From: <rt...@us...> - 2008-11-15 02:38:36
|
Revision: 7144 http://playerstage.svn.sourceforge.net/playerstage/?rev=7144&view=rev Author: rtv Date: 2008-11-15 02:38:24 +0000 (Sat, 15 Nov 2008) Log Message: ----------- major changes for 3.1 Modified Paths: -------------- code/stage/trunk/worlds/benchmark/cave.world code/stage/trunk/worlds/benchmark/expand.cc code/stage/trunk/worlds/benchmark/hospital.world code/stage/trunk/worlds/fasr.world code/stage/trunk/worlds/map.inc code/stage/trunk/worlds/pioneer.inc code/stage/trunk/worlds/sick.inc code/stage/trunk/worlds/simple.world Modified: code/stage/trunk/worlds/benchmark/cave.world =================================================================== --- code/stage/trunk/worlds/benchmark/cave.world 2008-11-14 01:59:33 UTC (rev 7143) +++ code/stage/trunk/worlds/benchmark/cave.world 2008-11-15 02:38:24 UTC (rev 7144) @@ -8,9 +8,11 @@ resolution 0.02 # resolution of the underlying raytrace mode interval_sim 100 # simulation timestep in milliseconds -interval_real 100 # real-time interval between simulation updates in milliseconds +interval_real 0 # real-time interval between simulation updates in milliseconds paused 1 +threadpool 2 + # configure the GUI window window ( @@ -29,14 +31,14 @@ bitmap "../bitmaps/cave.png" ) -#define rob pioneer2dx -define rob fancypioneer2dx # alternative with more complex polygons +define rob pioneer2dx +#define rob fancypioneer2dx # alternative with more complex polygons ( origin [ 0 0 0 0 ] sicklaser( samples 180 ) # alternative laser with more complex polygons - fancysicklaser( samples 180 ) + #fancysicklaser( samples 180 ) ranger( pose [ 0 0 -0.050 0 ] ) Modified: code/stage/trunk/worlds/benchmark/expand.cc =================================================================== --- code/stage/trunk/worlds/benchmark/expand.cc 2008-11-14 01:59:33 UTC (rev 7143) +++ code/stage/trunk/worlds/benchmark/expand.cc 2008-11-15 02:38:24 UTC (rev 7144) @@ -95,25 +95,7 @@ { forward_speed = VSPEED; } - - //printf( "forward angle = %.2f\n", rgr->sensors[forward].pose.a ); - // // send a command to the robot - // stg_velocity_t vel; - // bzero(&vel,sizeof(vel)); - // vel.x = forward_speed; - // vel.y = side_speed; - // vel.z = 0; - // vel.a = turn_speed; - - //printf( "robot %s [%.2f %.2f %.2f %.2f]\n", - //robots[i].position->Token(), vel.x, vel.y, vel.z, vel.a ); - - // uint32_t bcount=0; - //stg_blobfinder_blob_t* blobs = robots[i].blobfinder->GetBlobs( &bcount ); - - //printf( "robot %s sees %u blobs\n", robots[i].blobfinder->Token(), bcount ); - robot->position->SetSpeed( forward_speed, side_speed, turn_speed ); return 0; Modified: code/stage/trunk/worlds/benchmark/hospital.world =================================================================== --- code/stage/trunk/worlds/benchmark/hospital.world 2008-11-14 01:59:33 UTC (rev 7143) +++ code/stage/trunk/worlds/benchmark/hospital.world 2008-11-15 02:38:24 UTC (rev 7144) @@ -1065,1003 +1065,1003 @@ swarmbot( name "r998" pose [ -9.250 -14.250 0 0 ] ) swarmbot( name "r999" pose [ -9.250 -14.000 0 0 ] ) -#swarmbot( name "r1000" pose [ 0 -15.000 0 0 ] ) -#swarmbot( name "r1001" pose [ 0 -14.750 0 0 ] ) -#swarmbot( name "r1002" pose [ 0 -14.500 0 0 ] ) -#swarmbot( name "r1003" pose [ 0 -14.250 0 0 ] ) -#swarmbot( name "r1004" pose [ 0 -14.000 0 0 ] ) -#swarmbot( name "r1005" pose [ .250 -15.000 0 0 ] ) -#swarmbot( name "r1006" pose [ .250 -14.750 0 0 ] ) -#swarmbot( name "r1007" pose [ .250 -14.500 0 0 ] ) -#swarmbot( name "r1008" pose [ .250 -14.250 0 0 ] ) -#swarmbot( name "r1009" pose [ .250 -14.000 0 0 ] ) -#swarmbot( name "r1010" pose [ .500 -15.000 0 0 ] ) -#swarmbot( name "r1011" pose [ .500 -14.750 0 0 ] ) -#swarmbot( name "r1012" pose [ .500 -14.500 0 0 ] ) -#swarmbot( name "r1013" pose [ .500 -14.250 0 0 ] ) -#swarmbot( name "r1014" pose [ .500 -14.000 0 0 ] ) -#swarmbot( name "r1015" pose [ .750 -15.000 0 0 ] ) -#swarmbot( name "r1016" pose [ .750 -14.750 0 0 ] ) -#swarmbot( name "r1017" pose [ .750 -14.500 0 0 ] ) -#swarmbot( name "r1018" pose [ .750 -14.250 0 0 ] ) -#swarmbot( name "r1019" pose [ .750 -14.000 0 0 ] ) -#swarmbot( name "r1020" pose [ 1.000 -15.000 0 0 ] ) -#swarmbot( name "r1021" pose [ 1.000 -14.750 0 0 ] ) -#swarmbot( name "r1022" pose [ 1.000 -14.500 0 0 ] ) -#swarmbot( name "r1023" pose [ 1.000 -14.250 0 0 ] ) -#swarmbot( name "r1024" pose [ 1.000 -14.000 0 0 ] ) -#swarmbot( name "r1025" pose [ 1.250 -15.000 0 0 ] ) -#swarmbot( name "r1026" pose [ 1.250 -14.750 0 0 ] ) -#swarmbot( name "r1027" pose [ 1.250 -14.500 0 0 ] ) -#swarmbot( name "r1028" pose [ 1.250 -14.250 0 0 ] ) -#swarmbot( name "r1029" pose [ 1.250 -14.000 0 0 ] ) -#swarmbot( name "r1030" pose [ 1.500 -15.000 0 0 ] ) -#swarmbot( name "r1031" pose [ 1.500 -14.750 0 0 ] ) -#swarmbot( name "r1032" pose [ 1.500 -14.500 0 0 ] ) -#swarmbot( name "r1033" pose [ 1.500 -14.250 0 0 ] ) -#swarmbot( name "r1034" pose [ 1.500 -14.000 0 0 ] ) -#swarmbot( name "r1035" pose [ 1.750 -15.000 0 0 ] ) -#swarmbot( name "r1036" pose [ 1.750 -14.750 0 0 ] ) -#swarmbot( name "r1037" pose [ 1.750 -14.500 0 0 ] ) -#swarmbot( name "r1038" pose [ 1.750 -14.250 0 0 ] ) -#swarmbot( name "r1039" pose [ 1.750 -14.000 0 0 ] ) -#swarmbot( name "r1040" pose [ 2.000 -15.000 0 0 ] ) -#swarmbot( name "r1041" pose [ 2.000 -14.750 0 0 ] ) -#swarmbot( name "r1042" pose [ 2.000 -14.500 0 0 ] ) -#swarmbot( name "r1043" pose [ 2.000 -14.250 0 0 ] ) -#swarmbot( name "r1044" pose [ 2.000 -14.000 0 0 ] ) -#swarmbot( name "r1045" pose [ 2.250 -15.000 0 0 ] ) -#swarmbot( name "r1046" pose [ 2.250 -14.750 0 0 ] ) -#swarmbot( name "r1047" pose [ 2.250 -14.500 0 0 ] ) -#swarmbot( name "r1048" pose [ 2.250 -14.250 0 0 ] ) -#swarmbot( name "r1049" pose [ 2.250 -14.000 0 0 ] ) -#swarmbot( name "r1050" pose [ 2.500 -15.000 0 0 ] ) -#swarmbot( name "r1051" pose [ 2.500 -14.750 0 0 ] ) -#swarmbot( name "r1052" pose [ 2.500 -14.500 0 0 ] ) -#swarmbot( name "r1053" pose [ 2.500 -14.250 0 0 ] ) -#swarmbot( name "r1054" pose [ 2.500 -14.000 0 0 ] ) -#swarmbot( name "r1055" pose [ 2.750 -15.000 0 0 ] ) -#swarmbot( name "r1056" pose [ 2.750 -14.750 0 0 ] ) -#swarmbot( name "r1057" pose [ 2.750 -14.500 0 0 ] ) -#swarmbot( name "r1058" pose [ 2.750 -14.250 0 0 ] ) -#swarmbot( name "r1059" pose [ 2.750 -14.000 0 0 ] ) -#swarmbot( name "r1060" pose [ 3.000 -15.000 0 0 ] ) -#swarmbot( name "r1061" pose [ 3.000 -14.750 0 0 ] ) -#swarmbot( name "r1062" pose [ 3.000 -14.500 0 0 ] ) -#swarmbot( name "r1063" pose [ 3.000 -14.250 0 0 ] ) -#swarmbot( name "r1064" pose [ 3.000 -14.000 0 0 ] ) -#swarmbot( name "r1065" pose [ 3.250 -15.000 0 0 ] ) -#swarmbot( name "r1066" pose [ 3.250 -14.750 0 0 ] ) -#swarmbot( name "r1067" pose [ 3.250 -14.500 0 0 ] ) -#swarmbot( name "r1068" pose [ 3.250 -14.250 0 0 ] ) -#swarmbot( name "r1069" pose [ 3.250 -14.000 0 0 ] ) -#swarmbot( name "r1070" pose [ 3.500 -15.000 0 0 ] ) -#swarmbot( name "r1071" pose [ 3.500 -14.750 0 0 ] ) -#swarmbot( name "r1072" pose [ 3.500 -14.500 0 0 ] ) -#swarmbot( name "r1073" pose [ 3.500 -14.250 0 0 ] ) -#swarmbot( name "r1074" pose [ 3.500 -14.000 0 0 ] ) -#swarmbot( name "r1075" pose [ 3.750 -15.000 0 0 ] ) -#swarmbot( name "r1076" pose [ 3.750 -14.750 0 0 ] ) -#swarmbot( name "r1077" pose [ 3.750 -14.500 0 0 ] ) -#swarmbot( name "r1078" pose [ 3.750 -14.250 0 0 ] ) -#swarmbot( name "r1079" pose [ 3.750 -14.000 0 0 ] ) -#swarmbot( name "r1080" pose [ 4.000 -15.000 0 0 ] ) -#swarmbot( name "r1081" pose [ 4.000 -14.750 0 0 ] ) -#swarmbot( name "r1082" pose [ 4.000 -14.500 0 0 ] ) -#swarmbot( name "r1083" pose [ 4.000 -14.250 0 0 ] ) -#swarmbot( name "r1084" pose [ 4.000 -14.000 0 0 ] ) -#swarmbot( name "r1085" pose [ 4.250 -15.000 0 0 ] ) -#swarmbot( name "r1086" pose [ 4.250 -14.750 0 0 ] ) -#swarmbot( name "r1087" pose [ 4.250 -14.500 0 0 ] ) -#swarmbot( name "r1088" pose [ 4.250 -14.250 0 0 ] ) -#swarmbot( name "r1089" pose [ 4.250 -14.000 0 0 ] ) -#swarmbot( name "r1090" pose [ 4.500 -15.000 0 0 ] ) -#swarmbot( name "r1091" pose [ 4.500 -14.750 0 0 ] ) -#swarmbot( name "r1092" pose [ 4.500 -14.500 0 0 ] ) -#swarmbot( name "r1093" pose [ 4.500 -14.250 0 0 ] ) -#swarmbot( name "r1094" pose [ 4.500 -14.000 0 0 ] ) -#swarmbot( name "r1095" pose [ 4.750 -15.000 0 0 ] ) -#swarmbot( name "r1096" pose [ 4.750 -14.750 0 0 ] ) -#swarmbot( name "r1097" pose [ 4.750 -14.500 0 0 ] ) -#swarmbot( name "r1098" pose [ 4.750 -14.250 0 0 ] ) -#swarmbot( name "r1099" pose [ 4.750 -14.000 0 0 ] ) -#swarmbot( name "r1100" pose [ 5.000 -15.000 0 0 ] ) -#swarmbot( name "r1101" pose [ 5.000 -14.750 0 0 ] ) -#swarmbot( name "r1102" pose [ 5.000 -14.500 0 0 ] ) -#swarmbot( name "r1103" pose [ 5.000 -14.250 0 0 ] ) -#swarmbot( name "r1104" pose [ 5.000 -14.000 0 0 ] ) -#swarmbot( name "r1105" pose [ 5.250 -15.000 0 0 ] ) -#swarmbot( name "r1106" pose [ 5.250 -14.750 0 0 ] ) -#swarmbot( name "r1107" pose [ 5.250 -14.500 0 0 ] ) -#swarmbot( name "r1108" pose [ 5.250 -14.250 0 0 ] ) -#swarmbot( name "r1109" pose [ 5.250 -14.000 0 0 ] ) -#swarmbot( name "r1110" pose [ 5.500 -15.000 0 0 ] ) -#swarmbot( name "r1111" pose [ 5.500 -14.750 0 0 ] ) -#swarmbot( name "r1112" pose [ 5.500 -14.500 0 0 ] ) -#swarmbot( name "r1113" pose [ 5.500 -14.250 0 0 ] ) -#swarmbot( name "r1114" pose [ 5.500 -14.000 0 0 ] ) -#swarmbot( name "r1115" pose [ 5.750 -15.000 0 0 ] ) -#swarmbot( name "r1116" pose [ 5.750 -14.750 0 0 ] ) -#swarmbot( name "r1117" pose [ 5.750 -14.500 0 0 ] ) -#swarmbot( name "r1118" pose [ 5.750 -14.250 0 0 ] ) -#swarmbot( name "r1119" pose [ 5.750 -14.000 0 0 ] ) -#swarmbot( name "r1120" pose [ 6.000 -15.000 0 0 ] ) -#swarmbot( name "r1121" pose [ 6.000 -14.750 0 0 ] ) -#swarmbot( name "r1122" pose [ 6.000 -14.500 0 0 ] ) -#swarmbot( name "r1123" pose [ 6.000 -14.250 0 0 ] ) -#swarmbot( name "r1124" pose [ 6.000 -14.000 0 0 ] ) -#swarmbot( name "r1125" pose [ 6.250 -15.000 0 0 ] ) -#swarmbot( name "r1126" pose [ 6.250 -14.750 0 0 ] ) -#swarmbot( name "r1127" pose [ 6.250 -14.500 0 0 ] ) -#swarmbot( name "r1128" pose [ 6.250 -14.250 0 0 ] ) -#swarmbot( name "r1129" pose [ 6.250 -14.000 0 0 ] ) -#swarmbot( name "r1130" pose [ 6.500 -15.000 0 0 ] ) -#swarmbot( name "r1131" pose [ 6.500 -14.750 0 0 ] ) -#swarmbot( name "r1132" pose [ 6.500 -14.500 0 0 ] ) -#swarmbot( name "r1133" pose [ 6.500 -14.250 0 0 ] ) -#swarmbot( name "r1134" pose [ 6.500 -14.000 0 0 ] ) -#swarmbot( name "r1135" pose [ 6.750 -15.000 0 0 ] ) -#swarmbot( name "r1136" pose [ 6.750 -14.750 0 0 ] ) -#swarmbot( name "r1137" pose [ 6.750 -14.500 0 0 ] ) -#swarmbot( name "r1138" pose [ 6.750 -14.250 0 0 ] ) -#swarmbot( name "r1139" pose [ 6.750 -14.000 0 0 ] ) -#swarmbot( name "r1140" pose [ 7.000 -15.000 0 0 ] ) -#swarmbot( name "r1141" pose [ 7.000 -14.750 0 0 ] ) -#swarmbot( name "r1142" pose [ 7.000 -14.500 0 0 ] ) -#swarmbot( name "r1143" pose [ 7.000 -14.250 0 0 ] ) -#swarmbot( name "r1144" pose [ 7.000 -14.000 0 0 ] ) -#swarmbot( name "r1145" pose [ 7.250 -15.000 0 0 ] ) -#swarmbot( name "r1146" pose [ 7.250 -14.750 0 0 ] ) -#swarmbot( name "r1147" pose [ 7.250 -14.500 0 0 ] ) -#swarmbot( name "r1148" pose [ 7.250 -14.250 0 0 ] ) -#swarmbot( name "r1149" pose [ 7.250 -14.000 0 0 ] ) -#swarmbot( name "r1150" pose [ 7.500 -15.000 0 0 ] ) -#swarmbot( name "r1151" pose [ 7.500 -14.750 0 0 ] ) -#swarmbot( name "r1152" pose [ 7.500 -14.500 0 0 ] ) -#swarmbot( name "r1153" pose [ 7.500 -14.250 0 0 ] ) -#swarmbot( name "r1154" pose [ 7.500 -14.000 0 0 ] ) -#swarmbot( name "r1155" pose [ 7.750 -15.000 0 0 ] ) -#swarmbot( name "r1156" pose [ 7.750 -14.750 0 0 ] ) -#swarmbot( name "r1157" pose [ 7.750 -14.500 0 0 ] ) -#swarmbot( name "r1158" pose [ 7.750 -14.250 0 0 ] ) -#swarmbot( name "r1159" pose [ 7.750 -14.000 0 0 ] ) -#swarmbot( name "r1160" pose [ 8.000 -15.000 0 0 ] ) -#swarmbot( name "r1161" pose [ 8.000 -14.750 0 0 ] ) -#swarmbot( name "r1162" pose [ 8.000 -14.500 0 0 ] ) -#swarmbot( name "r1163" pose [ 8.000 -14.250 0 0 ] ) -#swarmbot( name "r1164" pose [ 8.000 -14.000 0 0 ] ) -#swarmbot( name "r1165" pose [ 8.250 -15.000 0 0 ] ) -#swarmbot( name "r1166" pose [ 8.250 -14.750 0 0 ] ) -#swarmbot( name "r1167" pose [ 8.250 -14.500 0 0 ] ) -#swarmbot( name "r1168" pose [ 8.250 -14.250 0 0 ] ) -#swarmbot( name "r1169" pose [ 8.250 -14.000 0 0 ] ) -#swarmbot( name "r1170" pose [ 8.500 -15.000 0 0 ] ) -#swarmbot( name "r1171" pose [ 8.500 -14.750 0 0 ] ) -#swarmbot( name "r1172" pose [ 8.500 -14.500 0 0 ] ) -#swarmbot( name "r1173" pose [ 8.500 -14.250 0 0 ] ) -#swarmbot( name "r1174" pose [ 8.500 -14.000 0 0 ] ) -#swarmbot( name "r1175" pose [ 8.750 -15.000 0 0 ] ) -#swarmbot( name "r1176" pose [ 8.750 -14.750 0 0 ] ) -#swarmbot( name "r1177" pose [ 8.750 -14.500 0 0 ] ) -#swarmbot( name "r1178" pose [ 8.750 -14.250 0 0 ] ) -#swarmbot( name "r1179" pose [ 8.750 -14.000 0 0 ] ) -#swarmbot( name "r1180" pose [ 9.000 -15.000 0 0 ] ) -#swarmbot( name "r1181" pose [ 9.000 -14.750 0 0 ] ) -#swarmbot( name "r1182" pose [ 9.000 -14.500 0 0 ] ) -#swarmbot( name "r1183" pose [ 9.000 -14.250 0 0 ] ) -#swarmbot( name "r1184" pose [ 9.000 -14.000 0 0 ] ) -#swarmbot( name "r1185" pose [ 9.250 -15.000 0 0 ] ) -#swarmbot( name "r1186" pose [ 9.250 -14.750 0 0 ] ) -#swarmbot( name "r1187" pose [ 9.250 -14.500 0 0 ] ) -#swarmbot( name "r1188" pose [ 9.250 -14.250 0 0 ] ) -#swarmbot( name "r1189" pose [ 9.250 -14.000 0 0 ] ) -#swarmbot( name "r1190" pose [ 9.500 -15.000 0 0 ] ) -#swarmbot( name "r1191" pose [ 9.500 -14.750 0 0 ] ) -#swarmbot( name "r1192" pose [ 9.500 -14.500 0 0 ] ) -#swarmbot( name "r1193" pose [ 9.500 -14.250 0 0 ] ) -#swarmbot( name "r1194" pose [ 9.500 -14.000 0 0 ] ) -#swarmbot( name "r1195" pose [ 9.750 -15.000 0 0 ] ) -#swarmbot( name "r1196" pose [ 9.750 -14.750 0 0 ] ) -#swarmbot( name "r1197" pose [ 9.750 -14.500 0 0 ] ) -#swarmbot( name "r1198" pose [ 9.750 -14.250 0 0 ] ) -#swarmbot( name "r1199" pose [ 9.750 -14.000 0 0 ] ) -#swarmbot( name "r1200" pose [ 10.000 -15.000 0 0 ] ) -#swarmbot( name "r1201" pose [ 10.000 -14.750 0 0 ] ) -#swarmbot( name "r1202" pose [ 10.000 -14.500 0 0 ] ) -#swarmbot( name "r1203" pose [ 10.000 -14.250 0 0 ] ) -#swarmbot( name "r1204" pose [ 10.000 -14.000 0 0 ] ) -#swarmbot( name "r1205" pose [ 10.250 -15.000 0 0 ] ) -#swarmbot( name "r1206" pose [ 10.250 -14.750 0 0 ] ) -#swarmbot( name "r1207" pose [ 10.250 -14.500 0 0 ] ) -#swarmbot( name "r1208" pose [ 10.250 -14.250 0 0 ] ) -#swarmbot( name "r1209" pose [ 10.250 -14.000 0 0 ] ) -#swarmbot( name "r1210" pose [ 10.500 -15.000 0 0 ] ) -#swarmbot( name "r1211" pose [ 10.500 -14.750 0 0 ] ) -#swarmbot( name "r1212" pose [ 10.500 -14.500 0 0 ] ) -#swarmbot( name "r1213" pose [ 10.500 -14.250 0 0 ] ) -#swarmbot( name "r1214" pose [ 10.500 -14.000 0 0 ] ) -#swarmbot( name "r1215" pose [ 10.750 -15.000 0 0 ] ) -#swarmbot( name "r1216" pose [ 10.750 -14.750 0 0 ] ) -#swarmbot( name "r1217" pose [ 10.750 -14.500 0 0 ] ) -#swarmbot( name "r1218" pose [ 10.750 -14.250 0 0 ] ) -#swarmbot( name "r1219" pose [ 10.750 -14.000 0 0 ] ) -#swarmbot( name "r1220" pose [ 11.000 -15.000 0 0 ] ) -#swarmbot( name "r1221" pose [ 11.000 -14.750 0 0 ] ) -#swarmbot( name "r1222" pose [ 11.000 -14.500 0 0 ] ) -#swarmbot( name "r1223" pose [ 11.000 -14.250 0 0 ] ) -#swarmbot( name "r1224" pose [ 11.000 -14.000 0 0 ] ) -#swarmbot( name "r1225" pose [ 11.250 -15.000 0 0 ] ) -#swarmbot( name "r1226" pose [ 11.250 -14.750 0 0 ] ) -#swarmbot( name "r1227" pose [ 11.250 -14.500 0 0 ] ) -#swarmbot( name "r1228" pose [ 11.250 -14.250 0 0 ] ) -#swarmbot( name "r1229" pose [ 11.250 -14.000 0 0 ] ) -#swarmbot( name "r1230" pose [ 11.500 -15.000 0 0 ] ) -#swarmbot( name "r1231" pose [ 11.500 -14.750 0 0 ] ) -#swarmbot( name "r1232" pose [ 11.500 -14.500 0 0 ] ) -#swarmbot( name "r1233" pose [ 11.500 -14.250 0 0 ] ) -#swarmbot( name "r1234" pose [ 11.500 -14.000 0 0 ] ) -#swarmbot( name "r1235" pose [ 11.750 -15.000 0 0 ] ) -#swarmbot( name "r1236" pose [ 11.750 -14.750 0 0 ] ) -#swarmbot( name "r1237" pose [ 11.750 -14.500 0 0 ] ) -#swarmbot( name "r1238" pose [ 11.750 -14.250 0 0 ] ) -#swarmbot( name "r1239" pose [ 11.750 -14.000 0 0 ] ) -#swarmbot( name "r1240" pose [ 12.000 -15.000 0 0 ] ) -#swarmbot( name "r1241" pose [ 12.000 -14.750 0 0 ] ) -#swarmbot( name "r1242" pose [ 12.000 -14.500 0 0 ] ) -#swarmbot( name "r1243" pose [ 12.000 -14.250 0 0 ] ) -#swarmbot( name "r1244" pose [ 12.000 -14.000 0 0 ] ) -#swarmbot( name "r1245" pose [ 12.250 -15.000 0 0 ] ) -#swarmbot( name "r1246" pose [ 12.250 -14.750 0 0 ] ) -#swarmbot( name "r1247" pose [ 12.250 -14.500 0 0 ] ) -#swarmbot( name "r1248" pose [ 12.250 -14.250 0 0 ] ) -#swarmbot( name "r1249" pose [ 12.250 -14.000 0 0 ] ) -#swarmbot( name "r1250" pose [ 12.500 -15.000 0 0 ] ) -#swarmbot( name "r1251" pose [ 12.500 -14.750 0 0 ] ) -#swarmbot( name "r1252" pose [ 12.500 -14.500 0 0 ] ) -#swarmbot( name "r1253" pose [ 12.500 -14.250 0 0 ] ) -#swarmbot( name "r1254" pose [ 12.500 -14.000 0 0 ] ) -#swarmbot( name "r1255" pose [ 12.750 -15.000 0 0 ] ) -#swarmbot( name "r1256" pose [ 12.750 -14.750 0 0 ] ) -#swarmbot( name "r1257" pose [ 12.750 -14.500 0 0 ] ) -#swarmbot( name "r1258" pose [ 12.750 -14.250 0 0 ] ) -#swarmbot( name "r1259" pose [ 12.750 -14.000 0 0 ] ) -#swarmbot( name "r1260" pose [ 13.000 -15.000 0 0 ] ) -#swarmbot( name "r1261" pose [ 13.000 -14.750 0 0 ] ) -#swarmbot( name "r1262" pose [ 13.000 -14.500 0 0 ] ) -#swarmbot( name "r1263" pose [ 13.000 -14.250 0 0 ] ) -#swarmbot( name "r1264" pose [ 13.000 -14.000 0 0 ] ) -#swarmbot( name "r1265" pose [ 13.250 -15.000 0 0 ] ) -#swarmbot( name "r1266" pose [ 13.250 -14.750 0 0 ] ) -#swarmbot( name "r1267" pose [ 13.250 -14.500 0 0 ] ) -#swarmbot( name "r1268" pose [ 13.250 -14.250 0 0 ] ) -#swarmbot( name "r1269" pose [ 13.250 -14.000 0 0 ] ) -#swarmbot( name "r1270" pose [ 13.500 -15.000 0 0 ] ) -#swarmbot( name "r1271" pose [ 13.500 -14.750 0 0 ] ) -#swarmbot( name "r1272" pose [ 13.500 -14.500 0 0 ] ) -#swarmbot( name "r1273" pose [ 13.500 -14.250 0 0 ] ) -#swarmbot( name "r1274" pose [ 13.500 -14.000 0 0 ] ) -#swarmbot( name "r1275" pose [ 13.750 -15.000 0 0 ] ) -#swarmbot( name "r1276" pose [ 13.750 -14.750 0 0 ] ) -#swarmbot( name "r1277" pose [ 13.750 -14.500 0 0 ] ) -#swarmbot( name "r1278" pose [ 13.750 -14.250 0 0 ] ) -#swarmbot( name "r1279" pose [ 13.750 -14.000 0 0 ] ) -#swarmbot( name "r1280" pose [ 14.000 -15.000 0 0 ] ) -#swarmbot( name "r1281" pose [ 14.000 -14.750 0 0 ] ) -#swarmbot( name "r1282" pose [ 14.000 -14.500 0 0 ] ) -#swarmbot( name "r1283" pose [ 14.000 -14.250 0 0 ] ) -#swarmbot( name "r1284" pose [ 14.000 -14.000 0 0 ] ) -#swarmbot( name "r1285" pose [ 14.250 -15.000 0 0 ] ) -#swarmbot( name "r1286" pose [ 14.250 -14.750 0 0 ] ) -#swarmbot( name "r1287" pose [ 14.250 -14.500 0 0 ] ) -#swarmbot( name "r1288" pose [ 14.250 -14.250 0 0 ] ) -#swarmbot( name "r1289" pose [ 14.250 -14.000 0 0 ] ) -#swarmbot( name "r1290" pose [ 14.500 -15.000 0 0 ] ) -#swarmbot( name "r1291" pose [ 14.500 -14.750 0 0 ] ) -#swarmbot( name "r1292" pose [ 14.500 -14.500 0 0 ] ) -#swarmbot( name "r1293" pose [ 14.500 -14.250 0 0 ] ) 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-#swarmbot( name "r1312" pose [ 15.500 -14.500 0 0 ] ) -#swarmbot( name "r1313" pose [ 15.500 -14.250 0 0 ] ) -#swarmbot( name "r1314" pose [ 15.500 -14.000 0 0 ] ) -#swarmbot( name "r1315" pose [ 15.750 -15.000 0 0 ] ) -#swarmbot( name "r1316" pose [ 15.750 -14.750 0 0 ] ) -#swarmbot( name "r1317" pose [ 15.750 -14.500 0 0 ] ) -#swarmbot( name "r1318" pose [ 15.750 -14.250 0 0 ] ) -#swarmbot( name "r1319" pose [ 15.750 -14.000 0 0 ] ) -#swarmbot( name "r1320" pose [ 16.000 -15.000 0 0 ] ) -#swarmbot( name "r1321" pose [ 16.000 -14.750 0 0 ] ) -#swarmbot( name "r1322" pose [ 16.000 -14.500 0 0 ] ) -#swarmbot( name "r1323" pose [ 16.000 -14.250 0 0 ] ) -#swarmbot( name "r1324" pose [ 16.000 -14.000 0 0 ] ) -#swarmbot( name "r1325" pose [ 16.250 -15.000 0 0 ] ) -#swarmbot( name "r1326" pose [ 16.250 -14.750 0 0 ] ) -#swarmbot( name "r1327" pose [ 16.250 -14.500 0 0 ] ) -#swarmbot( name "r1328" pose [ 16.250 -14.250 0 0 ] ) -#swarmbot( name "r1329" pose [ 16.250 -14.000 0 0 ] ) -#swarmbot( name "r1330" pose [ 16.500 -15.000 0 0 ] ) -#swarmbot( name "r1331" pose [ 16.500 -14.750 0 0 ] ) -#swarmbot( name "r1332" pose [ 16.500 -14.500 0 0 ] ) -#swarmbot( name "r1333" pose [ 16.500 -14.250 0 0 ] ) -#swarmbot( name "r1334" pose [ 16.500 -14.000 0 0 ] ) -#swarmbot( name "r1335" pose [ 16.750 -15.000 0 0 ] ) -#swarmbot( name "r1336" pose [ 16.750 -14.750 0 0 ] ) -#swarmbot( name "r1337" pose [ 16.750 -14.500 0 0 ] ) -#swarmbot( name "r1338" pose [ 16.750 -14.250 0 0 ] ) -#swarmbot( name "r1339" pose [ 16.750 -14.000 0 0 ] ) -#swarmbot( name "r1340" pose [ 17.000 -15.000 0 0 ] ) -#swarmbot( name "r1341" pose [ 17.000 -14.750 0 0 ] ) -#swarmbot( name "r1342" pose [ 17.000 -14.500 0 0 ] ) -#swarmbot( name "r1343" pose [ 17.000 -14.250 0 0 ] ) -#swarmbot( name "r1344" pose [ 17.000 -14.000 0 0 ] ) -#swarmbot( name "r1345" pose [ 17.250 -15.000 0 0 ] ) -#swarmbot( name "r1346" pose [ 17.250 -14.750 0 0 ] ) -#swarmbot( name "r1347" pose [ 17.250 -14.500 0 0 ] ) 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-#swarmbot( name "r1420" pose [ 21.000 -15.000 0 0 ] ) -#swarmbot( name "r1421" pose [ 21.000 -14.750 0 0 ] ) -#swarmbot( name "r1422" pose [ 21.000 -14.500 0 0 ] ) -#swarmbot( name "r1423" pose [ 21.000 -14.250 0 0 ] ) -#swarmbot( name "r1424" pose [ 21.000 -14.000 0 0 ] ) -#swarmbot( name "r1425" pose [ 21.250 -15.000 0 0 ] ) -#swarmbot( name "r1426" pose [ 21.250 -14.750 0 0 ] ) -#swarmbot( name "r1427" pose [ 21.250 -14.500 0 0 ] ) -#swarmbot( name "r1428" pose [ 21.250 -14.250 0 0 ] ) -#swarmbot( name "r1429" pose [ 21.250 -14.000 0 0 ] ) -#swarmbot( name "r1430" pose [ 21.500 -15.000 0 0 ] ) -#swarmbot( name "r1431" pose [ 21.500 -14.750 0 0 ] ) -#swarmbot( name "r1432" pose [ 21.500 -14.500 0 0 ] ) -#swarmbot( name "r1433" pose [ 21.500 -14.250 0 0 ] ) -#swarmbot( name "r1434" pose [ 21.500 -14.000 0 0 ] ) -#swarmbot( name "r1435" pose [ 21.750 -15.000 0 0 ] ) -#swarmbot( name "r1436" pose [ 21.750 -14.750 0 0 ] ) -#swarmbot( name "r1437" pose [ 21.750 -14.500 0 0 ] ) -#swarmbot( name "r1438" pose [ 21.750 -14.250 0 0 ] ) -#swarmbot( name "r1439" pose [ 21.750 -14.000 0 0 ] ) -#swarmbot( name "r1440" pose [ 22.000 -15.000 0 0 ] ) -#swarmbot( name "r1441" pose [ 22.000 -14.750 0 0 ] ) -#swarmbot( name "r1442" pose [ 22.000 -14.500 0 0 ] ) -#swarmbot( name "r1443" pose [ 22.000 -14.250 0 0 ] ) -#swarmbot( name "r1444" pose [ 22.000 -14.000 0 0 ] ) -#swarmbot( name "r1445" pose [ 22.250 -15.000 0 0 ] ) -#swarmbot( name "r1446" pose [ 22.250 -14.750 0 0 ] ) -#swarmbot( name "r1447" pose [ 22.250 -14.500 0 0 ] ) -#swarmbot( name "r1448" pose [ 22.250 -14.250 0 0 ] ) -#swarmbot( name "r1449" pose [ 22.250 -14.000 0 0 ] ) -#swarmbot( name "r1450" pose [ 22.500 -15.000 0 0 ] ) -#swarmbot( name "r1451" pose [ 22.500 -14.750 0 0 ] ) -#swarmbot( name "r1452" pose [ 22.500 -14.500 0 0 ] ) -#swarmbot( name "r1453" pose [ 22.500 -14.250 0 0 ] ) -#swarmbot( name "r1454" pose [ 22.500 -14.000 0 0 ] ) -#swarmbot( name "r1455" pose [ 22.750 -15.000 0 0 ] ) -#swarmbot( name "r1456" pose [ 22.750 -14.750 0 0 ] ) -#swarmbot( name "r1457" pose [ 22.750 -14.500 0 0 ] ) -#swarmbot( name "r1458" pose [ 22.750 -14.250 0 0 ] ) -#swarmbot( name "r1459" pose [ 22.750 -14.000 0 0 ] ) -#swarmbot( name "r1460" pose [ 23.000 -15.000 0 0 ] ) -#swarmbot( name "r1461" pose [ 23.000 -14.750 0 0 ] ) -#swarmbot( name "r1462" pose [ 23.000 -14.500 0 0 ] ) -#swarmbot( name "r1463" pose [ 23.000 -14.250 0 0 ] ) -#swarmbot( name "r1464" pose [ 23.000 -14.000 0 0 ] ) -#swarmbot( name "r1465" pose [ 23.250 -15.000 0 0 ] ) -#swarmbot( name "r1466" pose [ 23.250 -14.750 0 0 ] ) -#swarmbot( name "r1467" pose [ 23.250 -14.500 0 0 ] ) -#swarmbot( name "r1468" pose [ 23.250 -14.250 0 0 ] ) -#swarmbot( name "r1469" pose [ 23.250 -14.000 0 0 ] ) -#swarmbot( name "r1470" pose [ 23.500 -15.000 0 0 ] ) -#swarmbot( name "r1471" pose [ 23.500 -14.750 0 0 ] ) -#swarmbot( name "r1472" pose [ 23.500 -14.500 0 0 ] ) -#swarmbot( name "r1473" pose [ 23.500 -14.250 0 0 ] ) -#swarmbot( name "r1474" pose [ 23.500 -14.000 0 0 ] ) -#swarmbot( name "r1475" pose [ 23.750 -15.000 0 0 ] ) -#swarmbot( name "r1476" pose [ 23.750 -14.750 0 0 ] ) -#swarmbot( name "r1477" pose [ 23.750 -14.500 0 0 ] ) -#swarmbot( name "r1478" pose [ 23.750 -14.250 0 0 ] ) -#swarmbot( name "r1479" pose [ 23.750 -14.000 0 0 ] ) -#swarmbot( name "r1480" pose [ 24.000 -15.000 0 0 ] ) -#swarmbot( name "r1481" pose [ 24.000 -14.750 0 0 ] ) -#swarmbot( name "r1482" pose [ 24.000 -14.500 0 0 ] ) -#swarmbot( name "r1483" pose [ 24.000 -14.250 0 0 ] ) -#swarmbot( name "r1484" pose [ 24.000 -14.000 0 0 ] ) -#swarmbot( name "r1485" pose [ 24.250 -15.000 0 0 ] ) -#swarmbot( name "r1486" pose [ 24.250 -14.750 0 0 ] ) -#swarmbot( name "r1487" pose [ 24.250 -14.500 0 0 ] ) -#swarmbot( name "r1488" pose [ 24.250 -14.250 0 0 ] ) -#swarmbot( name "r1489" pose [ 24.250 -14.000 0 0 ] ) -#swarmbot( name "r1490" pose [ 24.500 -15.000 0 0 ] ) -#swarmbot( name "r1491" pose [ 24.500 -14.750 0 0 ] ) 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-#swarmbot( name "r1528" pose [ 26.250 -14.250 0 0 ] ) -#swarmbot( name "r1529" pose [ 26.250 -14.000 0 0 ] ) -#swarmbot( name "r1530" pose [ 26.500 -15.000 0 0 ] ) -#swarmbot( name "r1531" pose [ 26.500 -14.750 0 0 ] ) -#swarmbot( name "r1532" pose [ 26.500 -14.500 0 0 ] ) -#swarmbot( name "r1533" pose [ 26.500 -14.250 0 0 ] ) -#swarmbot( name "r1534" pose [ 26.500 -14.000 0 0 ] ) -#swarmbot( name "r1535" pose [ 26.750 -15.000 0 0 ] ) -#swarmbot( name "r1536" pose [ 26.750 -14.750 0 0 ] ) -#swarmbot( name "r1537" pose [ 26.750 -14.500 0 0 ] ) -#swarmbot( name "r1538" pose [ 26.750 -14.250 0 0 ] ) -#swarmbot( name "r1539" pose [ 26.750 -14.000 0 0 ] ) -#swarmbot( name "r1540" pose [ 27.000 -15.000 0 0 ] ) -#swarmbot( name "r1541" pose [ 27.000 -14.750 0 0 ] ) -#swarmbot( name "r1542" pose [ 27.000 -14.500 0 0 ] ) -#swarmbot( name "r1543" pose [ 27.000 -14.250 0 0 ] ) -#swarmbot( name "r1544" pose [ 27.000 -14.000 0 0 ] ) -#swarmbot( name "r1545" pose [ 27.250 -15.000 0 0 ] ) -#swarmbot( name "r1546" pose [ 27.250 -14.750 0 0 ] ) -#swarmbot( name "r1547" pose [ 27.250 -14.500 0 0 ] ) -#swarmbot( name "r1548" pose [ 27.250 -14.250 0 0 ] ) -#swarmbot( name "r1549" pose [ 27.250 -14.000 0 0 ] ) -#swarmbot( name "r1550" pose [ 27.500 -15.000 0 0 ] ) -#swarmbot( name "r1551" pose [ 27.500 -14.750 0 0 ] ) -#swarmbot( name "r1552" pose [ 27.500 -14.500 0 0 ] ) -#swarmbot( name "r1553" pose [ 27.500 -14.250 0 0 ] ) -#swarmbot( name "r1554" pose [ 27.500 -14.000 0 0 ] ) -#swarmbot( name "r1555" pose [ 27.750 -15.000 0 0 ] ) -#swarmbot( name "r1556" pose [ 27.750 -14.750 0 0 ] ) -#swarmbot( name "r1557" pose [ 27.750 -14.500 0 0 ] ) -#swarmbot( name "r1558" pose [ 27.750 -14.250 0 0 ] ) -#swarmbot( name "r1559" pose [ 27.750 -14.000 0 0 ] ) -#swarmbot( name "r1560" pose [ 28.000 -15.000 0 0 ] ) -#swarmbot( name "r1561" pose [ 28.000 -14.750 0 0 ] ) -#swarmbot( name "r1562" pose [ 28.000 -14.500 0 0 ] ) -#swarmbot( name "r1563" pose [ 28.000 -14.250 0 0 ] ) -#swarmbot( name "r1564" pose [ 28.000 -14.000 0 0 ] ) -#swarmbot( name "r1565" pose [ 28.250 -15.000 0 0 ] ) -#swarmbot( name "r1566" pose [ 28.250 -14.750 0 0 ] ) -#swarmbot( name "r1567" pose [ 28.250 -14.500 0 0 ] ) -#swarmbot( name "r1568" pose [ 28.250 -14.250 0 0 ] ) -#swarmbot( name "r1569" pose [ 28.250 -14.000 0 0 ] ) -#swarmbot( name "r1570" pose [ 28.500 -15.000 0 0 ] ) -#swarmbot( name "r1571" pose [ 28.500 -14.750 0 0 ] ) -#swarmbot( name "r1572" pose [ 28.500 -14.500 0 0 ] ) -#swarmbot( name "r1573" pose [ 28.500 -14.250 0 0 ] ) -#swarmbot( name "r1574" pose [ 28.500 -14.000 0 0 ] ) -#swarmbot( name "r1575" pose [ 28.750 -15.000 0 0 ] ) -#swarmbot( name "r1576" pose [ 28.750 -14.750 0 0 ] ) -#swarmbot( name "r1577" pose [ 28.750 -14.500 0 0 ] ) -#swarmbot( name "r1578" pose [ 28.750 -14.250 0 0 ] ) -#swarmbot( name "r1579" pose [ 28.750 -14.000 0 0 ] ) -#swarmbot( name "r1580" pose [ 29.000 -15.000 0 0 ] ) -#swarmbot( name "r1581" pose [ 29.000 -14.750 0 0 ] ) -#swarmbot( name "r1582" pose [ 29.000 -14.500 0 0 ] ) -#swarmbot( name "r1583" pose [ 29.000 -14.250 0 0 ] ) -#swarmbot( name "r1584" pose [ 29.000 -14.000 0 0 ] ) -#swarmbot( name "r1585" pose [ 29.250 -15.000 0 0 ] ) -#swarmbot( name "r1586" pose [ 29.250 -14.750 0 0 ] ) -#swarmbot( name "r1587" pose [ 29.250 -14.500 0 0 ] ) -#swarmbot( name "r1588" pose [ 29.250 -14.250 0 0 ] ) -#swarmbot( name "r1589" pose [ 29.250 -14.000 0 0 ] ) -#swarmbot( name "r1590" pose [ 29.500 -15.000 0 0 ] ) -#swarmbot( name "r1591" pose [ 29.500 -14.750 0 0 ] ) -#swarmbot( name "r1592" pose [ 29.500 -14.500 0 0 ] ) -#swarmbot( name "r1593" pose [ 29.500 -14.250 0 0 ] ) -#swarmbot( name "r1594" pose [ 29.500 -14.000 0 0 ] ) -#swarmbot( name "r1595" pose [ 29.750 -15.000 0 0 ] ) -#swarmbot( name "r1596" pose [ 29.750 -14.750 0 0 ] ) -#swarmbot( name "r1597" pose [ 29.750 -14.500 0 0 ] ) -#swarmbot( name "r1598" pose [ 29.750 -14.250 0 0 ] ) -#swarmbot( name "r1599" pose [ 29.750 -14.000 0 0 ] ) 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-#swarmbot( name "r1618" pose [ 30.750 -14.250 0 0 ] ) -#swarmbot( name "r1619" pose [ 30.750 -14.000 0 0 ] ) -#swarmbot( name "r1620" pose [ 31.000 -15.000 0 0 ] ) -#swarmbot( name "r1621" pose [ 31.000 -14.750 0 0 ] ) -#swarmbot( name "r1622" pose [ 31.000 -14.500 0 0 ] ) -#swarmbot( name "r1623" pose [ 31.000 -14.250 0 0 ] ) -#swarmbot( name "r1624" pose [ 31.000 -14.000 0 0 ] ) -#swarmbot( name "r1625" pose [ 31.250 -15.000 0 0 ] ) -#swarmbot( name "r1626" pose [ 31.250 -14.750 0 0 ] ) -#swarmbot( name "r1627" pose [ 31.250 -14.500 0 0 ] ) -#swarmbot( name "r1628" pose [ 31.250 -14.250 0 0 ] ) -#swarmbot( name "r1629" pose [ 31.250 -14.000 0 0 ] ) -#swarmbot( name "r1630" pose [ 31.500 -15.000 0 0 ] ) -#swarmbot( name "r1631" pose [ 31.500 -14.750 0 0 ] ) -#swarmbot( name "r1632" pose [ 31.500 -14.500 0 0 ] ) -#swarmbot( name "r1633" pose [ 31.500 -14.250 0 0 ] ) -#swarmbot( name "r1634" pose [ 31.500 -14.000 0 0 ] ) -#swarmbot( name "r1635" pose [ 31.750 -15.000 0 0 ] ) -#swarmbot( name "r1636" pose [ 31.750 -14.750 0 0 ] ) -#swarmbot( name "r1637" pose [ 31.750 -14.500 0 0 ] ) -#swarmbot( name "r1638" pose [ 31.750 -14.250 0 0 ] ) -#swarmbot( name "r1639" pose [ 31.750 -14.000 0 0 ] ) -#swarmbot( name "r1640" pose [ 32.000 -15.000 0 0 ] ) -#swarmbot( name "r1641" pose [ 32.000 -14.750 0 0 ] ) -#swarmbot( name "r1642" pose [ 32.000 -14.500 0 0 ] ) -#swarmbot( name "r1643" pose [ 32.000 -14.250 0 0 ] ) -#swarmbot( name "r1644" pose [ 32.000 -14.000 0 0 ] ) -#swarmbot( name "r1645" pose [ 32.250 -15.000 0 0 ] ) -#swarmbot( name "r1646" pose [ 32.250 -14.750 0 0 ] ) -#swarmbot( name "r1647" pose [ 32.250 -14.500 0 0 ] ) -#swarmbot( name "r1648" pose [ 32.250 -14.250 0 0 ] ) -#swarmbot( name "r1649" pose [ 32.250 -14.000 0 0 ] ) -#swarmbot( name "r1650" pose [ 32.500 -15.000 0 0 ] ) -#swarmbot( name "r1651" pose [ 32.500 -14.750 0 0 ] ) -#swarmbot( name "r1652" pose [ 32.500 -14.500 0 0 ] ) -#swarmbot( name "r1653" pose [ 32.500 -14.250 0 0 ] ) -#swarmbot( name "r1654" pose [ 32.500 -14.000 0 0 ] ) -#swarmbot( name "r1655" pose [ 32.750 -15.000 0 0 ] ) -#swarmbot( name "r1656" pose [ 32.750 -14.750 0 0 ] ) -#swarmbot( name "r1657" pose [ 32.750 -14.500 0 0 ] ) -#swarmbot( name "r1658" pose [ 32.750 -14.250 0 0 ] ) -#swarmbot( name "r1659" pose [ 32.750 -14.000 0 0 ] ) -#swarmbot( name "r1660" pose [ 33.000 -15.000 0 0 ] ) -#swarmbot( name "r1661" pose [ 33.000 -14.750 0 0 ] ) -#swarmbot( name "r1662" pose [ 33.000 -14.500 0 0 ] ) -#swarmbot( name "r1663" pose [ 33.000 -14.250 0 0 ] ) -#swarmbot( name "r1664" pose [ 33.000 -14.000 0 0 ] ) -#swarmbot( name "r1665" pose [ 33.250 -15.000 0 0 ] ) -#swarmbot( name "r1666" pose [ 33.250 -14.750 0 0 ] ) -#swarmbot( name "r1667" pose [ 33.250 -14.500 0 0 ] ) -#swarmbot( name "r1668" pose [ 33.250 -14.250 0 0 ] ) -#swarmbot( name "r1669" pose [ 33.250 -14.000 0 0 ] ) -#swarmbot( name "r1670" pose [ 33.500 -15.000 0 0 ] ) -#swarmbot( name "r1671" pose [ 33.500 -14.750 0 0 ] ) -#swarmbot( name "r1672" pose [ 33.500 -14.500 0 0 ] ) -#swarmbot( name "r1673" pose [ 33.500 -14.250 0 0 ] ) -#swarmbot( name "r1674" pose [ 33.500 -14.000 0 0 ] ) -#swarmbot( name "r1675" pose [ 33.750 -15.000 0 0 ] ) -#swarmbot( name "r1676" pose [ 33.750 -14.750 0 0 ] ) -#swarmbot( name "r1677" pose [ 33.750 -14.500 0 0 ] ) -#swarmbot( name "r1678" pose [ 33.750 -14.250 0 0 ] ) -#swarmbot( name "r1679" pose [ 33.750 -14.000 0 0 ] ) -#swarmbot( name "r1680" pose [ 34.000 -15.000 0 0 ] ) -#swarmbot( name "r1681" pose [ 34.000 -14.750 0 0 ] ) -#swarmbot( name "r1682" pose [ 34.000 -14.500 0 0 ] ) -#swarmbot( name "r1683" pose [ 34.000 -14.250 0 0 ] ) -#swarmbot( name "r1684" pose [ 34.000 -14.000 0 0 ] ) -#swarmbot( name "r1685" pose [ 34.250 -15.000 0 0 ] ) -#swarmbot( name "r1686" pose [ 34.250 -14.750 0 0 ] ) -#swarmbot( name "r1687" pose [ 34.250 -14.500 0 0 ] ) -#swarmbot( name "r1688" pose [ 34.250 -14.250 0 0 ] ) -#swarmbot( name "r1689" pose [ 34.250 -14.000 0 0 ] ) 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-#swarmbot( name "r1726" pose [ 36.250 -14.750 0 0 ] ) -#swarmbot( name "r1727" pose [ 36.250 -14.500 0 0 ] ) -#swarmbot( name "r1728" pose [ 36.250 -14.250 0 0 ] ) -#swarmbot( name "r1729" pose [ 36.250 -14.000 0 0 ] ) -#swarmbot( name "r1730" pose [ 36.500 -15.000 0 0 ] ) -#swarmbot( name "r1731" pose [ 36.500 -14.750 0 0 ] ) -#swarmbot( name "r1732" pose [ 36.500 -14.500 0 0 ] ) -#swarmbot( name "r1733" pose [ 36.500 -14.250 0 0 ] ) -#swarmbot( name "r1734" pose [ 36.500 -14.000 0 0 ] ) -#swarmbot( name "r1735" pose [ 36.750 -15.000 0 0 ] ) -#swarmbot( name "r1736" pose [ 36.750 -14.750 0 0 ] ) -#swarmbot( name "r1737" pose [ 36.750 -14.500 0 0 ] ) -#swarmbot( name "r1738" pose [ 36.750 -14.250 0 0 ] ) -#swarmbot( name "r1739" pose [ 36.750 -14.000 0 0 ] ) -#swarmbot( name "r1740" pose [ 37.000 -15.000 0 0 ] ) -#swarmbot( name "r1741" pose [ 37.000 -14.750 0 0 ] ) -#swarmbot( name "r1742" pose [ 37.000 -14.500 0 0 ] ) -#swarmbot( name "r1743" pose [ 37.000 -14.250 0 0 ] ) -#swarmbot( name "r1744" pose [ 37.000 -14.000 0 0 ] ) -#swarmbot( name "r1745" pose [ 37.250 -15.000 0 0 ] ) -#swarmbot( name "r1746" pose [ 37.250 -14.750 0 0 ] ) -#swarmbot( name "r1747" pose [ 37.250 -14.500 0 0 ] ) -#swarmbot( name "r1748" pose [ 37.250 -14.250 0 0 ] ) -#swarmbot( name "r1749" pose [ 37.250 -14.000 0 0 ] ) -#swarmbot( name "r1750" pose [ 37.500 -15.000 0 0 ] ) -#swarmbot( name "r1751" pose [ 37.500 -14.750 0 0 ] ) -#swarmbot( name "r1752" pose [ 37.500 -14.500 0 0 ] ) -#swarmbot( name "r1753" pose [ 37.500 -14.250 0 0 ] ) -#swarmbot( name "r1754" pose [ 37.500 -14.000 0 0 ] ) -#swarmbot( name "r1755" pose [ 37.750 -15.000 0 0 ] ) -#swarmbot( name "r1756" pose [ 37.750 -14.750 0 0 ] ) -#swarmbot( name "r1757" pose [ 37.750 -14.500 0 0 ] ) -#swarmbot( name "r1758" pose [ 37.750 -14.250 0 0 ] ) -#swarmbot( name "r1759" pose [ 37.750 -14.000 0 0 ] ) -#swarmbot( name "r1760" pose [ 38.000 -15.000 0 0 ] ) -#swarmbot( name "r1761" pose [ 38.000 -14.750 0 0 ] ) -#swarmbot( name "r1762" pose [ 38.000 -14.500 0 0 ] ) -#swarmbot( name "r1763" pose [ 38.000 -14.250 0 0 ] ) -#swarmbot( name "r1764" pose [ 38.000 -14.000 0 0 ] ) -#swarmbot( name "r1765" pose [ 38.250 -15.000 0 0 ] ) -#swarmbot( name "r1766" pose [ 38.250 -14.750 0 0 ] ) -#swarmbot( name "r1767" pose [ 38.250 -14.500 0 0 ] ) -#swarmbot( name "r1768" pose [ 38.250 -14.250 0 0 ] ) -#swarmbot( name "r1769" pose [ 38.250 -14.000 0 0 ] ) -#swarmbot( name "r1770" pose [ 38.500 -15.000 0 0 ] ) -#swarmbot( name "r1771" pose [ 38.500 -14.750 0 0 ] ) -#swarmbot( name "r1772" pose [ 38.500 -14.500 0 0 ] ) -#swarmbot( name "r1773" pose [ 38.500 -14.250 0 0 ] ) -#swarmbot( name "r1774" pose [ 38.500 -14.000 0 0 ] ) -#swarmbot( name "r1775" pose [ 38.750 -15.000 0 0 ] ) -#swarmbot( name "r1776" pose [ 38.750 -14.750 0 0 ] ) -#swarmbot( name "r1777" pose [ 38.750 -14.500 0 0 ] ) -#swarmbot( name "r1778" pose [ 38.750 -14.250 0 0 ] ) -#swarmbot( name "r1779" pose [ 38.750 -14.000 0 0 ] ) -#swarmbot( name "r1780" pose [ 39.000 -15.000 0 0 ] ) -#swarmbot( name "r1781" pose [ 39.000 -14.750 0 0 ] ) -#swarmbot( name "r1782" pose [ 39.000 -14.500 0 0 ] ) -#swarmbot( name "r1783" pose [ 39.000 -14.250 0 0 ] ) -#swarmbot( name "r1784" pose [ 39.000 -14.000 0 0 ] ) -#swarmbot( name "r1785" pose [ 39.250 -15.000 0 0 ] ) -#swarmbot( name "r1786" pose [ 39.250 -14.750 0 0 ] ) -#swarmbot( name "r1787" pose [ 39.250 -14.500 0 0 ] ) -#swarmbot( name "r1788" pose [ 39.250 -14.250 0 0 ] ) -#swarmbot( name "r1789" pose [ 39.250 -14.000 0 0 ] ) -#swarmbot( name "r1790" pose [ 39.500 -15.000 0 0 ] ) -#swarmbot( name "r1791" pose [ 39.500 -14.750 0 0 ] ) -#swarmbot( name "r1792" pose [ 39.500 -14.500 0 0 ] ) -#swarmbot( name "r1793" pose [ 39.500 -14.250 0 0 ] ) -#swarmbot( name "r1794" pose [ 39.500 -14.000 0 0 ] ) -#swarmbot( name "r1795" pose [ 39.750 -15.000 0 0 ] ) -#swarmbot( name "r1796" pose [ 39.750 -14.750 0 0 ] ) -#swarmbot( name "r1797" pose [ 39.750 -14.500 0 0 ] ) -#swarmbot( name "r1798" pose [ 39.750 -14.250 0 0 ] ) -#swarmbot( name "r1799" pose [ 39.750 -14.000 0 0 ] ) -#swarmbot( name "r1800" pose [ 40.000 -15.000 0 0 ] ) -#swarmbot( name "r1801" pose [ 40.000 -14.750 0 0 ] ) -#swarmbot( name "r1802" pose [ 40.000 -14.500 0 0 ] ) -#swarmbot( name "r1803" pose [ 40.000 -14.250 0 0 ] ) -#swarmbot( name "r1804" pose [ 40.000 -14.000 0 0 ] ) -#swarmbot( name "r1805" pose [ 40.250 -15.000 0 0 ] ) -#swarmbot( name "r1806" pose [ 40.250 -14.750 0 0 ] ) -#swarmbot( name "r1807" pose [ 40.250 -14.500 0 0 ] ) -#swarmbot( name "r1808" pose [ 40.250 -14.250 0 0 ] ) -#swarmbot( name "r1809" pose [ 40.250 -14.000 0 0 ] ) -#swarmbot( name "r1810" pose [ 40.500 -15.000 0 0 ] ) -#swarmbot( name "r1811" pose [ 40.500 -14.750 0 0 ] ) -#swarmbot( name "r1812" pose [ 40.500 -14.500 0 0 ] ) -#swarmbot( name "r1813" pose [ 40.500 -14.250 0 0 ] ) -#swarmbot( name "r1814" pose [ 40.500 -14.000 0 0 ] ) -#swarmbot( name "r1815" pose [ 40.750 -15.000 0 0 ] ) -#swarmbot( name "r1816" pose [ 40.750 -14.750 0 0 ] ) -#swarmbot( name "r1817" pose [ 40.750 -14.500 0 0 ] ) -#swarmbot( name "r1818" pose [ 40.750 -14.250 0 0 ] ) -#swarmbot( name "r1819" pose [ 40.750 -14.000 0 0 ] ) -#swarmbot( name "r1820" pose [ 41.000 -15.000 0 0 ] ) -#swarmbot( name "r1821" pose [ 41.000 -14.750 0 0 ] ) -#swarmbot( name "r1822" pose [ 41.000 -14.500 0 0 ] ) -#swarmbot( name "r1823" pose [ 41.000 -14.250 0 0 ] ) -#swarmbot( name "r1824" pose [ 41.000 -14.000 0 0 ] ) -#swarmbot( name "r1825" pose [ 41.250 -15.000 0 0 ] ) -#swarmbot( name "r1826" pose [ 41.250 -14.750 0 0 ] ) -#swarmbot( name "r1827" pose [ 41.250 -14.500 0 0 ] ) -#swarmbot( name "r1828" pose [ 41.250 -14.250 0 0 ] ) -#swarmbot( name "r1829" pose [ 41.250 -14.000 0 0 ] ) -#swarmbot( name "r1830" pose [ 41.500 -15.000 0 0 ] ) -#swarmbot( name "r1831" pose [ 41.500 -14.750 0 0 ] ) -#swarmbot( name "r1832" pose [ 41.500 -14.500 0 0 ] ) -#swarmbot( name "r1833" pose [ 41.500 -14.250 0 0 ] ) -#swarmbot( name "r1834" pose [ 41.500 -14.000 0 0 ] ) -#swarmbot( name "r1835" pose [ 41.750 -15.000 0 0 ] ) -#swarmbot( name "r1836" pose [ 41.750 -14.750 0 0 ] ) -#swarmbot( name "r1837" pose [ 41.750 -14.500 0 0 ] ) -#swarmbot( name "r1838" pose [ 41.750 -14.250 0 0 ] ) -#swarmbot( name "r1839" pose [ 41.750 -14.000 0 0 ] ) -#swarmbot( name "r1840" pose [ 42.000 -15.000 0 0 ] ) -#swarmbot( name "r1841" pose [ 42.000 -14.750 0 0 ] ) -#swarmbot( name "r1842" pose [ 42.000 -14.500 0 0 ] ) -#swarmbot( name "r1843" pose [ 42.000 -14.250 0 0 ] ) -#swarmbot( name "r1844" pose [ 42.000 -14.000 0 0 ] ) -#swarmbot( name "r1845" pose [ 42.250 -15.000 0 0 ] ) -#swarmbot( name "r1846" pose [ 42.250 -14.750 0 0 ] ) -#swarmbot( name "r1847" pose [ 42.250 -14.500 0 0 ] ) -#swarmbot( name "r1848" pose [ 42.250 -14.250 0 0 ] ) -#swarmbot( name "r1849" pose [ 42.250 -14.000 0 0 ] ) -#swarmbot( name "r1850" pose [ 42.500 -15.000 0 0 ] ) -#swarmbot( name "r1851" pose [ 42.500 -14.750 0 0 ] ) -#swarmbot( name "r1852" pose [ 42.500 -14.500 0 0 ] ) -#swarmbot( name "r1853" pose [ 42.500 -14.250 0 0 ] ) -#swarmbot( name "r1854" pose [ 42.500 -14.000 0 0 ] ) -#swarmbot( name "r1855" pose [ 42.750 -15.000 0 0 ] ) -#swarmbot( name "r1856" pose [ 42.750 -14.750 0 0 ] ) -#swarmbot( name "r1857" pose [ 42.750 -14.500 0 0 ] ) -#swarmbot( name "r1858" pose [ 42.750 -14.250 0 0 ] ) -#swarmbot( name "r1859" pose [ 42.750 -14.000 0 0 ] ) -#swarmbot( name "r1860" pose [ 43.000 -15.000 0 0 ] ) -#swarmbot( name "r1861" pose [ 43.000 -14.750 0 0 ] ) -#swarmbot( name "r1862" pose [ 43.000 -14.500 0 0 ] ) -#swarmbot( name "r1863" pose [ 43.000 -14.250 0 0 ] ) -#swarmbot( name "r1864" pose [ 43.000 -14.000 0 0 ] ) -#swarmbot( name "r1865" pose [ 43.250 -15.000 0 0 ] ) -#swarmbot( name "r1866" pose [ 43.250 -14.750 0 0 ] ) -#swarmbot( name "r1867" pose [ 43.250 -14.500 0 0 ] ) -#swarmbot( name "r1868" pose [ 43.250 -14.250 0 0 ] ) -#swarmbot( name "r1869" pose [ 43.250 -14.000 0 0 ] ) -#swarmbot( name "r1870" pose [ 43.500 -15.000 0 0 ] ) -#swarmbot( name "r1871" pose [ 43.500 -14.750 0 0 ] ) -#swarmbot( name "r1872" pose [ 43.500 -14.500 0 0 ] ) -#swarmbot( name "r1873" pose [ 43.500 -14.250 0 0 ] ) -#swarmbot( name "r1874" pose [ 43.500 -14.000 0 0 ] ) -#swarmbot( name "r1875" pose [ 43.750 -15.000 0 0 ] ) -#swarmbot( name "r1876" pose [ 43.750 -14.750 0 0 ] ) -#swarmbot( name "r1877" pose [ 43.750 -14.500 0 0 ] ) -#swarmbot( name "r1878" pose [ 43.750 -14.250 0 0 ] ) -#swarmbot( name "r1879" pose [ 43.750 -14.000 0 0 ] ) -#swarmbot( name "r1880" pose [ 44.000 -15.000 0 0 ] ) -#swarmbot( name "r1881" pose [ 44.000 -14.750 0 0 ] ) -#swarmbot( name "r1882" pose [ 44.000 -14.500 0 0 ] ) -#swarmbot( name "r1883" pose [ 44.000 -14.250 0 0 ] ) -#swarmbot( name "r1884" pose [ 44.000 -14.000 0 0 ] ) -#swarmbot( name "r1885" pose [ 44.250 -15.000 0 0 ] ) -#swarmbot( name "r1886" pose [ 44.250 -14.750 0 0 ] ) -#swarmbot( name "r1887" pose [ 44.250 -14.500 0 0 ] ) -#swarmbot( name "r1888" pose [ 44.250 -14.250 0 0 ] ) -#swarmbot( name "r1889" pose [ 44.250 -14.000 0 0 ] ) -#swarmbot( name "r1890" pose [ 44.500 -15.000 0 0 ] ) -#swarmbot( name "r1891" pose [ 44.500 -14.750 0 0 ] ) -#swarmbot( name "r1892" pose [ 44.500 -14.500 0 0 ] ) -#swarmbot( name "r1893" pose [ 44.500 -14.250 0 0 ] ) -#swarmbot( name "r1894" pose [ 44.500 -14.000 0 0 ] ) -#swarmbot( name "r1895" pose [ 44.750 -15.000 0 0 ] ) -#swarmbot( name "r1896" pose [ 44.750 -14.750 0 0 ] ) -#swarmbot( name "r1897" pose [ 44.750 -14.500 0 0 ] ) -#swarmbot( name "r1898" pose [ 44.750 -14.250 0 0 ] ) -#swarmbot( name "r1899" pose [ 44.750 -14.000 0 0 ] ) -#swarmbot( name "r1900" pose [ 45.000 -15.000 0 0 ] ) -#swarmbot( name "r1901" pose [ 45.000 -14.750 0 0 ] ) -#swarmbot( name "r1902" pose [ 45.000 -14.500 0 0 ] ) -#swarmbot( name "r1903" pose [ 45.000 -14.250 0 0 ] ) -#swarmbot( name "r1904" pose [ 45.000 -14.000 0 0 ] ) -#swarmbot( name "r1905" pose [ 45.250 -15.000 0 0 ] ) -#swarmbot( name "r1906" pose [ 45.250 -14.750 0 0 ] ) -#swarmbot( name "r1907" pose [ 45.250 -14.500 0 0 ] ) -#swarmbot( name "r1908" pose [ 45.250 -14.250 0 0 ] ) -#swarmbot( name "r1909" pose [ 45.250 -14.000 0 0 ] ) -#swarmbot( name "r1910" pose [ 45.500 -15.000 0 0 ] ) -#swarmbot( name "r1911" pose [ 45.500 -14.750 0 0 ] ) -#swarmbot( name "r1912" pose [ 45.500 -14.500 0 0 ] ) -#swarmbot( name "r1913" pose [ 45.500 -14.250 0 0 ] ) -#swarmbot( name "r1914" pose [ 45.500 -14.000 0 0 ] ) -#swarmbot( name "r1915" pose [ 45.750 -15.000 0 0 ] ) -#swarmbot( name "r1916" pose [ 45.750 -14.750 0 0 ] ) -#swarmbot( name "r1917" pose [ 45.750 -14.500 0 0 ] ) -#swarmbot( name "r1918" pose [ 45.750 -14.250 0 0 ] ) -#swarmbot( name "r1919" pose [ 45.750 -14.000 0 0 ] ) -#swarmbot( name "r1920" pose [ 46.000 -15.000 0 0 ] ) -#swarmbot( name "r1921" pose [ 46.000 -14.750 0 0 ] ) -#swarmbot( name "r1922" pose [ 46.000 -14.500 0 0 ] ) -#swarmbot( name "r1923" pose [ 46.000 -14.250 0 0 ] ) -#swarmbot( name "r1924" pose [ 46.000 -14.000 0 0 ] ) -#swarmbot( name "r1925" pose [ 46.250 -15.000 0 0 ] ) -#swarmbot( name "r1926" pose [ 46.250 -14.750 0 0 ] ) -#swarmbot( name "r1927" pose [ 46.250 -14.500 0 0 ] ) -#swarmbot( name "r1928" pose [ 46.250 -14.250 0 0 ] ) -#swarmbot( name "r1929" pose [ 46.250 -14.000 0 0 ] ) -#swarmbot( name "r1930" pose [ 46.500 -15.000 0 0 ] ) -#swarmbot( name "r1931" pose [ 46.500 -14.750 0 0 ] ) -#swarmbot( name "r1932" pose [ 46.500 -14.500 0 0 ] ) -#swarmbot( name "r1933" pose [ 46.500 -14.250 0 0 ] ) -#swarmbot( name "r1934" pose [ 46.500 -14.000 0 0 ] ) -#swarmbot( name "r1935" pose [ 46.750 -15.000 0 0 ] ) -#swarmbot( name "r1936" pose [ 46.750 -14.750 0 0 ] ) -#swarmbot( name "r1937" pose [ 46.750 -14.500 0 0 ] ) -#swarmbot( name "r1938" pose [ 46.750 -14.250 0 0 ] ) -#swarmbot( name "r1939" pose [ 46.750 -14.000 0 0 ] ) -#swarmbot( name "r1940" pose [ 47.000 -15.000 0 0 ] ) -#swarmbot( name "r1941" pose [ 47.000 -14.750 0 0 ] ) -#swarmbot( name "r1942" pose [ 47.000 -14.500 0 0 ] ) -#swarmbot( name "r1943" pose [ 47.000 -14.250 0 0 ] ) -#swarmbot( name "r1944" pose [ 47.000 -14.000 0 0 ] ) -#swarmbot( name "r1945" pose [ 47.250 -15.000 0 0 ] ) -#swarmbot( name "r1946" pose [ 47.250 -14.750 0 0 ] ) -#swarmbot( name "r1947" pose [ 47.250 -14.500 0 0 ] ) -#swarmbot( name "r1948" pose [ 47.250 -14.250 0 0 ] ) -#swarmbot( name "r1949" pose [ 47.250 -14.000 0 0 ] ) -#swarmbot( name "r1950" pose [ 47.500 -15.000 0 0 ] ) -#swarmbot( name "r1951" pose [ 47.500 -14.750 0 0 ] ) -#swarmbot( name "r1952" pose [ 47.500 -14.500 0 0 ] ) -#swarmbot( name "r1953" pose [ 47.500 -14.250 0 0 ] ) -#swarmbot( name "r1954" pose [ 47.500 -14.000 0 0 ] ) -#swarmbot( name "r1955" pose [ 47.750 -15.000 0 0 ] ) -#swarmbot( name "r1956" pose [ 47.750 -14.750 0 0 ] ) -#swarmbot( name "r1957" pose [ 47.750 -14.500 0 0 ] ) -#swarmbot( name "r1958" pose [ 47.750 -14.250 0 0 ] ) -#swarmbot( name "r1959" pose [ 47.750 -14.000 0 0 ] ) -#swarmbot( name "r1960" pose [ 48.000 -15.000 0 0 ] ) -#swarmbot( name "r1961" pose [ 48.000 -14.750 0 0 ] ) -#swarmbot( name "r1962" pose [ 48.000 -14.500 0 0 ] ) -#swarmbot( name "r1963" pose [ 48.000 -14.250 0 0 ] ) -#swarmbot( name "r1964" pose [ 48.000 -14.000 0 0 ] ) -#swarmbot( name "r1965" pose [ 48.250 -15.000 0 0 ] ) -#swarmbot( name "r1966" pose [ 48.250 -14.750 0 0 ] ) -#swarmbot( name "r1967" pose [ 48.250 -14.500 0 0 ] ) -#swarmbot( name "r1968" pose [ 48.250 -14.250 0 0 ] ) -#swarmbot( name "r1969" pose [ 48.250 -14.000 0 0 ] ) -#swarmbot( name "r1970" pose [ 48.500 -15.000 0 0 ] ) -#swarmbot( name "r1971" pose [ 48.500 -14.750 0 0 ] ) -#swarmbot( name "r1972" pose [ 48.500 -14.500 0 0 ] ) -#swarmbot( name "r1973" pose [ 48.500 -14.250 0 0 ] ) -#swarmbot( name "r1974" pose [ 48.500 -14.000 0 0 ] ) -#swarmbot( name "r1975" pose [ 48.750 -15.000 0 0 ] ) -#swarmbot( name "r1976" pose [ 48.750 -14.750 0 0 ] ) -#swarmbot( name "r1977" pose [ 48.750 -14.500 0 0 ] ) -#swarmbot( name "r1978" pose [ 48.750 -14.250 0 0 ] ) -#swarmbot( name "r1979" pose [ 48.750 -14.000 0 0 ] ) -#swarmbot( name "r1980" pose [ 49.000 -15.000 0 0 ] ) -#swarmbot( name "r1981" pose [ 49.000 -14.750 0 0 ] ) -#swarmbot( name "r1982" pose [ 49.000 -14.500 0 0 ] ) -#swarmbot( name "r1983" pose [ 49.000 -14.250 0 0 ] ) -#swarmbot( name "r1984" pose [ 49.000 -14.000 0 0 ] ) -#swarmbot( name "r1985" pose [ 49.250 -15.000 0 0 ] ) -#swarmbot( name "r1986" pose [ 49.250 -14.750 0 0 ] ) -#swarmbot( name "r1987" pose [ 49.250 -14.500 0 0 ] ) -#swarmbot( name "r1988" pose [ 49.250 -14.250 0 0 ] ) -#swarmbot( name "r1989" pose [ 49.250 -14.000 0 0 ] ) -#swarmbot( name "r1990" pose [ 49.500 -15.000 0 0 ] ) -#swarmbot( name "r1991" pose [ 49.500 -14.750 0 0 ] ) -#swarmbot( name "r1992" pose [ 49.500 -14.500 0 0 ] ) -#swarmbot( name "r1993" pose [ 49.500 -14.250 0 0 ] ) -#swarmbot( name "r1994" pose [ 49.500 -14.000 0 0 ] ) -#swarmbot( name "r1995" pose [ 49.750 -15.000 0 0 ] ) -#swarmbot( name "r1996" pose [ 49.750 -14.750 0 0 ] ) -#swarmbot( name "r1997" pose [ 49.750 -14.500 0 0 ] ) -#swarmbot( name "r1998" pose [ 49.750 -14.250 0 0 ] ) -#swarmbot( name "r1999" pose [ 49.750 -14.000 0 0 ] ) +swarmbot( name "r1000" pose [ 0 -15.000 0 0 ] ) +swarmbot( name "r1001" pose [ 0 -14.750 0 0 ] ) +swarmbot( name "r1002" pose [ 0 -14.500 0 0 ] ) +swarmbot( name "r1003" pose [ 0 -14.250 0 0 ] ) +swarmbot( name "r1004" pose [ 0 -14.000 0 0 ] ) +swarmbot( name "r1005" pose [ .250 -15.000 0 0 ] ) +swarmbot( name "r1006" pose [ .250 -14.750 0 0 ] ) +swarmbot( name "r1007" pose [ .250 -14.500 0 0 ] ) +swarmbot( name "r1008" pose [ .250 -14.250 0 0 ] ) +swarmbot( name "r1009" pose [ .250 -14.000 0 0 ] ) +swarmbot( name "r1010" pose [ .500 -15.000 0 0 ] ) +swarmbot( name "r1011" pose [ .500 -14.750 0 0 ] ) +swarmbot( name "r1012" pose [ .500 -14.500 0 0 ] ) +swarmbot( name "r1013" pose [ .500 -14.250 0 0 ] ) +swarmbot( name "r1014" pose [ .500 -14.000 0 0 ] ) +swarmbot( name "r1015" pose [ .750 -15.000 0 0 ] ) +swarmbot( name "r1016" pose [ .750 -14.750 0 0 ] ) +swarmbot( name "r1017" pose [ .750 -14.500 0 0 ] ) +swarmbot( name "r1018" pose [ .750 -14.250 0 0 ] ) +swarmbot( name "r1019" pose [ .750 -14.000 0 0 ] ) +swarmbot( name "r1020" pose [ 1.000 -15.000 0 0 ] ) +swarmbot( name "r1021" pose [ 1.000 -14.750 0 0 ] ) +swarmbot( name "r1022" pose [ 1.000 -14.500 0 0 ] ) +swarmbot( name "r1023" pose [ 1.000 -14.250 0 0 ] ) +swarmbot( name "r1024" pose [ 1.000 -14.000 0 0 ] ) +swarmbot( name "r1025" pose [ 1.250 -15.000 0 0 ] ) +swarmbot( name "r1026" pose [ 1.250 -14.750 0 0 ] ) +swarmbot( name "r1027" pose [ 1.250 -14.500 0 0 ] ) +swarmbot( name "r1028" pose [ 1.250 -14.250 0 0 ] ) +swarmbot( name "r1029" pose [ 1.250 -14.000 0 0 ] ) +swarmbot( name "r1030" pose [ 1.500 -15.000 0 0 ] ) +swarmbot( name "r1031" pose [ 1.500 -14.750 0 0 ] ) +swarmbot( name "r1032" pose [ 1.500 -14.500 0 0 ] ) +swarmbot( name "r1033" pose [ 1.500 -14.250 0 0 ] ) +swarmbot( name "r1034" pose [ 1.500 -14.000 0 0 ] ) +swarmbot( name "r1035" pose [ 1.750 -15.000 0 0 ] ) +swarmbot( name "r1036" pose [ 1.750 -14.750 0 0 ] ) +swarmbot( name "r1037" pose [ 1.750 -14.500 0 0 ] ) +swarmbot( name "r1038" pose [ 1.750 -14.250 0 0 ] ) +swarmbot( name "r1039" pose [ 1.750 -14.000 0 0 ] ) +swarmbot( name "r1040" pose [ 2.000 -15.000 0 0 ] ) +swarmbot( name "r1041" pose [ 2.000 -14.750 0 0 ] ) +swarmbot( name "r1042" pose [ 2.000 -14.500 0 0 ] ) +swarmbot( name "r1043" pose [ 2.000 -14.250 0 0 ] ) +swarmbot( name "r1044" pose [ 2.000 -14.000 0 0 ] ) +swarmbot( name "r1045" pose [ 2.250 -15.000 0 0 ] ) +swarmbot( name "r1046" pose [ 2.250 -14.750 0 0 ] ) +swarmbot( name "r1047" pose [ 2.250 -14.500 0 0 ] ) +swarmbot( name "r1048" pose [ 2.250 -14.250 0 0 ] ) +swarmbot( name "r1049" pose [ 2.250 -14.000 0 0 ] ) +swarmbot( name "r1050" pose [ 2.500 -15.000 0 0 ] ) +swarmbot( name "r1051" pose [ 2.500 -14.750 0 0 ] ) +swarmbot( name "r1052" pose [ 2.500 -14.500 0 0... [truncated message content] |
From: <rt...@us...> - 2008-12-01 22:22:20
|
Revision: 7182 http://playerstage.svn.sourceforge.net/playerstage/?rev=7182&view=rev Author: rtv Date: 2008-12-01 21:30:15 +0000 (Mon, 01 Dec 2008) Log Message: ----------- added walle-like robot include for fun demos Modified Paths: -------------- code/stage/trunk/worlds/fasr.world code/stage/trunk/worlds/simple.world Added Paths: ----------- code/stage/trunk/worlds/walle.inc Modified: code/stage/trunk/worlds/fasr.world =================================================================== --- code/stage/trunk/worlds/fasr.world 2008-11-28 01:21:44 UTC (rev 7181) +++ code/stage/trunk/worlds/fasr.world 2008-12-01 21:30:15 UTC (rev 7182) @@ -5,9 +5,10 @@ include "pioneer.inc" include "map.inc" include "sick.inc" +include "walle.inc" interval_sim 100 # simulation timestep in milliseconds -interval_real 50 # real-time interval between simulation updates in milliseconds +interval_real 0 # real-time interval between simulation updates in milliseconds paused 1 resolution 0.02 @@ -60,25 +61,25 @@ ctrl "sink" ) -define autorob pioneer2dx +define autorob walle +#define autorob pioneer2dx ( - sicklaser( samples 32 range_max 5 laser_return 2 ) + #sicklaser( samples 32 range_max 5 laser_return 2 ) ctrl "fasr" localization "odom" ) autorob( pose [5.099 4.804 0 -73.937] ) -#autorob( pose [5.099 4.804 0 -73.937] localization_origin [5.099 4.804 0 -73.937] ) -#autorob( pose [6.471 5.304 0 14.941] ) -#autorob( pose [5.937 4.858 0 -147.503] ) -#autorob( pose [7.574 6.269 0 -111.715] ) -#autorob( pose [5.664 5.938 0 -51.799] ) -#autorob( pose [7.016 6.428 0 -128.279] ) -#autorob( pose [5.911 4.040 0 -97.047] ) -#autorob( pose [4.909 6.097 0 -44.366] ) -#autorob( pose [6.898 4.775 0 -117.576] ) -#autorob( pose [7.012 5.706 0 129.497] ) +autorob( pose [6.471 5.304 0 14.941] ) +autorob( pose [5.937 4.858 0 -147.503] ) +autorob( pose [7.574 6.269 0 -111.715] ) +autorob( pose [5.664 5.938 0 -51.799] ) +autorob( pose [7.016 6.428 0 -128.279] ) +autorob( pose [5.911 4.040 0 -97.047] ) +autorob( pose [4.909 6.097 0 -44.366] ) +autorob( pose [6.898 4.775 0 -117.576] ) +autorob( pose [7.012 5.706 0 129.497] ) #autorob( pose [6.616 6.893 0 170.743] ) #autorob( pose [6.451 4.189 0 -61.453] ) Modified: code/stage/trunk/worlds/simple.world =================================================================== --- code/stage/trunk/worlds/simple.world 2008-11-28 01:21:44 UTC (rev 7181) +++ code/stage/trunk/worlds/simple.world 2008-12-01 21:30:15 UTC (rev 7182) @@ -5,6 +5,7 @@ include "pioneer.inc" include "map.inc" include "sick.inc" +include "walle.inc" interval_sim 100 # simulation timestep in milliseconds interval_real 0 # real-time interval between simulation updates in milliseconds @@ -28,7 +29,7 @@ floorplan ( name "cave" - size [17.000 17.000 0.600] + size [17.000 17.000 0.800] pose [8.000 8.000 0 0 ] bitmap "bitmaps/cave.png" ) @@ -44,3 +45,5 @@ ctrl "wander" ) + +walle( pose [ 3 3 0 ] ctrl "wander" ) \ No newline at end of file Added: code/stage/trunk/worlds/walle.inc =================================================================== --- code/stage/trunk/worlds/walle.inc (rev 0) +++ code/stage/trunk/worlds/walle.inc 2008-12-01 21:30:15 UTC (rev 7182) @@ -0,0 +1,205 @@ + +# Desc: A garbage collecting robot +# Author: Richard Vaughan +# Date: 21 Nov 2008 +# CVS: $Id: pioneer.inc,v 1.30 2008-01-15 01:25:42 rtv Exp $ + + +define walle position +( + color "yellow" + drive "diff" # Differential steering model. + + obstacle_return 1 # Can hit things. + laser_return 1 # reflects laser beams + ranger_return 1 # reflects sonar beams + blobfinder_return 1 # Seen by blobfinders + fiducial_return 1 # Seen as "1" fiducial finders + + localization "gps" + + size [0.5 0.5 0.5] + origin [-0.25 -0.25 0 0 ] + + laser( pose [0.15 0 -0.27 0 ] size [0.01 0.01 0.01] alwayson 1 ) + + # body bottom + block + ( + points 4 + point[0] [ 0.1 0.25 ] + point[1] [ 0.9 0.25 ] + point[2] [ 0.9 0.75 ] + point[3] [ 0.1 0.75 ] + z [ 0.2 0.6 ] + color "yellow" + ) + + # body top + block + ( + points 4 + point[0] [ 0.1 0.25 ] + point[1] [ 0.9 0.25 ] + point[2] [ 0.9 0.75 ] + point[3] [ 0.1 0.75 ] + z [ 0.6 0.7 ] + color "gray20" + ) + + # right wheel + block + ( + points 4 + point[0] [ 1 0 ] + point[1] [ 1 0.25 ] + point[2] [ 0.0 0.25 ] + point[3] [ 0 0.0 ] + z [ 0.0 0.4 ] + color "gray23" + ) + + # right wheel + block + ( + points 4 + point[0] [ 1 0.75 ] + point[1] [ 1 1 ] + point[2] [ 0 1 ] + point[3] [ 0 0.75 ] + z [ 0.0 0.4 ] + color "gray23" + ) + + # right eye front + block + ( + points 4 + point[0] [0.8 0.30] + point[1] [0.8 0.49] + point[2] [0.6 0.49] + point[3] [0.6 0.30] + z [0.8 0.95] + color "gray23" + ) + + # left eye front + block + ( + points 4 + point[0] [0.8 0.51] + point[1] [0.8 0.7] + point[2] [0.6 0.7] + point[3] [0.6 0.51] + z [0.8 0.95] + color "gray23" + ) + + # right eye rear + block + ( + points 4 + point[0] [0.6 0.34] + point[1] [0.6 0.49] + point[2] [0.25 0.49] + point[3] [0.25 0.34] + z [0.82 0.93] + color "gray28" + ) + + # neck + block ( + points 4 + point[3] [0.3 0.45] + point[2] [0.3 0.55] + point[1] [0.4 0.55] + point[0] [0.4 0.45] + z [0.7 0.9] + color "gray28" + ) + + # right eye rear + block + ( + points 4 + point[0] [0.6 0.51] + point[1] [0.6 0.66] + point[2] [0.25 0.66] + point[3] [0.25 0.51] + z [0.82 0.93] + color "gray28" + ) + + # right arm + block + ( + points 4 + point[0] [1.1 0.18] + point[1] [1.1 0.25] + point[2] [0.35 0.25] + point[3] [0.35 0.18] + z [0.55 0.65] + color "gray28" + ) + + # left arm + block + ( + points 4 + point[0] [0.35 0.82] + point[1] [0.35 0.75] + point[2] [1.1 0.75] + point[3] [1.1 0.82] + z [0.55 0.65] + color "gray28" + ) + + # left hand right finger + block + ( + points 4 + point[0] [1.1 0.78] + point[1] [1.1 0.70] + point[2] [1.2 0.70] + point[3] [1.2 0.78] + z [0.5 0.65] + color "gray28" + ) + + # left hand left finger + block + ( + points 4 + point[0] [1.1 0.87] + point[1] [1.1 0.79] + point[2] [1.2 0.79] + point[3] [1.2 0.87] + z [0.5 0.65] + color "gray28" + ) + + # right hand right finger + block + ( + points 4 + point[0] [1.1 0.21] + point[1] [1.1 0.13] + point[2] [1.2 0.13] + point[3] [1.2 0.21] + z [0.5 0.65] + color "gray28" + ) + + # right hand left finger + block + ( + points 4 + point[0] [1.1 0.30] + point[1] [1.1 0.22] + point[2] [1.2 0.22] + point[3] [1.2 0.30] + z [0.5 0.65] + color "gray28" + ) + +) This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. |
From: <rt...@us...> - 2009-01-05 03:07:43
|
Revision: 7242 http://playerstage.svn.sourceforge.net/playerstage/?rev=7242&view=rev Author: rtv Date: 2009-01-05 03:07:38 +0000 (Mon, 05 Jan 2009) Log Message: ----------- added nice worldfiles provided by UoA Added Paths: ----------- code/stage/trunk/worlds/bitmaps/uoa_robotics_lab.png code/stage/trunk/worlds/uoa_robotics_lab.world code/stage/trunk/worlds/uoa_robotics_lab_models.inc Added: code/stage/trunk/worlds/bitmaps/uoa_robotics_lab.png =================================================================== (Binary files differ) Property changes on: code/stage/trunk/worlds/bitmaps/uoa_robotics_lab.png ___________________________________________________________________ Added: svn:mime-type + image/png Added: code/stage/trunk/worlds/uoa_robotics_lab.world =================================================================== --- code/stage/trunk/worlds/uoa_robotics_lab.world (rev 0) +++ code/stage/trunk/worlds/uoa_robotics_lab.world 2009-01-05 03:07:38 UTC (rev 7242) @@ -0,0 +1,99 @@ +# +# Desc : This is a stage model of the robotics lab in The University of Auckland,New Zealand +# Authors : Nick Wong, Jui Chun(Jimmy) Peng Hsu +# Date : 21 July 2008 +# + +# defines Pioneer-like robots +include "pioneer.inc" + +# defines 'map' object used for floorplans +include "map.inc" + +# defines sick laser +include "sick.inc" + +# defines the models used in the lab +include "uoa_robotics_lab_models.inc" + +# set the resolution of the underlying raytrace model in meters +resolution 0.02 + +interval_sim 100 # simulation timestep in milliseconds +interval_real 100 # real-time interval between simulation updates in milliseconds + +paused 0 + +# configure the GUI window +#size [ 745.000 448.000 ] +#center [-7.010 5.960] +#rotate [ 0.920 -0.430 ] +#scale 28.806 + + +# load an environment bitmap +floorplan +( + name "uoa_robotics_lab" + # The actual size of the lab + size [6.27 15.7 2] + pose [0.000 0.000 0.000 0.000] + bitmap "bitmaps/uoa_robotics_lab.png" +) + +define autorob fancypioneer2dx +( + color "red" + fancysicklaser( pose [ 0.040 0.000 0.000 0.000 ] samples 32 ) + + blinkenlight( pose [ 0.150 0.100 0.000 0.000 ] color "red" ) + blinkenlight( pose [ 0.150 0.000 0.000 0.000 ] color "green" ) + blinkenlight( pose [ 0.150 -0.1000.000 0.000 ] color "blue" ) +) + +autorob( pose [0.000 0.000 0.000] name "r0" ) + +define t table +( +) + +define c1 chair1 +( +) + +define c2 chair2 +( +) + +define cab bigCabin +( +) + +# Place the tables and chairs according to the real lab + +t(pose [ -1.802 -2.433 0.000 88.808 ]) +t(pose [ 1.656 2.438 0.000 179.518 ]) +t(pose [ 1.868 -0.771 0.000 179.518 ]) +t(pose [ 1.805 -1.641 0.000 0.000 ]) +t(pose [ 1.465 1.525 0.000 0.000 ]) +t(pose [ -1.398 0.160 0.000 0.000 ]) +t(pose [ -1.371 3.391 0.000 0.000 ]) +t(pose [ -1.375 6.880 0.000 0.000 ]) +t(pose [ -1.392 1.054 0.000 179.518 ]) +t(pose [ -1.381 4.262 0.000 179.518 ]) + +c1(pose [ -1.393 -2.615 0.000 83.079 ]) + +c2(pose [ 1.655 -2.070 0.000 0.000 ]) +c2(pose [ 1.904 -0.260 0.000 179.518 ]) +c2(pose [ -1.267 1.458 0.000 177.617 ]) +c2(pose [ -1.481 -0.222 0.000 0.000 ]) +c2(pose [ 0.67 -3.58 0.000 0.000 ]) +c2(pose [ -1.489 2.975 0.000 0.000 ]) +c2(pose [ -1.472 6.475 0.000 0.000 ]) +c2(pose [ 1.787 2.974 0.000 -177.617 ]) +c2(pose [ -0.458 -4.329 0.000 -154.699 ]) +c2(pose [ -1.433 4.669 0.000 -177.617 ]) + +# A big cabinet used to store robots +cab(pose [ -1.849 -5.307 0.000 91.673 ]) Added: code/stage/trunk/worlds/uoa_robotics_lab_models.inc =================================================================== --- code/stage/trunk/worlds/uoa_robotics_lab_models.inc (rev 0) +++ code/stage/trunk/worlds/uoa_robotics_lab_models.inc 2009-01-05 03:07:38 UTC (rev 7242) @@ -0,0 +1,420 @@ +# +# Desc : This file defines all the models needed for the uoa_robotics_lab.world +# Authors : Nick Wong, Jui Chun(Jimmy) Peng Hsu +# Date : 21 July 2008 +# + +define modelBase model +( + obstacle_return 1 + laser_return 1 + ranger_return 1 +) + +define table modelBase +( + + # These corresponds to the maximum x y and z of the table in meters. + size [1.54 0.80 0.725] + + # Top most piece of the table main surface + block( + points 4 + point[3] [ 1.000 -1.000 ] + point[2] [ -1.000 -1.000 ] + point[1] [ -1.000 1.000 ] + point[0] [ 1.000 1.000 ] + z [ 0.979 1 ] + ) + + # Lower piece of the table main surface + block ( + points 4 + point[3] [ 0.960 -1.000 ] + point[2] [ -0.960 -1.000 ] + point[1] [ -0.960 1.000 ] + point[0] [ 0.960 1.000 ] + z [ 0.959 0.979 ] + ) + # Top right leg + block ( + points 4 + point[3] [ 0.960 0.925 ] + point[2] [ 0.920 0.925 ] + point[1] [ 0.920 1.000 ] + point[0] [ 0.960 1.000 ] + z [ 0.0 0.959 ] + ) + # Top left leg + block ( + points 4 + point[3] [ -0.920 0.925 ] + point[2] [ -0.960 0.925 ] + point[1] [ -0.960 1.000 ] + point[0] [ -0.920 1.000 ] + z [ 0.0 0.959 ] + ) + # Bottom right leg + block ( + points 4 + point[3] [ 0.960 -1.000 ] + point[2] [ 0.920 -1.000 ] + point[1] [ 0.920 -0.925 ] + point[0] [ 0.960 -0.925 ] + z [ 0.0 0.959 ] + ) + # Bottom left leg + block ( + points 4 + point[3] [ -0.960 -0.925 ] + point[2] [ -0.920 -0.925 ] + point[1] [ -0.920 -1.000 ] + point[0] [ -0.960 -1.000 ] + z [ 0.0 0.959 ] + ) + # Side support - back + block ( + points 4 + point[3] [ 0.960 0.925 ] + point[2] [ -0.960 0.925 ] + point[1] [ -0.960 1.000 ] + point[0] [ 0.960 1.000 ] + z [ 0.221 0.262 ] + ) + # Side support - right + block ( + points 4 + point[3] [ 0.960 -1.000 ] + point[2] [ 0.920 -1.000 ] + point[1] [ 0.920 1.000 ] + point[0] [ 0.960 1.000 ] + z [ 0.221 0.262 ] + ) + # Side support - left + block ( + points 4 + point[3] [ -0.920 -1.000 ] + point[2] [ -0.960 -1.000 ] + point[1] [ -0.960 1.000 ] + point[0] [ -0.920 1.000 ] + z [ 0.221 0.262 ] + ) + # PC cage bottom support + block ( + points 4 + point[3] [ 0.960 -1.000 ] + point[2] [ 0.587 -1.000 ] + point[1] [ 0.587 0.275 ] + point[0] [ 0.960 0.275 ] + z [ 0.221 0.262 ] + ) + # PC cage left back support pole + block ( + points 4 + point[3] [ 0.627 0.200 ] + point[2] [ 0.587 0.200 ] + point[1] [ 0.587 0.275 ] + point[0] [ 0.627 0.275 ] + z [ 0.221 0.979 ] + ) + # PC cage right back support pole + block ( + points 4 + point[3] [ 0.960 0.200 ] + point[2] [ 0.920 0.200 ] + point[1] [ 0.920 0.275 ] + point[0] [ 0.960 0.275 ] + z [ 0.221 0.979 ] + ) + # PC cage left front support pole + block ( + points 4 + point[3] [ 0.627 -1.000 ] + point[2] [ 0.587 -1.000 ] + point[1] [ 0.587 -0.925 ] + point[0] [ 0.627 -0.925 ] + z [ 0.221 0.979 ] + ) +) + +define chair1 modelBase +( + # These corresponds to the maximum x y and z of the chair1 in meters. + size [0.450 0.450 0.870] + + # Back support of the chair + block ( + points 4 + point[3] [ 1.000 -1.000 ] + point[2] [ -1.000 -1.000 ] + point[1] [ -1.000 -0.867 ] + point[0] [ 1.000 -0.867 ] + z [ 0.483 1.000 ] + ) + # Seat of the chair + block ( + points 4 + point[3] [ 1.000 -1.000 ] + point[2] [ -1.000 -1.000 ] + point[1] [ -1.000 1.000 ] + point[0] [ 1.000 1.000 ] + z [ 0.483 0.517 ] + ) + # Lower stand of the chair + block ( + points 4 + point[3] [ 1.000 -1.000 ] + point[2] [ -1.000 -1.000 ] + point[1] [ -1.000 1.000 ] + point[0] [ 1.000 1.000 ] + z [ 0.0 0.034 ] + ) + # Middle stick of the chair + block ( + points 4 + point[3] [ 0.100 -0.100 ] + point[2] [ -0.100 -0.100 ] + point[1] [ -0.100 0.100 ] + point[0] [ 0.100 0.100 ] + z [ 0.0 0.483 ] + ) +) + +define chair2 modelBase +( + # These corresponds to the maximum x y and z of the chair1 in meters. + size [0.450 0.450 0.870] + + # Back support of the chair + block ( + points 4 + point[3] [ 1.000 -1.000 ] + point[2] [ -1.000 -1.000 ] + point[1] [ -1.000 -0.867 ] + point[0] [ 1.000 -0.867 ] + z [ 0.483 1.000 ] + ) + # Seat of the chair + block ( + points 4 + point[3] [ 1.000 -1.000 ] + point[2] [ -1.000 -1.000 ] + point[1] [ -1.000 1.000 ] + point[0] [ 1.000 1.000 ] + z [ 0.483 0.517 ] + ) + # Lower stand of the chair - right + block ( + points 4 + point[3] [ 1.000 -1.000 ] + point[2] [ 0.867 -1.000 ] + point[1] [ 0.867 1.000 ] + point[0] [ 1.000 1.000 ] + z [ 0.0 0.034 ] + ) + # Right front leg + block ( + points 4 + point[3] [ 1.000 -1.000 ] + point[2] [ 0.867 -1.000 ] + point[1] [ 0.867 -0.867 ] + point[0] [ 1.000 -0.867 ] + z [ 0.0 0.483 ] + ) + # Right back leg + block ( + points 4 + point[3] [ 1.000 0.867 ] + point[2] [ 0.867 0.867 ] + point[1] [ 0.867 1.000 ] + point[0] [ 1.000 1.000 ] + z [ 0.0 0.483 ] + ) + # Left front leg + block ( + points 4 + point[3] [ -0.867 -1.000 ] + point[2] [ -1.000 -1.000 ] + point[1] [ -1.000 -0.867 ] + point[0] [ -0.867 -0.867 ] + z [ 0.0 0.483 ] + ) + # Left back leg + block ( + points 4 + point[3] [ -0.867 0.867 ] + point[2] [ -1.000 0.867 ] + point[1] [ -1.000 1.000 ] + point[0] [ -0.867 1.000 ] + z [ 0.0 0.483 ] + ) + # Lower stand of the chair - left + block ( + points 4 + point[3] [ -0.867 -1.000 ] + point[2] [ -1.000 -1.000 ] + point[1] [ -1.000 1.000 ] + point[0] [ -0.867 1.000 ] + z [ 0.0 0.034 ] + ) +) +define bigCabin modelBase +( + # These corresponds to the maximum x y and z of the chair1 in meters. + size [1.540 0.600 1.300] + + # Top plane + block ( + points 4 + point[3] [ 1.000 -1.000 ] + point[2] [ -1.000 -1.000 ] + point[1] [ -1.000 1.000 ] + point[0] [ 1.000 1.000 ] + z [ 1.275 1.300 ] + ) + block ( + points 4 + point[3] [ 0.974 -0.933 ] + point[2] [ -0.974 -0.933 ] + point[1] [ -0.974 0.933 ] + point[0] [ 0.974 0.933 ] + z [ 1.250 1.275 ] + ) + block ( + points 4 + point[3] [ 0.974 -0.933 ] + point[2] [ 0.94 -0.933 ] + point[1] [ 0.94 0.933 ] + point[0] [ 0.974 0.933 ] + z [ 0.730 1.250 ] + ) + block ( + points 4 + point[3] [ -0.94 0.933 ] + point[2] [ -0.94 -0.933 ] + point[1] [ -0.974 -0.933 ] + point[0] [ -0.974 0.933 ] + z [ 0.730 1.250 ] + ) + block ( + points 4 + point[3] [ 0.94 0.85 ] + point[2] [ -0.94 0.85 ] + point[1] [ -0.94 0.933 ] + point[0] [ 0.94 0.933 ] + z [ 0.730 1.250 ] + ) + block ( + points 4 + point[3] [ -0.162 -0.933 ] + point[2] [ -0.162 -0.85 ] + point[1] [ -0.128 -0.85 ] + point[0] [ -0.128 -0.933 ] + z [ 0.730 1.250 ] + ) + block ( + points 4 + point[3] [ 0.128 -0.933 ] + point[2] [ 0.128 -0.85 ] + point[1] [ 0.162 -0.85 ] + point[0] [ 0.162 -0.933 ] + z [ 0.730 1.250 ] + ) + # Middle plane + block ( + points 4 + point[3] [ 0.974 -0.933 ] + point[2] [ -0.974 -0.933 ] + point[1] [ -0.974 0.933 ] + point[0] [ 0.974 0.933 ] + z [ 0.705 0.730 ] + ) +# Side walls + block ( + points 4 + point[3] [ -0.94 0.933 ] + point[2] [ -0.94 -0.933 ] + point[1] [ -0.974 -0.933 ] + point[0] [ -0.974 0.933 ] + z [ 0.105 0.705 ] + ) + block ( + points 4 + point[3] [ 0.974 -0.933 ] + point[2] [ 0.94 -0.933 ] + point[1] [ 0.94 0.933 ] + point[0] [ 0.974 0.933 ] + z [ 0.105 0.705 ] + ) +# Beams + block ( + points 4 + point[3] [ -0.162 -0.933 ] + point[2] [ -0.162 -0.85 ] + point[1] [ -0.128 -0.85 ] + point[0] [ -0.128 -0.933 ] + z [ 0.105 0.705 ] + ) + block ( + points 4 + point[3] [ 0.128 -0.933 ] + point[2] [ 0.128 -0.85 ] + point[1] [ 0.162 -0.85 ] + point[0] [ 0.162 -0.933 ] + z [ 0.105 0.705 ] + ) +# Back wall + block ( + points 4 + point[3] [ 0.94 0.85 ] + point[2] [ -0.94 0.85 ] + point[1] [ -0.94 0.933 ] + point[0] [ 0.94 0.933 ] + z [ 0.105 0.705 ] + ) +# Bottom plane + + block ( + points 4 + point[3] [ 0.974 -0.933 ] + point[2] [ -0.974 -0.933 ] + point[1] [ -0.974 0.933 ] + point[0] [ 0.974 0.933 ] + z [ 0.080 0.105 ] + ) +# Wheels + block ( + points 4 + point[3] [ 0.948 -0.933 ] + point[2] [ 0.880 -0.760 ] + point[1] [ 0.905 -0.69 ] + point[0] [ 0.974 -0.867 ] + z [ 0.00 0.08 ] + ) + block ( + points 4 + point[3] [ -0.948 -0.933 ] + point[2] [ -0.880 -0.760 ] + point[1] [ -0.905 -0.69 ] + point[0] [ -0.974 -0.867 ] + z [ 0.00 0.08 ] + ) + block ( + points 4 + point[3] [ -0.948 0.933 ] + point[2] [ -0.880 0.760 ] + point[1] [ -0.905 0.69 ] + point[0] [ -0.974 0.867 ] + z [ 0.00 0.08 ] + ) + block ( + points 4 + point[3] [ 0.948 0.933 ] + point[2] [ 0.880 0.760 ] + point[1] [ 0.905 0.69 ] + point[0] [ 0.974 0.867 ] + z [ 0.00 0.08 ] + ) + ) + + This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. |
From: <th...@us...> - 2009-06-07 08:19:10
|
Revision: 7809 http://playerstage.svn.sourceforge.net/playerstage/?rev=7809&view=rev Author: thjc Date: 2009-06-07 08:18:39 +0000 (Sun, 07 Jun 2009) Log Message: ----------- fixing libstageplugin -> stageplugin in configs Modified Paths: -------------- code/stage/trunk/worlds/amcl-sonar.cfg code/stage/trunk/worlds/autolab.cfg code/stage/trunk/worlds/everything.cfg code/stage/trunk/worlds/lsp_test.cfg code/stage/trunk/worlds/mbicp.cfg code/stage/trunk/worlds/nd.cfg code/stage/trunk/worlds/test.cfg code/stage/trunk/worlds/vfh.cfg code/stage/trunk/worlds/wifi/commando.cfg code/stage/trunk/worlds/wifi/hosp_wifi.cfg code/stage/trunk/worlds/wifi/hosp_wifi_5.cfg code/stage/trunk/worlds/wifi/wifi.cfg code/stage/trunk/worlds/wifi/wifi_itu.cfg code/stage/trunk/worlds/wifi/wifi_logdistance.cfg code/stage/trunk/worlds/wifi/wifi_ray.cfg code/stage/trunk/worlds/wifi/wifi_simple.cfg code/stage/trunk/worlds/wifi.cfg Modified: code/stage/trunk/worlds/amcl-sonar.cfg =================================================================== --- code/stage/trunk/worlds/amcl-sonar.cfg 2009-06-07 08:10:31 UTC (rev 7808) +++ code/stage/trunk/worlds/amcl-sonar.cfg 2009-06-07 08:18:39 UTC (rev 7809) @@ -7,7 +7,7 @@ ( name "stage" provides ["simulation:0"] - plugin "libstageplugin" + plugin "stageplugin" #plugin "libstage" # load the named file into the simulator Modified: code/stage/trunk/worlds/autolab.cfg =================================================================== --- code/stage/trunk/worlds/autolab.cfg 2009-06-07 08:10:31 UTC (rev 7808) +++ code/stage/trunk/worlds/autolab.cfg 2009-06-07 08:18:39 UTC (rev 7809) @@ -6,7 +6,7 @@ driver( name "stage" - plugin "libstageplugin" + plugin "stageplugin" provides ["simulation:0"] # load the named file into the simulator Modified: code/stage/trunk/worlds/everything.cfg =================================================================== --- code/stage/trunk/worlds/everything.cfg 2009-06-07 08:10:31 UTC (rev 7808) +++ code/stage/trunk/worlds/everything.cfg 2009-06-07 08:18:39 UTC (rev 7809) @@ -8,7 +8,7 @@ ( name "stage" provides ["simulation:0"] - plugin "libstageplugin" + plugin "stageplugin" worldfile "everything.world" ) Modified: code/stage/trunk/worlds/lsp_test.cfg =================================================================== --- code/stage/trunk/worlds/lsp_test.cfg 2009-06-07 08:10:31 UTC (rev 7808) +++ code/stage/trunk/worlds/lsp_test.cfg 2009-06-07 08:18:39 UTC (rev 7809) @@ -5,7 +5,7 @@ ( name "stage" provides [ "simulation:0" ] - plugin "libstageplugin" + plugin "stageplugin" # load the named file into the simulator worldfile "lsp_test.world" Modified: code/stage/trunk/worlds/mbicp.cfg =================================================================== --- code/stage/trunk/worlds/mbicp.cfg 2009-06-07 08:10:31 UTC (rev 7808) +++ code/stage/trunk/worlds/mbicp.cfg 2009-06-07 08:18:39 UTC (rev 7809) @@ -2,7 +2,7 @@ ( name "stage" provides ["simulation:0" ] - plugin "libstageplugin" + plugin "stageplugin" # load the named file into the simulator worldfile "mbicp.world" Modified: code/stage/trunk/worlds/nd.cfg =================================================================== --- code/stage/trunk/worlds/nd.cfg 2009-06-07 08:10:31 UTC (rev 7808) +++ code/stage/trunk/worlds/nd.cfg 2009-06-07 08:18:39 UTC (rev 7809) @@ -10,7 +10,7 @@ ( name "stage" provides ["simulation:0"] - plugin "libstageplugin" + plugin "stageplugin" # load the named file into the simulator worldfile "simple.world" @@ -20,7 +20,7 @@ ( name "stage" provides ["position2d:0" "laser:0" "sonar:0"] - model "robot1" + model "r0" ) driver Modified: code/stage/trunk/worlds/test.cfg =================================================================== --- code/stage/trunk/worlds/test.cfg 2009-06-07 08:10:31 UTC (rev 7808) +++ code/stage/trunk/worlds/test.cfg 2009-06-07 08:18:39 UTC (rev 7809) @@ -7,7 +7,7 @@ driver ( name "stage" - plugin "libstageplugin" + plugin "stageplugin" provides ["simulation:0" ] Modified: code/stage/trunk/worlds/vfh.cfg =================================================================== --- code/stage/trunk/worlds/vfh.cfg 2009-06-07 08:10:31 UTC (rev 7808) +++ code/stage/trunk/worlds/vfh.cfg 2009-06-07 08:18:39 UTC (rev 7809) @@ -10,7 +10,7 @@ ( name "stage" provides ["simulation:0"] - plugin "libstageplugin" + plugin "stageplugin" # load the named file into the simulator worldfile "simple.world" Modified: code/stage/trunk/worlds/wifi/commando.cfg =================================================================== --- code/stage/trunk/worlds/wifi/commando.cfg 2009-06-07 08:10:31 UTC (rev 7808) +++ code/stage/trunk/worlds/wifi/commando.cfg 2009-06-07 08:18:39 UTC (rev 7809) @@ -3,7 +3,7 @@ ( name "stage" provides ["simulation:0" ] - plugin "libstageplugin" + plugin "stageplugin" worldfile "commando.world" ) Modified: code/stage/trunk/worlds/wifi/hosp_wifi.cfg =================================================================== --- code/stage/trunk/worlds/wifi/hosp_wifi.cfg 2009-06-07 08:10:31 UTC (rev 7808) +++ code/stage/trunk/worlds/wifi/hosp_wifi.cfg 2009-06-07 08:18:39 UTC (rev 7809) @@ -3,7 +3,7 @@ ( name "stage" provides ["simulation:0"] - plugin "libstageplugin" + plugin "stageplugin" worldfile "hosp_wifi.world" ) Modified: code/stage/trunk/worlds/wifi/hosp_wifi_5.cfg =================================================================== --- code/stage/trunk/worlds/wifi/hosp_wifi_5.cfg 2009-06-07 08:10:31 UTC (rev 7808) +++ code/stage/trunk/worlds/wifi/hosp_wifi_5.cfg 2009-06-07 08:18:39 UTC (rev 7809) @@ -3,7 +3,7 @@ ( name "stage" provides ["simulation:0"] - plugin "libstageplugin" + plugin "stageplugin" worldfile "hosp_wifi_5.world" ) Modified: code/stage/trunk/worlds/wifi/wifi.cfg =================================================================== --- code/stage/trunk/worlds/wifi/wifi.cfg 2009-06-07 08:10:31 UTC (rev 7808) +++ code/stage/trunk/worlds/wifi/wifi.cfg 2009-06-07 08:18:39 UTC (rev 7809) @@ -2,7 +2,7 @@ ( name "stage" provides ["simulation:0" ] - plugin "libstageplugin" + plugin "stageplugin" worldfile "wifi.world" ) Modified: code/stage/trunk/worlds/wifi/wifi_itu.cfg =================================================================== --- code/stage/trunk/worlds/wifi/wifi_itu.cfg 2009-06-07 08:10:31 UTC (rev 7808) +++ code/stage/trunk/worlds/wifi/wifi_itu.cfg 2009-06-07 08:18:39 UTC (rev 7809) @@ -2,7 +2,7 @@ ( name "stage" provides ["simulation:0" ] - plugin "libstageplugin" + plugin "stageplugin" worldfile "wifi_itu.world" ) Modified: code/stage/trunk/worlds/wifi/wifi_logdistance.cfg =================================================================== --- code/stage/trunk/worlds/wifi/wifi_logdistance.cfg 2009-06-07 08:10:31 UTC (rev 7808) +++ code/stage/trunk/worlds/wifi/wifi_logdistance.cfg 2009-06-07 08:18:39 UTC (rev 7809) @@ -2,7 +2,7 @@ ( name "stage" provides ["simulation:0" ] - plugin "libstageplugin" + plugin "stageplugin" worldfile "wifi_logdistance.world" ) Modified: code/stage/trunk/worlds/wifi/wifi_ray.cfg =================================================================== --- code/stage/trunk/worlds/wifi/wifi_ray.cfg 2009-06-07 08:10:31 UTC (rev 7808) +++ code/stage/trunk/worlds/wifi/wifi_ray.cfg 2009-06-07 08:18:39 UTC (rev 7809) @@ -2,7 +2,7 @@ ( name "stage" provides ["simulation:0" ] - plugin "libstageplugin" + plugin "stageplugin" worldfile "wifi_ray.world" ) Modified: code/stage/trunk/worlds/wifi/wifi_simple.cfg =================================================================== --- code/stage/trunk/worlds/wifi/wifi_simple.cfg 2009-06-07 08:10:31 UTC (rev 7808) +++ code/stage/trunk/worlds/wifi/wifi_simple.cfg 2009-06-07 08:18:39 UTC (rev 7809) @@ -3,7 +3,7 @@ ( name "stage" provides ["simulation:0" ] - plugin "libstageplugin" + plugin "stageplugin" worldfile "wifi_simple.world" ) Modified: code/stage/trunk/worlds/wifi.cfg =================================================================== --- code/stage/trunk/worlds/wifi.cfg 2009-06-07 08:10:31 UTC (rev 7808) +++ code/stage/trunk/worlds/wifi.cfg 2009-06-07 08:18:39 UTC (rev 7809) @@ -10,7 +10,7 @@ ( name "stage" provides ["simulation:0" ] - plugin "libstageplugin" + plugin "stageplugin" # load the named file into the simulator worldfile "wifi.world" This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. |
From: <rt...@us...> - 2009-06-08 06:44:53
|
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. |
From: <rt...@us...> - 2009-07-04 01:50:19
|
Revision: 7954 http://playerstage.svn.sourceforge.net/playerstage/?rev=7954&view=rev Author: rtv Date: 2009-07-04 00:20:11 +0000 (Sat, 04 Jul 2009) Log Message: ----------- added hokuyo model Modified Paths: -------------- code/stage/trunk/worlds/autolab.world code/stage/trunk/worlds/benchmark/expand_swarm.cc code/stage/trunk/worlds/chatterbox.inc Added Paths: ----------- code/stage/trunk/worlds/hokuyo.inc Modified: code/stage/trunk/worlds/autolab.world =================================================================== --- code/stage/trunk/worlds/autolab.world 2009-07-04 00:10:50 UTC (rev 7953) +++ code/stage/trunk/worlds/autolab.world 2009-07-04 00:20:11 UTC (rev 7954) @@ -45,7 +45,6 @@ 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] ) - 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] ) Modified: code/stage/trunk/worlds/benchmark/expand_swarm.cc =================================================================== --- code/stage/trunk/worlds/benchmark/expand_swarm.cc 2009-07-04 00:10:50 UTC (rev 7953) +++ code/stage/trunk/worlds/benchmark/expand_swarm.cc 2009-07-04 00:20:11 UTC (rev 7954) @@ -85,7 +85,7 @@ (rgr->sensors[9].range > SAFE_DIST/5.0) && (rgr->sensors[10].range > SAFE_DIST/3.0) && - (rgr->sensors[11].range > SAFE_DIST/1.4) && + (rgr->sensors[11].range > SAFE_DIST/1.5) && (fabs( resultant_angle ) < SAFE_ANGLE) ) { forward_speed = VSPEED; Modified: code/stage/trunk/worlds/chatterbox.inc =================================================================== --- code/stage/trunk/worlds/chatterbox.inc 2009-07-04 00:10:50 UTC (rev 7953) +++ code/stage/trunk/worlds/chatterbox.inc 2009-07-04 00:20:11 UTC (rev 7954) @@ -4,6 +4,7 @@ # $Id: chatterbox.inc,v 1.5 2008-01-15 01:25:42 rtv Exp $ include "irobot.inc" +include "hokuyo.inc" define chatterbox create ( @@ -51,7 +52,7 @@ define laserchatterbox chatterbox ( - laser() + hokuyolaser() ) Added: code/stage/trunk/worlds/hokuyo.inc =================================================================== --- code/stage/trunk/worlds/hokuyo.inc (rev 0) +++ code/stage/trunk/worlds/hokuyo.inc 2009-07-04 00:20:11 UTC (rev 7954) @@ -0,0 +1,17 @@ + +define hokuyolaser laser +( + # laser-specific properties + # factory settings for LMS200 + range_min 0.0 + range_max 5.0 + fov 270.0 + samples 270 + + # generic model properties + color "blue" + size [ 0.07 0.07 0.05 ] # dimensions from LMS200 data sheet +) + + + This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. |
From: <rt...@us...> - 2009-07-04 01:50:24
|
Revision: 7955 http://playerstage.svn.sourceforge.net/playerstage/?rev=7955&view=rev Author: rtv Date: 2009-07-04 00:37:48 +0000 (Sat, 04 Jul 2009) Log Message: ----------- performance testing Modified Paths: -------------- code/stage/trunk/worlds/SFU.world code/stage/trunk/worlds/benchmark/hospital.world Modified: code/stage/trunk/worlds/SFU.world =================================================================== --- code/stage/trunk/worlds/SFU.world 2009-07-04 00:20:11 UTC (rev 7954) +++ code/stage/trunk/worlds/SFU.world 2009-07-04 00:37:48 UTC (rev 7955) @@ -20,11 +20,9 @@ ( size [ 1460.000 1080.000 ] # in pixels scale 48.240 - # pixels per meter center [ -2.827 -2.340 ] rotate [ 0 0 ] - - show_data 0 # 1=on 0=off + show_data 1 # 1=on 0=off ) # load an environment bitmap Modified: code/stage/trunk/worlds/benchmark/hospital.world =================================================================== --- code/stage/trunk/worlds/benchmark/hospital.world 2009-07-04 00:20:11 UTC (rev 7954) +++ code/stage/trunk/worlds/benchmark/hospital.world 2009-07-04 00:37:48 UTC (rev 7955) @@ -13,6 +13,9 @@ paused 1 +# threads may help or hurt performance depending on your worldfile, machine and load +threads 7 + # quit_time 60 # configure the GUI window @@ -24,7 +27,7 @@ scale 12.611 show_data 0 - interval 200 + interval 400 ) # load an environment bitmap @@ -40,7 +43,7 @@ size [0.100 0.100 0.100] color "random" - ranger( pose [ 0 0 -0.010 0 ] + ranger( pose [ 0 0 -0.050 0 ] scount 12 spose[0] [0 0 0] This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. |
From: <rt...@us...> - 2009-07-10 21:11:13
|
Revision: 7984 http://playerstage.svn.sourceforge.net/playerstage/?rev=7984&view=rev Author: rtv Date: 2009-07-10 21:11:11 +0000 (Fri, 10 Jul 2009) Log Message: ----------- added front-sonar-only Pioneer 2dx model Modified Paths: -------------- code/stage/trunk/worlds/pioneer.inc code/stage/trunk/worlds/pioneer_flocking.world Modified: code/stage/trunk/worlds/pioneer.inc =================================================================== --- code/stage/trunk/worlds/pioneer.inc 2009-07-10 17:23:01 UTC (rev 7983) +++ code/stage/trunk/worlds/pioneer.inc 2009-07-10 21:11:11 UTC (rev 7984) @@ -34,6 +34,37 @@ ssize [0.01 0.05] ) +define p2dx_sonar_front ranger +( + scount 8 # the number of transducers + + # define the pose of each transducer [xpos ypos heading] + spose[0] [ 0.075 0.130 90 ] + spose[1] [ 0.115 0.115 50 ] + spose[2] [ 0.150 0.080 30 ] + spose[3] [ 0.170 0.025 10 ] + spose[4] [ 0.170 -0.025 -10 ] + spose[5] [ 0.150 -0.080 -30 ] + spose[6] [ 0.115 -0.115 -50 ] + spose[7] [ 0.075 -0.130 -90 ] + +# spose[8] [ -0.155 -0.130 -90 ] +# spose[9] [ -0.195 -0.115 -130 ] +# spose[10] [ -0.230 -0.080 -150 ] +# spose[11] [ -0.250 -0.025 -170 ] +# spose[12] [ -0.250 0.025 170 ] +# spose[13] [ -0.230 0.080 150 ] +# spose[14] [ -0.195 0.115 130 ] +# spose[15] [ -0.155 0.130 90 ] + + # define the field of view of each transducer [range_min range_max view_angle] + sview [0 5.0 15] + + # define the size of each transducer [xsize ysize] in meters + ssize [0.01 0.05] +) + + # The Pioneer3DX sonar array define p3dx_sonar ranger ( @@ -115,7 +146,8 @@ ) -define pioneer2dx_base pioneer_base + +define pioneer2dx_base_no_sonar pioneer_base ( # actual size size [0.44 0.38 0.22] # sizes from MobileRobots' web site @@ -128,15 +160,26 @@ # estimated mass in KG mass 23.0 + # differential steering model + drive "diff" + ) + +define pioneer2dx_base pioneer2dx_base_no_sonar +( # use the sonar array defined above with a small vertical offset to # drop the sensors into the robot body p2dx_sonar( pose [0 0 -0.03 0] ) +) - # differential steering model - drive "diff" - ) +define pioneer2dx_base_front_sonar pioneer2dx_base_no_sonar +( + # use the sonar array defined above with a small vertical offset to + # drop the sensors into the robot body + p2dx_sonar_front( pose [0 0 -0.03 0] ) +) + define pioneer2dx pioneer2dx_base ( # simplified Body shape: @@ -154,7 +197,25 @@ ) ) +# as above, but with front sonar only +define pioneer2dx_front_sonar pioneer2dx_base_front_sonar +( + # simplified Body shape: + block( + points 8 + point[0] [-0.2 0.12] + point[1] [-0.2 -0.12] + point[2] [-0.12 -0.2555] + point[3] [0.12 -0.2555] + point[4] [0.2 -0.12] + point[5] [0.2 0.12] + point[6] [0.12 0.2555] + point[7] [-0.12 0.2555] + z [0 0.22] + ) +) + # a Pioneer 2 or 3 in standard configuration define fancypioneer2dx pioneer2dx_base ( Modified: code/stage/trunk/worlds/pioneer_flocking.world =================================================================== --- code/stage/trunk/worlds/pioneer_flocking.world 2009-07-10 17:23:01 UTC (rev 7983) +++ code/stage/trunk/worlds/pioneer_flocking.world 2009-07-10 21:11:11 UTC (rev 7984) @@ -34,7 +34,7 @@ ) -define flocker pioneer2dx +define flocker pioneer2dx_front_sonar ( color "random" ctrl "pioneer_flocking" This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. |
From: <rt...@us...> - 2009-07-15 06:31:43
|
Revision: 8025 http://playerstage.svn.sourceforge.net/playerstage/?rev=8025&view=rev Author: rtv Date: 2009-07-15 06:31:36 +0000 (Wed, 15 Jul 2009) Log Message: ----------- cleaning up SFU demo Modified Paths: -------------- code/stage/trunk/worlds/SFU.world code/stage/trunk/worlds/pioneer.inc Added Paths: ----------- code/stage/trunk/worlds/bitmaps/SFU_1200x615.png Removed Paths: ------------- code/stage/trunk/worlds/bitmaps/SFU_1920x1280.png code/stage/trunk/worlds/bitmaps/SFU_640x480.png code/stage/trunk/worlds/bitmaps/SFU_800x600.png Modified: code/stage/trunk/worlds/SFU.world =================================================================== --- code/stage/trunk/worlds/SFU.world 2009-07-15 06:00:58 UTC (rev 8024) +++ code/stage/trunk/worlds/SFU.world 2009-07-15 06:31:36 UTC (rev 8025) @@ -15,7 +15,7 @@ resolution 0.1 -threads 0 +threads 7 # configure the GUI window window @@ -31,13 +31,13 @@ floorplan ( name "cave" - size [1200.000 800.000 0.800] - pose [0 0 0 0] - bitmap "bitmaps/SFU_800x600.png" + size [1200.000 600.000 0.800] + pose [00 -40 0 0] + bitmap "bitmaps/SFU_1200x615.png" ) -define wanderer pioneer2dx +define wanderer pioneer2dx_front_sonar ( ctrl "pioneer_flocking" Added: code/stage/trunk/worlds/bitmaps/SFU_1200x615.png =================================================================== (Binary files differ) Property changes on: code/stage/trunk/worlds/bitmaps/SFU_1200x615.png ___________________________________________________________________ Added: svn:mime-type + image/png Deleted: code/stage/trunk/worlds/bitmaps/SFU_1920x1280.png =================================================================== (Binary files differ) Deleted: code/stage/trunk/worlds/bitmaps/SFU_640x480.png =================================================================== (Binary files differ) Deleted: code/stage/trunk/worlds/bitmaps/SFU_800x600.png =================================================================== (Binary files differ) Modified: code/stage/trunk/worlds/pioneer.inc =================================================================== --- code/stage/trunk/worlds/pioneer.inc 2009-07-15 06:00:58 UTC (rev 8024) +++ code/stage/trunk/worlds/pioneer.inc 2009-07-15 06:31:36 UTC (rev 8025) @@ -48,15 +48,6 @@ spose[6] [ 0.115 -0.115 -50 ] spose[7] [ 0.075 -0.130 -90 ] -# spose[8] [ -0.155 -0.130 -90 ] -# spose[9] [ -0.195 -0.115 -130 ] -# spose[10] [ -0.230 -0.080 -150 ] -# spose[11] [ -0.250 -0.025 -170 ] -# spose[12] [ -0.250 0.025 170 ] -# spose[13] [ -0.230 0.080 150 ] -# spose[14] [ -0.195 0.115 130 ] -# spose[15] [ -0.155 0.130 90 ] - # define the field of view of each transducer [range_min range_max view_angle] sview [0 5.0 15] This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. |