
action7=WAIT_TO_START#NT#estado inicial#
action8=START#NT#sancho ven aquí,ven#
action9=WAIT_TO_PRESENT#NT#estado esperando presentacion#
;; action10=SAY_JOKES#NT#Sancho, cuentame un chiste#
;; action11=END_SAY_JOKES#NT#Sancho callate#
action10=WAIT_TO_GO#NT#estado esperando irse#
;; action17=LOOK_AT#NT#mira al destino#
element0=n3#LOCATION#laboratorio de malga,M,S#dos tres seis siete ocho,M,S
}
ProcessConfig = pPlanner
{
CommsTick = 25
AppTick = 25
world_model = demo.gph
planning_domain = domain.pddl
num_actions = 21
//Action Compatibility
actions_names = SAY@MOVE@SAY_TIME@PAUSE_MOVE@RESUME_MOVE@TRACK_OBJECT@STOP_TRACK_OBJECT@PLAY_ITEM@HELLO@START@FIN@WAIT_TO_START@WAIT_TO_PRESENT@PRESENT@SAY_JOKES@END_SAY_JOKES@WAIT_TO_GO@LOOK_AT@PRESENCE_ALERT@WAIT_TIME@GO_TO_RECHARGE
action0 = MOVE PAUSE_MOVE WAIT_TO_START WAIT_TO_GO
action1 = SAY SAY_TIME PAUSE_MOVE RESUME_MOVE WAIT_TO_START WAIT_TO_GO WAIT_TO_PRESENT PLAY_ITEM
action2 = MOVE PAUSE_MOVE WAIT_TO_START
action3 = MOVE SAY SAY_TIME
action4 = SAY SAY_TIME PAUSE_MOVE
action5 = SAY SAY_TIME
action6 = TRACK_OBJECT SAY SAY_TIME
action7 = PAUSE_MOVE STOP_TRACK_OBJECT WAIT_TO_START END LOOK_AT MOVE
action8 = MOVE WAIT_TO_START
action9 = MOVE WAIT_TO_START
action10 = MOVE PLAY_ITEM WAIT_TO_GO
action11 = SAY SAY_TIME PLAY_ITEM START MOVE PRESENT
action12 = SAY SAY_TIME PLAY_ITEM PRESENT MOVE WAIT_TO_PRESENT WAIT_TO_START LOOK_AT
action13 = WAIT_TO_PRESENT
action14 = MOVE PAUSE_MOVE SAY SAY_TIME RESUME_MOVE
action15 = SAY_JOKES
action16 = MOVE
action17 = PLAY_ITEM WAIT_TO_PRESENT
action18 = MOVE
action19 = MOVE
action20 = MOVE
action21 = MOVE
//This means that the action 0 (SAY) is compatible with action 1 (MOVE) and vice versa
}