Revision: 6807
http://playerstage.svn.sourceforge.net/playerstage/?rev=6807&view=rev
Author: rtv
Date: 2008-07-07 21:20:54 -0700 (Mon, 07 Jul 2008)
Log Message:
-----------
renaming things
Modified Paths:
--------------
code/stage/trunk/worlds/ctrl_demo.world
code/stage/trunk/worlds/ubot.inc
Removed Paths:
-------------
code/stage/trunk/worlds/audio.cfg
code/stage/trunk/worlds/audio.world
code/stage/trunk/worlds/fast.world
code/stage/trunk/worlds/table.world
Deleted: code/stage/trunk/worlds/audio.cfg
===================================================================
--- code/stage/trunk/worlds/audio.cfg 2008-07-08 04:13:25 UTC (rev 6806)
+++ code/stage/trunk/worlds/audio.cfg 2008-07-08 04:20:54 UTC (rev 6807)
@@ -1,54 +0,0 @@
-
-# Desc: Player sample configuration file using Stage audio model
-# CVS: $Id: audio.cfg,v 1.2 2006-07-28 00:43:44 pooya Exp $
-
-# load the Stage plugin simulation driver
-driver
-(
- name "stage"
- provides ["simulation:0" ]
- plugin "libstageplugin"
-
- # load the named file into the simulator
- worldfile "audio.world"
-)
-
-# Create a Stage driver and attach position2d and audio interfaces
-# to the model "robot1"
-driver
-(
- name "stage"
- provides ["6665:position2d:0" "6665:opaque:0" ]
- model "robot1"
- alwayson 1
-)
-
-# Create a Stage driver and attach position2d and audio interfaces
-# to the model "robot2"
-driver
-(
- name "stage"
- provides ["6666:position2d:0" "6666:opaque:0" ]
- model "robot2"
- alwayson 1
-)
-
-# Create a Stage driver and attach position2d and audio interfaces
-# to the model "robot3"
-driver
-(
- name "stage"
- provides ["6667:position2d:0" "6667:opaque:0" ]
- model "robot3"
- alwayson 1
-)
-
-# Create a Stage driver and attach position2d and audio interfaces
-# to the model "robot4"
-driver
-(
- name "stage"
- provides ["6668:position2d:0" "6668:opaque:0" ]
- model "robot4"
- alwayson 1
-)
Deleted: code/stage/trunk/worlds/audio.world
===================================================================
--- code/stage/trunk/worlds/audio.world 2008-07-08 04:13:25 UTC (rev 6806)
+++ code/stage/trunk/worlds/audio.world 2008-07-08 04:20:54 UTC (rev 6807)
@@ -1,104 +0,0 @@
-# A Sample world file using audio model
-# CVS: $Id: audio.world,v 1.2 2006-08-01 04:20:49 pooya Exp $
-
-# defines 'map' object used for floorplans
-include "map.inc"
-
-# size of the world in meters
-size [16 16]
-
-# set the resolution of the underlying raytrace model in meters
-resolution 0.02
-
-interval_sim 100 # milliseconds per update step
-interval_real 100 # real-time milliseconds per update step
-
-# update the screen every 10ms (we need fast update for the stest demo)
-gui_interval 20
-
-# configure the GUI window
-window
-(
- size [ 591.000 638.000 ]
- center [-0.010 -0.040]
- scale 0.028
-)
-
-# load an environment bitmap
-# this is the only object in world with audio_return=1.
-# The set of important audio refraction/defraction points will be built only
-# for this model. This model should be fixed and not move.
-# map_resolution should be equal/more than raytracing resolution.
-#
-map
-(
-# bitmap "bitmaps/cave.png"
- bitmap "bitmaps/autolab.png"
- size [16 16]
- name "floorplan"
- map_resolution 0.05
- audio_return 1
-)
-
-# define a simple robot
-define testbot position
-(
- size [0.4 0.4]
-
- polygons 1
- polygon[0].points 10
- polygon[0].point[0] [ 0.1 0.03 ]
- polygon[0].point[1] [ 0.23 0.05 ]
- polygon[0].point[2] [ 0.15 0.15 ]
- polygon[0].point[3] [ -0.15 0.15 ]
- polygon[0].point[4] [ -0.23 0.05 ]
- polygon[0].point[5] [ -0.23 -0.05 ]
- polygon[0].point[6] [ -0.15 -0.15 ]
- polygon[0].point[7] [ 0.15 -0.15 ]
- polygon[0].point[8] [ 0.23 -0.05 ]
- polygon[0].point[9] [ 0.1 -0.03 ]
-
- laser ( size [ 0.1 0.1 ])
-)
-
-# create an audio equipped robot
-testbot
-(
- name "robot1"
- color "red"
- pose [-6.5 6.5 45]
- audio ()
-)
-
-# create another robot
-testbot
-(
- name "robot2"
- color "blue"
- pose [-3.5 -3.0 90]
- audio (
- say "Robot 2"
- say_period 1000
- )
-)
-
-# create another robot
-testbot
-(
- name "robot3"
- color "green"
- pose [3 1.5 0]
- audio (
- say "Robot 3"
- say_period 2700
- )
-)
-
-# create another robot
-testbot
-(
- name "robot4"
- color "orange"
- pose [6.0 -3.0 0]
- audio ()
-)
Modified: code/stage/trunk/worlds/ctrl_demo.world
===================================================================
--- code/stage/trunk/worlds/ctrl_demo.world 2008-07-08 04:13:25 UTC (rev
6806)
+++ code/stage/trunk/worlds/ctrl_demo.world 2008-07-08 04:20:54 UTC (rev
6807)
@@ -9,25 +9,28 @@
window
(
size [ 500.000 500.000 ]
- center [-6 -7]
- rotate [ 0.000 0.000 ]
- scale 26
+ center [-0.077 -0.231]
+ rotate [ 0 0 ]
+ scale 26.000
+ show_data 1 # make sure we can see the effect of the controller
)
floorplan
(
name "cave"
- size3 [16 16 0.5]
- pose [0.000 0.000 0.000]
+ size [16.000 16.000 0.500]
bitmap "bitmaps/cave.png"
)
pioneer2dx
(
- pose [ -7.000 -7.000 45.000 ]
+ pose [ -7.000 -7.000 0 45.000 ]
sicklaser
(
+ # plug the ../examples/ctrl/lasernoise.cc module into this laser
ctrl "lasernoise"
+
+ alwayson 1 # don't wait for a subscriber
)
)
Deleted: code/stage/trunk/worlds/fast.world
===================================================================
--- code/stage/trunk/worlds/fast.world 2008-07-08 04:13:25 UTC (rev 6806)
+++ code/stage/trunk/worlds/fast.world 2008-07-08 04:20:54 UTC (rev 6807)
@@ -1,130 +0,0 @@
-
-# Desc: Stage demo with lots of models. Works with everything.cfg.
-# CVS: $Id: fast.world,v 1.1 2005-05-12 00:43:13 rtv Exp $
-
-# the size of a pixel in Stage's underlying raytrace model in meters
-resolution 0.02
-
-interval_sim 100 # milliseconds per update step
-interval_real 1 # real-time milliseconds per update step
-
-# defines Pioneer-like robots
-include "pioneer.inc"
-
-# defines 'map' object used for floorplans
-include "map.inc"
-
-size [40 20 ]
-
-window( size [ 500.000 250.000 ] center [-9.974 3.550] scale 0.022
fill_polygons 0 )
-
-map(
- bitmap "bitmaps/hospital_section.png"
- size [36 18]
-)
-
-
-# a block for gripping
-model(
- size [ 0.02 0.02 ]
- pose [-9.884 3.043 0.000 ]
- color "green"
-)
-
-define sicklaser laser
-(
- range_min 0.0
- range_max 8.0
- fov 180.0
- samples 180
-
- color "LightBlue"
- size [ 0.14 0.14 ]
-)
-
-# extend the pioneer2dx definition from pioneer.inc
-#
-define laserpioneer pioneer2dx
-(
- sicklaser( fiducialfinder( color "green" obstacle 0 ) )
- blobfinder()
-
- fiducial_return 42
- blobfinder_return 1
-)
-
-
-laserpioneer
-(
- name "p0"
- pose [-10.407 3.028 -360.320]
- gripper( pose [0.240 0.000 0.000] )
- #gripper( pose [0.700 0.000 0.000] size [1.0 1.0] )
-)
-
-laserpioneer
-(
- color "red"
- name "p1"
- pose [-5.834 2.971 -162.098]
-)
-
-laserpioneer
-(
- color "blue"
- name "p2"
- pose [-6.009 2.481 -194.220]
-)
-
-laserpioneer
-(
- color "green"
- name "p3"
- pose [-6.492 2.156 -199.781]
-)
-
-laserpioneer
-(
- color "cyan"
- name "p4"
- pose [-7.641 3.989 -487.216]
-)
-
-laserpioneer
-(
- color "yellow"
- name "p5"
- pose [-6.759 3.634 -110.414]
-)
-
-laserpioneer
-(
- color "magenta"
- name "p6"
- pose [-6.232 3.440 -135.449]
-)
-
-# a silly object to look at
-position(
- name "invader"
- size [0.3 0.3]
- pose [-16.792 -0.128 0.000]
- color "red"
- # loads a bitmap for the model's body
- bitmap "bitmaps/space_invader.png"
- fiducial_return 22
- velocity [0.2 0 0]
- laser_return 2
-)
-
-position(
- name "ghost"
- size [0.3 0.3 ]
- pose [-14.287 -1.548 0.000]
- color "blue"
- # loads a bitmap for the model's body
- bitmap "bitmaps/ghost.png"
- fiducial_return 22
- velocity [0 0.2 0]
- laser_return 2
-)
Deleted: code/stage/trunk/worlds/table.world
===================================================================
--- code/stage/trunk/worlds/table.world 2008-07-08 04:13:25 UTC (rev 6806)
+++ code/stage/trunk/worlds/table.world 2008-07-08 04:20:54 UTC (rev 6807)
@@ -1,50 +0,0 @@
-#
-# A fun color blob demo
-# try driving into the balls
-# works well with the Player client examples/c++/forage
-#
-# $Id: table.world,v 1.3 2002-08-23 02:18:25 rtv Exp $
-#
-
-resolution 0.0125
-
-bitmap
-(
- file "table.pnm.gz"
- resolution 0.0125
-)
-
-define ball puck( size [0.15 0.15] )
-define red_ball ball( color "red" )
-define blue_ball ball( color "blue" )
-
-red_ball ( pose [2.02 1.70 0] )
-red_ball ( pose [2.59 1.99 0] )
-red_ball ( pose [2.02 2.10 0] )
-red_ball ( pose [2.39 1.88 0] )
-red_ball ( pose [1.84 2.02 0] )
-red_ball ( pose [1.85 2.44 0] )
-red_ball ( pose [2.21 2.19 00] )
-blue_ball ( pose [2.40 2.08 0] )
-blue_ball ( pose [2.04 2.31 0] )
-blue_ball ( pose [2.20 1.98 23] )
-blue_ball ( pose [1.82 1.82 0] )
-blue_ball ( pose [1.84 2.24 0] )
-blue_ball ( pose [1.82 1.61 0] )
-blue_ball ( pose [2.02 1.90 0] )
-blue_ball ( pose [2.21 1.79 0] )
-
-position
-(
- pose [4.42 1.95 180] port 6665 shape "circle"
- gripper ( pose [0.15 0.00 0] )
- gps()
- sonar()
- ptz
- (
- pose [0.07 0.00 0]
- vision ( )
- )
-)
-
-
Modified: code/stage/trunk/worlds/ubot.inc
===================================================================
--- code/stage/trunk/worlds/ubot.inc 2008-07-08 04:13:25 UTC (rev 6806)
+++ code/stage/trunk/worlds/ubot.inc 2008-07-08 04:20:54 UTC (rev 6807)
@@ -23,7 +23,7 @@
define ubot reb_position
(
- size [ 0.19 0.19 ]
+ size [ 0.19 0.19 0.19]
offset [ 0.0 0.0 ]
ubot_ir()
)
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