Revision: 6776
http://playerstage.svn.sourceforge.net/playerstage/?rev=6776&view=rev
Author: rtv
Date: 2008-07-05 20:49:04 -0700 (Sat, 05 Jul 2008)
Log Message:
-----------
cleaning up examples and testing
Modified Paths:
--------------
code/stage/trunk/worlds/everything.world
code/stage/trunk/worlds/roomba.inc
Modified: code/stage/trunk/worlds/everything.world
===================================================================
--- code/stage/trunk/worlds/everything.world 2008-07-06 03:19:58 UTC (rev
6775)
+++ code/stage/trunk/worlds/everything.world 2008-07-06 03:49:04 UTC (rev
6776)
@@ -9,25 +9,26 @@
interval_real 0 # real-time milliseconds per update step
include "pioneer.inc"
-include "roomba.inc"
+include "irobot.inc"
include "map.inc"
include "sick.inc"
gui_disable 0
-window(
+window
+(
size [ 1059.000 541.000 ]
center [-6.333 2.011]
scale 80.217 # pixels per meter
+
+ show_data 1
)
-floorplan(
+floorplan
+(
bitmap "bitmaps/hospital_section.png"
- #bitmap "bitmaps/hospital.png"
map_resolution 0.02
- size [40 18 0.6]
-
- #size [160 60 0.6]
+ size [40.000 18.000 0.600]
name "hospital"
color "gray50"
gui_outline 1
@@ -36,7 +37,7 @@
# a block for gripping
define puck model(
- size [ 0.08 0.08 0.1 ]
+ size [ 0.080 0.080 0.100 ]
gripper_return 1
gui_movemask 3
gui_nose 0
@@ -55,7 +56,7 @@
(
ranger( alwayson 1 )
- sicklaser( pose [0.030 0.000 0 0.000 ] alwayson 1 )
+ sicklaser( pose [0.030 0 0.220 0 ] )
fiducial( range_max 8 range_max_id 5 )
@@ -65,8 +66,6 @@
alwayson 1
)
- #camera( alwayson 1 )
-
fiducial_return 17
gripper_return 0
@@ -88,16 +87,14 @@
(
color "red"
name "redrobot_w_camera"
- pose [-5.645 3.034 -162.098]
- camera( alwayson 1
-
- )
+ pose [-5.645 3.034 0 -162.098]
+ camera()
)
trickedoutpioneer
(
fiducial_return 18
- color "blue"
+ color "NavyBlue"
name "p2"
pose [-6.009 2.481 0 165.780]
)
@@ -134,7 +131,7 @@
# a silly object to look at
define silly position (
- size [1 1 0.5]
+ size [1.000 1.000 0.500]
fiducial_return 22
laser_return 2
gui_outline 1
@@ -159,5 +156,5 @@
roomba(
name "roomba1"
- pose [-9.000 0.500 0 0.000]
+ pose [-9.000 0.500 0 0]
)
Modified: code/stage/trunk/worlds/roomba.inc
===================================================================
--- code/stage/trunk/worlds/roomba.inc 2008-07-06 03:19:58 UTC (rev 6775)
+++ code/stage/trunk/worlds/roomba.inc 2008-07-06 03:49:04 UTC (rev 6776)
@@ -3,25 +3,25 @@
(
size [0.33 0.33 0.1]
- # this polygon approximates the circular shape of a Roomba
- polygons 1
- polygon[0].points 16
- polygon[0].point[0] [ 0.225 0.000 ]
- polygon[0].point[1] [ 0.208 0.086 ]
- polygon[0].point[2] [ 0.159 0.159 ]
- polygon[0].point[3] [ 0.086 0.208 ]
- polygon[0].point[4] [ 0.000 0.225 ]
- polygon[0].point[5] [ -0.086 0.208 ]
- polygon[0].point[6] [ -0.159 0.159 ]
- polygon[0].point[7] [ -0.208 0.086 ]
- polygon[0].point[8] [ -0.225 0.000 ]
- polygon[0].point[9] [ -0.208 -0.086 ]
- polygon[0].point[10] [ -0.159 -0.159 ]
- polygon[0].point[11] [ -0.086 -0.208 ]
- polygon[0].point[12] [ -0.000 -0.225 ]
- polygon[0].point[13] [ 0.086 -0.208 ]
- polygon[0].point[14] [ 0.159 -0.159 ]
- polygon[0].point[15] [ 0.208 -0.086 ]
+ # this block approximates the circular shape of a Roomba
+ blocks 1
+ block[0].points 16
+ block[0].point[0] [ 0.225 0.000 ]
+ block[0].point[1] [ 0.208 0.086 ]
+ block[0].point[2] [ 0.159 0.159 ]
+ block[0].point[3] [ 0.086 0.208 ]
+ block[0].point[4] [ 0.000 0.225 ]
+ block[0].point[5] [ -0.086 0.208 ]
+ block[0].point[6] [ -0.159 0.159 ]
+ block[0].point[7] [ -0.208 0.086 ]
+ block[0].point[8] [ -0.225 0.000 ]
+ block[0].point[9] [ -0.208 -0.086 ]
+ block[0].point[10] [ -0.159 -0.159 ]
+ block[0].point[11] [ -0.086 -0.208 ]
+ block[0].point[12] [ -0.000 -0.225 ]
+ block[0].point[13] [ 0.086 -0.208 ]
+ block[0].point[14] [ 0.159 -0.159 ]
+ block[0].point[15] [ 0.208 -0.086 ]
# this bumper array VERY crudely approximates the Roomba's bumpers
# bumper( bcount 2
@@ -30,5 +30,7 @@
# bpose[1] [0.12 -0.12 -45]
# )
- color "gray90"
+ color "gray50"
)
+
+define create roomba( color "gray 90" )
\ No newline at end of file
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