[Playerstage-commit] code/stage/worlds pioneer.inc, 1.27.4.4, 1.27.4.5 simple.cfg, 1.31.2.8, 1.31.2.9 simple.world, 1.64.2.16, 1.64.2.17

[Richard V. <rt...@us...>]

Update of /cvsroot/playerstage/code/stage/worlds
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv3274/worlds

Modified Files:
      Tag: opengl
	pioneer.inc simple.cfg simple.world 
Log Message:
gave blocks height and added 2.5d pioneer model

Index: simple.cfg
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/simple.cfg,v
retrieving revision 1.31.2.8
retrieving revision 1.31.2.9
diff -C2 -d -r1.31.2.8 -r1.31.2.9
*** simple.cfg	21 Jun 2007 01:47:31 -0000	1.31.2.8
--- simple.cfg	8 Jul 2007 02:08:53 -0000	1.31.2.9
***************
*** 19,35 ****
  # Create a Stage driver and attach position2d and laser interfaces 
  # to the model "robot1"
! driver
! ( 
!   name "stage"
!   provides ["position2d:0" "graphics3d:0" "laser:0"]
    #provides ["laser:0" ]
    #provides ["position2d:0" "laser:0" ]
!   model "robot1" 
! )
! 
! driver
! ( 
!   name "stage"
!   provides ["6666:position2d:0" "6666:graphics3d:0" ]
!   model "robot2" 
! )
--- 19,28 ----
  # Create a Stage driver and attach position2d and laser interfaces 
  # to the model "robot1"
! #driver
! #( 
! #  name "stage"
!   #provides [ "laser:0"]
    #provides ["laser:0" ]
    #provides ["position2d:0" "laser:0" ]
! #  model "robot1" 
! #)

Index: pioneer.inc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/pioneer.inc,v
retrieving revision 1.27.4.4
retrieving revision 1.27.4.5
diff -C2 -d -r1.27.4.4 -r1.27.4.5
*** pioneer.inc	22 Jun 2007 01:36:24 -0000	1.27.4.4
--- pioneer.inc	8 Jul 2007 02:08:53 -0000	1.27.4.5
***************
*** 7,13 ****
  
  # The Pioneer2DX sonar array
! define p2dx_sonar ranger
  (
!   size [ 0.44 0.38 0 ] # matches the Pioneer 2-DX dimensions
  
    scount 16 # the number of transducers
--- 7,13 ----
  
  # The Pioneer2DX sonar array
! define p2dx_sonar model # ranger
  (
!   size [ 0.40 0.33 0.06 ] # matches the Pioneer 2-DX dimensions
  
    scount 16 # the number of transducers
***************
*** 36,46 ****
    # define the size of each transducer [xsize ysize] in meters
    ssize [0.01 0.05]
  )
  
  # a Pioneer 2 or 3 in standard configuration
  define pioneer2dx position
  (
    # actual size
!   size [0.44 0.38 0.25] # sizes from MobileRobots' web site
  
    # the pioneer's center of rotation is offset from its center of area
--- 36,67 ----
    # define the size of each transducer [xsize ysize] in meters
    ssize [0.01 0.05]
+ 
+  # this block approximates the shape of a pioneer
+ )
+ 
+  
+ define lid model 
+ ( 
+   size [0.44 0.38 0.01] # sizes from MobileRobots' web site 	   
+ 
+   blocks 1
+   block[0].points 8
+   block[0].point[0] [  0.23  0.08 ]
+   block[0].point[1] [  0.18  0.15 ]
+   block[0].point[2] [ -0.18  0.15 ]
+   block[0].point[3] [ -0.23  0.08 ]
+   block[0].point[4] [ -0.23 -0.08 ]
+   block[0].point[5] [ -0.18 -0.15 ]
+   block[0].point[6] [  0.18 -0.15 ]
+   block[0].point[7] [  0.23 -0.08 ]
  )
  
+ 
+ 
  # a Pioneer 2 or 3 in standard configuration
  define pioneer2dx position
  (
    # actual size
!   size [0.38 0.33 0.16] # sizes from MobileRobots' web site
  
    # the pioneer's center of rotation is offset from its center of area
***************
*** 52,83 ****
    # estimated mass in KG
    mass 15.0 
! 	
!  # this block approximates the shape of a pioneer
!   blocks 1
    block[0].points 8
!   block[0].point[0] [  0.23  0.05 ]
!   block[0].point[1] [  0.15  0.15 ]
!   block[0].point[2] [ -0.15  0.15 ]
!   block[0].point[3] [ -0.23  0.05 ]
!   block[0].point[4] [ -0.23 -0.05 ]
!   block[0].point[5] [ -0.15 -0.15 ]
!   block[0].point[6] [  0.15 -0.15 ]
!   block[0].point[7] [  0.23 -0.05 ]
  
!   # differential steering model
!   drive "diff"
  
-   # uncomment this line if you want to model real pioneers with SICK
-   # lasers, where the laser is taller than the robot
-   # laser_return 0
  
    # use the sonar array defined above
!   #p2dx_sonar( origin [0 0 -0.1 0] )  
! ) 
  
! #define pioneer2dx_battery pioneer2dx
! #(
! #  power( pose [-0.14 0 0] capacity 1000 probe_range 0.50  give 0 give_rate 100 take_rate 100 )
! #)
  
  # The AmigoBot sonar array
--- 73,172 ----
    # estimated mass in KG
    mass 15.0 
! 
!  # this set of blocks approximates the shape of a pioneer
! 
!   blocks 6
! 
!   # main body
    block[0].points 8
!   block[0].point[0] [  0.14  0.07 ]
!   block[0].point[1] [  0.12  0.115 ]
!   block[0].point[2] [ -0.18  0.115 ]
!   block[0].point[3] [ -0.20  0.07 ]
!   block[0].point[4] [ -0.20 -0.07 ]
!   block[0].point[5] [ -0.18 -0.115 ]
!   block[0].point[6] [  0.12 -0.115 ]
!   block[0].point[7] [  0.14 -0.07 ]
!   block[0].height 0.12
!   block[0].z_offset 0.04
  
!   # left wheel
!   block[1].points 4
!   block[1].point[0] [  0.08  0.16 ]
!   block[1].point[1] [ -0.08  0.16 ]
!   block[1].point[2] [ -0.08  0.12 ]
!   block[1].point[3] [  0.08  0.12 ]
!   block[1].height 0.16
!   block[1].z_offset 0.0
! 
!   # right wheel
!   block[2].points 4
!   block[2].point[0] [  0.08  -0.12 ]
!   block[2].point[1] [ -0.08  -0.12 ]
!   block[2].point[2] [ -0.08  -0.16 ]
!   block[2].point[3] [  0.08  -0.16 ]
!   block[2].height 0.16
!   block[2].z_offset 0.0
! 
!   # castor
!   block[3].points 4
!   block[3].point[3] [ -0.22  0.02 ]
!   block[3].point[2] [ -0.16  0.02 ]
!   block[3].point[1] [ -0.16 -0.02 ]
!   block[3].point[0] [ -0.22 -0.02 ]
!   block[3].height 0.04
!   block[3].z_offset 0.0
!  
!   # sonar case
!   block[5].points 12
!   block[5].point[11] [ 0.115 0.115 ]
!   block[5].point[10] [ 0.150 0.080 ]
!   block[5].point[9] [ 0.170 0.025 ]
!   block[5].point[8] [ 0.170 -0.025  ]
!   block[5].point[7] [ 0.150 -0.080  ]
!   block[5].point[6] [ 0.115 -0.115  ]
!   block[5].point[5] [ -0.195 -0.115  ]
!   block[5].point[4] [ -0.230 -0.080  ]
!   block[5].point[3] [ -0.250 -0.025  ]
!   block[5].point[2] [ -0.250 0.025 ]
!   block[5].point[1] [ -0.230 0.080 ]
!   block[5].point[0] [ -0.195 0.115  ]
!   block[5].height 0.05
!   block[5].z_offset 0.16
! 
!   # lid
!   block[4].points 16
!   block[4].point[0] [  0.18  0.0 ]
!   block[4].point[1] [  0.17  0.07 ]
!   block[4].point[2] [  0.14  0.12 ]
!   block[4].point[3] [  0.09  0.16 ]
!   block[4].point[4] [  -0.08 0.16 ]
!   block[4].point[5] [  -0.10  0.14 ]
!   block[4].point[6] [ -0.20  0.14 ]
!   block[4].point[7] [ -0.24  0.09 ]
! 
!   block[4].point[8] [ -0.26  0.0 ]
! 
!   block[4].point[9] [ -0.24 -0.09 ]
!   block[4].point[10] [ -0.20 -0.14 ]
!   block[4].point[11] [  -0.10  -0.14 ]
!   block[4].point[12] [  -0.08 -0.16 ]
! 
!   block[4].point[13] [  0.09  -0.16 ]
!   block[4].point[14] [  0.14  -0.12 ]
!   block[4].point[15] [  0.17  -0.07 ]
! 
! 
!   block[4].height 0.01
!   block[4].z_offset 0.21
  
  
    # use the sonar array defined above
!   #p2dx_sonar() 
  
!   # differential steering model
!   drive "diff"
! 
! ) 
  
  # The AmigoBot sonar array
***************
*** 89,93 ****
    spose[2] [ 0.154 0.030 15 ]
    spose[3] [ 0.154 -0.030 -15 ]
!   spose[4] [ 0.130 -0.078 -41 ]
    spose[5] [ 0.073 -0.105 -90 ]
    spose[6] [ -0.146 -0.060 -145 ]
--- 178,182 ----
    spose[2] [ 0.154 0.030 15 ]
    spose[3] [ 0.154 -0.030 -15 ]
!   spose[4] [ 0.130 -0.078 -41 ]	
    spose[5] [ 0.073 -0.105 -90 ]
    spose[6] [ -0.146 -0.060 -145 ]

Index: simple.world
===================================================================
RCS file: /cvsroot/playerstage/code/stage/worlds/simple.world,v
retrieving revision 1.64.2.16
retrieving revision 1.64.2.17
diff -C2 -d -r1.64.2.16 -r1.64.2.17
*** simple.world	22 Jun 2007 01:36:24 -0000	1.64.2.16
--- simple.world	8 Jul 2007 02:08:53 -0000	1.64.2.17
***************
*** 26,33 ****
  window
  ( 
!   size [ 633.000 655.000 ] 
!   center [7.990 -3.040] 
!   rotate [ 0.000 0.000 ]
!   scale 35.361 
    show_bboxes 0
    show_grid 1
--- 26,33 ----
  window
  ( 
!   size [ 974.000 884.000 ] 
!   center [-514.010 103.960] 
!   rotate [ 1.371 1.110 ]
!   scale 199.855 
    show_bboxes 0
    show_grid 1
***************
*** 58,71 ****
    name "robot1"
    color "red"
!   pose [-3.670 1.289 0.000 0.000]
!   sick_laser() 
  )
  
  pioneer2dx
  (
!   name "robot2"
    color "green"
!   pose [4.374 4.689 0.000 27.811]
!   #sick_laser()
  )
  
--- 58,79 ----
    name "robot1"
    color "red"
!   pose [-2.964 1.415 0.000 773.492]
!   sick_laser( pose [ 0.040 0.000 0.000 0.000 ] ) 
  )
  
  pioneer2dx
  (
!   name "greenrobot"
    color "green"
!   pose [-1.566 1.866 0.000 -341.747]
!   sick_laser( pose [ 0.040 0.000 0.000 0.000 ] ) 
! )
! 
! pioneer2dx
! (
!   name "bluerobot"
!   color "LightBlue"
!   pose [-2.014 1.240 0.000 414.558]
!   sick_laser( pose [ 0.040 0.000 0.000 0.000 ] ) 
  )
  
***************
*** 73,87 ****
  (
    color "yellow"
!   pose [5.775 -2.860 0.000 163.293]
    size [1 1 1]
  )
  
! model
  (
    color "orange"
!   #bitmap "bitmaps/cave.png"
!   bitmap "bitmaps/space_invader.png"
!   pose [2.031 5.013 0.000 0.000]
!   size [1 1 0.2]
  )
  
--- 81,102 ----
  (
    color "yellow"
!   pose [6.342 4.741 0.000 206.265]
    size [1 1 1]
  )
  
! triangle
  (
    color "orange"
!   pose [4.515 5.393 0.000 240.642]
!   size [1 1 0.5]
  )
  
+ #model
+ #(
+ #  color "orange"
+ #  #bitmap "bitmaps/cave.png"
+ #  bitmap "bitmaps/space_invader.png"
+ #  pose [2.031 5.013 0.000 0.000]
+ #  size [1 1 0.2]
+ #)
+