Loop Functions XML Configuration

The following root XML tags are defined under <loop_functions> in addition to the ones specified in COSM.

Root XML tag	Mandatory For?	Description
output	All	See COSM docs.
arena_map	All	See COSM docs.
temporal_variance	None	See COSM docs.
visualization	None	See COSM docs.
oracle_manager	None	See COSM docs.
structure3D_builder	All controllers	Parameters for the structure builder.
construct_targets	All controllers	Parameters defining the shape/size of the structures to be built.

Any of the following attributes can be added under the metrics tag in place of one of the <append>,<create>,<truncate> tags. Not defining them disables metric collection of the given type.

XML attribute	Description
fsm_collision_counts	See COSM docs.
fsm_collision_locs2D	See COSM docs.
fsm_movement	See COSM docs.
block_acq_counts	See COSM docs.
block_acq_locs	See COSM docs.
block_acq_explore_locs	See COSM docs.
block_acq_vector_locs	See COSM docs.
block_transport	See COSM docs.
task_distribution	See COSM docs.
swarm_dist_pos2D	See COSM docs.
swarm_dist_pos3D	See COSM docs.
tv_population	See COSM docs.
block_manipulation	Free block pickup/block placement counts/penalties.
structure_progress	Counts of block placement for the within the structure.
structure_state	3D occupancy map of cells within the structure with block placement status.
structure_subtargets	Counts of block placement/progress for all subtargets within the structure.

structure3D_builder

• Required by: all.

• Required child attributes if present: [ build_src ].

• Required child tags if present: none.

• Optional child attributes: [ static_build_interval, static_build_interval_count ].

• Optional child tags: [ usage_penalty ].

XML configuration:

<structure3D_builder
    build_src="loop|robot"
    static_bulid_interval="INT"
    static_build_interval_count="INT"
/>

• build_src - The source of block placements for the structure. Valid values are:

  • loop - The structure will be built statically each timestep by the loop functions without robot involvement. Mainly intended as a debugging tool for initial bring up and structure invariant testing.

  • robot - The structure will be built by robots.

• static_build_interval - How many timesteps between invocations of the static builder in the loop functions. Only used if build_src is loop. Defaults to 1 if omitted.

• static_build_count - How blocks to place on the structure when the builder is invoked at the start of an interval. Only used if build_src is loop. Defaults to 1 if omitted.

construct_targets

• Required by: all.

• Required child attributes if present: none.

• Required child tags if present: none.

• Optional child attributes: none.

• Optional child tags: [ ramp, rectprism ].

XML configuration:

<construct_targets>
    <ramp>
        ...
    </ramp>
    <rectprism>
        ...
    </rectprism>
    ...
</construct_targets>

• ramp - Defines a ramp subtarget.

• rectprism - Defines a rectangular prism subtarget.

construct_targets/ramp

• Required by: [none].

• Required child attributes if present: [ anchor, grid, id, orientation ].

• Required child tags if present: [ ramp_blocks, cube_blocks ].

• Optional child attributes: none.

• Optional child tags: none.

XML configuration:

<construct_targets>
    ...
    <ramp anchor="FLOAT,FLOAT,FLOAT"
          id="ramp0"
          orientation="FLOAT">
        <grid>
            ...
        </grid>
        <ramp_blocks>
            ...
        </ramp_blocks>
        <cube_blocks>
            ...
        </cube_blocks>
    </ramp>
    ...
</construct_targets>

• anchor - X,Y,Z coordinates of the lower left hand corner of the structure specifying its absolute location in the arena.

• id - A UUID for the structure.

• orientation - The angle in radians between the X axis of the structure and the X axis of the arena. Can be 0 or pi/2; other values will cause an error.

construct_targets/ramp/grid

• Required by: all.

• Required child attributes if present: [ resolution, size ].

• Required child tags if present: none.

• Optional child attributes: none.

• Optional child tags: none.

XML configuration:

<ramp>
    ...
    <grid
        resolution="FLOAT"
        size="X, Y, Z"/>
    ...
</ramp>

• resolution - The resolution that the structure will be represented at, in terms of the size of grid cells. Must be the same as the value passed to the robot controllers.

• size - The size of the bounding box containing the ramp structure.

construct_targets/ramp/ramp_blocks

• Required by: [none].

• Required child attributes if present: none.

• Required child tags if present: none.

• Optional child attributes: none.

• Optional child tags: [ ramp_block ].

XML configuration:

<ramp>
    ...
    <ramp_blocks>
        <ramp_block cell="INT,INT,INT" id="0">
        <ramp_block cell="INT,INT,INT" id="1">
        ...
    </ramp_blocks>
    ...
</ramp>

Defines the ramp blocks needed to construct the specified ramp construction target. The X,Y,Z coordinates for each cell cell attribute are RELATIVE to the structure anchor (0,0,0 by convention).

construct_targets/ramp/cube_blocks

• Required by: [none].

• Required child attributes if present: none.

• Required child tags if present: none.

• Optional child attributes: none.

• Optional child tags: [ cube_block ].

XML configuration:

<ramp>
    ...
    <cube_blocks>
        <cube_block cell="INT,INT,INT" id="0">
        <cube_block cell="INT,INT,INT" id="1">
        ...
    </cube_blocks>
    ...
</ramp>

Defines the cube blocks needed to construct the specified ramp construction target. The X,Y,Z coordinates for each cube block cell attribute are RELATIVE to the structure anchor (0,0,0 by convention).

construct_targets/cube/cube_blocks

Same as for construct_targets/ramp/cube_blocks.