From: <rt...@us...> - 2009-06-08 06:44:53
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Revision: 7816 http://playerstage.svn.sourceforge.net/playerstage/?rev=7816&view=rev Author: rtv Date: 2009-06-08 06:44:41 +0000 (Mon, 08 Jun 2009) Log Message: ----------- added Ash Charles' Chatterbox model definitions Modified Paths: -------------- code/stage/trunk/worlds/autolab.world code/stage/trunk/worlds/chatterbox.inc code/stage/trunk/worlds/fasr.world Modified: code/stage/trunk/worlds/autolab.world =================================================================== --- code/stage/trunk/worlds/autolab.world 2009-06-08 06:31:35 UTC (rev 7815) +++ code/stage/trunk/worlds/autolab.world 2009-06-08 06:44:41 UTC (rev 7816) @@ -6,104 +6,80 @@ resolution 0.02 interval_sim 100 # milliseconds per update step -interval_real 100 # real-time milliseconds per update step +interval_real 0 # real-time milliseconds per update step -include "pioneer.inc" include "chatterbox.inc" include "map.inc" +paused 1 + # configure the GUI window window ( size [ 678.000 730.000 ] - center [0 0] - scale 61.020 + center [0.122 -0.386] + scale 31.082 ) # load an environment bitmap floorplan ( bitmap "bitmaps/autolab.png" - size [10.000 10.000 0.500] + size [20.000 20.000 0.500] boundary 1 - #gui_grid 1 name "lab" - - #block[0].fill 0 ) -# define and place some grippable objects - - -define mother pioneer2dx -( - laser() - #ptz( blobfinder() ) - #gripper( pose [0.200 0.000 0 0.000] color "gray" ) - - fiducial( - # set to match the fiducial_key of objects you want to - # in this example, we match the chargers - fiducial_key 1 - ) -) - -mother +define cb laserchatterbox ( - name "mother0" - pose [-4.029 -3.369 0 34.006] - color "red" + ctrl "wander" ) -mother -( - name "mother1" - pose [-3.220 -4.179 0 46.895] - color "blue" -) +cb( name "cb00" pose [2.451 7.364 0 0] ) +cb( name "cb01" pose [2.321 6.221 0 -171.141] ) +cb( name "cb02" pose [3.459 5.556 0 -159.523] ) +cb( name "cb03" pose [1.917 5.630 0 -28.297] ) +cb( name "cb04" pose [3.298 4.715 0 -108.654] ) +cb( name "cb05" pose [2.545 4.875 0 -108.654] ) +cb( name "cb06" pose [3.086 6.344 0 -108.654] ) +cb( name "cb07" pose [1.463 6.393 0 -108.654] ) +cb( name "cb08" pose [1.449 4.534 0 -108.654] ) +cb( name "cb09" pose [0.737 5.217 0 -108.654] ) -# define and place some little robots +cb( name "cbr10" pose [1.085 -1.274 0 0] ) +cb( name "cbr11" pose [2.587 -1.832 0 0] ) +cb( name "cbr12" pose [1.812 -0.283 0 -53.892] ) +cb( name "cbr13" pose [3.457 -2.077 0 -28.297] ) +cb( name "cbr14" pose [2.083 -1.401 0 -54.883] ) +cb( name "cbr15" pose [1.814 -2.200 0 -54.883] ) +cb( name "cbr16" pose [1.787 -0.883 0 -54.883] ) +cb( name "cbr17" pose [1.517 -1.703 0 -54.883] ) +cb( name "cbr18" pose [3.125 -1.565 0 -54.883] ) +cb( name "cbr19" pose [4.009 -1.680 0 -54.883] ) -define bluechatterbox chatterbox ( color "blue" ) -define redchatterbox chatterbox ( color "red" ) +cb( name "cbr20" pose [-6.017 0.172 0 -54.883] ) +cb( name "cbr21" pose [-5.875 -0.860 0 -54.883] ) +cb( name "cbr22" pose [-6.766 -1.143 0 -54.883] ) +cb( name "cbr23" pose [-6.625 -0.407 0 -54.883] ) +cb( name "cbr24" pose [-7.021 0.540 0 -54.883] ) +cb( name "cbr25" pose [-7.671 -0.167 0 -54.883] ) +cb( name "cbr26" pose [-7.530 -1.001 0 -54.883] ) +cb( name "cbr27" pose [-7.445 -1.737 0 -54.883] ) +cb( name "cbr28" pose [-8.053 0.625 0 -54.883] ) +cb( name "cbr29" pose [-8.364 -0.450 0 -54.883] ) -bluechatterbox( name "cbb0" pose [1.915 2.651 0 0] ) -bluechatterbox( name "cbb1" pose [1.057 3.372 0 -171.141] ) -bluechatterbox( name "cbb2" pose [1.017 2.792 0 -159.523] ) -bluechatterbox( name "cbb3" pose [1.189 4.195 0 -28.297] ) -bluechatterbox( name "cbb4" pose [1.584 3.751 0 -108.654] ) -bluechatterbox( name "cbb5" pose [1.902 4.489 0 -108.654] ) -bluechatterbox( name "cbb6" pose [2.079 3.345 0 -108.654] ) -bluechatterbox( name "cbb7" pose [0.649 4.165 0 -108.654] ) -bluechatterbox( name "cbb8" pose [2.263 4.020 0 -108.654] ) -bluechatterbox( name "cbb9" pose [0.908 4.531 0 -108.654] ) - - -redchatterbox( name "cbr0" pose [1.085 -1.274 0 0] ) -redchatterbox( name "cbr1" pose [2.587 -1.832 0 0] ) -redchatterbox( name "cbr2" pose [1.812 -0.283 0 -53.892] ) -redchatterbox( name "cbr3" pose [3.457 -2.077 0 -28.297] ) -redchatterbox( name "cbr4" pose [2.083 -1.401 0 -54.883] ) -redchatterbox( name "cbr5" pose [1.814 -2.200 0 -54.883] ) -redchatterbox( name "cbr6" pose [1.787 -0.883 0 -54.883] ) -redchatterbox( name "cbr7" pose [1.517 -1.703 0 -54.883] ) -redchatterbox( name "cbr8" pose [3.125 -1.565 0 -54.883] ) -redchatterbox( name "cbr9" pose [4.009 -1.680 0 -54.883] ) - -# define and place some charging stations - -define charger model -( - size [ 0.500 0.500 0.010] - - color "green" - #energy.capacity -1.0 # infinite - #energy.return 30.0 # will transfer 30 Joules per second (Watts) - #energy.range 0.0 - - obstacle_return 0 - laser_return 0 - fiducial_key 1 -) - -charger( pose [ -4.522 -4.546 0 0 ] fiducial_return 1 ) +charger( pose [-4.87 4.5 0 180] ) +charger( pose [-4.87 4.0 0 180] ) +charger( pose [-4.87 3.5 0 180] ) +charger( pose [-4.87 3.0 0 180] ) +charger( pose [-4.87 2.5 0 180] ) +charger( pose [-4.87 2.0 0 180] ) +charger( pose [-4.87 1.5 0 180] ) +charger( pose [-4.87 1.0 0 180] ) +charger( pose [-4.87 0.5 0 180] ) +charger( pose [-4.87 0.0 0 180] ) +charger( pose [-4.87 -0.5 0 180] ) +charger( pose [-4.87 -1.0 0 180] ) +charger( pose [-4.87 -1.5 0 180] ) +charger( pose [-4.87 -2.0 0 180] ) +charger( pose [-4.87 -2.5 0 180] ) Modified: code/stage/trunk/worlds/chatterbox.inc =================================================================== --- code/stage/trunk/worlds/chatterbox.inc 2009-06-08 06:31:35 UTC (rev 7815) +++ code/stage/trunk/worlds/chatterbox.inc 2009-06-08 06:44:41 UTC (rev 7816) @@ -1,33 +1,116 @@ # Define a model based on the Autonomy Lab Chatterbox robot # -# Author: Richard T Vaughan (rtv) +# Author: Richard T Vaughan (rtv), Ash Charles # $Id: chatterbox.inc,v 1.5 2008-01-15 01:25:42 rtv Exp $ include "irobot.inc" define chatterbox create ( - # long range IRs - ranger - ( - scount 3 - spose[0] [ 0.050 0.0 0 ] - spose[1] [ 0.0 0.050 90 ] - spose[2] [ 0.0 -0.050 270 ] - sview [ 0 1.0 20 ] - ssize [0.01 0.03 ] + joules 100000 # todo + joules_capacity 400000 # todo + watts 100 # todo + obstacle_return 0 + +# charging connection + model + ( + pose [0.100 0.000 -0.090 0.000] + take_watts 1000.0 # todo + size [0.15 0.1 0.03] + color "yellow" + obstacle_return 0 + ) + + ranger + ( + scount 6 + spose[0] [ 0.050 0.000 0] # front forward + spose[1] [ 0.050 0.050 30] # front left side + spose[2] [ 0.000 0.050 90] # left side + spose[3] [-0.050 0.000 180] # back backwards + spose[4] [ 0.000 -0.050 -90] # right side + spose[5] [ 0.050 -0.050 -30] # front right side + sview [ 0 1.5 20 ] + ssize [0.01 0.03 ] + watts 10 # todo + ) + + fiducial + ( + pose [0.040 0.000 -0.005 0.000] + range_min 0.0 + range_max 2.5 + range_max_id 2.5 + fov 60 + watts 10 # todo ) - # short rage IRs - ranger - ( - scount 4 - spose[0] [ 0.050 0.0 0 ] - spose[1] [ 0.035 0.035 30 ] - spose[2] [ -0.050 0.0 180 ] - spose[3] [ 0.035 -0.035 330 ] + ) - sview [ 0 0.5 30 ] - ssize [0.01 0.03 ] + +define laserchatterbox chatterbox +( + laser() +) + + +# Desc: Charging station to work with the chatterbox model +# Author: Ash Charles +# Date: 26 Febuary 2009 + +define charger model +( + size [ 0.040 0.200 0.100 ] + color "gray70" + + # base pad + model( + color "gray50" + size [0.10 0.20 0.001] + pose [-0.070 0 -0.1 0] + obstacle_return 0 ) -) \ No newline at end of file + # IR beam blocker +# model( +# color "gray30" +# size [ 0.005 0.014 0.010] +# pose [-0.020 0.000 -0.015] +# ) + # IR beacons: Red=Port=Left; Right=Starboard=Green; Purple=Omni + model( + color "red" + size [0.010 0.010 0.010] + pose [-0.016 0.010 -0.015 -10 ] +# fiducial_return 4 + ) + model( + color "green" + size [0.010 0.010 0.010] + pose [-0.016 -0.010 -0.015 10 ] +# fiducial_return 5 + ) + model( + color "purple" + size [0.010 0.010 0.010] + pose [-0.020 0.000 -0.015 0.000] + fiducial_return 6 + ) + + # Positive Terminal of Charging Block + model( + pose [ -0.040 0.000 -0.100 0 ] + color "yellow" + size [ 0.020 0.100 0.005 ] + joules -1 # provides infinite energy + give_watts 1000 + obstacle_return 0 + ) + + # Negative terminal of the charging block +# model( +# pose [ -0.040 -0.040 -0.100 0 ] +# color "yellow" +# size [ 0.020 0.020 0.005 ] +# ) +) Modified: code/stage/trunk/worlds/fasr.world =================================================================== --- code/stage/trunk/worlds/fasr.world 2009-06-08 06:31:35 UTC (rev 7815) +++ code/stage/trunk/worlds/fasr.world 2009-06-08 06:44:41 UTC (rev 7816) @@ -8,7 +8,7 @@ interval_sim 100 # simulation timestep in milliseconds interval_real 0 # real-time interval between simulation updates in milliseconds -paused 0 +paused 1 # time to pause (in GUI mode) or quit (in headless mode) the simulation # quit_time 120 @@ -25,9 +25,9 @@ ( size [ 788.000 842.000 ] - center [ 6.871 -3.092 ] + center [ -0.067 -0.907 ] rotate [ 0 0 ] - scale 198.439 + scale 40.786 pcam_loc [ 0 -4.000 2.000 ] pcam_angle [ 70.000 0 ] @@ -94,10 +94,9 @@ ) -charge_station( pose [ 7.936 -1.627 0 0 ] ) -charge_station( pose [ 7.935 -2.616 0 0 ] ) -charge_station( pose [ 7.931 -3.478 0 0 ] ) -charge_station( pose [ 7.931 -4.615 0 0 ] ) +charge_station( pose [ 7.940 -2.000 0 0 ] ) +charge_station( pose [ 7.940 -3.000 0 0 ] ) +charge_station( pose [ 7.940 -4.000 0 0 ] ) define puck model ( size [0.120 0.120 0.100] @@ -157,16 +156,16 @@ # ) ) -autorob( pose [5.676 5.188 0 -19.596] joules 300000 name "r0" ) -autorob( pose [6.371 5.403 0 -102.139] joules 100000 ) -autorob( pose [5.509 6.300 0 164.865] joules 200000 ) -autorob( pose [6.926 6.331 0 -111.398] joules 400000 ) -autorob( pose [5.730 3.938 0 -93.939] joules 100000 ) -autorob( pose [4.925 6.078 0 -58.690] joules 200000 ) -autorob( pose [6.889 4.752 0 -103.252] joules 300000 ) -autorob( pose [7.220 5.671 0 -168.541] joules 400000 ) -autorob( pose [5.230 6.997 0 -145.485] joules 100000 ) -autorob( pose [6.529 4.005 0 -74.042] joules 200000 ) +autorob( pose [6.343 6.423 0 -108.404] joules 300000 name "r0" ) +autorob( pose [7.216 6.947 0 -102.139] joules 100000 ) +autorob( pose [7.308 6.329 0 -87.236] joules 200000 ) +autorob( pose [6.750 7.165 0 -111.398] joules 400000 ) +autorob( pose [6.382 7.678 0 -93.939] joules 100000 ) +autorob( pose [6.292 7.125 0 -58.690] joules 200000 ) +autorob( pose [7.699 6.780 0 -108.018] joules 300000 ) +autorob( pose [7.545 7.515 0 -168.541] joules 400000 ) +autorob( pose [7.017 7.707 0 -179.862] joules 100000 ) +autorob( pose [6.818 6.348 0 -74.042] joules 200000 ) #autorob( pose [5.060 6.868 0 -61.295] joules 300000 ) #autorob( pose [4.161 5.544 0 -147.713] joules 400000 ) This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. |