Update of /cvsroot/playerstage/code/stage/worlds
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv10193/worlds
Modified Files:
889.world map.inc simple.world
Log Message:
working on demos
Index: map.inc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/map.inc,v
retrieving revision 1.14
retrieving revision 1.15
diff -C2 -d -r1.14 -r1.15
*** map.inc 15 Jan 2008 01:25:42 -0000 1.14
--- map.inc 21 Feb 2008 05:57:43 -0000 1.15
***************
*** 12,16 ****
gui_nose 0
! gui_grid 1
gui_movemask 0
gui_outline 0
--- 12,16 ----
gui_nose 0
! gui_grid 0
gui_movemask 0
gui_outline 0
Index: simple.world
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/simple.world,v
retrieving revision 1.70
retrieving revision 1.71
diff -C2 -d -r1.70 -r1.71
*** simple.world 12 Feb 2008 02:53:53 -0000 1.70
--- simple.world 21 Feb 2008 05:57:43 -0000 1.71
***************
*** 23,27 ****
window
(
! size [ 872.000 855.000 ]
center [-8.010 -6.040]
rotate [ 0.000 0.000 ]
--- 23,27 ----
window
(
! size [ 800.000 700.000 ]
center [-8.010 -6.040]
rotate [ 0.000 0.000 ]
***************
*** 34,38 ****
name "cave"
size3 [16 16 0.5]
! pose [0 0 0]
#origin [ 8 8 0 ]
bitmap "bitmaps/cave.png"
--- 34,38 ----
name "cave"
size3 [16 16 0.5]
! pose [0.000 0.000 0.000]
#origin [ 8 8 0 ]
bitmap "bitmaps/cave.png"
***************
*** 41,49 ****
pioneer2dx
(
! name "r0"
color "red"
! pose [2.551 0.281 -39.206]
sicklaser( pose [ 0.040 0.000 0.000 ] )
)
--- 41,63 ----
pioneer2dx
(
! #name "r0"
color "red"
! pose [-5.570 -6.020 -1.680]
!
! sicklaser( pose [ 0.040 0.000 0.000 ] )
!
! ctrl "ctrl"
! )
!
! pioneer2dx
! (
! #name "r0"
! color "red"
! pose [-3.524 1.070 -157.184]
sicklaser( pose [ 0.040 0.000 0.000 ] )
+
+ ctrl "ctrl"
)
+
Index: 889.world
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/889.world,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** 889.world 22 Mar 2006 08:46:30 -0000 1.10
--- 889.world 21 Feb 2008 05:57:43 -0000 1.11
***************
*** 1,182 ****
! # Desc: 1 robot with player, laser, sonar and gps
! # CVS: $Id$
- # the resolution of Stage's raytrace model in meters
- resolution 0.02
- interval_sim 200 # milliseconds per update step
- interval_real 100 # real-time milliseconds per update step
! include "pioneer.inc"
- include "chatterbox.inc"
! include "map.inc"
! # set the size of a pixel in meters
resolution 0.02
! size [30 30]
# configure the GUI window
window
(
! size [ 641.000 668.000 ]
! center [8.685 6.222]
! scale 0.020
)
# load an environment bitmap
! map
! (
! bitmap "bitmaps/cave.png"
! size [30 30]
! boundary 1
! gui_grid 1
name "cave"
! )
!
! # define and place some grippable objects
!
! define widget model
! (
! size [0.1 0.1]
! color "red"
! #fiducial_return 10
! laser_return 0
! obstacle_return 0
! gripper_return 0
! )
!
! widget( pose [14.800 -2.700 0.000] )
! widget( pose [14.600 -2.700 0.000] )
! widget( pose [14.400 -2.700 0.000] )
! widget( pose [14.200 -2.700 0.000] )
! widget( pose [14.000 -2.700 0.000] )
! widget( pose [13.800 -2.700 0.000] )
! widget( pose [13.600 -2.700 0.000] )
! widget( pose [13.400 -2.700 0.000] )
! widget( pose [13.200 -2.700 0.000] )
! widget( pose [13.000 -2.700 0.000] )
! widget( pose [12.800 -2.700 0.000] )
! widget( pose [12.600 -2.700 0.000] )
! widget( pose [12.400 -2.700 0.000] )
! widget( pose [12.200 -2.700 0.000] )
! widget( pose [12.000 -2.700 0.000] )
! widget( pose [11.800 -2.700 0.000] )
! widget( pose [11.600 -2.700 0.000] )
! widget( pose [11.400 -2.700 0.000] )
! widget( pose [11.200 -2.700 0.000] )
! widget( pose [11.000 -2.700 0.000] )
!
! widget( pose [14.800 -3.000 0.000] )
! widget( pose [14.600 -3.000 0.000] )
! widget( pose [14.400 -3.000 0.000] )
! widget( pose [14.200 -3.000 0.000] )
! widget( pose [14.000 -3.000 0.000] )
! widget( pose [13.800 -3.000 0.000] )
! widget( pose [13.600 -3.000 0.000] )
! widget( pose [13.400 -3.000 0.000] )
! widget( pose [13.200 -3.000 0.000] )
! widget( pose [13.000 -3.000 0.000] )
! widget( pose [12.800 -3.000 0.000] )
! widget( pose [12.600 -3.000 0.000] )
! widget( pose [12.400 -3.000 0.000] )
! widget( pose [12.200 -3.000 0.000] )
! widget( pose [12.000 -3.000 0.000] )
! widget( pose [11.800 -3.000 0.000] )
! widget( pose [11.600 -3.000 0.000] )
! widget( pose [11.400 -3.000 0.000] )
! widget( pose [11.200 -3.000 0.000] )
! widget( pose [11.000 -3.000 0.000] )
!
! # define and place some big, capable robots
!
! define big_robot pioneer2dx
! (
! laser()
! ptz( blobfinder() )
! gripper( pose [0.200 0.000 0.000] color "gray" )
!
! fiducialfinder(
! # set to match the fiducial_key of objects you want to
! # in this example, we match the chargers
! fiducial_key 1
! )
! )
!
! big_robot
! (
! name "red_robot"
! pose [11.480 11.320 -325.994]
! color "red"
! )
!
! big_robot
! (
! name "blue_robot"
! pose [13.363 9.125 -143.072]
! color "blue"
! )
!
! big_robot
! (
! name "green_robot"
! pose [7.540 8.657 -311.552]
! color "green"
! )
!
! big_robot
! (
! name "purple_robot"
! pose [8.697 -2.958 -44.554]
! color "purple"
! )
!
! # define and place some little robots
! define bluechatterbox chatterbox
! (
! color "blue"
! laser_return 0
! )
! define redchatterbox chatterbox
! (
! color "red"
)
! bluechatterbox( name "cbb0" pose [11.973 5.272 0.000] )
! bluechatterbox( name "cbb1" pose [12.076 5.798 -171.141] )
! bluechatterbox( name "cbb2" pose [11.042 4.941 -159.523] )
! bluechatterbox( name "cbb3" pose [12.492 5.506 -28.297] )
! bluechatterbox( name "cbb4" pose [11.546 5.881 -108.654] )
!
! redchatterbox( name "cbr0" pose [12.348 4.704 0.000] )
! redchatterbox( name "cbr1" pose [12.524 6.117 0.000] )
! redchatterbox( name "cbr2" pose [11.694 4.624 -53.892] )
! redchatterbox( name "cbr3" pose [12.278 4.403 -28.297] )
! redchatterbox( name "cbr4" pose [11.202 5.402 -54.883] )
!
! # define and place some charging stations
!
! define charger model
(
! size [ 0.5 0.5 ]
!
! color "green"
! #energy.capacity -1.0 # infinite
! #energy.return 30.0 # will transfer 30 Joules per second (Watts)
! #energy.range 0.0
! obstacle_return 0
! laser_return 0
! fiducial_key 1
)
- charger( pose [ 14.585 14.592 0.000 ] fiducial_return 1 )
- charger( pose [ -14.615 -14.608 0.000 ] fiducial_return 2 )
- charger( pose [ -14.665 14.642 0.000 ] fiducial_return 3 )
--- 1,59 ----
+ # simple.world - basic world file example
+ # Authors: Richard Vaughan
+ # $id$
! # defines Pioneer-like robots
! include "pioneer.inc"
! # defines 'map' object used for floorplans
! include "map.inc"
!
! # defines sick laser
! include "sick.inc"
! # set the resolution of the underlying raytrace model in meters
resolution 0.02
! interval_sim 100 # simulation timestep in milliseconds
! interval_real 10 # real-time interval between simulation updates in
milliseconds
!
! paused 0
# configure the GUI window
window
(
! size [ 1132.000 640.000 ]
! center [20.990 -34.040]
! rotate [ 0.000 0.000 ]
! scale 22.806
)
# load an environment bitmap
! floorplan
! (
name "cave"
! size3 [40 18 0.6]
! pose [0.000 0.000 0.000]
! #origin [ 20 9 0 ]
! bitmap "bitmaps/hospital_section.png"
! #origin [ 8 8 0 ]
! #bitmap "bitmaps/cave.png"
)
! pioneer2dx
(
! name "r0"
! color "red"
! pose [-11.955 2.899 135.405]
! sicklaser( pose [ 0.040 0.000 0.000 ] )
)
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