Revision: 7242
http://playerstage.svn.sourceforge.net/playerstage/?rev=7242&view=rev
Author: rtv
Date: 2009-01-05 03:07:38 +0000 (Mon, 05 Jan 2009)
Log Message:
-----------
added nice worldfiles provided by UoA
Added Paths:
-----------
code/stage/trunk/worlds/bitmaps/uoa_robotics_lab.png
code/stage/trunk/worlds/uoa_robotics_lab.world
code/stage/trunk/worlds/uoa_robotics_lab_models.inc
Added: code/stage/trunk/worlds/bitmaps/uoa_robotics_lab.png
===================================================================
(Binary files differ)
Property changes on: code/stage/trunk/worlds/bitmaps/uoa_robotics_lab.png
___________________________________________________________________
Added: svn:mime-type
+ image/png
Added: code/stage/trunk/worlds/uoa_robotics_lab.world
===================================================================
--- code/stage/trunk/worlds/uoa_robotics_lab.world
(rev 0)
+++ code/stage/trunk/worlds/uoa_robotics_lab.world 2009-01-05 03:07:38 UTC
(rev 7242)
@@ -0,0 +1,99 @@
+#
+# Desc : This is a stage model of the robotics lab in The University of
Auckland,New Zealand
+# Authors : Nick Wong, Jui Chun(Jimmy) Peng Hsu
+# Date : 21 July 2008
+#
+
+# defines Pioneer-like robots
+include "pioneer.inc"
+
+# defines 'map' object used for floorplans
+include "map.inc"
+
+# defines sick laser
+include "sick.inc"
+
+# defines the models used in the lab
+include "uoa_robotics_lab_models.inc"
+
+# set the resolution of the underlying raytrace model in meters
+resolution 0.02
+
+interval_sim 100 # simulation timestep in milliseconds
+interval_real 100 # real-time interval between simulation updates in
milliseconds
+
+paused 0
+
+# configure the GUI window
+#size [ 745.000 448.000 ]
+#center [-7.010 5.960]
+#rotate [ 0.920 -0.430 ]
+#scale 28.806
+
+
+# load an environment bitmap
+floorplan
+(
+ name "uoa_robotics_lab"
+ # The actual size of the lab
+ size [6.27 15.7 2]
+ pose [0.000 0.000 0.000 0.000]
+ bitmap "bitmaps/uoa_robotics_lab.png"
+)
+
+define autorob fancypioneer2dx
+(
+ color "red"
+ fancysicklaser( pose [ 0.040 0.000 0.000 0.000 ] samples 32 )
+
+ blinkenlight( pose [ 0.150 0.100 0.000 0.000 ] color "red" )
+ blinkenlight( pose [ 0.150 0.000 0.000 0.000 ] color "green" )
+ blinkenlight( pose [ 0.150 -0.1000.000 0.000 ] color "blue" )
+)
+
+autorob( pose [0.000 0.000 0.000] name "r0" )
+
+define t table
+(
+)
+
+define c1 chair1
+(
+)
+
+define c2 chair2
+(
+)
+
+define cab bigCabin
+(
+)
+
+# Place the tables and chairs according to the real lab
+
+t(pose [ -1.802 -2.433 0.000 88.808 ])
+t(pose [ 1.656 2.438 0.000 179.518 ])
+t(pose [ 1.868 -0.771 0.000 179.518 ])
+t(pose [ 1.805 -1.641 0.000 0.000 ])
+t(pose [ 1.465 1.525 0.000 0.000 ])
+t(pose [ -1.398 0.160 0.000 0.000 ])
+t(pose [ -1.371 3.391 0.000 0.000 ])
+t(pose [ -1.375 6.880 0.000 0.000 ])
+t(pose [ -1.392 1.054 0.000 179.518 ])
+t(pose [ -1.381 4.262 0.000 179.518 ])
+
+c1(pose [ -1.393 -2.615 0.000 83.079 ])
+
+c2(pose [ 1.655 -2.070 0.000 0.000 ])
+c2(pose [ 1.904 -0.260 0.000 179.518 ])
+c2(pose [ -1.267 1.458 0.000 177.617 ])
+c2(pose [ -1.481 -0.222 0.000 0.000 ])
+c2(pose [ 0.67 -3.58 0.000 0.000 ])
+c2(pose [ -1.489 2.975 0.000 0.000 ])
+c2(pose [ -1.472 6.475 0.000 0.000 ])
+c2(pose [ 1.787 2.974 0.000 -177.617 ])
+c2(pose [ -0.458 -4.329 0.000 -154.699 ])
+c2(pose [ -1.433 4.669 0.000 -177.617 ])
+
+# A big cabinet used to store robots
+cab(pose [ -1.849 -5.307 0.000 91.673 ])
Added: code/stage/trunk/worlds/uoa_robotics_lab_models.inc
===================================================================
--- code/stage/trunk/worlds/uoa_robotics_lab_models.inc
(rev 0)
+++ code/stage/trunk/worlds/uoa_robotics_lab_models.inc 2009-01-05 03:07:38 UTC
(rev 7242)
@@ -0,0 +1,420 @@
+#
+# Desc : This file defines all the models needed for the uoa_robotics_lab.world
+# Authors : Nick Wong, Jui Chun(Jimmy) Peng Hsu
+# Date : 21 July 2008
+#
+
+define modelBase model
+(
+ obstacle_return 1
+ laser_return 1
+ ranger_return 1
+)
+
+define table modelBase
+(
+
+ # These corresponds to the maximum x y and z of the table in meters.
+ size [1.54 0.80 0.725]
+
+ # Top most piece of the table main surface
+ block(
+ points 4
+ point[3] [ 1.000 -1.000 ]
+ point[2] [ -1.000 -1.000 ]
+ point[1] [ -1.000 1.000 ]
+ point[0] [ 1.000 1.000 ]
+ z [ 0.979 1 ]
+ )
+
+ # Lower piece of the table main surface
+ block (
+ points 4
+ point[3] [ 0.960 -1.000 ]
+ point[2] [ -0.960 -1.000 ]
+ point[1] [ -0.960 1.000 ]
+ point[0] [ 0.960 1.000 ]
+ z [ 0.959 0.979 ]
+ )
+ # Top right leg
+ block (
+ points 4
+ point[3] [ 0.960 0.925 ]
+ point[2] [ 0.920 0.925 ]
+ point[1] [ 0.920 1.000 ]
+ point[0] [ 0.960 1.000 ]
+ z [ 0.0 0.959 ]
+ )
+ # Top left leg
+ block (
+ points 4
+ point[3] [ -0.920 0.925 ]
+ point[2] [ -0.960 0.925 ]
+ point[1] [ -0.960 1.000 ]
+ point[0] [ -0.920 1.000 ]
+ z [ 0.0 0.959 ]
+ )
+ # Bottom right leg
+ block (
+ points 4
+ point[3] [ 0.960 -1.000 ]
+ point[2] [ 0.920 -1.000 ]
+ point[1] [ 0.920 -0.925 ]
+ point[0] [ 0.960 -0.925 ]
+ z [ 0.0 0.959 ]
+ )
+ # Bottom left leg
+ block (
+ points 4
+ point[3] [ -0.960 -0.925 ]
+ point[2] [ -0.920 -0.925 ]
+ point[1] [ -0.920 -1.000 ]
+ point[0] [ -0.960 -1.000 ]
+ z [ 0.0 0.959 ]
+ )
+ # Side support - back
+ block (
+ points 4
+ point[3] [ 0.960 0.925 ]
+ point[2] [ -0.960 0.925 ]
+ point[1] [ -0.960 1.000 ]
+ point[0] [ 0.960 1.000 ]
+ z [ 0.221 0.262 ]
+ )
+ # Side support - right
+ block (
+ points 4
+ point[3] [ 0.960 -1.000 ]
+ point[2] [ 0.920 -1.000 ]
+ point[1] [ 0.920 1.000 ]
+ point[0] [ 0.960 1.000 ]
+ z [ 0.221 0.262 ]
+ )
+ # Side support - left
+ block (
+ points 4
+ point[3] [ -0.920 -1.000 ]
+ point[2] [ -0.960 -1.000 ]
+ point[1] [ -0.960 1.000 ]
+ point[0] [ -0.920 1.000 ]
+ z [ 0.221 0.262 ]
+ )
+ # PC cage bottom support
+ block (
+ points 4
+ point[3] [ 0.960 -1.000 ]
+ point[2] [ 0.587 -1.000 ]
+ point[1] [ 0.587 0.275 ]
+ point[0] [ 0.960 0.275 ]
+ z [ 0.221 0.262 ]
+ )
+ # PC cage left back support pole
+ block (
+ points 4
+ point[3] [ 0.627 0.200 ]
+ point[2] [ 0.587 0.200 ]
+ point[1] [ 0.587 0.275 ]
+ point[0] [ 0.627 0.275 ]
+ z [ 0.221 0.979 ]
+ )
+ # PC cage right back support pole
+ block (
+ points 4
+ point[3] [ 0.960 0.200 ]
+ point[2] [ 0.920 0.200 ]
+ point[1] [ 0.920 0.275 ]
+ point[0] [ 0.960 0.275 ]
+ z [ 0.221 0.979 ]
+ )
+ # PC cage left front support pole
+ block (
+ points 4
+ point[3] [ 0.627 -1.000 ]
+ point[2] [ 0.587 -1.000 ]
+ point[1] [ 0.587 -0.925 ]
+ point[0] [ 0.627 -0.925 ]
+ z [ 0.221 0.979 ]
+ )
+)
+
+define chair1 modelBase
+(
+ # These corresponds to the maximum x y and z of the chair1 in meters.
+ size [0.450 0.450 0.870]
+
+ # Back support of the chair
+ block (
+ points 4
+ point[3] [ 1.000 -1.000 ]
+ point[2] [ -1.000 -1.000 ]
+ point[1] [ -1.000 -0.867 ]
+ point[0] [ 1.000 -0.867 ]
+ z [ 0.483 1.000 ]
+ )
+ # Seat of the chair
+ block (
+ points 4
+ point[3] [ 1.000 -1.000 ]
+ point[2] [ -1.000 -1.000 ]
+ point[1] [ -1.000 1.000 ]
+ point[0] [ 1.000 1.000 ]
+ z [ 0.483 0.517 ]
+ )
+ # Lower stand of the chair
+ block (
+ points 4
+ point[3] [ 1.000 -1.000 ]
+ point[2] [ -1.000 -1.000 ]
+ point[1] [ -1.000 1.000 ]
+ point[0] [ 1.000 1.000 ]
+ z [ 0.0 0.034 ]
+ )
+ # Middle stick of the chair
+ block (
+ points 4
+ point[3] [ 0.100 -0.100 ]
+ point[2] [ -0.100 -0.100 ]
+ point[1] [ -0.100 0.100 ]
+ point[0] [ 0.100 0.100 ]
+ z [ 0.0 0.483 ]
+ )
+)
+
+define chair2 modelBase
+(
+ # These corresponds to the maximum x y and z of the chair1 in meters.
+ size [0.450 0.450 0.870]
+
+ # Back support of the chair
+ block (
+ points 4
+ point[3] [ 1.000 -1.000 ]
+ point[2] [ -1.000 -1.000 ]
+ point[1] [ -1.000 -0.867 ]
+ point[0] [ 1.000 -0.867 ]
+ z [ 0.483 1.000 ]
+ )
+ # Seat of the chair
+ block (
+ points 4
+ point[3] [ 1.000 -1.000 ]
+ point[2] [ -1.000 -1.000 ]
+ point[1] [ -1.000 1.000 ]
+ point[0] [ 1.000 1.000 ]
+ z [ 0.483 0.517 ]
+ )
+ # Lower stand of the chair - right
+ block (
+ points 4
+ point[3] [ 1.000 -1.000 ]
+ point[2] [ 0.867 -1.000 ]
+ point[1] [ 0.867 1.000 ]
+ point[0] [ 1.000 1.000 ]
+ z [ 0.0 0.034 ]
+ )
+ # Right front leg
+ block (
+ points 4
+ point[3] [ 1.000 -1.000 ]
+ point[2] [ 0.867 -1.000 ]
+ point[1] [ 0.867 -0.867 ]
+ point[0] [ 1.000 -0.867 ]
+ z [ 0.0 0.483 ]
+ )
+ # Right back leg
+ block (
+ points 4
+ point[3] [ 1.000 0.867 ]
+ point[2] [ 0.867 0.867 ]
+ point[1] [ 0.867 1.000 ]
+ point[0] [ 1.000 1.000 ]
+ z [ 0.0 0.483 ]
+ )
+ # Left front leg
+ block (
+ points 4
+ point[3] [ -0.867 -1.000 ]
+ point[2] [ -1.000 -1.000 ]
+ point[1] [ -1.000 -0.867 ]
+ point[0] [ -0.867 -0.867 ]
+ z [ 0.0 0.483 ]
+ )
+ # Left back leg
+ block (
+ points 4
+ point[3] [ -0.867 0.867 ]
+ point[2] [ -1.000 0.867 ]
+ point[1] [ -1.000 1.000 ]
+ point[0] [ -0.867 1.000 ]
+ z [ 0.0 0.483 ]
+ )
+ # Lower stand of the chair - left
+ block (
+ points 4
+ point[3] [ -0.867 -1.000 ]
+ point[2] [ -1.000 -1.000 ]
+ point[1] [ -1.000 1.000 ]
+ point[0] [ -0.867 1.000 ]
+ z [ 0.0 0.034 ]
+ )
+)
+define bigCabin modelBase
+(
+ # These corresponds to the maximum x y and z of the chair1 in meters.
+ size [1.540 0.600 1.300]
+
+ # Top plane
+ block (
+ points 4
+ point[3] [ 1.000 -1.000 ]
+ point[2] [ -1.000 -1.000 ]
+ point[1] [ -1.000 1.000 ]
+ point[0] [ 1.000 1.000 ]
+ z [ 1.275 1.300 ]
+ )
+ block (
+ points 4
+ point[3] [ 0.974 -0.933 ]
+ point[2] [ -0.974 -0.933 ]
+ point[1] [ -0.974 0.933 ]
+ point[0] [ 0.974 0.933 ]
+ z [ 1.250 1.275 ]
+ )
+ block (
+ points 4
+ point[3] [ 0.974 -0.933 ]
+ point[2] [ 0.94 -0.933 ]
+ point[1] [ 0.94 0.933 ]
+ point[0] [ 0.974 0.933 ]
+ z [ 0.730 1.250 ]
+ )
+ block (
+ points 4
+ point[3] [ -0.94 0.933 ]
+ point[2] [ -0.94 -0.933 ]
+ point[1] [ -0.974 -0.933 ]
+ point[0] [ -0.974 0.933 ]
+ z [ 0.730 1.250 ]
+ )
+ block (
+ points 4
+ point[3] [ 0.94 0.85 ]
+ point[2] [ -0.94 0.85 ]
+ point[1] [ -0.94 0.933 ]
+ point[0] [ 0.94 0.933 ]
+ z [ 0.730 1.250 ]
+ )
+ block (
+ points 4
+ point[3] [ -0.162 -0.933 ]
+ point[2] [ -0.162 -0.85 ]
+ point[1] [ -0.128 -0.85 ]
+ point[0] [ -0.128 -0.933 ]
+ z [ 0.730 1.250 ]
+ )
+ block (
+ points 4
+ point[3] [ 0.128 -0.933 ]
+ point[2] [ 0.128 -0.85 ]
+ point[1] [ 0.162 -0.85 ]
+ point[0] [ 0.162 -0.933 ]
+ z [ 0.730 1.250 ]
+ )
+ # Middle plane
+ block (
+ points 4
+ point[3] [ 0.974 -0.933 ]
+ point[2] [ -0.974 -0.933 ]
+ point[1] [ -0.974 0.933 ]
+ point[0] [ 0.974 0.933 ]
+ z [ 0.705 0.730 ]
+ )
+# Side walls
+ block (
+ points 4
+ point[3] [ -0.94 0.933 ]
+ point[2] [ -0.94 -0.933 ]
+ point[1] [ -0.974 -0.933 ]
+ point[0] [ -0.974 0.933 ]
+ z [ 0.105 0.705 ]
+ )
+ block (
+ points 4
+ point[3] [ 0.974 -0.933 ]
+ point[2] [ 0.94 -0.933 ]
+ point[1] [ 0.94 0.933 ]
+ point[0] [ 0.974 0.933 ]
+ z [ 0.105 0.705 ]
+ )
+# Beams
+ block (
+ points 4
+ point[3] [ -0.162 -0.933 ]
+ point[2] [ -0.162 -0.85 ]
+ point[1] [ -0.128 -0.85 ]
+ point[0] [ -0.128 -0.933 ]
+ z [ 0.105 0.705 ]
+ )
+ block (
+ points 4
+ point[3] [ 0.128 -0.933 ]
+ point[2] [ 0.128 -0.85 ]
+ point[1] [ 0.162 -0.85 ]
+ point[0] [ 0.162 -0.933 ]
+ z [ 0.105 0.705 ]
+ )
+# Back wall
+ block (
+ points 4
+ point[3] [ 0.94 0.85 ]
+ point[2] [ -0.94 0.85 ]
+ point[1] [ -0.94 0.933 ]
+ point[0] [ 0.94 0.933 ]
+ z [ 0.105 0.705 ]
+ )
+# Bottom plane
+
+ block (
+ points 4
+ point[3] [ 0.974 -0.933 ]
+ point[2] [ -0.974 -0.933 ]
+ point[1] [ -0.974 0.933 ]
+ point[0] [ 0.974 0.933 ]
+ z [ 0.080 0.105 ]
+ )
+# Wheels
+ block (
+ points 4
+ point[3] [ 0.948 -0.933 ]
+ point[2] [ 0.880 -0.760 ]
+ point[1] [ 0.905 -0.69 ]
+ point[0] [ 0.974 -0.867 ]
+ z [ 0.00 0.08 ]
+ )
+ block (
+ points 4
+ point[3] [ -0.948 -0.933 ]
+ point[2] [ -0.880 -0.760 ]
+ point[1] [ -0.905 -0.69 ]
+ point[0] [ -0.974 -0.867 ]
+ z [ 0.00 0.08 ]
+ )
+ block (
+ points 4
+ point[3] [ -0.948 0.933 ]
+ point[2] [ -0.880 0.760 ]
+ point[1] [ -0.905 0.69 ]
+ point[0] [ -0.974 0.867 ]
+ z [ 0.00 0.08 ]
+ )
+ block (
+ points 4
+ point[3] [ 0.948 0.933 ]
+ point[2] [ 0.880 0.760 ]
+ point[1] [ 0.905 0.69 ]
+ point[0] [ 0.974 0.867 ]
+ z [ 0.00 0.08 ]
+ )
+ )
+
+
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