Update of /cvsroot/playerstage/code/stage/worlds
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv3274/worlds
Modified Files:
Tag: opengl
pioneer.inc simple.cfg simple.world
Log Message:
gave blocks height and added 2.5d pioneer model
Index: simple.cfg
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/simple.cfg,v
retrieving revision 1.31.2.8
retrieving revision 1.31.2.9
diff -C2 -d -r1.31.2.8 -r1.31.2.9
*** simple.cfg 21 Jun 2007 01:47:31 -0000 1.31.2.8
--- simple.cfg 8 Jul 2007 02:08:53 -0000 1.31.2.9
***************
*** 19,35 ****
# Create a Stage driver and attach position2d and laser interfaces
# to the model "robot1"
! driver
! (
! name "stage"
! provides ["position2d:0" "graphics3d:0" "laser:0"]
#provides ["laser:0" ]
#provides ["position2d:0" "laser:0" ]
! model "robot1"
! )
!
! driver
! (
! name "stage"
! provides ["6666:position2d:0" "6666:graphics3d:0" ]
! model "robot2"
! )
--- 19,28 ----
# Create a Stage driver and attach position2d and laser interfaces
# to the model "robot1"
! #driver
! #(
! # name "stage"
! #provides [ "laser:0"]
#provides ["laser:0" ]
#provides ["position2d:0" "laser:0" ]
! # model "robot1"
! #)
Index: pioneer.inc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/pioneer.inc,v
retrieving revision 1.27.4.4
retrieving revision 1.27.4.5
diff -C2 -d -r1.27.4.4 -r1.27.4.5
*** pioneer.inc 22 Jun 2007 01:36:24 -0000 1.27.4.4
--- pioneer.inc 8 Jul 2007 02:08:53 -0000 1.27.4.5
***************
*** 7,13 ****
# The Pioneer2DX sonar array
! define p2dx_sonar ranger
(
! size [ 0.44 0.38 0 ] # matches the Pioneer 2-DX dimensions
scount 16 # the number of transducers
--- 7,13 ----
# The Pioneer2DX sonar array
! define p2dx_sonar model # ranger
(
! size [ 0.40 0.33 0.06 ] # matches the Pioneer 2-DX dimensions
scount 16 # the number of transducers
***************
*** 36,46 ****
# define the size of each transducer [xsize ysize] in meters
ssize [0.01 0.05]
)
# a Pioneer 2 or 3 in standard configuration
define pioneer2dx position
(
# actual size
! size [0.44 0.38 0.25] # sizes from MobileRobots' web site
# the pioneer's center of rotation is offset from its center of area
--- 36,67 ----
# define the size of each transducer [xsize ysize] in meters
ssize [0.01 0.05]
+
+ # this block approximates the shape of a pioneer
+ )
+
+
+ define lid model
+ (
+ size [0.44 0.38 0.01] # sizes from MobileRobots' web site
+
+ blocks 1
+ block[0].points 8
+ block[0].point[0] [ 0.23 0.08 ]
+ block[0].point[1] [ 0.18 0.15 ]
+ block[0].point[2] [ -0.18 0.15 ]
+ block[0].point[3] [ -0.23 0.08 ]
+ block[0].point[4] [ -0.23 -0.08 ]
+ block[0].point[5] [ -0.18 -0.15 ]
+ block[0].point[6] [ 0.18 -0.15 ]
+ block[0].point[7] [ 0.23 -0.08 ]
)
+
+
# a Pioneer 2 or 3 in standard configuration
define pioneer2dx position
(
# actual size
! size [0.38 0.33 0.16] # sizes from MobileRobots' web site
# the pioneer's center of rotation is offset from its center of area
***************
*** 52,83 ****
# estimated mass in KG
mass 15.0
!
! # this block approximates the shape of a pioneer
! blocks 1
block[0].points 8
! block[0].point[0] [ 0.23 0.05 ]
! block[0].point[1] [ 0.15 0.15 ]
! block[0].point[2] [ -0.15 0.15 ]
! block[0].point[3] [ -0.23 0.05 ]
! block[0].point[4] [ -0.23 -0.05 ]
! block[0].point[5] [ -0.15 -0.15 ]
! block[0].point[6] [ 0.15 -0.15 ]
! block[0].point[7] [ 0.23 -0.05 ]
! # differential steering model
! drive "diff"
- # uncomment this line if you want to model real pioneers with SICK
- # lasers, where the laser is taller than the robot
- # laser_return 0
# use the sonar array defined above
! #p2dx_sonar( origin [0 0 -0.1 0] )
! )
! #define pioneer2dx_battery pioneer2dx
! #(
! # power( pose [-0.14 0 0] capacity 1000 probe_range 0.50 give 0 give_rate
100 take_rate 100 )
! #)
# The AmigoBot sonar array
--- 73,172 ----
# estimated mass in KG
mass 15.0
!
! # this set of blocks approximates the shape of a pioneer
!
! blocks 6
!
! # main body
block[0].points 8
! block[0].point[0] [ 0.14 0.07 ]
! block[0].point[1] [ 0.12 0.115 ]
! block[0].point[2] [ -0.18 0.115 ]
! block[0].point[3] [ -0.20 0.07 ]
! block[0].point[4] [ -0.20 -0.07 ]
! block[0].point[5] [ -0.18 -0.115 ]
! block[0].point[6] [ 0.12 -0.115 ]
! block[0].point[7] [ 0.14 -0.07 ]
! block[0].height 0.12
! block[0].z_offset 0.04
! # left wheel
! block[1].points 4
! block[1].point[0] [ 0.08 0.16 ]
! block[1].point[1] [ -0.08 0.16 ]
! block[1].point[2] [ -0.08 0.12 ]
! block[1].point[3] [ 0.08 0.12 ]
! block[1].height 0.16
! block[1].z_offset 0.0
!
! # right wheel
! block[2].points 4
! block[2].point[0] [ 0.08 -0.12 ]
! block[2].point[1] [ -0.08 -0.12 ]
! block[2].point[2] [ -0.08 -0.16 ]
! block[2].point[3] [ 0.08 -0.16 ]
! block[2].height 0.16
! block[2].z_offset 0.0
!
! # castor
! block[3].points 4
! block[3].point[3] [ -0.22 0.02 ]
! block[3].point[2] [ -0.16 0.02 ]
! block[3].point[1] [ -0.16 -0.02 ]
! block[3].point[0] [ -0.22 -0.02 ]
! block[3].height 0.04
! block[3].z_offset 0.0
!
! # sonar case
! block[5].points 12
! block[5].point[11] [ 0.115 0.115 ]
! block[5].point[10] [ 0.150 0.080 ]
! block[5].point[9] [ 0.170 0.025 ]
! block[5].point[8] [ 0.170 -0.025 ]
! block[5].point[7] [ 0.150 -0.080 ]
! block[5].point[6] [ 0.115 -0.115 ]
! block[5].point[5] [ -0.195 -0.115 ]
! block[5].point[4] [ -0.230 -0.080 ]
! block[5].point[3] [ -0.250 -0.025 ]
! block[5].point[2] [ -0.250 0.025 ]
! block[5].point[1] [ -0.230 0.080 ]
! block[5].point[0] [ -0.195 0.115 ]
! block[5].height 0.05
! block[5].z_offset 0.16
!
! # lid
! block[4].points 16
! block[4].point[0] [ 0.18 0.0 ]
! block[4].point[1] [ 0.17 0.07 ]
! block[4].point[2] [ 0.14 0.12 ]
! block[4].point[3] [ 0.09 0.16 ]
! block[4].point[4] [ -0.08 0.16 ]
! block[4].point[5] [ -0.10 0.14 ]
! block[4].point[6] [ -0.20 0.14 ]
! block[4].point[7] [ -0.24 0.09 ]
!
! block[4].point[8] [ -0.26 0.0 ]
!
! block[4].point[9] [ -0.24 -0.09 ]
! block[4].point[10] [ -0.20 -0.14 ]
! block[4].point[11] [ -0.10 -0.14 ]
! block[4].point[12] [ -0.08 -0.16 ]
!
! block[4].point[13] [ 0.09 -0.16 ]
! block[4].point[14] [ 0.14 -0.12 ]
! block[4].point[15] [ 0.17 -0.07 ]
!
!
! block[4].height 0.01
! block[4].z_offset 0.21
# use the sonar array defined above
! #p2dx_sonar()
! # differential steering model
! drive "diff"
!
! )
# The AmigoBot sonar array
***************
*** 89,93 ****
spose[2] [ 0.154 0.030 15 ]
spose[3] [ 0.154 -0.030 -15 ]
! spose[4] [ 0.130 -0.078 -41 ]
spose[5] [ 0.073 -0.105 -90 ]
spose[6] [ -0.146 -0.060 -145 ]
--- 178,182 ----
spose[2] [ 0.154 0.030 15 ]
spose[3] [ 0.154 -0.030 -15 ]
! spose[4] [ 0.130 -0.078 -41 ]
spose[5] [ 0.073 -0.105 -90 ]
spose[6] [ -0.146 -0.060 -145 ]
Index: simple.world
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/simple.world,v
retrieving revision 1.64.2.16
retrieving revision 1.64.2.17
diff -C2 -d -r1.64.2.16 -r1.64.2.17
*** simple.world 22 Jun 2007 01:36:24 -0000 1.64.2.16
--- simple.world 8 Jul 2007 02:08:53 -0000 1.64.2.17
***************
*** 26,33 ****
window
(
! size [ 633.000 655.000 ]
! center [7.990 -3.040]
! rotate [ 0.000 0.000 ]
! scale 35.361
show_bboxes 0
show_grid 1
--- 26,33 ----
window
(
! size [ 974.000 884.000 ]
! center [-514.010 103.960]
! rotate [ 1.371 1.110 ]
! scale 199.855
show_bboxes 0
show_grid 1
***************
*** 58,71 ****
name "robot1"
color "red"
! pose [-3.670 1.289 0.000 0.000]
! sick_laser()
)
pioneer2dx
(
! name "robot2"
color "green"
! pose [4.374 4.689 0.000 27.811]
! #sick_laser()
)
--- 58,79 ----
name "robot1"
color "red"
! pose [-2.964 1.415 0.000 773.492]
! sick_laser( pose [ 0.040 0.000 0.000 0.000 ] )
)
pioneer2dx
(
! name "greenrobot"
color "green"
! pose [-1.566 1.866 0.000 -341.747]
! sick_laser( pose [ 0.040 0.000 0.000 0.000 ] )
! )
!
! pioneer2dx
! (
! name "bluerobot"
! color "LightBlue"
! pose [-2.014 1.240 0.000 414.558]
! sick_laser( pose [ 0.040 0.000 0.000 0.000 ] )
)
***************
*** 73,87 ****
(
color "yellow"
! pose [5.775 -2.860 0.000 163.293]
size [1 1 1]
)
! model
(
color "orange"
! #bitmap "bitmaps/cave.png"
! bitmap "bitmaps/space_invader.png"
! pose [2.031 5.013 0.000 0.000]
! size [1 1 0.2]
)
--- 81,102 ----
(
color "yellow"
! pose [6.342 4.741 0.000 206.265]
size [1 1 1]
)
! triangle
(
color "orange"
! pose [4.515 5.393 0.000 240.642]
! size [1 1 0.5]
)
+ #model
+ #(
+ # color "orange"
+ # #bitmap "bitmaps/cave.png"
+ # bitmap "bitmaps/space_invader.png"
+ # pose [2.031 5.013 0.000 0.000]
+ # size [1 1 0.2]
+ #)
+
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