NERO Sensor Configuration Utility
The NERO Sensor Config is an
external tool designed to allow modification to how your robotic operatives
visualize the world around them. Using this tool, you are able to add, remove,
or modify sensors in the brains of your NEROs.
Doing so can open up new windows of opportunity for learning and
exploration. The utility acts in cooperation with the actual game,
modifying one file in which the sensor configuration for the game is stored.
The tool provides the ability to easily edit this configuration file or to
quickly restore the default file if you are unhappy with the results of
your new configuration.
Table of Contents:
The Editing Area
The Sensor Visualization
I. System Requirements:
The NERO Sensor Configuration
Utility was built upon the .NET framework (version 1.1) and it is required to
run the utility. For the *nix and Mac users out there, a cross platform
version of .NET has been produced at http://www.mono-project.com/ .
You will also need a valid genome
file from the NERO game such as the one found in nero/data/neat/ . The default genome file is called 21in5out.gnm. If
the utility cannot directly find this file, it will create a popup window
to let you navigate to it.
II. The Menu:
At the to of the window you should see a menu consisting of
the following options, “File”, “Load Sensor”, and “About”.
“Save” : Saves
the current modifications made into a genome file for later use.
“Exit” : Exits the application.
“Empty” : Clears the
current modifications leaving you with an empty sensor array.
“Default” : Sets
the current modifications to the default NERO settings.
Loads up an information screen about the
NERO Sensor Config Utility.
III. The Editing Area
This is a list of all the sensors currently in your sensor
array. All of these sensors will be
used when training your NERO if you save with this configuration.
In this area you can modify various statistics and fields
for a sensor that you’ve selected from the Sensors subarea.
These checkboxes allow you to designate which sensor
visualizations should be shown in the Sensor Visualization Area. Placing a
check in the type causes the visualization to be enable, and unchecking the type disables the visualization.
This allows you to add or remove sensors from your current
sensor array. Use the options below
the “Add Sensor” button to choose what type of sensor to add. Select a
sensor from the Sensors subarea to delete.
IV. Sensor Visualization Area
In this area, each of the sensors in your sensor array can
be visualized. The types of sensors that are visualized is
determined by the checkboxes in the Draw Sensors portion of the Editing
Area. The visualization shows various properties such as sensor radius and
angle. In terms of where the sensors
are located with respect to the NERO, imagine a top-down view of the NERO and his
forward direction is towards the top of the screen. The current sensor
selected in the Sensors portion of the Editing Area is highlighted in red.
V. TypeMask Builder
When you select a RaySensor in the
Sensors areas of the Editing Area there will be two boxes for editing in
the Sensor Info area labeled “Detect Typemask”
and “Occlude Typemask.” The value inside this box
describes what types of objects a RaySensor will
see in training. If you click on the “…” to the right of the box, the TypeMask builder will open. In this builder, there are an array of checkboxes to select what types of entities
your RaySensor will detect or be occluded by.
Using this, you can create a more sophisticated RaySensor
than is present by default in the game.
The NERO team would like to thank Charles Tarun for creating this utility application. The entire
application was created by him with small hints from the team about how
various aspects of the sensor worked. He is not affiliated with the University of Texas, but has been a great benefit
to the team and the NERO game in general and we really appreciate the work
that he has done.
VII. NERO Sensor Configuration Utility Support
For support, including email addresses, software and
documentation updates, and discussion forums, please visit our website: