Revision: 7816
http://playerstage.svn.sourceforge.net/playerstage/?rev=7816&view=rev
Author: rtv
Date: 2009-06-08 06:44:41 +0000 (Mon, 08 Jun 2009)
Log Message:
-----------
added Ash Charles' Chatterbox model definitions
Modified Paths:
--------------
code/stage/trunk/worlds/autolab.world
code/stage/trunk/worlds/chatterbox.inc
code/stage/trunk/worlds/fasr.world
Modified: code/stage/trunk/worlds/autolab.world
===================================================================
--- code/stage/trunk/worlds/autolab.world 2009-06-08 06:31:35 UTC (rev
7815)
+++ code/stage/trunk/worlds/autolab.world 2009-06-08 06:44:41 UTC (rev
7816)
@@ -6,104 +6,80 @@
resolution 0.02
interval_sim 100 # milliseconds per update step
-interval_real 100 # real-time milliseconds per update step
+interval_real 0 # real-time milliseconds per update step
-include "pioneer.inc"
include "chatterbox.inc"
include "map.inc"
+paused 1
+
# configure the GUI window
window
(
size [ 678.000 730.000 ]
- center [0 0]
- scale 61.020
+ center [0.122 -0.386]
+ scale 31.082
)
# load an environment bitmap
floorplan
(
bitmap "bitmaps/autolab.png"
- size [10.000 10.000 0.500]
+ size [20.000 20.000 0.500]
boundary 1
- #gui_grid 1
name "lab"
-
- #block[0].fill 0
)
-# define and place some grippable objects
-
-
-define mother pioneer2dx
-(
- laser()
- #ptz( blobfinder() )
- #gripper( pose [0.200 0.000 0 0.000] color "gray" )
-
- fiducial(
- # set to match the fiducial_key of objects you want to
- # in this example, we match the chargers
- fiducial_key 1
- )
-)
-
-mother
+define cb laserchatterbox
(
- name "mother0"
- pose [-4.029 -3.369 0 34.006]
- color "red"
+ ctrl "wander"
)
-mother
-(
- name "mother1"
- pose [-3.220 -4.179 0 46.895]
- color "blue"
-)
+cb( name "cb00" pose [2.451 7.364 0 0] )
+cb( name "cb01" pose [2.321 6.221 0 -171.141] )
+cb( name "cb02" pose [3.459 5.556 0 -159.523] )
+cb( name "cb03" pose [1.917 5.630 0 -28.297] )
+cb( name "cb04" pose [3.298 4.715 0 -108.654] )
+cb( name "cb05" pose [2.545 4.875 0 -108.654] )
+cb( name "cb06" pose [3.086 6.344 0 -108.654] )
+cb( name "cb07" pose [1.463 6.393 0 -108.654] )
+cb( name "cb08" pose [1.449 4.534 0 -108.654] )
+cb( name "cb09" pose [0.737 5.217 0 -108.654] )
-# define and place some little robots
+cb( name "cbr10" pose [1.085 -1.274 0 0] )
+cb( name "cbr11" pose [2.587 -1.832 0 0] )
+cb( name "cbr12" pose [1.812 -0.283 0 -53.892] )
+cb( name "cbr13" pose [3.457 -2.077 0 -28.297] )
+cb( name "cbr14" pose [2.083 -1.401 0 -54.883] )
+cb( name "cbr15" pose [1.814 -2.200 0 -54.883] )
+cb( name "cbr16" pose [1.787 -0.883 0 -54.883] )
+cb( name "cbr17" pose [1.517 -1.703 0 -54.883] )
+cb( name "cbr18" pose [3.125 -1.565 0 -54.883] )
+cb( name "cbr19" pose [4.009 -1.680 0 -54.883] )
-define bluechatterbox chatterbox ( color "blue" )
-define redchatterbox chatterbox ( color "red" )
+cb( name "cbr20" pose [-6.017 0.172 0 -54.883] )
+cb( name "cbr21" pose [-5.875 -0.860 0 -54.883] )
+cb( name "cbr22" pose [-6.766 -1.143 0 -54.883] )
+cb( name "cbr23" pose [-6.625 -0.407 0 -54.883] )
+cb( name "cbr24" pose [-7.021 0.540 0 -54.883] )
+cb( name "cbr25" pose [-7.671 -0.167 0 -54.883] )
+cb( name "cbr26" pose [-7.530 -1.001 0 -54.883] )
+cb( name "cbr27" pose [-7.445 -1.737 0 -54.883] )
+cb( name "cbr28" pose [-8.053 0.625 0 -54.883] )
+cb( name "cbr29" pose [-8.364 -0.450 0 -54.883] )
-bluechatterbox( name "cbb0" pose [1.915 2.651 0 0] )
-bluechatterbox( name "cbb1" pose [1.057 3.372 0 -171.141] )
-bluechatterbox( name "cbb2" pose [1.017 2.792 0 -159.523] )
-bluechatterbox( name "cbb3" pose [1.189 4.195 0 -28.297] )
-bluechatterbox( name "cbb4" pose [1.584 3.751 0 -108.654] )
-bluechatterbox( name "cbb5" pose [1.902 4.489 0 -108.654] )
-bluechatterbox( name "cbb6" pose [2.079 3.345 0 -108.654] )
-bluechatterbox( name "cbb7" pose [0.649 4.165 0 -108.654] )
-bluechatterbox( name "cbb8" pose [2.263 4.020 0 -108.654] )
-bluechatterbox( name "cbb9" pose [0.908 4.531 0 -108.654] )
-
-
-redchatterbox( name "cbr0" pose [1.085 -1.274 0 0] )
-redchatterbox( name "cbr1" pose [2.587 -1.832 0 0] )
-redchatterbox( name "cbr2" pose [1.812 -0.283 0 -53.892] )
-redchatterbox( name "cbr3" pose [3.457 -2.077 0 -28.297] )
-redchatterbox( name "cbr4" pose [2.083 -1.401 0 -54.883] )
-redchatterbox( name "cbr5" pose [1.814 -2.200 0 -54.883] )
-redchatterbox( name "cbr6" pose [1.787 -0.883 0 -54.883] )
-redchatterbox( name "cbr7" pose [1.517 -1.703 0 -54.883] )
-redchatterbox( name "cbr8" pose [3.125 -1.565 0 -54.883] )
-redchatterbox( name "cbr9" pose [4.009 -1.680 0 -54.883] )
-
-# define and place some charging stations
-
-define charger model
-(
- size [ 0.500 0.500 0.010]
-
- 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 [ -4.522 -4.546 0 0 ] fiducial_return 1 )
+charger( pose [-4.87 4.5 0 180] )
+charger( pose [-4.87 4.0 0 180] )
+charger( pose [-4.87 3.5 0 180] )
+charger( pose [-4.87 3.0 0 180] )
+charger( pose [-4.87 2.5 0 180] )
+charger( pose [-4.87 2.0 0 180] )
+charger( pose [-4.87 1.5 0 180] )
+charger( pose [-4.87 1.0 0 180] )
+charger( pose [-4.87 0.5 0 180] )
+charger( pose [-4.87 0.0 0 180] )
+charger( pose [-4.87 -0.5 0 180] )
+charger( pose [-4.87 -1.0 0 180] )
+charger( pose [-4.87 -1.5 0 180] )
+charger( pose [-4.87 -2.0 0 180] )
+charger( pose [-4.87 -2.5 0 180] )
Modified: code/stage/trunk/worlds/chatterbox.inc
===================================================================
--- code/stage/trunk/worlds/chatterbox.inc 2009-06-08 06:31:35 UTC (rev
7815)
+++ code/stage/trunk/worlds/chatterbox.inc 2009-06-08 06:44:41 UTC (rev
7816)
@@ -1,33 +1,116 @@
# Define a model based on the Autonomy Lab Chatterbox robot
#
-# Author: Richard T Vaughan (rtv)
+# Author: Richard T Vaughan (rtv), Ash Charles
# $Id: chatterbox.inc,v 1.5 2008-01-15 01:25:42 rtv Exp $
include "irobot.inc"
define chatterbox create
(
- # long range IRs
- ranger
- (
- scount 3
- spose[0] [ 0.050 0.0 0 ]
- spose[1] [ 0.0 0.050 90 ]
- spose[2] [ 0.0 -0.050 270 ]
- sview [ 0 1.0 20 ]
- ssize [0.01 0.03 ]
+ joules 100000 # todo
+ joules_capacity 400000 # todo
+ watts 100 # todo
+ obstacle_return 0
+
+# charging connection
+ model
+ (
+ pose [0.100 0.000 -0.090 0.000]
+ take_watts 1000.0 # todo
+ size [0.15 0.1 0.03]
+ color "yellow"
+ obstacle_return 0
+ )
+
+ ranger
+ (
+ scount 6
+ spose[0] [ 0.050 0.000 0] # front forward
+ spose[1] [ 0.050 0.050 30] # front left side
+ spose[2] [ 0.000 0.050 90] # left side
+ spose[3] [-0.050 0.000 180] # back backwards
+ spose[4] [ 0.000 -0.050 -90] # right side
+ spose[5] [ 0.050 -0.050 -30] # front right side
+ sview [ 0 1.5 20 ]
+ ssize [0.01 0.03 ]
+ watts 10 # todo
+ )
+
+ fiducial
+ (
+ pose [0.040 0.000 -0.005 0.000]
+ range_min 0.0
+ range_max 2.5
+ range_max_id 2.5
+ fov 60
+ watts 10 # todo
)
- # short rage IRs
- ranger
- (
- scount 4
- spose[0] [ 0.050 0.0 0 ]
- spose[1] [ 0.035 0.035 30 ]
- spose[2] [ -0.050 0.0 180 ]
- spose[3] [ 0.035 -0.035 330 ]
+ )
- sview [ 0 0.5 30 ]
- ssize [0.01 0.03 ]
+
+define laserchatterbox chatterbox
+(
+ laser()
+)
+
+
+# Desc: Charging station to work with the chatterbox model
+# Author: Ash Charles
+# Date: 26 Febuary 2009
+
+define charger model
+(
+ size [ 0.040 0.200 0.100 ]
+ color "gray70"
+
+ # base pad
+ model(
+ color "gray50"
+ size [0.10 0.20 0.001]
+ pose [-0.070 0 -0.1 0]
+ obstacle_return 0
)
-)
\ No newline at end of file
+ # IR beam blocker
+# model(
+# color "gray30"
+# size [ 0.005 0.014 0.010]
+# pose [-0.020 0.000 -0.015]
+# )
+ # IR beacons: Red=Port=Left; Right=Starboard=Green; Purple=Omni
+ model(
+ color "red"
+ size [0.010 0.010 0.010]
+ pose [-0.016 0.010 -0.015 -10 ]
+# fiducial_return 4
+ )
+ model(
+ color "green"
+ size [0.010 0.010 0.010]
+ pose [-0.016 -0.010 -0.015 10 ]
+# fiducial_return 5
+ )
+ model(
+ color "purple"
+ size [0.010 0.010 0.010]
+ pose [-0.020 0.000 -0.015 0.000]
+ fiducial_return 6
+ )
+
+ # Positive Terminal of Charging Block
+ model(
+ pose [ -0.040 0.000 -0.100 0 ]
+ color "yellow"
+ size [ 0.020 0.100 0.005 ]
+ joules -1 # provides infinite energy
+ give_watts 1000
+ obstacle_return 0
+ )
+
+ # Negative terminal of the charging block
+# model(
+# pose [ -0.040 -0.040 -0.100 0 ]
+# color "yellow"
+# size [ 0.020 0.020 0.005 ]
+# )
+)
Modified: code/stage/trunk/worlds/fasr.world
===================================================================
--- code/stage/trunk/worlds/fasr.world 2009-06-08 06:31:35 UTC (rev 7815)
+++ code/stage/trunk/worlds/fasr.world 2009-06-08 06:44:41 UTC (rev 7816)
@@ -8,7 +8,7 @@
interval_sim 100 # simulation timestep in milliseconds
interval_real 0 # real-time interval between simulation updates in
milliseconds
-paused 0
+paused 1
# time to pause (in GUI mode) or quit (in headless mode) the simulation
# quit_time 120
@@ -25,9 +25,9 @@
(
size [ 788.000 842.000 ]
- center [ 6.871 -3.092 ]
+ center [ -0.067 -0.907 ]
rotate [ 0 0 ]
- scale 198.439
+ scale 40.786
pcam_loc [ 0 -4.000 2.000 ]
pcam_angle [ 70.000 0 ]
@@ -94,10 +94,9 @@
)
-charge_station( pose [ 7.936 -1.627 0 0 ] )
-charge_station( pose [ 7.935 -2.616 0 0 ] )
-charge_station( pose [ 7.931 -3.478 0 0 ] )
-charge_station( pose [ 7.931 -4.615 0 0 ] )
+charge_station( pose [ 7.940 -2.000 0 0 ] )
+charge_station( pose [ 7.940 -3.000 0 0 ] )
+charge_station( pose [ 7.940 -4.000 0 0 ] )
define puck model (
size [0.120 0.120 0.100]
@@ -157,16 +156,16 @@
# )
)
-autorob( pose [5.676 5.188 0 -19.596] joules 300000 name "r0" )
-autorob( pose [6.371 5.403 0 -102.139] joules 100000 )
-autorob( pose [5.509 6.300 0 164.865] joules 200000 )
-autorob( pose [6.926 6.331 0 -111.398] joules 400000 )
-autorob( pose [5.730 3.938 0 -93.939] joules 100000 )
-autorob( pose [4.925 6.078 0 -58.690] joules 200000 )
-autorob( pose [6.889 4.752 0 -103.252] joules 300000 )
-autorob( pose [7.220 5.671 0 -168.541] joules 400000 )
-autorob( pose [5.230 6.997 0 -145.485] joules 100000 )
-autorob( pose [6.529 4.005 0 -74.042] joules 200000 )
+autorob( pose [6.343 6.423 0 -108.404] joules 300000 name "r0" )
+autorob( pose [7.216 6.947 0 -102.139] joules 100000 )
+autorob( pose [7.308 6.329 0 -87.236] joules 200000 )
+autorob( pose [6.750 7.165 0 -111.398] joules 400000 )
+autorob( pose [6.382 7.678 0 -93.939] joules 100000 )
+autorob( pose [6.292 7.125 0 -58.690] joules 200000 )
+autorob( pose [7.699 6.780 0 -108.018] joules 300000 )
+autorob( pose [7.545 7.515 0 -168.541] joules 400000 )
+autorob( pose [7.017 7.707 0 -179.862] joules 100000 )
+autorob( pose [6.818 6.348 0 -74.042] joules 200000 )
#autorob( pose [5.060 6.868 0 -61.295] joules 300000 )
#autorob( pose [4.161 5.544 0 -147.713] joules 400000 )
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