C4

Labs/rmi-2223/C4-config.xml

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+<Parameters SimTime="5000" CycleTime="50"
+		CompassNoise="2" BeaconNoise="2" ObstacleNoise="0.1"
+		MotorsNoise="1.5" KeyTime="5000"
+		GPS="Off" GPSLinNoise="0.0" GPSDirNoise="0" 
+        LineSensorTrueProb="0.99"
+		BeaconSensor="Off" 
+		CompassSensor="On" 
+		ScoreSensor="Off" ShowActions="True" NBeacons="0" 
+		NRequestsPerCycle="0" 
+		ObstacleRequestable="Off" BeaconRequestable="Off" 
+		GroundRequestable="Off" CompassRequestable="Off"
+		CollisionRequestable="Off"
+		ObstacleLatency="0" BeaconLatency="0" 
+		GroundLatency="0" CompassLatency="0"
+		CollisionLatency="0"
+		BeaconAperture="3.141593"
+		ReturnTimePenalty="25" ArrivalTimePenalty="100" 
+		CollisionWallPenalty="0" CollisionRobotPenalty="0" 
+		TargetReward="100" HomeReward="100"
+/>

Labs/rmi-2223/C4-grid.xml

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+<Grid>\n"
+   <Position X="4.0" Y="10.0"  Dir="0.0"/>
+</Grid>
+

Labs/rmi-2223/C4-lab.xml

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+<Lab Name="RMI-2223 C3 Lab" Height="14" Width="28">
+		<Beacon X="4" Y="10.0" Height="4.0"/>
+		<Target X="4" Y="10.0" Radius="1.0"/>
+		<Beacon X="16" Y="2.0" Height="4.0"/>
+		<Target X="16" Y="2.0" Radius="1.0"/>
+		<Beacon X="20" Y="8.0" Height="4.0"/>
+		<Target X="20" Y="8.0" Radius="1.0"/>
+		<Beacon X="8" Y="4.0" Height="4.0"/>
+		<Target X="8" Y="4.0" Radius="1.0"/>
+		<Row  Pos="12" Height="0.0" Pattern="                                         "  />
+		<Row  Pos="11" Height="0.0" Pattern="  +  +  +  +--+--+--+--+  +  +--+--+--+  "  />
+		<Row  Pos="10" Height="0.0" Pattern="           |  |        |     |        |  "  />
+		<Row  Pos="9"  Height="0.0" Pattern="  +  +--+--+  +--+--+--+  +--+  +  +--+  "  />
+		<Row  Pos="8"  Height="0.0" Pattern="     |  |  |     |     |  |        |     "  />
+		<Row  Pos="7"  Height="0.0" Pattern="  +  +  +--+  +--+  +  +--+--+--+--+--+  "  />
+		<Row  Pos="6"  Height="0.0" Pattern="     |        |  |     |  |     |     |  "  />
+		<Row  Pos="5"  Height="0.0" Pattern="  +  +--+--+--+  +--+--+--+--+--+  +--+  "  />
+		<Row  Pos="4"  Height="0.0" Pattern="     |           |  |              |     "  />
+		<Row  Pos="3"  Height="0.0" Pattern="  +--+  +--+--+--+  +  +  +--+  +  +--+  "  />
+		<Row  Pos="2"  Height="0.0" Pattern="  |  |  |        |  |     |  |        |  "  />
+		<Row  Pos="1"  Height="0.0" Pattern="  +--+--+--+--+--+  +--+--+  +--+--+--+  "  />
+		<Row  Pos="0"  Height="0.0" Pattern="                                         "  />
+</Lab>
+

startC4

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+#!/bin/bash
+
+ARGS="--param ../Labs/rmi-2223/C4-config.xml"
+ARGS+=" --lab ../Labs/rmi-2223/C4-lab.xml"
+ARGS+=" --grid ../Labs/rmi-2223/C4-grid.xml"
+ARGS+=" --scoring 6"
+(cd simulator; ./simulator $ARGS) &
+
+sleep 2
+
+(cd Viewer; ./Viewer --autoconnect)
+
+killall simulator
+
+echo Bye