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" + ) + +) This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. ------------------------------------------------------------------------- This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK & win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100&url=/ _______________________________________________ Playerstage-commit mailing list Playerstage-commit@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/playerstage-commit