[Playerstage-users] interval_real

[Deepak R. <dra...@ui...>]

Hi Richard,

 I tried setting interval_real to 0 and various values less than 100 and it seems to make no difference. If I try changing interval_sim to 0  or a low value however, it has the expected effect (the simulation stops running or crawls). So I dont think I'm doing it wrong.  Do you think this could be a bug in version 2.0.4?
Or do you think that the simulation is running as fast as it can go (with default settings 100 ms for both sim and real)? My computer is pretty fast.

Here's a copy of the world file I'm using:

# Desc: World file for the delivery task. Works with delivery.cfg.

# the size of a pixel in Stage's underlying raytrace model in meters
resolution     0.0365

interval_sim 100  # milliseconds per update step
interval_real 10 # real-time milliseconds per update step
gui_interval 0 # real-time milliseconds per update step


# defines Pioneer-like robots
include "pioneer.inc"


# defines 'map' object used for floorplans
include "map.inc"


# defines the laser model `sick_laser' configured like a Sick LMS-200
include "sick.inc"


size [40 20 ]

gui_disable 0
gui_interval 0
gui_menu_interval 20

window(
 size [ 1895.000 1125.000 ]
 center [-0.278  0.689]
 scale 0.013
)

map(
 bitmap "honda1-widerdoorways.png"
 map_resolution 0.035
 size [18 12]
 name "office"
)

# a block for gripping
define puck model(
 size [ 0.08 0.08 ]
 gripper_return 1
 gui_movemask 3
 gui_nose 0
 fiducial_return 10
)

puck( name "obj1" pose [-5.022 3.903 -105.501 ] color "cyan" )
#puck( name "obj2" pose [2.512 -2.010 -37.717 ] color "yellow" )
#puck( name "obj3" pose [-1.404 1.027 -461.643 ] color "magenta" )


# extend the pioneer2dx definition from pioneer.inc
#
define trickedoutpioneer pioneer2dx
(
 sick_laser(  
   fiducialfinder( range_max 8 range_max_id 5 )

   ptz(
     blobfinder(
       channel_count 6
       channels [ "red" "green" "blue" "cyan" "yellow" "magenta" ]  
     )
   )
 )

 fiducial_return 1
 gripper_return 0

 localization "gps"
 localization_origin [ 0 0 0 ]

 bumper( bcount 3  
 blength 0.2
         bpose[0] [0 -0.165  90]
         bpose[1] [0  0.165 -90]
         bpose[2] [-0.26  0 0]

 blength[2] 0.1 # set the length of a single bumper
       )
)

trickedoutpioneer
(
 name "robot1"
 pose [0.079 -1.903 -0.566]

 gripper( pose [0.200 0.000 0.000] color "gray" )
 speech()
)

position(
 name "John"

 sick_laser(  
   fiducialfinder( range_max 8 range_max_id 5 )
   ptz(
     blobfinder(
       channel_count 6
       channels [ "red"  "green" "blue" "cyan" "yellow" "magenta" ]  
     )
   )
 )

 size [0.3 0.3]
 pose [5.000 2.500 0.000]
 color "red"  
 # loads a bitmap for the model's body
 bitmap "person_blue.png"
 fiducial_return 22
 velocity [0.2 0 0]
 laser_return 2
 gui_outline 0
 gui_nose 0
 gui_grid 0

 gripper_return 1
)


~Deepak
***************************************
Pattern-recognition development analyst Dr. Janice Wunderling said the MIT team has placed its AI projects on hold pending the completion of a comprehensive feasibility study on the threat of "humans being imprisoned in tiny, slime-filled cyber-canisters." 

--The Onion, Jan 21, 2004