Update of /cvsroot/playerstage/code/stage/worlds
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv5341/worlds
Modified Files:
Tag: opengl
pioneer.inc sick.inc simple.cfg simple.world
Log Message:
working on 2.5d raytracing
Index: simple.cfg
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/simple.cfg,v
retrieving revision 1.31.2.9
retrieving revision 1.31.2.10
diff -C2 -d -r1.31.2.9 -r1.31.2.10
*** simple.cfg 8 Jul 2007 02:08:53 -0000 1.31.2.9
--- simple.cfg 9 Jul 2007 00:03:24 -0000 1.31.2.10
***************
*** 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"
! #)
--- 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 "redrobot"
! )
Index: pioneer.inc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/pioneer.inc,v
retrieving revision 1.27.4.6
retrieving revision 1.27.4.7
diff -C2 -d -r1.27.4.6 -r1.27.4.7
*** pioneer.inc 8 Jul 2007 05:24:05 -0000 1.27.4.6
--- pioneer.inc 9 Jul 2007 00:03:24 -0000 1.27.4.7
***************
*** 57,67 ****
)
-
-
# 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
--- 57,65 ----
)
# a Pioneer 2 or 3 in standard configuration
define pioneer2dx position
(
# actual size
! size [0.44 0.38 0.22] # sizes from MobileRobots' web site
# the pioneer's center of rotation is offset from its center of area
***************
*** 74,79 ****
mass 15.0
-
-
# use the sonar array defined above
#p2dx_sonar()
--- 72,75 ----
***************
*** 83,165 ****
# this set of blocks approximates the shape of a pioneer
- blocks 6
# main body
block[0].points 8
! block[0].point[0] [ 0.14 0.070 ]
! block[0].point[1] [ 0.12 0.115 ]
! block[0].point[2] [ -0.18 0.115 ]
! block[0].point[3] [ -0.20 0.070 ]
! block[0].point[4] [ -0.20 -0.070 ]
! block[0].point[5] [ -0.18 -0.115 ]
! block[0].point[6] [ 0.12 -0.115 ]
! block[0].point[7] [ 0.14 -0.070 ]
! 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 0.00 ]
! 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 0.00 ]
! 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
)
--- 79,182 ----
# this set of blocks approximates the shape of a pioneer
+ # The geometry is from the Webots v5.3.0 manual. Thanks to Webots
+ # and Olivier Michel. If Stage or Gazebo do not do what you want,
+ # take a look at Webots. It's a very nice commercial simulator.
+
+ blocks 7
# main body
block[0].points 8
! block[0].point[7] [ -0.215 -0.1 ]
! block[0].point[6] [ -0.215 0.1 ]
! block[0].point[5] [ -0.185 0.135 ]
! block[0].point[4] [ 0.095 0.135 ]
! block[0].point[3] [ 0.11 0.08 ]
! block[0].point[2] [ 0.11 -0.08 ]
! block[0].point[1] [ 0.095 -0.135 ]
! block[0].point[0] [ -0.185 -0.135 ]
! block[0].z [ 0.059 0.234 ]
!
!
! # sonar case
! block[1].points 9
! block[1].point[0] [ -0.135 0.136 ]
! block[1].point[1] [ -0.185 0.136 ]
! block[1].point[2] [ -0.223 0.101 ]
! block[1].point[3] [ -0.248 0.054 ]
! block[1].point[4] [ -0.258 0 ]
! block[1].point[5] [ -0.248 -0.054 ]
! block[1].point[6] [ -0.223 -0.101 ]
! block[1].point[7] [ -0.185 -0.136 ]
! block[1].point[8] [ -0.135 -0.136 ]
! block[1].z [ 0.184 0.234 ]
!
! #sonar case
! block[2].points 9
! block[2].point[0] [ 0.046 -0.136 ]
! block[2].point[1] [ 0.096 -0.136 ]
! block[2].point[2] [ 0.134 -0.101 ]
! block[2].point[3] [ 0.159 -0.054 ]
! block[2].point[4] [ 0.168 0 ]
! block[2].point[5] [ 0.159 0.054 ]
! block[2].point[6] [ 0.134 0.101 ]
! block[2].point[7] [ 0.096 0.136 ]
! block[2].point[8] [ 0.046 0.136 ]
! block[2].z [ 0.184 0.234 ]
# left wheel
! block[4].points 4
! block[4].point[0] [ 0.083 0.177 ]
! block[4].point[1] [ -0.083 0.177 ]
! block[4].point[2] [ -0.083 0.140 ]
! block[4].point[3] [ 0.083 0.140 ]
! block[4].z [0 0.165 ]
! block[4].color "gray10"
# right wheel
! block[5].points 4
! block[5].point[0] [ 0.083 -0.14 ]
! block[5].point[1] [ -0.083 -0.14 ]
! block[5].point[2] [ -0.083 -0.177 ]
! block[5].point[3] [ 0.083 -0.177 ]
! block[5].z [ 0 0.165 ]
! block[5].color "gray10"
# castor
! block[6].points 4
! block[6].point[3] [ -0.2475 0.012 ]
! block[6].point[2] [ -0.1825 0.012 ]
! block[6].point[1] [ -0.1825 -0.012 ]
! block[6].point[0] [ -0.2475 -0.012 ]
! block[6].z [ 0 0.065 ]
! block[6].color "gray10"
# lid
! block[3].points 22
! block[3].point[21] [ 0.174 0 ]
! block[3].point[20] [ 0.166 -0.056 ]
! block[3].point[19] [ 0.145 -0.107 ]
! block[3].point[18] [ 0.112 -0.155 ]
! block[3].point[17] [ 0.064 -0.190 ]
! block[3].point[16] [ -0.074 -0.190 ]
! block[3].point[15] [ -0.096 -0.160 ]
! block[3].point[14] [ -0.151 -0.160 ]
! block[3].point[13] [ -0.2 -0.155 ]
! block[3].point[12] [ -0.236 -0.107 ]
! block[3].point[11] [ -0.256 -0.056 ]
! block[3].point[10] [ -0.264 0 ]
! block[3].point[9] [ -0.256 0.056 ]
! block[3].point[8] [ -0.236 0.107 ]
! block[3].point[7] [ -0.2 0.155 ]
! block[3].point[6] [ -0.151 0.160 ]
! block[3].point[5] [ -0.096 0.160 ]
! block[3].point[4] [ -0.074 0.190 ]
! block[3].point[3] [ 0.064 0.190 ]
! block[3].point[2] [ 0.112 0.155 ]
! block[3].point[1] [ 0.145 0.107 ]
! block[3].point[0] [ 0.166 0.056 ]
! block[3].z [ 0.234 0.24 ]
! # a dark top looks more realistic, but isn't very useful
! # for a top-down view
! #block[3].color "gray10"
)
Index: simple.world
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/simple.world,v
retrieving revision 1.64.2.18
retrieving revision 1.64.2.19
diff -C2 -d -r1.64.2.18 -r1.64.2.19
*** simple.world 8 Jul 2007 05:24:05 -0000 1.64.2.18
--- simple.world 9 Jul 2007 00:03:25 -0000 1.64.2.19
***************
*** 6,15 ****
--- 6,24 ----
include "pioneer.inc"
+
+
+
# defines 'map' object used for floorplans
include "map.inc"
+
+
+
# defines sick laser
include "sick.inc"
+
+
+
# size of the world in meters
size [16 16]
***************
*** 24,30 ****
(
size [ 779.000 820.000 ]
! center [-0.010 -4.040]
rotate [ 0.000 0.000 ]
! scale 46.749
show_bboxes 0
show_grid 1
--- 33,39 ----
(
size [ 779.000 820.000 ]
! center [-39.010 278.960]
rotate [ 0.000 0.000 ]
! scale 110.345
show_bboxes 0
show_grid 1
***************
*** 54,60 ****
pioneer2dx
(
! name "robot1"
color "red"
! pose [-2.964 1.415 0.000 773.492]
sick_laser( pose [ 0.040 0.000 0.000 0.000 ] )
)
--- 63,69 ----
pioneer2dx
(
! name "redrobot"
color "red"
! pose [ 0.871 2.870 0.000 -146.104 ]
sick_laser( pose [ 0.040 0.000 0.000 0.000 ] )
)
***************
*** 68,78 ****
)
! 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 ] )
! )
triangle
--- 77,87 ----
)
! #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 ] )
! #)
triangle
Index: sick.inc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/sick.inc,v
retrieving revision 1.1.6.5
retrieving revision 1.1.6.6
diff -C2 -d -r1.1.6.5 -r1.1.6.6
*** sick.inc 22 Jun 2007 01:36:24 -0000 1.1.6.5
--- sick.inc 9 Jul 2007 00:03:24 -0000 1.1.6.6
***************
*** 11,14 ****
color "blue"
! size [ 0.156 0.155 0.15 ] # dimensions from LMS200 data sheet
)
--- 11,49 ----
color "blue"
! size [ 0.156 0.155 0.19 ] # dimensions from LMS200 data sheet
!
! blocks 4
!
! # bottom
! block[0].points 4
! block[0].point[0] [ -0.02 -0.077 ]
! block[0].point[1] [ 0.078 -0.077 ]
! block[0].point[2] [ 0.078 0.077 ]
! block[0].point[3] [ -0.02 0.077 ]
! block[0].z [0 0.02 ]
!
! # back
! block[1].points 4
! block[1].point[0] [ -0.078 -0.077 ]
! block[1].point[1] [ -0.02 -0.077 ]
! block[1].point[2] [ -0.02 0.077 ]
! block[1].point[3] [ -0.078 0.077 ]
! block[1].z [0 0.21 ]
!
! # top
! block[2].points 4
! block[2].point[0] [ -0.02 -0.077 ]
! block[2].point[1] [ 0.078 -0.077 ]
! block[2].point[2] [ 0.078 0.077 ]
! block[2].point[3] [ -0.02 0.077 ]
! block[2].z [0.12 0.21 ]
!
! # laser bit
! block[3].points 4
! block[3].point[0] [ -0.02 -0.05 ]
! block[3].point[1] [ 0.06 -0.05 ]
! block[3].point[2] [ 0.06 0.05 ]
! block[3].point[3] [ -0.02 0.05 ]
! block[3].z [0.02 0.12 ]
! block[3].color "gray10"
)
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