Revision: 7182
http://playerstage.svn.sourceforge.net/playerstage/?rev=7182&view=rev
Author: rtv
Date: 2008-12-01 21:30:15 +0000 (Mon, 01 Dec 2008)
Log Message:
-----------
added walle-like robot include for fun demos
Modified Paths:
--------------
code/stage/trunk/worlds/fasr.world
code/stage/trunk/worlds/simple.world
Added Paths:
-----------
code/stage/trunk/worlds/walle.inc
Modified: code/stage/trunk/worlds/fasr.world
===================================================================
--- code/stage/trunk/worlds/fasr.world 2008-11-28 01:21:44 UTC (rev 7181)
+++ code/stage/trunk/worlds/fasr.world 2008-12-01 21:30:15 UTC (rev 7182)
@@ -5,9 +5,10 @@
include "pioneer.inc"
include "map.inc"
include "sick.inc"
+include "walle.inc"
interval_sim 100 # simulation timestep in milliseconds
-interval_real 50 # real-time interval between simulation updates in
milliseconds
+interval_real 0 # real-time interval between simulation updates in
milliseconds
paused 1
resolution 0.02
@@ -60,25 +61,25 @@
ctrl "sink"
)
-define autorob pioneer2dx
+define autorob walle
+#define autorob pioneer2dx
(
- sicklaser( samples 32 range_max 5 laser_return 2 )
+ #sicklaser( samples 32 range_max 5 laser_return 2 )
ctrl "fasr"
localization "odom"
)
autorob( pose [5.099 4.804 0 -73.937] )
-#autorob( pose [5.099 4.804 0 -73.937] localization_origin [5.099 4.804 0
-73.937] )
-#autorob( pose [6.471 5.304 0 14.941] )
-#autorob( pose [5.937 4.858 0 -147.503] )
-#autorob( pose [7.574 6.269 0 -111.715] )
-#autorob( pose [5.664 5.938 0 -51.799] )
-#autorob( pose [7.016 6.428 0 -128.279] )
-#autorob( pose [5.911 4.040 0 -97.047] )
-#autorob( pose [4.909 6.097 0 -44.366] )
-#autorob( pose [6.898 4.775 0 -117.576] )
-#autorob( pose [7.012 5.706 0 129.497] )
+autorob( pose [6.471 5.304 0 14.941] )
+autorob( pose [5.937 4.858 0 -147.503] )
+autorob( pose [7.574 6.269 0 -111.715] )
+autorob( pose [5.664 5.938 0 -51.799] )
+autorob( pose [7.016 6.428 0 -128.279] )
+autorob( pose [5.911 4.040 0 -97.047] )
+autorob( pose [4.909 6.097 0 -44.366] )
+autorob( pose [6.898 4.775 0 -117.576] )
+autorob( pose [7.012 5.706 0 129.497] )
#autorob( pose [6.616 6.893 0 170.743] )
#autorob( pose [6.451 4.189 0 -61.453] )
Modified: code/stage/trunk/worlds/simple.world
===================================================================
--- code/stage/trunk/worlds/simple.world 2008-11-28 01:21:44 UTC (rev
7181)
+++ code/stage/trunk/worlds/simple.world 2008-12-01 21:30:15 UTC (rev
7182)
@@ -5,6 +5,7 @@
include "pioneer.inc"
include "map.inc"
include "sick.inc"
+include "walle.inc"
interval_sim 100 # simulation timestep in milliseconds
interval_real 0 # real-time interval between simulation updates in
milliseconds
@@ -28,7 +29,7 @@
floorplan
(
name "cave"
- size [17.000 17.000 0.600]
+ size [17.000 17.000 0.800]
pose [8.000 8.000 0 0 ]
bitmap "bitmaps/cave.png"
)
@@ -44,3 +45,5 @@
ctrl "wander"
)
+
+walle( pose [ 3 3 0 ] ctrl "wander" )
\ No newline at end of file
Added: code/stage/trunk/worlds/walle.inc
===================================================================
--- code/stage/trunk/worlds/walle.inc (rev 0)
+++ code/stage/trunk/worlds/walle.inc 2008-12-01 21:30:15 UTC (rev 7182)
@@ -0,0 +1,205 @@
+
+# Desc: A garbage collecting robot
+# Author: Richard Vaughan
+# Date: 21 Nov 2008
+# CVS: $Id: pioneer.inc,v 1.30 2008-01-15 01:25:42 rtv Exp $
+
+
+define walle position
+(
+ color "yellow"
+ drive "diff" # Differential steering model.
+
+ obstacle_return 1 # Can hit things.
+ laser_return 1 # reflects laser beams
+ ranger_return 1 # reflects sonar beams
+ blobfinder_return 1 # Seen by blobfinders
+ fiducial_return 1 # Seen as "1" fiducial finders
+
+ localization "gps"
+
+ size [0.5 0.5 0.5]
+ origin [-0.25 -0.25 0 0 ]
+
+ laser( pose [0.15 0 -0.27 0 ] size [0.01 0.01 0.01] alwayson 1 )
+
+ # body bottom
+ block
+ (
+ points 4
+ point[0] [ 0.1 0.25 ]
+ point[1] [ 0.9 0.25 ]
+ point[2] [ 0.9 0.75 ]
+ point[3] [ 0.1 0.75 ]
+ z [ 0.2 0.6 ]
+ color "yellow"
+ )
+
+ # body top
+ block
+ (
+ points 4
+ point[0] [ 0.1 0.25 ]
+ point[1] [ 0.9 0.25 ]
+ point[2] [ 0.9 0.75 ]
+ point[3] [ 0.1 0.75 ]
+ z [ 0.6 0.7 ]
+ color "gray20"
+ )
+
+ # right wheel
+ block
+ (
+ points 4
+ point[0] [ 1 0 ]
+ point[1] [ 1 0.25 ]
+ point[2] [ 0.0 0.25 ]
+ point[3] [ 0 0.0 ]
+ z [ 0.0 0.4 ]
+ color "gray23"
+ )
+
+ # right wheel
+ block
+ (
+ points 4
+ point[0] [ 1 0.75 ]
+ point[1] [ 1 1 ]
+ point[2] [ 0 1 ]
+ point[3] [ 0 0.75 ]
+ z [ 0.0 0.4 ]
+ color "gray23"
+ )
+
+ # right eye front
+ block
+ (
+ points 4
+ point[0] [0.8 0.30]
+ point[1] [0.8 0.49]
+ point[2] [0.6 0.49]
+ point[3] [0.6 0.30]
+ z [0.8 0.95]
+ color "gray23"
+ )
+
+ # left eye front
+ block
+ (
+ points 4
+ point[0] [0.8 0.51]
+ point[1] [0.8 0.7]
+ point[2] [0.6 0.7]
+ point[3] [0.6 0.51]
+ z [0.8 0.95]
+ color "gray23"
+ )
+
+ # right eye rear
+ block
+ (
+ points 4
+ point[0] [0.6 0.34]
+ point[1] [0.6 0.49]
+ point[2] [0.25 0.49]
+ point[3] [0.25 0.34]
+ z [0.82 0.93]
+ color "gray28"
+ )
+
+ # neck
+ block (
+ points 4
+ point[3] [0.3 0.45]
+ point[2] [0.3 0.55]
+ point[1] [0.4 0.55]
+ point[0] [0.4 0.45]
+ z [0.7 0.9]
+ color "gray28"
+ )
+
+ # right eye rear
+ block
+ (
+ points 4
+ point[0] [0.6 0.51]
+ point[1] [0.6 0.66]
+ point[2] [0.25 0.66]
+ point[3] [0.25 0.51]
+ z [0.82 0.93]
+ color "gray28"
+ )
+
+ # right arm
+ block
+ (
+ points 4
+ point[0] [1.1 0.18]
+ point[1] [1.1 0.25]
+ point[2] [0.35 0.25]
+ point[3] [0.35 0.18]
+ z [0.55 0.65]
+ color "gray28"
+ )
+
+ # left arm
+ block
+ (
+ points 4
+ point[0] [0.35 0.82]
+ point[1] [0.35 0.75]
+ point[2] [1.1 0.75]
+ point[3] [1.1 0.82]
+ z [0.55 0.65]
+ color "gray28"
+ )
+
+ # left hand right finger
+ block
+ (
+ points 4
+ point[0] [1.1 0.78]
+ point[1] [1.1 0.70]
+ point[2] [1.2 0.70]
+ point[3] [1.2 0.78]
+ z [0.5 0.65]
+ color "gray28"
+ )
+
+ # left hand left finger
+ block
+ (
+ points 4
+ point[0] [1.1 0.87]
+ point[1] [1.1 0.79]
+ point[2] [1.2 0.79]
+ point[3] [1.2 0.87]
+ z [0.5 0.65]
+ color "gray28"
+ )
+
+ # right hand right finger
+ block
+ (
+ points 4
+ point[0] [1.1 0.21]
+ point[1] [1.1 0.13]
+ point[2] [1.2 0.13]
+ point[3] [1.2 0.21]
+ z [0.5 0.65]
+ color "gray28"
+ )
+
+ # right hand left finger
+ block
+ (
+ points 4
+ point[0] [1.1 0.30]
+ point[1] [1.1 0.22]
+ point[2] [1.2 0.22]
+ point[3] [1.2 0.30]
+ z [0.5 0.65]
+ color "gray28"
+ )
+
+)
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