[Playerstage-commit] SF.net SVN: playerstage:[7535] code/stage/trunk/worlds/fasr_plan.world

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

Revision: 7535
          http://playerstage.svn.sourceforge.net/playerstage/?rev=7535&view=rev
Author:   rtv
Date:     2009-03-20 18:56:50 +0000 (Fri, 20 Mar 2009)

Log Message:
-----------
added missing file

Added Paths:
-----------
    code/stage/trunk/worlds/fasr_plan.world

Added: code/stage/trunk/worlds/fasr_plan.world
===================================================================
--- code/stage/trunk/worlds/fasr_plan.world	                        (rev 0)
+++ code/stage/trunk/worlds/fasr_plan.world	2009-03-20 18:56:50 UTC (rev 7535)
@@ -0,0 +1,191 @@
+# 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"
+
+interval_sim 100  # simulation timestep in milliseconds
+interval_real 0 # real-time interval between simulation updates in milliseconds 
+paused 0
+
+resolution 0.02
+
+# threads may speed things up here depending on available CPU cores & workload 
+# threadpool 8 
+ threadpool 16
+
+
+# configure the GUI window
+window
+( 
+  size [ 788.000 842.000 ] 
+
+  center [ 0.240 -0.382 ] 
+  rotate [ 0 0 ]
+  scale 35.648 
+
+  pcam_loc [ 0 -4.000 2.000 ]
+  pcam_angle [ 70.000 0 ]
+  pcam_on 0
+  
+  show_data 1
+  show_flags 1
+
+  interval 50
+)
+
+# load an environment bitmap
+floorplan
+( 
+  name "cave"
+  size [16.000 16.000 0.600]
+  pose [0 0 0 0]
+  bitmap "bitmaps/cave.png"
+)
+
+zone
+(
+  color "green"
+  pose [ -7.000 -7.000 0 0 ]
+  name "source"
+  ctrl "source"
+)
+
+zone
+(
+  color "red"
+  pose [ 7.000 7.000 0 0 ]
+  name "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 autorob pioneer2dx		  
+(		 
+ sicklaser( samples 180 range_max 5 laser_return 2 watts 30 fov 360)
+ ctrl "fasr_plan"
+ joules 100000 
+ joules_capacity 400000 
+ fiducial_return 0
+ # charging_bump( fiducial( range 3 pose [ 0 0 -0.100 0 ] ) )
+
+ gripper( pose [0.250 0 -0.220 0]  
+          take_watts 1000.0 
+          fiducial( range 3 )
+          # paddles [ "closed" "up" ]
+			 obstacle_return 0 # cheating for simplicity
+			 # autosnatch 1
+         )
+
+  localization "gps"
+  localization_origin [ 0 0 0 0 ]
+)
+
+define charge_station model
+(  
+  size [ 0.100 0.300 0.100 ]
+  color "purple"
+  
+  # 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 ] ) 
+
+  # the charging block
+  model( 
+    pose [ 0.010 0 0 0 ]
+    color "yellow"
+    size [ 0.050 0.200 0.100 ]
+    joules -1  # provides infinite energy
+    give_watts 1000 
+    fiducial_return 2 # look for this in the fiducial sensor
+   )
+
+)
+
+charge_station(  pose [ 7.803 -1.332 0 34.377 ] )
+charge_station(  pose [ 7.940 -2.349 0 0 ] )
+charge_station(  pose [ 7.931 -3.367 0 0 ] )
+charge_station(  pose [ 7.931 -4.444 0 0 ] )
+
+define puck model (
+  size [0.120 0.120 0.100]  
+  color "violet" 
+  gripper_return 1 
+  obstacle_return 0 
+)
+
+#puck( pose [ 1.175 2.283 0 0 ] )
+#puck( pose [ 0.875 3.139 0 0 ] )
+#puck( pose [ 1.043 2.825 0 0 ] )
+#puck( pose [ 1.349 2.734 0 0 ] )
+#puck( pose [ 2.625 3.068 0 0 ] )
+#puck( pose [ 0.447 2.689 0 0 ] )
+#puck( pose [ 0.143 3.308 0 0 ] )
+#puck( pose [ 0.334 3.441 0 0 ] )
+#puck( pose [ 1.439 3.218 0 0 ] )
+#puck( pose [ 0.747 2.741 0 0 ] )
+#puck( pose [ 0.955 2.086 0 0 ] )
+#puck( pose [ 1.781 2.593 0 0 ] )
+#puck( pose [ 1.068 2.476 0 0 ] )
+
+#puck( pose [ 0.488 3.190 0 0 ] )
+#puck( pose [ 1.708 3.198 0 0 ] )
+#puck( pose [ 1.440 2.416 0 0 ] )
+#puck( pose [ 1.140 3.045 0 0 ] )
+#puck( pose [ 0.682 2.969 0 0 ] )
+#puck( pose [ 2.205 3.268 0 0 ] )
+#puck( pose [ 1.990 2.312 0 0 ] )
+#puck( pose [ 0.646 3.486 0 0 ] )
+#puck( pose [ 1.670 2.907 0 0 ] )
+#puck( pose [ 2.091 2.830 0 0 ] )
+#puck( pose [ -0.103 2.564 0 0 ] )
+#puck( pose [ 1.950 3.462 0 0 ] )
+#puck( pose [ 2.668 2.674 0 0 ] )
+#puck( pose [ 0.549 2.367 0 0 ] )
+#puck( pose [ 0.162 2.983 0 0 ] )
+#puck( pose [ 1.067 3.367 0 0 ] )
+#puck( pose [ 1.412 3.604 0 0 ] )
+
+autorob( pose [5.418 7.478 0 -163.478] joules 300000 )
+autorob( pose [7.574 6.269 0 -111.715] joules 100000 )
+autorob( pose [5.615 6.185 0 107.666] joules 200000 )
+autorob( pose [7.028 6.502 0 -128.279] joules 400000 )
+autorob( pose [5.750 4.137 0 -97.047] joules 100000 )
+autorob( pose [4.909 6.097 0 -44.366] joules 200000 )
+autorob( pose [6.898 4.775 0 -117.576] joules 300000 )
+#autorob( pose [7.394 5.595 0 129.497] joules 400000 )
+#autorob( pose [6.468 6.708 0 170.743] joules 100000 )
+#autorob( pose [6.451 4.189 0 -61.453] joules 200000 )
+
+#autorob( pose [5.060 6.868 0 -61.295] joules 300000 )
+#autorob( pose [4.161 5.544 0 -147.713] joules 400000 )
+#autorob( pose [4.911 4.552 0 -125.236] joules 100000 )
+#autorob( pose [3.985 6.474 0 -158.025] joules 200000 )
+#autorob( pose [5.440 5.317 0 -26.545] joules 300000 )
+#autorob( pose [6.362 5.632 0 163.239] joules 400000 )
+
+#autorob( pose [7.559 4.764 0 -139.066] )
+#autorob( pose [5.471 7.446 0 77.301]  )
+#autorob( pose [7.122 4.175 0 -31.440]  )
+#autorob( pose [5.944 6.951 0 2.937] )
+
+#autorob( pose [6.800 5.897 0 -103.060] )
+#autorob( pose [6.405 5.291 0 -103.060] )
+#autorob( pose [5.974 5.725 0 -103.060] )
+#autorob( pose [4.151 7.272 0 53.540] )
+#autorob( pose [6.545 7.459 0 2.937] )
+#autorob( pose [7.237 7.533 0 34.450] )
+#autorob( pose [3.875 6.533 0 134.717] )
+#autorob( pose [3.944 4.674 0 -103.060] )
+#autorob( pose [4.634 6.897 0 -103.060] )
+


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