Revision: 7536
http://playerstage.svn.sourceforge.net/playerstage/?rev=7536&view=rev
Author: rtv
Date: 2009-03-21 01:05:53 +0000 (Sat, 21 Mar 2009)
Log Message:
-----------
exploring planner
Modified Paths:
--------------
code/stage/trunk/examples/ctrl/fasr_plan.cc
code/stage/trunk/libstage/model_load.cc
code/stage/trunk/libstage/model_position.cc
code/stage/trunk/worlds/fasr.world
code/stage/trunk/worlds/fasr_plan.world
Modified: code/stage/trunk/examples/ctrl/fasr_plan.cc
===================================================================
--- code/stage/trunk/examples/ctrl/fasr_plan.cc 2009-03-20 18:56:50 UTC (rev
7535)
+++ code/stage/trunk/examples/ctrl/fasr_plan.cc 2009-03-21 01:05:53 UTC (rev
7536)
@@ -16,35 +16,12 @@
const double cruisespeed = 0.4;
const double avoidspeed = 0.05;
const double avoidturn = 0.5;
-const double minfrontdistance = 0.7;
-const double stopdist = 0.5;
+const double minfrontdistance = 0.4;
+const double stopdist = 0.3;
const int avoidduration = 10;
const int workduration = 20;
const int payload = 1;
-double have[4][4] = {
- // { -120, -180, 180, 180 },
- //{ -90, -120, 180, 90 },
- { 90, 180, 180, 180 },
- { 90, -90, 180, 90 },
- { 90, 90, 180, 90 },
- { 0, 45, 0, 0}
-};
-
-double need[4][4] = {
- { -120, -180, 180, 180 },
- { -90, -120, 180, 90 },
- { -90, -90, 180, 180 },
- { -90, -180, -90, -90 }
-};
-
-double refuel[4][4] = {
- { 0, 0, 45, 120 },
- { 0,-90, -60, -160 },
- { -90, -90, 180, 180 },
- { -90, -180, -90, -90 }
-};
-
typedef enum {
MODE_WORK=0,
MODE_DOCK,
@@ -169,33 +146,64 @@
img->release(); // frees all image resources
plan_init(plan);
-
plan_compute_cspace(plan);
- //print_cspace(plan);
-// double x, y;
-// plan_convert_waypoint( plan, plan->cells, &x, &y );
-// printf( "cell 0 (%.2f, %.2f)\n", x, y );
+ return plan;
+}
-// plan_convert_waypoint( plan, plan->cells + sy*sx -1, &x, &y );
-// printf( "cell end (%.2f, %.2f)\n", x, y );
-// plan_convert_waypoint( plan, plan->cells + sx, &x, &y );
-// printf( "cell sx (%.2f, %.2f)\n", x, y );
+class PointsVis : public CustomVisualizer
+{
+public:
+ PointsVis( Model* mod ) :
+ mod( mod ),
+ pts( NULL ),
+ pt_count( 0 ),
+ CustomVisualizer()
+ { /* nothing to do */ };
+
+ virtual void DataVisualize( Camera* cam )
+ {
+ if( pt_count < 1 )
+ return;
+
+ glPushMatrix();
- //plan_convert_waypoint( plan, plan->cells, &x, &y );
- //printf( "cell 0 (%.2f, %.2f)\n", x, y );
+ Gl::pose_inverse_shift( mod->GetGlobalPose() );
+
+ glColor3f( 0,1,0 );
+ glBegin( GL_POINTS );
+
+ for( int i=0; i< pt_count; i++ )
+ glVertex2f( pts[2*i], pts[2*i+1] );
+
+ glEnd();
+
+ glPopMatrix();
+ }
- // getchar();
+ // rtv - surely a static string member would be easier here?
+ //must return a name for visualization (careful not to return stack-memory)
+
+ static const std::string n;
+ virtual const std::string& name() { return n; } ;
+
+ void SetPoints( double* pts, int pt_count )
+ {
+ this->pts = pts;
+ this->pt_count = pt_count;
+ }
+
+private:
+ Model* mod;
+ double* pts;
+ int pt_count;
+};
- puts( "PLAN CREATED" );
+const std::string PointsVis::n = "PointsVisName";
- return plan;
-}
-
-
class Robot
{
private:
@@ -218,6 +226,14 @@
plan_t* plan;
bool plan_done;
+ Model* goal;
+
+ GQueue* laser_history;
+ double* pts;
+
+ PointsVis* vis;
+ bool havepath;
+
public:
Robot( ModelPosition* pos,
Model* source,
@@ -241,7 +257,12 @@
mode(MODE_WORK),
at_dest( false ),
plan( NULL ),
- plan_done( false )
+ plan_done( false ),
+ goal( NULL ),
+ laser_history( g_queue_new() ),
+ pts( NULL ),
+ vis( new PointsVis( laser ) ),
+ havepath( false )
{
// need at least these models to get any work done
// (pos must be good, as we used it in the initialization list)
@@ -272,11 +293,13 @@
//planif( !plan )
plan = SetupPlan( 0.3, // robot radius
- 0.05, // safety dist
- 0.5, // max radius
+ 0.1, // safety dist
+ 0.6, // max radius
1.0, // dist penalty
"/Users/vaughan/PS/stage/trunk/worlds/bitmaps/cave_compact.png",
16.0, -8.0, -8.0, 250 );
+
+ laser->AddCustomVisualizer( vis );
}
@@ -448,62 +471,61 @@
void Work()
{
- if( ! ObstacleAvoid() )
- {
- if( verbose ) puts( "Cruise" );
-
- ModelGripper::config_t gdata = gripper->GetConfig();
-
- //avoidcount = 0;
- pos->SetXSpeed( cruisespeed );
-
- Pose pose = pos->GetPose();
-
- int x = (pose.x + 8) / 4;
- int y = (pose.y + 8) / 4;
-
- // oh what an awful bug - 5 hours to track this down. When using
- // this controller in a world larger than 8*8 meters, a_goal can
- // sometimes be NAN. Causing trouble WAY upstream.
- if( x > 3 ) x = 3;
- if( y > 3 ) y = 3;
- if( x < 0 ) x = 0;
- if( y < 0 ) y = 0;
-
- double a_goal =
- dtor( ( pos->GetFlagCount() || gdata.gripped ) ? have[y][x] :
need[y][x] );
-
- // if we are low on juice - find the direction to the recharger instead
- if( Hungry() )
- {
- //puts( "hungry - using refuel map" );
-
- // use the refuel map
- a_goal = dtor( refuel[y][x] );
+ Pose pose = pos->GetPose();
+ plan_update_waypoints( plan, pose.x, pose.y );
- if( charger_ahoy ) // I see a charger while hungry!
- mode = MODE_DOCK;
- }
- else
- {
- if( ! at_dest )
- {
- if( gdata.beam[0] ) // inner break beam broken
- gripper->CommandClose();
- }
- }
+ if( ObstacleAvoid() )
+ {
+ //pos->SetSpeed( 0,0,0 );
- assert( ! isnan(a_goal ) );
- assert( ! isnan(pose.a ) );
+ Pose gpose = goal->GetGlobalPose();
+
+ if( plan_do_global( plan, pose.x, pose.y, gpose.x, gpose.y )
< 0)
+ {
+ havepath = false;
+ }
+ }
+ else
+ {
+ if( verbose ) puts( "Cruise" );
- double a_error = normalize( a_goal - pose.a );
-
- assert( ! isnan(a_error) );
-
- pos->SetTurnSpeed( a_error );
+ if( havepath )
+ pos->SetXSpeed( cruisespeed );
+ else
+ pos->SetXSpeed( 0 );
+
+ Pose pose = pos->GetPose();
+
+ double gx,gy;
+ plan_convert_waypoint( plan, plan->waypoints[1], &gx, &gy );
+
+ double a_goal = atan2( gy-pose.y, gx-pose.x );
+
+ // printf( "goal heading %.2f\n", a_goal );
+
+ // if we are low on juice - find the direction to the
recharger instead
+ if( Hungry() )
+ {
+ //puts( "hungry - using refuel map" );
+
+ // use the refuel map
+ //a_goal = dtor( refuel[y][x] );
+
+ //if( charger_ahoy ) // I see a charger while
hungry!
+ //mode = MODE_DOCK;
+ }
+
+ double a_error = normalize( a_goal - pose.a );
+ pos->SetTurnSpeed( a_error );
}
}
+
+ typedef struct
+ {
+ stg_laser_sample_t* scan;
+ Pose pose;
+ } scan_record_t;
// inspect the laser data and decide what to do
static int LaserUpdate( ModelLaser* laser, Robot* robot )
@@ -514,73 +536,113 @@
uint32_t sample_count=0;
stg_laser_sample_t* scan = laser->GetSamples( &sample_count );
-
+
if( scan == NULL )
return 0;
- Pose gpose = laser->GetGlobalPose();
-
+ scan_record_t* sr = new scan_record_t;
+ sr->pose = laser->GetGlobalPose();
+
+ // deep copy the samples
+ sr->scan = new stg_laser_sample_t[sample_count];
+ memcpy( sr->scan, scan, sample_count * sizeof(stg_laser_sample_t));
+
+ // add the copy to the list
+ g_queue_push_tail( robot->laser_history, sr );
+
+ // take off the oldest scan and free it
+ if( robot->laser_history->length > 10 )
+ {
+ scan_record_t* old = (scan_record_t*)g_queue_pop_head(
robot->laser_history );
+ assert( old );
+ delete[] old->scan;
+ delete old;
+ }
+
// fill the dynamic map
- double pts[2*sample_count];
+ robot->pts = (double*)realloc( robot->pts, sizeof(double) *
2*sample_count*robot->laser_history->length );
// project hit points from each scan
// scan = this->scans;
int scan_points_count = 0;
- //for(int i=0;i<this->scans_count;i++,scan++)
- // {
-
-
stg_laser_cfg_t cfg = laser->GetConfig();
- float b = -cfg.fov / 2.0;
-
- for( unsigned int j=0; j<sample_count; j++ )
- {
- if( scan[j].range >= cfg.range_bounds.max )
- continue;
-
- double cs,sn;
- cs = cos(gpose.a+b);
- sn = sin(gpose.a+b);
-
- double lx,ly;
- lx = gpose.x + scan[j].range*cs;
- ly = gpose.y + scan[j].range*sn;
-
- //assert(this->scan_points_count*2 < this->scan_points_size);
- pts[2*j ] = lx;
- pts[2*j+1] = ly;
- scan_points_count++;
- }
-
- //printf("setting %d hit points\n", this->scan_points_count);
- plan_set_obstacles( robot->plan, pts, scan_points_count);
+ for( int i = 0; i < robot->laser_history->length; i++ )
+ {
+ scan_record_t* scr = (scan_record_t*)g_queue_peek_nth(
robot->laser_history, i );
+ stg_laser_sample_t* ascan = scr->scan;
+ Pose apose = scr->pose;
+
+ double amin = -cfg.fov / 2.0;
+ double aincr = cfg.fov / sample_count;
+
+ for( unsigned int j=0; j<sample_count; j++ )
+ {
+ if( ascan[j].range >= cfg.range_bounds.max )
+ continue;
+
+ double a = amin + j * aincr;
+ double cs,sn;
+ cs = cos(apose.a+a);
+ sn = sin(apose.a+a);
+
+ double lx,ly;
+ lx = apose.x + ascan[j].range*cs;
+ ly = apose.y + ascan[j].range*sn;
+
+ //assert(this->scan_points_count*2 <
this->scan_points_size);
+ robot->pts[2*scan_points_count ] = lx;
+ robot->pts[2*scan_points_count+1] = ly;
+ scan_points_count++;
+ }
+ }
+ //printf("setting %d hit points\n", scan_points_count);
+ plan_set_obstacles( robot->plan, robot->pts, scan_points_count);
+
+ robot->vis->SetPoints( robot->pts, scan_points_count );
+
+ // Waypoint* wps = new Waypoint[scan_points_count];
+// for( int j=0; j<scan_points_count; j++ )
+// {
+// wps[j].pose.x = pts[2*j];
+// wps[j].pose.y = pts[2*j+1];
+// wps[j].pose.z = 0;
+// wps[j].pose.a = 0;
+// wps[j].color = stg_color_pack( 0,1,0,0 );
+// }
+
+// Waypoint* oldp = ((ModelPosition*)robot->pos->GetWorld()->GetModel(
"dummy" ))->SetWaypoints( wps, scan_points_count );
+// if( oldp )
+// delete[] oldp;
+
+// delete[] pts;
+
switch( robot->mode )
{
case MODE_DOCK:
- //puts( "DOCK" );
- robot->Dock();
- break;
-
+ //puts( "DOCK" );
+ robot->Dock();
+ break;
+
case MODE_WORK:
- //puts( "WORK" );
- robot->Work();
- break;
-
+ //puts( "WORK" );
+ robot->Work();
+ break;
+
case MODE_UNDOCK:
- //puts( "UNDOCK" );
- robot->UnDock();
- break;
-
+ //puts( "UNDOCK" );
+ robot->UnDock();
+ break;
+
default:
- printf( "unrecognized mode %u\n", robot->mode );
+ printf( "unrecognized mode %u\n", robot->mode );
}
-
+
return 0;
}
@@ -606,72 +668,122 @@
//printf( "planning from (%.2f %.2f) to (%.2f %.2f)\n",
// pose.x, pose.y, -4.0, 0.0 );
-
- if( 1 )//! robot->plan_done )
- {
- if( plan_do_global( plan, pose.x, pose.y, -7,-7 ) < 0)
- {
- puts( "no global path" );
- }
- else
- robot->plan_done = true;
- }
-
+ Model* nextgoal = NULL;
+
+ if( pos->GetFlagCount() )
+ nextgoal = robot->sink;
+ else
+ nextgoal = robot->source;
+
+ if( (robot->goal != nextgoal) )//|| !robot->plan_done)
+ {
+ robot->goal = nextgoal;
+
+ Pose gpose = robot->goal->GetGlobalPose();
+ if( plan_do_global( plan, pose.x, pose.y, gpose.x, gpose.y )
< 0)
+ {
+ puts( "no global path" );
+ }
+ }
+
//printf( "PATH_COUNT %d\n", plan->path_count );
+
+
+// double vx, va;
+// int rotatedir;
+
+// plan_compute_diffdrive_cmds( plan,
+//
&vx, &va,
+//
&rotatedir,
+//
pose.x, pose.y, pose.a, // lx, ly, la
+//
-7, -7, 0, // gx, gy, ga
+//
0.1, 0.1, // goal_d, goal_a
+//
1.0, 5.0, // maxd, dweight
+//
0.0, 0.2, // tvmin, tvmax
+//
0.0, 2, // avmin, avmax
+//
0, 1 ); // amin, amax
+// // double dx, da;
+// // plan_get_carrot( plan, &dx, &da,
+// // pose.x, pose.y,
+// // 2.0, 10 );
+// pos->SetSpeed( vx, 0, va );
+
+
+// if( plan_do_local( plan, pose.x, pose.y, 1.0 ) < 0 )
+// {
+// puts( "no local path" );
+
+// Pose gpose = robot->goal->GetGlobalPose();
+
+// if( plan_do_global( plan, pose.x, pose.y, gpose.x, gpose.y )
< 0)
+// {
+// robot->havepath = false;
+// puts( "no global path" );
+// }
+// else
+// robot->havepath = true;
+// }
+// else
+ robot->havepath = true;
+
plan_update_waypoints( plan, pose.x, pose.y );
-
+
//printf( "WAYPOINT_COUNT %d\n", plan->waypoint_count );
-
-
+
Waypoint* wps = NULL;
stg_color_t col = pos->GetColor();
-
+
if( plan->waypoint_count > 0 )
{
- wps = new Waypoint[plan->waypoint_count];
- for( int i=0; i<plan->waypoint_count; i++ )
- {
- //plan_convert_waypoint( plan, plan->path[i],
- // &wps[i].pose.x,
- // &wps[i].pose.y );
-
- plan_convert_waypoint( plan, plan->waypoints[i],
- &wps[i].pose.x,
- &wps[i].pose.y );
-
- wps[i].color = col;
- }
+ wps = new Waypoint[plan->waypoint_count];
+ for( int i=0; i<plan->waypoint_count; i++ )
+ {
+ //plan_convert_waypoint( plan, plan->path[i],
+ // &wps[i].pose.x,
+ // &wps[i].pose.y );
+
+ plan_convert_waypoint( plan,
plan->waypoints[i],
+
&wps[i].pose.x,
+
&wps[i].pose.y );
+
+ wps[i].color = col;
+ }
}
-
- Waypoint* old = pos->SetWaypoints( wps, plan->waypoint_count );
-
- if( old )
- delete[] old;
-
+
+
+ Waypoint* old = pos->SetWaypoints( wps, plan->waypoint_count );
+ if( old )
+ delete[] old;
+
+
//pose.z += 0.0001;
//robot->pos->SetPose( pose );
+ Pose psrc = robot->source->GetPose();
+
if( pos->GetFlagCount() < payload &&
- hypot( -7-pose.x, -7-pose.y ) < 2.0 )
+ hypot(psrc.x-pose.x, psrc.y-pose.y ) < 2.0 )
{
- if( ++robot->work_get > workduration )
- {
- // protect source from concurrent access
- robot->source->Lock();
-
- // transfer a chunk from source to robot
- pos->PushFlag( robot->source->PopFlag() );
- robot->source->Unlock();
-
- robot->work_get = 0;
- }
+ if( ++robot->work_get > workduration )
+ {
+ // protect source from concurrent access
+ robot->source->Lock();
+
+ // transfer a chunk from source to robot
+ pos->PushFlag( robot->source->PopFlag() );
+ robot->source->Unlock();
+
+ robot->work_get = 0;
+ }
}
robot->at_dest = false;
- if( hypot( 7-pose.x, 7-pose.y ) < 1.0 )
+ Pose psink = robot->sink->GetPose();
+
+ if( hypot( psink.x-pose.x, psink.y-pose.y ) < 1.0 )
{
robot->at_dest = true;
@@ -773,3 +885,4 @@
+
Modified: code/stage/trunk/libstage/model_load.cc
===================================================================
--- code/stage/trunk/libstage/model_load.cc 2009-03-20 18:56:50 UTC (rev
7535)
+++ code/stage/trunk/libstage/model_load.cc 2009-03-21 01:05:53 UTC (rev
7536)
@@ -246,12 +246,16 @@
this->pose.y,
this->pose.a );
+ // just in case
+ pose.a = normalize( pose.a );
+ geom.pose.a = normalize( geom.pose.a );
+
if( wf->PropertyExists( wf_entity, "pose" ) )
{
wf->WriteTupleLength( wf_entity, "pose", 0, this->pose.x);
wf->WriteTupleLength( wf_entity, "pose", 1, this->pose.y);
wf->WriteTupleLength( wf_entity, "pose", 2, this->pose.z);
- wf->WriteTupleAngle( wf_entity, "pose", 3, this->pose.a);
+ wf->WriteTupleAngle( wf_entity, "pose", 3, this->pose.a );
}
if( wf->PropertyExists( wf_entity, "size" ) )
Modified: code/stage/trunk/libstage/model_position.cc
===================================================================
--- code/stage/trunk/libstage/model_position.cc 2009-03-20 18:56:50 UTC (rev
7535)
+++ code/stage/trunk/libstage/model_position.cc 2009-03-21 01:05:53 UTC (rev
7536)
@@ -87,7 +87,7 @@
const stg_position_drive_mode_t POSITION_DRIVE_DEFAULT =
STG_POSITION_DRIVE_DIFFERENTIAL;
Option ModelPosition::showCoords( "Position Coordinates", "show_coords", "",
false, NULL );
-Option ModelPosition::showWaypoints( "Position Waypoints", "show_waypoints",
"", false, NULL );
+Option ModelPosition::showWaypoints( "Position Waypoints", "show_waypoints",
"", true, NULL );
ModelPosition::ModelPosition( World* world,
Model* parent )
@@ -151,23 +151,23 @@
if( wf->PropertyExists( wf_entity, "drive" ) )
{
const char* mode_str =
- wf->ReadString( wf_entity, "drive", NULL );
-
- if( mode_str )
- {
- if( strcmp( mode_str, "diff" ) == 0 )
- drive_mode = STG_POSITION_DRIVE_DIFFERENTIAL;
- else if( strcmp( mode_str, "omni" ) == 0 )
- drive_mode = STG_POSITION_DRIVE_OMNI;
- else if( strcmp( mode_str, "car" ) == 0 )
- drive_mode = STG_POSITION_DRIVE_CAR;
- else
- {
- PRINT_ERR1( "invalid position drive mode specified: \"%s\" -
should be one of: \"diff\", \"omni\" or \"car\". Using \"diff\" as default.",
mode_str );
- }
- }
+ wf->ReadString( wf_entity, "drive", NULL );
+
+ if( mode_str )
+ {
+ if( strcmp( mode_str, "diff" ) == 0 )
+ drive_mode = STG_POSITION_DRIVE_DIFFERENTIAL;
+ else if( strcmp( mode_str, "omni" ) == 0 )
+ drive_mode = STG_POSITION_DRIVE_OMNI;
+ else if( strcmp( mode_str, "car" ) == 0 )
+ drive_mode = STG_POSITION_DRIVE_CAR;
+ else
+ {
+ PRINT_ERR1( "invalid position drive mode
specified: \"%s\" - should be one of: \"diff\", \"omni\" or \"car\". Using
\"diff\" as default.", mode_str );
+ }
+ }
}
-
+
// load odometry if specified
if( wf->PropertyExists( wf_entity, "odom" ) )
{
@@ -183,12 +183,12 @@
// specified
est_origin = this->GetGlobalPose();
- if( wf->PropertyExists( wf_entity, "localization_origin" ) )
- {
- est_origin.x = wf->ReadTupleLength( wf_entity, "localization_origin", 0,
est_origin.x );
- est_origin.y = wf->ReadTupleLength( wf_entity, "localization_origin", 1,
est_origin.y );
- est_origin.z = wf->ReadTupleLength( wf_entity, "localization_origin", 2,
est_origin.z );
- est_origin.a = wf->ReadTupleAngle( wf_entity, "localization_origin", 3,
est_origin.a );
+ if( wf->PropertyExists( wf_entity, "localization_origin" ) )
+ {
+ est_origin.x = wf->ReadTupleLength( wf_entity,
"localization_origin", 0, est_origin.x );
+ est_origin.y = wf->ReadTupleLength( wf_entity,
"localization_origin", 1, est_origin.y );
+ est_origin.z = wf->ReadTupleLength( wf_entity,
"localization_origin", 2, est_origin.z );
+ est_origin.a = wf->ReadTupleAngle( wf_entity,
"localization_origin", 3, est_origin.a );
// compute our localization pose based on the origin and true pose
Pose gpose = this->GetGlobalPose();
Modified: code/stage/trunk/worlds/fasr.world
===================================================================
--- code/stage/trunk/worlds/fasr.world 2009-03-20 18:56:50 UTC (rev 7535)
+++ code/stage/trunk/worlds/fasr.world 2009-03-21 01:05:53 UTC (rev 7536)
@@ -14,7 +14,7 @@
# threads may speed things up here depending on available CPU cores & workload
# threadpool 8
- threadpool 16
+ threadpool 0
# configure the GUI window
Modified: code/stage/trunk/worlds/fasr_plan.world
===================================================================
--- code/stage/trunk/worlds/fasr_plan.world 2009-03-20 18:56:50 UTC (rev
7535)
+++ code/stage/trunk/worlds/fasr_plan.world 2009-03-21 01:05:53 UTC (rev
7536)
@@ -72,7 +72,7 @@
define autorob pioneer2dx
(
- sicklaser( samples 180 range_max 5 laser_return 2 watts 30 fov 360)
+ sicklaser( samples 64 range_max 5 laser_return 2 watts 30 fov 180 size [0.3
0.3 0.2 ])
ctrl "fasr_plan"
joules 100000
joules_capacity 400000
@@ -89,6 +89,8 @@
localization "gps"
localization_origin [ 0 0 0 0 ]
+
+ show_waypoints 1
)
define charge_station model
@@ -124,6 +126,8 @@
obstacle_return 0
)
+position( pose [ 0 0 0 0 ] size [ 1 1 1 ] name "dummy" )
+
#puck( pose [ 1.175 2.283 0 0 ] )
#puck( pose [ 0.875 3.139 0 0 ] )
#puck( pose [ 1.043 2.825 0 0 ] )
@@ -160,9 +164,9 @@
autorob( pose [7.574 6.269 0 -111.715] joules 100000 )
autorob( pose [5.615 6.185 0 107.666] joules 200000 )
autorob( pose [7.028 6.502 0 -128.279] joules 400000 )
-autorob( pose [5.750 4.137 0 -97.047] joules 100000 )
-autorob( pose [4.909 6.097 0 -44.366] joules 200000 )
-autorob( pose [6.898 4.775 0 -117.576] joules 300000 )
+#autorob( pose [5.750 4.137 0 -97.047] joules 100000 )
+#autorob( pose [4.909 6.097 0 -44.366] joules 200000 )
+#autorob( pose [6.898 4.775 0 -117.576] joules 300000 )
#autorob( pose [7.394 5.595 0 129.497] joules 400000 )
#autorob( pose [6.468 6.708 0 170.743] joules 100000 )
#autorob( pose [6.451 4.189 0 -61.453] joules 200000 )
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