[Playerstage-users] creating a box on stage

[Murilo F. M. <mu...@gm...>]

Hello there,
I'm trying to create a very simple squared box on Stage 2.1.0.
I define a box model as follows:

define box model
(
  # GUI properties
  gui_nose 0
  gui_grid 0
  #gui_boundary 1
  gui_movemask 1

# determine how the model appears in various sensors
  obstacle_return 1
  laser_return 1
  ranger_return 1
  #blobfinder_return 1
  fiducial_return 1
  gripper_return 1
  fiducial_key 0
)


Then, on my .world file I add the following:

box
(
  name "box1"
  color "yellow"
  pose [-5 -5 45]
  size [1.0 1.0]
  origin [0 0 0]

  # unit square body shape
  polygons 1
  polygon[0].points 4
  polygon[0].point[0] [0 0]
  polygon[0].point[1] [0 1]
  polygon[0].point[2] [1 1]
  polygon[0].point[3] [1 0]
)

Notice that gui_boundary and blobfinder_return are commented out because
I've got some warnings saying they were specified, but not used.

Anyway, I can see the box on Stage! It seems to work! The problem is that
the robot usually drives through the borders of the box and goes inside it.
It drives outside as well. Sometimes it pushes the box, though. This only
happens when it hits the corners of the box.
The borders work, because when inside the box, the laser range does not pass
through the box.

I'm far from being a master on Player/Stage, so I must be missing something
quite simple when attempting to create an object that a robot can push.
My robot is created like this:
driver
(
  name "stage"
  provides ["position2d:0" "laser:0" "sonar:0" ]
  model "robot1"
)

And it's a p2os model.

Any help would be appreciated!!!

Cheers,

Murilo