Revision: 8597
http://playerstage.svn.sourceforge.net/playerstage/?rev=8597&view=rev
Author: rtv
Date: 2010-03-20 02:22:39 +0000 (Sat, 20 Mar 2010)
Log Message:
-----------
fasr2 demos working
Modified Paths:
--------------
code/stage/trunk/examples/ctrl/fasr2.cc
code/stage/trunk/worlds/fasr2.world
Added Paths:
-----------
code/stage/trunk/worlds/fasr2_open.world
code/stage/trunk/worlds/fasr2_open_large.world
Modified: code/stage/trunk/examples/ctrl/fasr2.cc
===================================================================
--- code/stage/trunk/examples/ctrl/fasr2.cc 2010-03-20 02:06:09 UTC (rev
8596)
+++ code/stage/trunk/examples/ctrl/fasr2.cc 2010-03-20 02:22:39 UTC (rev
8597)
@@ -1127,8 +1127,10 @@
// expecting a task color name as the 1th argument
assert( words.size() > 1 );
+ // some init for only the first controller
if( Robot::tasks.size() == 0 )
{
+ srandom( time(NULL) );
World* w = mod->GetWorld();
for( unsigned int s=1; s<words.size(); s++ )
Modified: code/stage/trunk/worlds/fasr2.world
===================================================================
--- code/stage/trunk/worlds/fasr2.world 2010-03-20 02:06:09 UTC (rev 8596)
+++ code/stage/trunk/worlds/fasr2.world 2010-03-20 02:22:39 UTC (rev 8597)
@@ -23,9 +23,9 @@
(
size [ 935.000 868.000 ]
- center [ -3.612 -5.382 ]
+ center [ -3.025 -8.459 ]
rotate [ 0 0 ]
- scale 7.038
+ scale 6.445
show_data 1
show_flags 1
@@ -45,69 +45,69 @@
zone( color "red"
- pose [ 17.876 43.114 0 0 ]
+ pose [ 18 43 0 0 ]
name "red_source"
- ctrl "source 50 10"
+ ctrl "source 100 10"
)
zone( color "DarkRed"
- pose [ 41.888 42.482 0 0 ]
+ pose [ 42 43 0 0 ]
name "red_sink"
ctrl "sink"
)
zone
(
color "green"
- pose [ 45.076 -26.104 0 0 ]
+ pose [ 18 30 0 0 ]
name "green_source"
ctrl "source 200 10"
)
zone( color "DarkGreen"
- pose [ -26.796 4.962 0 0 ]
+ pose [ 42 30 0 0 ]
name "green_sink"
ctrl "sink"
)
zone( color "blue"
- pose [ 42.463 14.006 0 0 ]
+ pose [ 41.067 -24.784 0 0 ]
name "blue_source"
ctrl "source 200 10"
)
zone( color "DarkBlue"
- pose [ 42.069 33.839 0 0 ]
+ pose [ 15.071 -40.948 0 0 ]
name "blue_sink"
ctrl "sink"
)
zone( color "yellow"
- pose [ 20.687 -42.588 0 0 ]
+ pose [ -42.788 -30.478 0 0 ]
name "yellow_source"
ctrl "source 200 10"
)
zone( color_rgba [ 0.8 0.8 0 1 ]
- pose [ -15.632 -42.596 0 0 ]
+ pose [ -42.671 37.896 0 0 ]
name "yellow_sink"
ctrl "sink"
)
zone( color "cyan"
- pose [ -43.076 36.202 0 0 ]
+ pose [ -12.911 41.047 0 0 ]
name "cyan_source"
ctrl "source 200 10"
)
zone( color "DarkCyan"
- pose [ -43.606 -31.133 0 0 ]
+ pose [ -12.109 -19.186 0 0 ]
name "cyan_sink"
ctrl "sink"
)
zone( color "magenta"
- pose [ -12.135 43.772 0 0 ]
+ pose [ -29.173 9.319 0 0 ]
name "magenta_source"
ctrl "source 200 10"
)
@@ -123,7 +123,7 @@
(
pose [0.240 0 -0.100 0 ]
size [0.120 0.050 0.100]
- take_watts 24000.0
+ take_watts 1000.0
color "orange"
obstacle_return 0
)
@@ -142,7 +142,7 @@
#model( color "purple" size [0.100 0.050 0.250] pose [ 0 -0.100 0 0 ] )
kjoules -1 # provides infinite energy
- give_watts 80000 # high!
+ give_watts 1000
alwayson 1 # so we give charge without any explicit subscriber
)
@@ -224,7 +224,7 @@
(
sicklaser( samples 32 range_max 2 laser_return 2 watts 30 )
# ctrl "fasr2"
- kjoules 100
+ kjoules 400
kjoules_capacity 400
fiducial_return 0
charging_bump( obstacle_return 0 fiducial( range_max_id 9 range_max 9 fov 180
pose [ 0 0 -0.050 0 ] ) )
@@ -237,203 +237,203 @@
-autorob( pose [-11.388 12.267 0 166.581] kjoules 400 )
-autorob( pose [-12.208 11.744 0 135.003] kjoules 400 )
-autorob( pose [-12.289 10.814 0 147.497] kjoules 400 )
-autorob( pose [-10.642 11.563 0 123.708] kjoules 400 )
-autorob( pose [-11.378 11.274 0 143.281] kjoules 400 )
-autorob( pose [-10.200 11.012 0 46.529] kjoules 400 )
-autorob( pose [-13.006 13.061 0 168.778] kjoules 400 )
-autorob( pose [-12.466 13.333 0 163.730] kjoules 400 )
-autorob( pose [-13.740 12.740 0 157.546] kjoules 400 )
-autorob( pose [-15.434 11.856 0 138.616] kjoules 400 )
+autorob( pose [-11.388 12.267 0 166.581] )
+autorob( pose [-12.208 11.744 0 135.003] )
+autorob( pose [-12.289 10.814 0 147.497] )
+autorob( pose [-10.642 11.563 0 123.708] )
+autorob( pose [-11.378 11.274 0 143.281] )
+autorob( pose [-10.200 11.012 0 46.529] )
+autorob( pose [-13.006 13.061 0 168.778] )
+autorob( pose [-12.466 13.333 0 163.730] )
+autorob( pose [-13.740 12.740 0 157.546] )
+autorob( pose [-15.434 11.856 0 138.616] )
-autorob( pose [-12.841 10.666 0 125.831] kjoules 400 )
-autorob( pose [-12.710 12.157 0 125.831] kjoules 400 )
-autorob( pose [-12.214 12.593 0 125.831] kjoules 400 )
-autorob( pose [-11.461 13.123 0 125.831] kjoules 400 )
-autorob( pose [-10.679 13.036 0 125.831] kjoules 400 )
-autorob( pose [-12.277 14.027 0 125.831] kjoules 400 )
-autorob( pose [-13.981 13.377 0 125.831] kjoules 400 )
-autorob( pose [-13.372 12.243 0 125.831] kjoules 400 )
-autorob( pose [-13.296 11.331 0 125.831] kjoules 400 )
-autorob( pose [-13.944 11.986 0 125.831] kjoules 400 )
+autorob( pose [-12.841 10.666 0 125.831] )
+autorob( pose [-12.710 12.157 0 125.831] )
+autorob( pose [-12.214 12.593 0 125.831] )
+autorob( pose [-11.461 13.123 0 125.831] )
+autorob( pose [-10.679 13.036 0 125.831] )
+autorob( pose [-12.277 14.027 0 125.831] )
+autorob( pose [-13.981 13.377 0 125.831] )
+autorob( pose [-13.372 12.243 0 125.831] )
+autorob( pose [-13.296 11.331 0 125.831] )
+autorob( pose [-13.944 11.986 0 125.831] )
-autorob( pose [-14.580 14.279 0 125.831] kjoules 400 )
-autorob( pose [-12.922 13.866 0 125.831] kjoules 400 )
-autorob( pose [-13.698 13.866 0 125.831] kjoules 400 )
-autorob( pose [-14.536 12.558 0 125.831] kjoules 400 )
-autorob( pose [-14.577 11.782 0 125.831] kjoules 400 )
-autorob( pose [-13.984 11.210 0 125.831] kjoules 400 )
-autorob( pose [-13.392 10.618 0 125.831] kjoules 400 )
-autorob( pose [-14.883 13.355 0 125.831] kjoules 400 )
-autorob( pose [-15.231 12.681 0 125.831] kjoules 400 )
-autorob( pose [-11.102 10.456 0 125.831] kjoules 400 )
+autorob( pose [-14.580 14.279 0 125.831] )
+autorob( pose [-12.922 13.866 0 125.831] )
+autorob( pose [-13.698 13.866 0 125.831] )
+autorob( pose [-14.536 12.558 0 125.831] )
+autorob( pose [-14.577 11.782 0 125.831] )
+autorob( pose [-13.984 11.210 0 125.831] )
+autorob( pose [-13.392 10.618 0 125.831] )
+autorob( pose [-14.883 13.355 0 125.831] )
+autorob( pose [-15.231 12.681 0 125.831] )
+autorob( pose [-11.102 10.456 0 125.831] )
-autorob( pose [-13.004 6.811 0 166.511] kjoules 200 )
-autorob( pose [-13.272 8.255 0 175.835] kjoules 200 )
-autorob( pose [-12.180 6.527 0 -132.938] kjoules 200 )
-autorob( pose [-9.625 8.080 0 171.172] kjoules 200 )
-autorob( pose [-12.844 9.141 0 170.270] kjoules 200 )
-autorob( pose [-11.369 8.011 0 -157.026] kjoules 200 )
-autorob( pose [-11.453 8.651 0 -120.696] kjoules 200 )
-autorob( pose [-13.876 8.850 0 -177.508] kjoules 200 )
-autorob( pose [-11.753 5.510 0 -139.502] kjoules 200 )
-autorob( pose [-10.121 8.843 0 160.986] kjoules 200 )
+autorob( pose [-13.004 6.811 0 166.511] )
+autorob( pose [-13.272 8.255 0 175.835] )
+autorob( pose [-12.180 6.527 0 -132.938] )
+autorob( pose [-9.625 8.080 0 171.172] )
+autorob( pose [-12.844 9.141 0 170.270] )
+autorob( pose [-11.369 8.011 0 -157.026] )
+autorob( pose [-11.453 8.651 0 -120.696] )
+autorob( pose [-13.876 8.850 0 -177.508] )
+autorob( pose [-11.753 5.510 0 -139.502] )
+autorob( pose [-10.121 8.843 0 160.986] )
-autorob( pose [-10.901 7.503 0 174.453] kjoules 200 )
-autorob( pose [-12.063 7.960 0 174.453] kjoules 200 )
-autorob( pose [-12.159 8.673 0 174.453] kjoules 200 )
-autorob( pose [-12.039 7.399 0 174.453] kjoules 200 )
-autorob( pose [-11.455 6.855 0 174.453] kjoules 200 )
-autorob( pose [-11.574 6.213 0 174.453] kjoules 200 )
-autorob( pose [-10.725 6.173 0 174.453] kjoules 200 )
-autorob( pose [-10.019 5.829 0 174.453] kjoules 200 )
-autorob( pose [-9.828 6.667 0 174.453] kjoules 200 )
-autorob( pose [-9.930 7.369 0 174.453] kjoules 200 )
+autorob( pose [-10.901 7.503 0 174.453] )
+autorob( pose [-12.063 7.960 0 174.453] )
+autorob( pose [-12.159 8.673 0 174.453] )
+autorob( pose [-12.039 7.399 0 174.453] )
+autorob( pose [-11.455 6.855 0 174.453] )
+autorob( pose [-11.574 6.213 0 174.453] )
+autorob( pose [-10.725 6.173 0 174.453] )
+autorob( pose [-10.019 5.829 0 174.453] )
+autorob( pose [-9.828 6.667 0 174.453] )
+autorob( pose [-9.930 7.369 0 174.453] )
-autorob( pose [-10.706 8.428 0 174.453] kjoules 200 )
-autorob( pose [-12.069 9.308 0 174.453] kjoules 200 )
-autorob( pose [-12.719 7.662 0 174.453] kjoules 200 )
-autorob( pose [-13.739 7.599 0 174.453] kjoules 200 )
-autorob( pose [-10.988 9.361 0 174.453] kjoules 200 )
-autorob( pose [-12.708 6.341 0 174.453] kjoules 200 )
-autorob( pose [-12.163 5.901 0 174.453] kjoules 200 )
-autorob( pose [-10.500 6.917 0 174.453] kjoules 200 )
-autorob( pose [-10.727 5.576 0 174.453] kjoules 200 )
-autorob( pose [-10.286 7.945 0 174.453] kjoules 200 )
+autorob( pose [-10.706 8.428 0 174.453] )
+autorob( pose [-12.069 9.308 0 174.453] )
+autorob( pose [-12.719 7.662 0 174.453] )
+autorob( pose [-13.739 7.599 0 174.453] )
+autorob( pose [-10.988 9.361 0 174.453] )
+autorob( pose [-12.708 6.341 0 174.453] )
+autorob( pose [-12.163 5.901 0 174.453] )
+autorob( pose [-10.500 6.917 0 174.453] )
+autorob( pose [-10.727 5.576 0 174.453] )
+autorob( pose [-10.286 7.945 0 174.453] )
-autorob( pose [-1.975 18.008 0 67.057] kjoules 400 )
-autorob( pose [-0.577 17.752 0 28.480] kjoules 400 )
-autorob( pose [0.185 18.933 0 64.025] kjoules 400 )
-autorob( pose [-4.470 20.502 0 5.703] kjoules 400 )
-autorob( pose [-3.229 21.138 0 5.731] kjoules 400 )
-autorob( pose [0.290 17.823 0 24.200] kjoules 400 )
-autorob( pose [-1.945 19.158 0 54.480] kjoules 400 )
-autorob( pose [-3.733 17.894 0 54.588] kjoules 400 )
-autorob( pose [-3.232 17.616 0 52.768] kjoules 400 )
-autorob( pose [-2.570 20.624 0 20.367] kjoules 400 )
+autorob( pose [-1.975 18.008 0 67.057] )
+autorob( pose [-0.577 17.752 0 28.480] )
+autorob( pose [0.185 18.933 0 64.025] )
+autorob( pose [-4.470 20.502 0 5.703] )
+autorob( pose [-3.229 21.138 0 5.731] )
+autorob( pose [0.290 17.823 0 24.200] )
+autorob( pose [-1.945 19.158 0 54.480] )
+autorob( pose [-3.733 17.894 0 54.588] )
+autorob( pose [-3.232 17.616 0 52.768] )
+autorob( pose [-2.570 20.624 0 20.367] )
-autorob( pose [-3.635 20.622 0 -117.456] kjoules 400 )
-autorob( pose [-5.346 20.649 0 -117.456] kjoules 400 )
-autorob( pose [-4.518 21.397 0 -117.456] kjoules 400 )
-autorob( pose [-3.796 21.611 0 -117.456] kjoules 400 )
-autorob( pose [-3.074 19.927 0 -117.456] kjoules 400 )
-autorob( pose [-2.610 21.900 0 -117.456] kjoules 400 )
-autorob( pose [-1.703 20.756 0 -117.456] kjoules 400 )
-autorob( pose [-1.898 19.927 0 -117.456] kjoules 400 )
-autorob( pose [-1.371 19.088 0 -117.456] kjoules 400 )
-autorob( pose [-5.320 17.681 0 -117.456] kjoules 400 )
+autorob( pose [-3.635 20.622 0 -117.456] )
+autorob( pose [-5.346 20.649 0 -117.456] )
+autorob( pose [-4.518 21.397 0 -117.456] )
+autorob( pose [-3.796 21.611 0 -117.456] )
+autorob( pose [-3.074 19.927 0 -117.456] )
+autorob( pose [-2.610 21.900 0 -117.456] )
+autorob( pose [-1.703 20.756 0 -117.456] )
+autorob( pose [-1.898 19.927 0 -117.456] )
+autorob( pose [-1.371 19.088 0 -117.456] )
+autorob( pose [-5.320 17.681 0 -117.456] )
-autorob( pose [-4.708 18.475 0 -117.456] kjoules 400 )
-autorob( pose [-5.615 18.687 0 -117.456] kjoules 400 )
-autorob( pose [-6.341 17.840 0 -117.456] kjoules 400 )
-autorob( pose [-3.521 18.825 0 -117.456] kjoules 400 )
-autorob( pose [-4.194 19.473 0 -117.456] kjoules 400 )
-autorob( pose [-5.192 19.564 0 -117.456] kjoules 400 )
-autorob( pose [-6.341 19.836 0 -117.456] kjoules 400 )
-autorob( pose [-2.742 19.050 0 -117.456] kjoules 400 )
-autorob( pose [-2.591 18.324 0 -108.862] kjoules 400 )
-autorob( pose [-6.301 18.782 0 -117.456] kjoules 400 )
+autorob( pose [-4.708 18.475 0 -117.456] )
+autorob( pose [-5.615 18.687 0 -117.456] )
+autorob( pose [-6.341 17.840 0 -117.456] )
+autorob( pose [-3.521 18.825 0 -117.456] )
+autorob( pose [-4.194 19.473 0 -117.456] )
+autorob( pose [-5.192 19.564 0 -117.456] )
+autorob( pose [-6.341 19.836 0 -117.456] )
+autorob( pose [-2.742 19.050 0 -117.456] )
+autorob( pose [-2.591 18.324 0 -108.862] )
+autorob( pose [-6.301 18.782 0 -117.456] )
-autorob( pose [-35.549 -47.514 0 -41.980] kjoules 40 )
-autorob( pose [-45.547 -46.397 0 -119.991] kjoules 40 )
-autorob( pose [-38.902 -42.142 0 -65.139] kjoules 40 )
-autorob( pose [-39.615 -42.398 0 -73.426] kjoules 40 )
-autorob( pose [-39.830 -40.428 0 -93.488] kjoules 40 )
-autorob( pose [-39.230 -41.231 0 -99.719] kjoules 40 )
-autorob( pose [-30.258 -41.202 0 27.802] kjoules 40 )
-autorob( pose [-38.513 -40.851 0 -96.070] kjoules 40 )
-autorob( pose [-30.890 -41.197 0 160.446] kjoules 40 )
-autorob( pose [-31.214 -41.949 0 46.259] kjoules 40 )
+autorob( pose [-7.032 9.327 0 -41.980] )
+autorob( pose [-7.030 10.444 0 -119.991] )
+autorob( pose [-10.385 14.699 0 -65.139] )
+autorob( pose [-11.098 14.443 0 -73.426] )
+autorob( pose [-11.275 16.451 0 -93.488] )
+autorob( pose [-10.713 15.610 0 -99.719] )
+autorob( pose [-8.736 10.849 0 27.802] )
+autorob( pose [-9.958 16.028 0 -96.070] )
+autorob( pose [-9.368 10.854 0 160.446] )
+autorob( pose [-9.692 10.102 0 46.259] )
#100
-autorob( pose [-11.819 1.550 0 44.991] kjoules 400 )
-autorob( pose [-12.401 2.181 0 44.991] kjoules 400 )
-autorob( pose [-11.236 3.330 0 44.991] kjoules 400 )
-autorob( pose [-12.078 3.298 0 44.991] kjoules 400 )
-autorob( pose [-10.275 2.456 0 44.991] kjoules 400 )
-autorob( pose [-10.734 4.123 0 44.991] kjoules 400 )
-autorob( pose [-11.592 4.398 0 44.991] kjoules 400 )
-autorob( pose [-12.903 2.877 0 44.991] kjoules 400 )
-autorob( pose [-12.434 1.372 0 44.991] kjoules 400 )
-autorob( pose [-10.555 3.358 0 44.991] kjoules 400 )
+#autorob( pose [-11.819 1.550 0 44.991] )
+#autorob( pose [-12.401 2.181 0 44.991] )
+#autorob( pose [-11.236 3.330 0 44.991] )
+#autorob( pose [-12.078 3.298 0 44.991] )
+#autorob( pose [-10.275 2.456 0 44.991] )
+#autorob( pose [-10.734 4.123 0 44.991] )
+#autorob( pose [-11.592 4.398 0 44.991] )
+#autorob( pose [-12.903 2.877 0 44.991] )
+#autorob( pose [-12.434 1.372 0 44.991] )
+#autorob( pose [-10.555 3.358 0 44.991] )
-autorob( pose [-9.516 3.311 0 44.991] kjoules 400 )
-autorob( pose [-12.308 3.949 0 44.991] kjoules 400 )
-autorob( pose [-13.185 3.682 0 44.991] kjoules 400 )
-autorob( pose [-13.014 2.167 0 44.991] kjoules 400 )
-autorob( pose [-13.719 2.634 0 44.991] kjoules 400 )
-autorob( pose [-13.633 1.986 0 44.991] kjoules 400 )
-autorob( pose [-13.138 1.385 0 44.991] kjoules 400 )
-autorob( pose [-12.490 0.575 0 44.991] kjoules 400 )
-autorob( pose [-11.775 0.699 0 44.991] kjoules 400 )
-autorob( pose [-11.641 2.586 0 44.991] kjoules 400 )
+#autorob( pose [-9.516 3.311 0 44.991] )
+#autorob( pose [-12.308 3.949 0 44.991] )
+#autorob( pose [-13.185 3.682 0 44.991] )
+#autorob( pose [-13.014 2.167 0 44.991] )
+#autorob( pose [-13.719 2.634 0 44.991] )
+#autorob( pose [-13.633 1.986 0 44.991] )
+#autorob( pose [-13.138 1.385 0 44.991] )
+#autorob( pose [-12.490 0.575 0 44.991] )
+#autorob( pose [-11.775 0.699 0 44.991] )
+#autorob( pose [-11.641 2.586 0 44.991] )
-autorob( pose [-14.296 4.967 0 -113.433] kjoules 200 )
-autorob( pose [-13.218 5.200 0 -105.066] kjoules 200 )
-autorob( pose [-17.084 7.178 0 -113.959] kjoules 200 )
-autorob( pose [-15.829 3.428 0 -100.843] kjoules 200 )
-autorob( pose [-16.001 6.965 0 -116.077] kjoules 200 )
-autorob( pose [-13.589 6.170 0 -108.098] kjoules 200 )
-autorob( pose [-15.665 7.690 0 35.677] kjoules 200 )
-autorob( pose [-18.633 7.374 0 -100.002] kjoules 200 )
-autorob( pose [-14.987 3.480 0 -97.678] kjoules 200 )
-autorob( pose [-16.445 7.660 0 68.821] kjoules 200 )
+#autorob( pose [-14.296 4.967 0 -113.433] )
+#autorob( pose [-13.218 5.200 0 -105.066] )
+#autorob( pose [-17.084 7.178 0 -113.959] )
+#autorob( pose [-15.829 3.428 0 -100.843] )
+#autorob( pose [-16.001 6.965 0 -116.077] )
+#autorob( pose [-13.589 6.170 0 -108.098] )
+#autorob( pose [-15.665 7.690 0 35.677] )
+#autorob( pose [-18.633 7.374 0 -100.002] )
+#autorob( pose [-14.987 3.480 0 -97.678] )
+#autorob( pose [-16.445 7.660 0 68.821] )
-autorob( pose [-17.222 6.291 0 35.145] kjoules 200 )
-autorob( pose [-17.885 7.198 0 35.145] kjoules 200 )
-autorob( pose [-17.254 8.218 0 35.145] kjoules 200 )
-autorob( pose [-17.060 5.498 0 35.145] kjoules 200 )
-autorob( pose [-18.047 6.227 0 35.145] kjoules 200 )
-autorob( pose [-16.930 4.640 0 35.145] kjoules 200 )
-autorob( pose [-17.966 5.417 0 35.145] kjoules 200 )
-autorob( pose [-15.927 4.640 0 35.145] kjoules 200 )
-autorob( pose [-14.988 4.236 0 35.145] kjoules 200 )
-autorob( pose [-15.706 6.151 0 35.145] kjoules 200 )
+#autorob( pose [-17.222 6.291 0 35.145] )
+#autorob( pose [-17.885 7.198 0 35.145] )
+#autorob( pose [-17.254 8.218 0 35.145] )
+#autorob( pose [-17.060 5.498 0 35.145] )
+#autorob( pose [-18.047 6.227 0 35.145] )
+#autorob( pose [-16.930 4.640 0 35.145] )
+#autorob( pose [-17.966 5.417 0 35.145] )
+#autorob( pose [-15.927 4.640 0 35.145] )
+#autorob( pose [-14.988 4.236 0 35.145] )
+#autorob( pose [-15.706 6.151 0 35.145] )
-autorob( pose [-16.419 6.225 0 35.145] kjoules 200 )
-autorob( pose [-14.574 5.868 0 35.145] kjoules 200 )
-autorob( pose [-18.271 8.274 0 35.145] kjoules 200 )
-autorob( pose [-15.801 8.625 0 35.145] kjoules 200 )
-autorob( pose [-16.598 8.835 0 35.145] kjoules 200 )
-autorob( pose [-14.417 6.791 0 35.145] kjoules 200 )
-autorob( pose [-15.235 6.801 0 35.145] kjoules 200 )
-autorob( pose [-15.444 5.260 0 35.145] kjoules 200 )
-autorob( pose [-16.598 5.187 0 35.145] kjoules 200 )
-autorob( pose [-16.461 4.159 0 35.145] kjoules 200 )
+#autorob( pose [-16.419 6.225 0 35.145] )
+#autorob( pose [-14.574 5.868 0 35.145] )
+#autorob( pose [-18.271 8.274 0 35.145] )
+#autorob( pose [-15.801 8.625 0 35.145] )
+#autorob( pose [-16.598 8.835 0 35.145] )
+#autorob( pose [-14.417 6.791 0 35.145] )
+#autorob( pose [-15.235 6.801 0 35.145] )
+#autorob( pose [-15.444 5.260 0 35.145] )
+#autorob( pose [-16.598 5.187 0 35.145] )
+#autorob( pose [-16.461 4.159 0 35.145] )
-autorob( pose [-8.171 13.723 0 -139.469] kjoules 300 )
-autorob( pose [-8.887 12.177 0 -88.070] kjoules 300 )
-autorob( pose [-7.357 15.181 0 -94.395] kjoules 300 )
-autorob( pose [-7.970 15.169 0 -167.188] kjoules 300 )
-autorob( pose [-7.482 13.834 0 -94.067] kjoules 300 )
-autorob( pose [-8.009 13.153 0 -163.083] kjoules 300 )
-autorob( pose [-6.846 13.156 0 -137.774] kjoules 300 )
-autorob( pose [-8.349 14.435 0 -136.374] kjoules 300 )
-autorob( pose [-6.752 14.083 0 -101.104] kjoules 300 )
-autorob( pose [-6.452 15.332 0 -131.336] kjoules 300 )
+#autorob( pose [-8.171 13.723 0 -139.469] )
+#autorob( pose [-8.887 12.177 0 -88.070] )
+#autorob( pose [-7.357 15.181 0 -94.395] )
+#autorob( pose [-7.970 15.169 0 -167.188] )
+#autorob( pose [-7.482 13.834 0 -94.067] )
+#autorob( pose [-8.009 13.153 0 -163.083] )
+#autorob( pose [-6.846 13.156 0 -137.774] )
+#autorob( pose [-8.349 14.435 0 -136.374] )
+#autorob( pose [-6.752 14.083 0 -101.104] )
+#autorob( pose [-6.452 15.332 0 -131.336] )
-autorob( pose [-9.099 17.489 0 -143.181] kjoules 300 )
-autorob( pose [-9.610 15.854 0 -143.181] kjoules 300 )
-autorob( pose [-9.589 16.569 0 -143.181] kjoules 300 )
-autorob( pose [-10.059 15.221 0 -143.181] kjoules 300 )
-autorob( pose [-10.264 16.099 0 -143.181] kjoules 300 )
-autorob( pose [-9.814 17.325 0 -143.181] kjoules 300 )
-autorob( pose [-8.271 16.840 0 -143.181] kjoules 300 )
-autorob( pose [-8.629 17.999 0 -143.181] kjoules 300 )
-autorob( pose [-9.467 18.142 0 -143.181] kjoules 300 )
-autorob( pose [-9.079 16.263 0 -143.181] kjoules 300 )
+#autorob( pose [-9.099 17.489 0 -143.181] )
+#autorob( pose [-9.610 15.854 0 -143.181] )
+#autorob( pose [-9.589 16.569 0 -143.181] )
+#autorob( pose [-10.059 15.221 0 -143.181] )
+#autorob( pose [-10.264 16.099 0 -143.181] )
+#autorob( pose [-9.814 17.325 0 -143.181] )
+#autorob( pose [-8.271 16.840 0 -143.181] )
+#autorob( pose [-8.629 17.999 0 -143.181] )
+#autorob( pose [-9.467 18.142 0 -143.181] )
+#autorob( pose [-9.079 16.263 0 -143.181] )
-autorob( pose [-9.196 15.409 0 -143.181] kjoules 300 )
-autorob( pose [-9.598 14.812 0 -143.181] kjoules 300 )
-autorob( pose [-9.304 14.280 0 -143.181] kjoules 300 )
-autorob( pose [-8.946 13.737 0 -143.181] kjoules 300 )
-autorob( pose [-8.761 13.140 0 -143.181] kjoules 300 )
-autorob( pose [-8.153 12.629 0 -143.181] kjoules 300 )
-autorob( pose [-7.393 12.618 0 -143.181] kjoules 300 )
-autorob( pose [-8.467 15.712 0 -143.181] kjoules 300 )
-autorob( pose [-7.762 16.132 0 -143.181] kjoules 300 )
-autorob( pose [-8.794 14.855 0 -143.181] kjoules 300 )
+#autorob( pose [-9.196 15.409 0 -143.181] )
+#autorob( pose [-9.598 14.812 0 -143.181] )
+#autorob( pose [-9.304 14.280 0 -143.181] )
+#autorob( pose [-8.946 13.737 0 -143.181] )
+#autorob( pose [-8.761 13.140 0 -143.181] )
+#autorob( pose [-8.153 12.629 0 -143.181] )
+#autorob( pose [-7.393 12.618 0 -143.181] )
+#autorob( pose [-8.467 15.712 0 -143.181] )
+#autorob( pose [-7.762 16.132 0 -143.181] )
+#autorob( pose [-8.794 14.855 0 -143.181] )
Added: code/stage/trunk/worlds/fasr2_open.world
===================================================================
--- code/stage/trunk/worlds/fasr2_open.world (rev 0)
+++ code/stage/trunk/worlds/fasr2_open.world 2010-03-20 02:22:39 UTC (rev
8597)
@@ -0,0 +1,393 @@
+
+# FASR demo world
+# Authors: Richard Vaughan
+# $Id: fasr.world,v 1.4 2008-04-01 23:57:41 rtv Exp $
+
+include "pioneer.inc"
+include "map.inc"
+include "sick.inc"
+
+speedup -1.000 # 10.000
+paused 1
+
+# time at which to pause (in GUI mode) or quit (in headless mode) the
simulation
+# quit_time 3600 # 1 hour of simulated time
+
+
+resolution 0.02
+
+threads 8
+
+# configure the GUI window
+window
+(
+ size [ 1070.000 712.000 ]
+
+ center [ -28.543 -37.183 ]
+ rotate [ 0 0 ]
+ scale 24.235
+
+ show_data 0
+ show_flags 1
+
+ # interval 50
+)
+
+# load an environment bitmap
+floorplan
+(
+ name "cave"
+ pose [0 0 0 0]
+ size [100.000 100.000 0.600]
+ bitmap "bitmaps/cave.png"
+)
+
+define smallzone zone
+(
+ size [ 2.000 2.000 0.020 ]
+)
+
+smallzone( color "red"
+ pose [ -32.00 -33.000 0 0 ]
+ name "red_source"
+ ctrl "source 60 1"
+)
+
+smallzone( color "DarkRed"
+ pose [ 0 -33.000 0 0 ]
+ name "red_sink"
+ ctrl "sink"
+)
+smallzone
+(
+ color "green"
+ pose [ -32.000 -39.000 0 0 ]
+ name "green_source"
+ ctrl "source 120 1"
+)
+
+smallzone( color "DarkGreen"
+ pose [ 0.000 -39.000 0 0 ]
+ name "green_sink"
+ ctrl "sink"
+)
+
+smallzone( color "blue"
+ pose [ -32.000 -45.000 0 0 ]
+ name "blue_source"
+ ctrl "source 240 1"
+)
+
+smallzone( color "DarkBlue"
+ pose [ 0 -45.000 0 0 ]
+ name "blue_sink"
+ ctrl "sink"
+)
+
+
+define charging_bump model
+(
+ pose [0.240 0 -0.100 0 ]
+ size [0.120 0.050 0.100]
+ take_watts 1000.0
+ color "orange"
+ obstacle_return 0
+)
+
+define charge_station model
+(
+ size [ 0.100 0.100 0.300 ]
+ color "purple"
+
+ laser_return 0
+ obstacle_return 0
+ fiducial_return 2 # look for this in the fiducial sensor
+
+ # side blocks to restrict view angle
+ #model( color "purple" size [0.100 0.050 0.250] pose [ 0 0.100 0 0 ] )
+ #model( color "purple" size [0.100 0.050 0.250] pose [ 0 -0.100 0 0 ] )
+
+ kjoules -1 # provides infinite energy
+ give_watts 1000
+ alwayson 1 # so we give charge without any explicit subscriber
+)
+
+
+#charge_station( pose [ -38.500 -49.900 0 90.000 ] )
+#charge_station( pose [ -39.500 -49.900 0 90.000 ] )
+#charge_station( pose [ -40.500 -49.900 0 90.000 ] )
+#charge_station( pose [ -41.500 -49.900 0 90.000 ] )
+#charge_station( pose [ -42.500 -49.900 0 90.000 ] )
+#charge_station( pose [ -43.500 -49.900 0 90.000 ] )
+#charge_station( pose [ -44.500 -49.900 0 90.000 ] )
+#charge_station( pose [ -45.500 -49.900 0 90.000 ] )
+#charge_station( pose [ -46.500 -49.900 0 90.000 ] )
+#charge_station( pose [ -47.500 -49.900 0 90.000 ] )
+
+charge_station( pose [ -49.900 -34.500 0 0 ] )
+charge_station( pose [ -49.900 -35.500 0 0 ] )
+charge_station( pose [ -49.900 -36.500 0 0 ] )
+charge_station( pose [ -49.900 -37.500 0 0 ] )
+charge_station( pose [ -49.900 -38.500 0 0 ] )
+charge_station( pose [ -49.900 -39.500 0 0 ] )
+charge_station( pose [ -49.900 -40.500 0 0 ] )
+charge_station( pose [ -49.900 -41.500 0 0 ] )
+charge_station( pose [ -49.900 -42.500 0 0 ] )
+charge_station( pose [ -49.900 -43.500 0 0 ] )
+
+smallzone( color "orange"
+ pose [ -45.000 -39.000 0 0 ]
+ name "fuel_zone"
+ size [ 1.000 1.000 0.010 ]
+ gui_move 0
+)
+
+smallzone( color "gray5"
+ pose [ 8.609 -44.704 0 0 ]
+ name "pool_zone"
+ size [ 1.000 1.000 0.010 ]
+ gui_move 1
+)
+
+define buffer model
+(
+ color "orange"
+ size [ 0.100 13.000 1.000 ]
+)
+
+#buffer( pose [ -49.543 -42.500 0 0 ] )
+#buffer( pose [ -42.595 -49.527 0 90.000 ] )
+
+define blinker model
+(
+ color "orange"
+ size [ 0.100 0.700 0.600 ]
+)
+
+#blinker( pose [ -36.066 -48.834 0 0 ] )
+#blinker( pose [ -36.990 -48.838 0 0 ] )
+#blinker( pose [ -38.063 -48.836 0 0 ] )
+#blinker( pose [ -39.020 -48.831 0 0 ] )
+#blinker( pose [ -40.012 -48.823 0 0 ] )
+#blinker( pose [ -41.035 -48.812 0 0 ] )
+#blinker( pose [ -42.047 -48.775 0 0 ] )
+#blinker( pose [ -43.026 -48.834 0 0 ] )
+
+define autorob pioneer2dx
+(
+ sicklaser( samples 32 range_max 2 laser_return 2 watts 30 )
+# ctrl "fasr2"
+ kjoules 400
+ kjoules_capacity 400
+ fiducial_return 0
+ charging_bump( obstacle_return 0 fiducial( range_max_id 9 range_max 9 fov 180
pose [ 0 0 -0.050 0 ] ) )
+
+ # small speed optimization
+ # trail_length 0
+
+ ctrl "fasr2 red green blue"
+)
+
+
+autorob( pose [-41.388 -32.267 0 166.581] )
+autorob( pose [-42.208 -31.744 0 135.003] )
+autorob( pose [-42.289 -30.814 0 147.497] )
+autorob( pose [-40.642 -31.563 0 123.708] )
+autorob( pose [-41.378 -31.274 0 143.281] )
+autorob( pose [-40.200 -31.012 0 46.529] )
+autorob( pose [-43.006 -33.061 0 168.778] )
+autorob( pose [-41.078 -34.196 0 163.730] )
+autorob( pose [-43.740 -32.740 0 157.546] )
+autorob( pose [-45.434 -31.856 0 138.616] )
+
+autorob( pose [-42.841 -29.916 0 125.831] )
+autorob( pose [-42.710 -32.157 0 125.831] )
+autorob( pose [-42.214 -32.593 0 125.831] )
+autorob( pose [-41.461 -33.123 0 125.831] )
+autorob( pose [-40.679 -33.036 0 125.831] )
+autorob( pose [-42.277 -34.027 0 125.831] )
+autorob( pose [-43.981 -33.377 0 125.831] )
+autorob( pose [-43.372 -32.243 0 125.831] )
+autorob( pose [-43.296 -31.331 0 125.831] )
+autorob( pose [-43.944 -31.986 0 125.831] )
+
+autorob( pose [-44.580 -34.279 0 125.831] )
+autorob( pose [-42.922 -33.866 0 125.831] )
+autorob( pose [-43.660 -34.316 0 125.831] )
+autorob( pose [-44.536 -32.558 0 125.831] )
+autorob( pose [-44.577 -31.782 0 125.831] )
+autorob( pose [-43.984 -31.210 0 125.831] )
+autorob( pose [-43.392 -30.618 0 125.831] )
+autorob( pose [-44.883 -33.355 0 125.831] )
+autorob( pose [-45.231 -32.681 0 125.831] )
+autorob( pose [-41.102 -30.456 0 125.831] )
+
+autorob( pose [-45.073 -36.830 0 67.057] )
+autorob( pose [-44.086 -35.691 0 28.480] )
+autorob( pose [-46.862 -29.180 0 64.025] )
+autorob( pose [-46.581 -33.705 0 5.703] )
+autorob( pose [-45.732 -35.716 0 5.731] )
+autorob( pose [-45.842 -28.333 0 24.200] )
+autorob( pose [-46.467 -36.704 0 54.480] )
+autorob( pose [-44.175 -37.403 0 54.588] )
+autorob( pose [-43.232 -37.616 0 52.768] )
+autorob( pose [-46.938 -31.373 0 20.367] )
+
+autorob( pose [-47.440 -35.510 0 -41.980] )
+autorob( pose [-47.760 -33.493 0 -59.991] )
+autorob( pose [-47.980 -32.427 0 -65.139] )
+autorob( pose [-46.892 -32.532 0 -73.426] )
+autorob( pose [-47.745 -30.225 0 -93.488] )
+autorob( pose [-48.195 -31.591 0 -99.719] )
+autorob( pose [-44.737 -29.311 0 27.802] )
+autorob( pose [-47.591 -31.136 0 -96.070] )
+autorob( pose [-45.782 -29.718 0 160.446] )
+autorob( pose [-46.106 -30.470 0 46.259] )
+
+#50
+
+#autorob( pose [-43.004 -6.811 0 166.511] )
+#autorob( pose [-43.272 -8.255 0 175.835] )
+#autorob( pose [-42.180 -6.527 0 -432.938] )
+#autorob( pose [-49.625 -8.080 0 171.172] )
+#autorob( pose [-42.844 -9.141 0 170.270] )
+#autorob( pose [-41.369 -8.011 0 -457.026] )
+#autorob( pose [-41.453 -8.651 0 -420.696] )
+#autorob( pose [-43.876 -8.850 0 -477.508] )
+#autorob( pose [-41.753 -5.510 0 -439.502] )
+#autorob( pose [-40.121 -8.843 0 160.986] )
+
+#autorob( pose [-40.901 -7.503 0 174.453] )
+#autorob( pose [-42.063 -7.960 0 174.453] )
+#autorob( pose [-42.159 -8.673 0 174.453] )
+#autorob( pose [-42.039 -7.399 0 174.453] )
+#autorob( pose [-41.455 -6.855 0 174.453] )
+#autorob( pose [-41.574 -6.213 0 174.453] )
+#autorob( pose [-40.725 -6.173 0 174.453] )
+#autorob( pose [-40.019 -5.829 0 174.453] )
+#autorob( pose [-49.828 -6.667 0 174.453] )
+#autorob( pose [-49.930 -7.369 0 174.453] )
+
+#autorob( pose [-40.706 -8.428 0 174.453] )
+#autorob( pose [-42.069 -9.308 0 174.453] )
+#autorob( pose [-42.719 -7.662 0 174.453] )
+#autorob( pose [-43.739 -7.599 0 174.453] )
+#autorob( pose [-40.988 -9.361 0 174.453] )
+#autorob( pose [-42.708 -6.341 0 174.453] )
+#autorob( pose [-42.163 -5.901 0 174.453] )
+#autorob( pose [-40.500 -6.917 0 174.453] )
+#autorob( pose [-40.727 -5.576 0 174.453] )
+#autorob( pose [-40.286 -7.945 0 174.453] )
+
+#autorob( pose [-43.635 20.622 0 -417.456] )
+#autorob( pose [-45.346 20.649 0 -417.456] )
+#autorob( pose [-44.518 21.397 0 -417.456] )
+#autorob( pose [-43.796 21.611 0 -417.456] )
+#autorob( pose [-43.074 19.927 0 -417.456] )
+#autorob( pose [-42.610 21.900 0 -417.456] )
+#autorob( pose [-44.703 20.756 0 -417.456] )
+#autorob( pose [-44.898 19.927 0 -417.456] )
+#autorob( pose [-44.371 19.088 0 -417.456] )
+#autorob( pose [-45.320 17.681 0 -417.456] )
+
+#autorob( pose [-44.708 18.475 0 -417.456] )
+#autorob( pose [-45.615 18.687 0 -417.456] )
+#autorob( pose [-46.341 17.840 0 -417.456] )
+#autorob( pose [-43.521 18.825 0 -417.456] )
+#autorob( pose [-44.194 19.473 0 -417.456] )
+#autorob( pose [-45.192 19.564 0 -417.456] )
+#autorob( pose [-46.341 19.836 0 -417.456] )
+#autorob( pose [-42.742 19.050 0 -417.456] )
+#autorob( pose [-42.591 18.324 0 -408.862] )
+#autorob( pose [-46.301 18.782 0 -417.456] )
+
+# 100
+
+#autorob( pose [-41.819 1.550 0 44.991] )
+#autorob( pose [-42.401 2.181 0 44.991] )
+#autorob( pose [-41.236 3.330 0 44.991] )
+#autorob( pose [-42.078 3.298 0 44.991] )
+#autorob( pose [-40.275 2.456 0 44.991] )
+#autorob( pose [-40.734 4.123 0 44.991] )
+#autorob( pose [-41.592 4.398 0 44.991] )
+#autorob( pose [-42.903 2.877 0 44.991] )
+#autorob( pose [-42.434 1.372 0 44.991] )
+#autorob( pose [-40.555 3.358 0 44.991] )
+
+#autorob( pose [-9.516 3.311 0 44.991] )
+#autorob( pose [-42.308 3.949 0 44.991] )
+#autorob( pose [-43.185 3.682 0 44.991] )
+#autorob( pose [-43.014 2.167 0 44.991] )
+#autorob( pose [-43.719 2.634 0 44.991] )
+#autorob( pose [-43.633 1.986 0 44.991] )
+#autorob( pose [-43.138 1.385 0 44.991] )
+#autorob( pose [-42.490 0.575 0 44.991] )
+#autorob( pose [-41.775 0.699 0 44.991] )
+#autorob( pose [-41.641 2.586 0 44.991] )
+
+#autorob( pose [-44.296 4.967 0 -413.433] )
+#autorob( pose [-43.218 5.200 0 -405.066] )
+#autorob( pose [-47.084 7.178 0 -413.959] )
+#autorob( pose [-45.829 3.428 0 -400.843] )
+#autorob( pose [-46.001 6.965 0 -416.077] )
+#autorob( pose [-43.589 6.170 0 -408.098] )
+#autorob( pose [-45.665 7.690 0 35.677] )
+#autorob( pose [-48.633 7.374 0 -400.002] )
+#autorob( pose [-44.987 3.480 0 -97.678] )
+#autorob( pose [-46.445 7.660 0 68.821] )
+
+#autorob( pose [-47.222 6.291 0 35.145] )
+#autorob( pose [-47.885 7.198 0 35.145] )
+#autorob( pose [-47.254 8.218 0 35.145] )
+#autorob( pose [-47.060 5.498 0 35.145] )
+#autorob( pose [-48.047 6.227 0 35.145] )
+#autorob( pose [-46.930 4.640 0 35.145] )
+#autorob( pose [-47.966 5.417 0 35.145] )
+#autorob( pose [-45.927 4.640 0 35.145] )
+#autorob( pose [-44.988 4.236 0 35.145] )
+#autorob( pose [-45.706 6.151 0 35.145] )
+
+#autorob( pose [-46.419 6.225 0 35.145] )
+#autorob( pose [-44.574 5.868 0 35.145] )
+#autorob( pose [-48.271 8.274 0 35.145] )
+#autorob( pose [-45.801 8.625 0 35.145] )
+#autorob( pose [-46.598 8.835 0 35.145] )
+#autorob( pose [-44.417 6.791 0 35.145] )
+#autorob( pose [-45.235 6.801 0 35.145] )
+#autorob( pose [-45.444 5.260 0 35.145] )
+#autorob( pose [-46.598 5.187 0 35.145] )
+#autorob( pose [-46.461 4.159 0 35.145] )
+
+#autorob( pose [-8.171 13.723 0 -439.469] )
+#autorob( pose [-8.887 12.177 0 -88.070] )
+#autorob( pose [-7.357 15.181 0 -94.395] )
+#autorob( pose [-7.970 15.169 0 -467.188] )
+#autorob( pose [-7.482 13.834 0 -94.067] )
+#autorob( pose [-8.009 13.153 0 -463.083] )
+#autorob( pose [-6.846 13.156 0 -437.774] )
+#autorob( pose [-8.349 14.435 0 -436.374] )
+#autorob( pose [-6.752 14.083 0 -401.104] )
+#autorob( pose [-6.452 15.332 0 -431.336] )
+
+#autorob( pose [-9.099 17.489 0 -443.181] )
+#autorob( pose [-9.610 15.854 0 -443.181] )
+#autorob( pose [-9.589 16.569 0 -443.181] )
+#autorob( pose [-40.059 15.221 0 -443.181] )
+#autorob( pose [-40.264 16.099 0 -443.181] )
+#autorob( pose [-9.814 17.325 0 -443.181] )
+#autorob( pose [-8.271 16.840 0 -443.181] )
+#autorob( pose [-8.629 17.999 0 -443.181] )
+#autorob( pose [-9.467 18.142 0 -443.181] )
+#autorob( pose [-9.079 16.263 0 -443.181] )
+
+#autorob( pose [-9.196 15.409 0 -443.181] )
+#autorob( pose [-9.598 14.812 0 -443.181] )
+#autorob( pose [-9.304 14.280 0 -443.181] )
+#autorob( pose [-8.946 13.737 0 -443.181] )
+#autorob( pose [-8.761 13.140 0 -443.181] )
+#autorob( pose [-8.153 12.629 0 -443.181] )
+#autorob( pose [-7.393 12.618 0 -443.181] )
+#autorob( pose [-8.467 15.712 0 -443.181] )
+#autorob( pose [-7.762 16.132 0 -443.181] )
+#autorob( pose [-8.794 14.855 0 -443.181] )
+
Added: code/stage/trunk/worlds/fasr2_open_large.world
===================================================================
--- code/stage/trunk/worlds/fasr2_open_large.world
(rev 0)
+++ code/stage/trunk/worlds/fasr2_open_large.world 2010-03-20 02:22:39 UTC
(rev 8597)
@@ -0,0 +1,396 @@
+
+# FASR demo world
+# Authors: Richard Vaughan
+# $Id: fasr.world,v 1.4 2008-04-01 23:57:41 rtv Exp $
+
+include "pioneer.inc"
+include "map.inc"
+include "sick.inc"
+
+speedup -1.000 # 10.000
+paused 1
+
+# time at which to pause (in GUI mode) or quit (in headless mode) the
simulation
+# quit_time 3600 # 1 hour of simulated time
+
+
+resolution 0.02
+
+threads 8
+
+# configure the GUI window
+window
+(
+ size [ 1401.000 687.000 ]
+
+ center [ -9.737 -36.094 ]
+ rotate [ 0 0 ]
+ scale 16.854
+
+ show_data 0
+ show_flags 1
+
+ # interval 50
+)
+
+# load an environment bitmap
+floorplan
+(
+ name "cave"
+ pose [0 0 0 0]
+ size [100.000 100.000 0.600]
+ bitmap "bitmaps/cave.png"
+)
+
+
+zone( color "red"
+ pose [ -32.000 -33.000 0 0 ]
+ name "red_source"
+ ctrl "source 50 10"
+)
+
+zone( color "DarkRed"
+ pose [ 20.000 -33.000 0 0 ]
+ name "red_sink"
+ ctrl "sink"
+)
+
+zone
+(
+ color "green"
+ pose [ -32.000 -39.000 0 0 ]
+ name "green_source"
+ ctrl "source 100 10"
+)
+
+zone( color "DarkGreen"
+ pose [ 20.000 -39.000 0 0 ]
+ name "green_sink"
+ ctrl "sink"
+)
+
+zone( color "blue"
+ pose [ -32.000 -45.000 0 0 ]
+ name "blue_source"
+ ctrl "source 200 10"
+)
+
+zone( color "DarkBlue"
+ pose [ 20.000 -45.000 0 0 ]
+ name "blue_sink"
+ ctrl "sink"
+)
+
+
+define charging_bump model
+(
+ pose [0.240 0 -0.100 0 ]
+ size [0.120 0.050 0.100]
+ take_watts 1000.0
+ color "orange"
+ obstacle_return 0
+)
+
+define charge_station model
+(
+ size [ 0.100 0.100 0.300 ]
+ color "purple"
+
+ laser_return 0
+ obstacle_return 0
+ fiducial_return 2 # look for this in the fiducial sensor
+
+ # side blocks to restrict view angle
+ #model( color "purple" size [0.100 0.050 0.250] pose [ 0 0.100 0 0 ] )
+ #model( color "purple" size [0.100 0.050 0.250] pose [ 0 -0.100 0 0 ] )
+
+ kjoules -1 # provides infinite energy
+ give_watts 1000
+ alwayson 1 # so we give charge without any explicit subscriber
+)
+
+
+charge_station( pose [ -38.500 -49.900 0 90.000 ] )
+charge_station( pose [ -39.500 -49.900 0 90.000 ] )
+charge_station( pose [ -40.500 -49.900 0 90.000 ] )
+charge_station( pose [ -41.500 -49.900 0 90.000 ] )
+charge_station( pose [ -42.500 -49.900 0 90.000 ] )
+charge_station( pose [ -43.500 -49.900 0 90.000 ] )
+charge_station( pose [ -44.500 -49.900 0 90.000 ] )
+charge_station( pose [ -45.500 -49.900 0 90.000 ] )
+charge_station( pose [ -46.500 -49.900 0 90.000 ] )
+charge_station( pose [ -47.500 -49.900 0 90.000 ] )
+
+charge_station( pose [ -49.900 -38.500 0 0 ] )
+charge_station( pose [ -49.900 -39.500 0 0 ] )
+charge_station( pose [ -49.900 -40.500 0 0 ] )
+charge_station( pose [ -49.900 -41.500 0 0 ] )
+charge_station( pose [ -49.900 -42.500 0 0 ] )
+charge_station( pose [ -49.900 -43.500 0 0 ] )
+charge_station( pose [ -49.900 -44.500 0 0 ] )
+charge_station( pose [ -49.900 -45.500 0 0 ] )
+charge_station( pose [ -49.900 -46.500 0 0 ] )
+charge_station( pose [ -49.900 -47.500 0 0 ] )
+
+
+
+zone( color "orange"
+ size [2 2 0.001]
+ pose [ -43.000 -43.000 0 0 ]
+ name "fuel_zone"
+ size [ 1.000 1.000 0.010 ]
+ gui_move 0
+)
+
+zone( color "gray5"
+ size [2 2 0.001]
+ pose [ -43.506 -2.462 0 0 ]
+ name "pool_zone"
+ size [ 1.000 1.000 0.010 ]
+ gui_move 1
+)
+
+define buffer model
+(
+ color "orange"
+ size [ 0.100 13.000 1.000 ]
+)
+
+#buffer( pose [ -49.543 -42.500 0 0 ] )
+#buffer( pose [ -42.595 -49.527 0 90.000 ] )
+
+define blinker model
+(
+ color "orange"
+ size [ 0.100 0.700 0.600 ]
+)
+
+#blinker( pose [ -36.066 -48.834 0 0 ] )
+#blinker( pose [ -36.990 -48.838 0 0 ] )
+#blinker( pose [ -38.063 -48.836 0 0 ] )
+#blinker( pose [ -39.020 -48.831 0 0 ] )
+#blinker( pose [ -40.012 -48.823 0 0 ] )
+#blinker( pose [ -41.035 -48.812 0 0 ] )
+#blinker( pose [ -42.047 -48.775 0 0 ] )
+#blinker( pose [ -43.026 -48.834 0 0 ] )
+
+define autorob pioneer2dx
+(
+ sicklaser( samples 32 range_max 2 laser_return 2 watts 30 )
+# ctrl "fasr2"
+ kjoules 400
+ kjoules_capacity 400
+ fiducial_return 0
+ charging_bump( obstacle_return 0 fiducial( range_max_id 9 range_max 9 fov 180
pose [ 0 0 -0.050 0 ] ) )
+
+ # small speed optimization
+ # trail_length 0
+
+ ctrl "fasr2 red green blue"
+)
+
+
+autorob( pose [-41.388 -32.267 0 166.581] )
+autorob( pose [-42.208 -31.744 0 135.003] )
+autorob( pose [-42.289 -30.814 0 147.497] )
+autorob( pose [-40.642 -31.563 0 123.708] )
+autorob( pose [-41.378 -31.274 0 143.281] )
+autorob( pose [-40.200 -31.012 0 46.529] )
+autorob( pose [-43.006 -33.061 0 168.778] )
+autorob( pose [-41.078 -34.196 0 163.730] )
+autorob( pose [-43.740 -32.740 0 157.546] )
+autorob( pose [-45.434 -31.856 0 138.616] )
+
+autorob( pose [-42.841 -29.916 0 125.831] )
+autorob( pose [-42.710 -32.157 0 125.831] )
+autorob( pose [-42.214 -32.593 0 125.831] )
+autorob( pose [-41.461 -33.123 0 125.831] )
+autorob( pose [-40.679 -33.036 0 125.831] )
+autorob( pose [-42.277 -34.027 0 125.831] )
+autorob( pose [-43.981 -33.377 0 125.831] )
+autorob( pose [-41.237 -27.539 0 125.831] )
+autorob( pose [-43.296 -31.331 0 125.831] )
+autorob( pose [-43.944 -31.986 0 125.831] )
+
+autorob( pose [-44.580 -34.279 0 125.831] )
+autorob( pose [-42.922 -33.866 0 125.831] )
+autorob( pose [-43.660 -34.316 0 125.831] )
+autorob( pose [-44.536 -32.558 0 125.831] )
+autorob( pose [-44.577 -31.782 0 125.831] )
+autorob( pose [-43.984 -31.210 0 125.831] )
+autorob( pose [-43.392 -30.618 0 125.831] )
+autorob( pose [-44.883 -33.355 0 125.831] )
+autorob( pose [-45.231 -32.681 0 125.831] )
+autorob( pose [-41.102 -30.456 0 125.831] )
+
+autorob( pose [-45.073 -36.830 0 67.057] )
+autorob( pose [-44.086 -35.691 0 28.480] )
+autorob( pose [-46.862 -29.180 0 64.025] )
+autorob( pose [-46.581 -33.705 0 5.703] )
+autorob( pose [-45.732 -35.716 0 5.731] )
+autorob( pose [-45.842 -28.333 0 24.200] )
+autorob( pose [-46.467 -36.704 0 54.480] )
+autorob( pose [-44.175 -37.403 0 54.588] )
+autorob( pose [-44.064 -26.688 0 52.768] )
+autorob( pose [-46.938 -31.373 0 20.367] )
+
+autorob( pose [-47.440 -35.510 0 -41.980] )
+autorob( pose [-47.760 -33.493 0 -59.991] )
+autorob( pose [-47.980 -32.427 0 -65.139] )
+autorob( pose [-46.892 -32.532 0 -73.426] )
+autorob( pose [-47.745 -30.225 0 -93.488] )
+autorob( pose [-48.195 -31.591 0 -99.719] )
+autorob( pose [-44.737 -29.311 0 27.802] )
+autorob( pose [-47.591 -31.136 0 -96.070] )
+autorob( pose [-45.782 -29.718 0 160.446] )
+autorob( pose [-46.106 -30.470 0 46.259] )
+
+autorob( pose [-43.004 -36.811 0 166.511] )
+autorob( pose [-43.272 -38.255 0 175.835] )
+autorob( pose [-42.180 -36.527 0 -72.938] )
+autorob( pose [-43.136 -27.898 0 171.172] )
+autorob( pose [-42.844 -39.141 0 170.270] )
+autorob( pose [-41.369 -38.011 0 -97.026] )
+autorob( pose [-39.427 -36.842 0 -60.696] )
+autorob( pose [-45.649 -34.544 0 -117.508] )
+autorob( pose [-41.753 -35.510 0 -79.502] )
+autorob( pose [-40.121 -38.843 0 160.986] )
+
+autorob( pose [-40.901 -37.503 0 174.453] )
+autorob( pose [-42.063 -37.960 0 174.453] )
+autorob( pose [-39.337 -34.874 0 174.453] )
+autorob( pose [-42.039 -37.399 0 174.453] )
+autorob( pose [-41.455 -36.855 0 174.453] )
+autorob( pose [-41.574 -36.213 0 174.453] )
+autorob( pose [-40.725 -36.173 0 174.453] )
+autorob( pose [-40.019 -35.829 0 174.453] )
+autorob( pose [-44.045 -38.400 0 174.453] )
+autorob( pose [-42.062 -29.093 0 174.453] )
+
+autorob( pose [-40.706 -38.428 0 174.453] )
+autorob( pose [-42.069 -39.308 0 174.453] )
+autorob( pose [-42.719 -37.662 0 174.453] )
+autorob( pose [-43.196 -35.537 0 174.453] )
+autorob( pose [-40.988 -39.361 0 174.453] )
+autorob( pose [-43.974 -36.486 0 174.453] )
+autorob( pose [-42.452 -34.924 0 174.453] )
+autorob( pose [-40.500 -36.917 0 174.453] )
+autorob( pose [-40.727 -35.576 0 174.453] )
+autorob( pose [-40.286 -37.945 0 174.453] )
+
+autorob( pose [-43.635 -20.622 0 -57.456] )
+autorob( pose [-45.346 -20.649 0 -57.456] )
+autorob( pose [-44.518 -21.397 0 -57.456] )
+autorob( pose [-43.796 -21.611 0 -57.456] )
+autorob( pose [-43.074 -19.927 0 -57.456] )
+autorob( pose [-42.610 -21.900 0 -57.456] )
+autorob( pose [-44.703 -20.756 0 -57.456] )
+autorob( pose [-44.898 -19.927 0 -57.456] )
+autorob( pose [-44.371 -19.088 0 -57.456] )
+autorob( pose [-45.320 -17.681 0 -57.456] )
+
+autorob( pose [-44.708 -38.475 0 -57.456] )
+autorob( pose [-45.615 -38.687 0 -57.456] )
+autorob( pose [-46.341 -37.840 0 -57.456] )
+autorob( pose [-45.909 -26.812 0 -57.456] )
+autorob( pose [-44.194 -39.473 0 -57.456] )
+autorob( pose [-45.192 -39.564 0 -57.456] )
+autorob( pose [-46.341 -39.836 0 -57.456] )
+autorob( pose [-44.479 -28.086 0 -57.456] )
+autorob( pose [-42.591 -38.324 0 -48.862] )
+autorob( pose [-46.301 -38.782 0 -57.456] )
+
+# 100
+
+#autorob( pose [-41.819 1.550 0 44.991] )
+#autorob( pose [-42.401 2.181 0 44.991] )
+#autorob( pose [-41.236 3.330 0 44.991] )
+#autorob( pose [-42.078 3.298 0 44.991] )
+#autorob( pose [-40.275 2.456 0 44.991] )
+#autorob( pose [-40.734 4.123 0 44.991] )
+#autorob( pose [-41.592 4.398 0 44.991] )
+#autorob( pose [-42.903 2.877 0 44.991] )
+#autorob( pose [-42.434 1.372 0 44.991] )
+#autorob( pose [-40.555 3.358 0 44.991] )
+
+#110
+
+#autorob( pose [-9.516 3.311 0 44.991] )
+#autorob( pose [-42.308 3.949 0 44.991] )
+#autorob( pose [-43.185 3.682 0 44.991] )
+#autorob( pose [-43.014 2.167 0 44.991] )
+#autorob( pose [-43.719 2.634 0 44.991] )
+#autorob( pose [-43.633 1.986 0 44.991] )
+#autorob( pose [-43.138 1.385 0 44.991] )
+#autorob( pose [-42.490 0.575 0 44.991] )
+#autorob( pose [-41.775 0.699 0 44.991] )
+#autorob( pose [-41.641 2.586 0 44.991] )
+
+#120
+
+#autorob( pose [-44.296 4.967 0 -413.433] )
+#autorob( pose [-43.218 5.200 0 -405.066] )
+#autorob( pose [-47.084 7.178 0 -413.959] )
+#autorob( pose [-45.829 3.428 0 -400.843] )
+#autorob( pose [-46.001 6.965 0 -416.077] )
+#autorob( pose [-43.589 6.170 0 -408.098] )
+#autorob( pose [-45.665 7.690 0 35.677] )
+#autorob( pose [-48.633 7.374 0 -400.002] )
+#autorob( pose [-44.987 3.480 0 -97.678] )
+#autorob( pose [-46.445 7.660 0 68.821] )
+
+#autorob( pose [-47.222 6.291 0 35.145] )
+#autorob( pose [-47.885 7.198 0 35.145] )
+#autorob( pose [-47.254 8.218 0 35.145] )
+#autorob( pose [-47.060 5.498 0 35.145] )
+#autorob( pose [-48.047 6.227 0 35.145] )
+#autorob( pose [-46.930 4.640 0 35.145] )
+#autorob( pose [-47.966 5.417 0 35.145] )
+#autorob( pose [-45.927 4.640 0 35.145] )
+#autorob( pose [-44.988 4.236 0 35.145] )
+#autorob( pose [-45.706 6.151 0 35.145] )
+
+#autorob( pose [-46.419 6.225 0 35.145] )
+#autorob( pose [-44.574 5.868 0 35.145] )
+#autorob( pose [-48.271 8.274 0 35.145] )
+#autorob( pose [-45.801 8.625 0 35.145] )
+#autorob( pose [-46.598 8.835 0 35.145] )
+#autorob( pose [-44.417 6.791 0 35.145] )
+#autorob( pose [-45.235 6.801 0 35.145] )
+#autorob( pose [-45.444 5.260 0 35.145] )
+#autorob( pose [-46.598 5.187 0 35.145] )
+#autorob( pose [-46.461 4.159 0 35.145] )
+
+#autorob( pose [-8.171 13.723 0 -439.469] )
+#autorob( pose [-8.887 12.177 0 -88.070] )
+#autorob( pose [-7.357 15.181 0 -94.395] )
+#autorob( pose [-7.970 15.169 0 -467.188] )
+#autorob( pose [-7.482 13.834 0 -94.067] )
+#autorob( pose [-8.009 13.153 0 -463.083] )
+#autorob( pose [-6.846 13.156 0 -437.774] )
+#autorob( pose [-8.349 14.435 0 -436.374] )
+#autorob( pose [-6.752 14.083 0 -401.104] )
+#autorob( pose [-6.452 15.332 0 -431.336] )
+
+#autorob( pose [-9.099 17.489 0 -443.181] )
+#autorob( pose [-9.610 15.854 0 -443.181] )
+#autorob( pose [-9.589 16.569 0 -443.181] )
+#autorob( pose [-40.059 15.221 0 -443.181] )
+#autorob( pose [-40.264 16.099 0 -443.181] )
+#autorob( pose [-9.814 17.325 0 -443.181] )
+#autorob( pose [-8.271 16.840 0 -443.181] )
+#autorob( pose [-8.629 17.999 0 -443.181] )
+#autorob( pose [-9.467 18.142 0 -443.181] )
+#autorob( pose [-9.079 16.263 0 -443.181] )
+
+#autorob( pose [-9.196 15.409 0 -443.181] )
+#autorob( pose [-9.598 14.812 0 -443.181] )
+#autorob( pose [-9.304 14.280 0 -443.181] )
+#autorob( pose [-8.946 13.737 0 -443.181] )
+#autorob( pose [-8.761 13.140 0 -443.181] )
+#autorob( pose [-8.153 12.629 0 -443.181] )
+#autorob( pose [-7.393 12.618 0 -443.181] )
+#autorob( pose [-8.467 15.712 0 -443.181] )
+#autorob( pose [-7.762 16.132 0 -443.181] )
+#autorob( pose [-8.794 14.855 0 -443.181] )
+
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------------------------------------------------------------------------------
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