From: Fred L. <ff...@ab...> - 2012-06-05 15:47:56
|
On Wednesday 09 May 2012 15:36:18 Gonzalo Fernando Perez Paina wrote: > Hi all, > I recently install Stage 4.0.0 (from git) and I notice that it renders the > scene objects in a strange way. Attached are two image files. They show > the Stage with a custom robot. > Image romaastage322.png an old image that was taken from Stage3.2.2. The > robot is shown in a correct way, with black (square) wheels. But in the > image romaastage4.png the robot is render with "holes". It also has a laser > sick on it, and the sick model also has the same problem. Below is the > model of our custom robot. > > I also notice that it produced the same result with a pioneer model of the > simple.world file from source of Stage 4. (image pionerfancysick.png). > > Is it a bug of Stage 4? or is there any way to describe the model in world > file to avoid this issue? Not really a solution, but this looks like some of the surfaces are specified inside out (if stage does back face culling). Try specifying the points in a different order for the surfaces that are not visible. Fred > Bellow if the model of our custom robot. > > Thanks in advance. > Best regards, > Gonzalo. > > ------- > romaa.inc > # RoMAA robot model for Stage 3.1.0 > # Author: Gonzalo F. Perez Paina > > define romaa position > ( > # specify the size of the model > size [0.570 0.520 0.200] > > # the romaa's center of rotation is offset from its center of area > origin [-0.111 0 0 0] > > obstacle_return 1 # can hit things > ranger_return 1 # reflect laser > and sonar beams blob_return 1 # seen > by blobfinders fiducial_return 1 # seen > as "1" fiducial finders > color "blue" > > # main body > block( > points 10 > point[0] [ 0.174 0.142 ] > point[1] [ 0.0962 0.260 ] > point[2] [ -0.136 0.260 ] > point[3] [ -0.344 0.221 ] > point[4] [ -0.396 0.109 ] > > point[5] [ -0.396 -0.109 ] > point[6] [ -0.344 -0.221 ] > point[7] [ -0.136 -0.260 ] > point[8] [ 0.0962 -0.260 ] > point[9] [ 0.174 -0.142 ] > z [0.07 0.3] > color "blue" > ) > > # sensors base > block( > points 4 > point[0] [ 0.12 0.16 ] > point[1] [ 0.04 0.16 ] > point[2] [ 0.04 -0.16 ] > point[3] [ 0.12 -0.16 ] > z [0.3 0.31] > color "black" > ) > > # left wheel > block( > points 4 > point[0] [ 0.075 0.240 ] > point[1] [ -0.075 0.240 ] > point[2] [ -0.075 0.210 ] > point[3] [ 0.075 0.210 ] > z [0 0.07] > color "black" > ) > > # right wheel > block( > points 4 > point[0] [ 0.075 -0.210 ] > point[1] [ -0.075 -0.210 ] > point[2] [ -0.075 -0.240 ] > point[3] [ 0.075 -0.240 ] > z [0 0.07] > color "black" > ) > > # castor > block( > points 4 > point[0] [ -0.336 0.01 ] > point[1] [ -0.396 0.01 ] > point[2] [ -0.396 -0.01 ] > point[3] [ -0.336 -0.01 ] > z [0 0.07] > color "black" > ) > > # differential-steer model > drive "diff" > # estimated mass in KG > mass 35 > > localization "odom" # odometric > localization with simple error model odom_error [ 0.05 0.05 0.0 0.1 ] # > Odometry error or slip in X, Y and Theta ) > > define romaa_sonar_front ranger > ( > scount 8 # the number of transducers > > # define the pose of each transducer [xpos ypos heading] > spose[0] [ 0.075 0.240 90 ] > spose[1] [ 0.124 0.190 50 ] > spose[2] [ 0.154 0.120 30 ] > spose[3] [ 0.154 0.05 10 ] > spose[4] [ 0.154 -0.05 -10 ] > spose[5] [ 0.154 -0.120 -30 ] > spose[6] [ 0.124 -0.190 -50 ] > spose[7] [ 0.075 -0.240 -90 ] > > # define the field of view of each transducer [range_min range_max > view_angle] #sview [0 5.0 15] > sview [0 5.0 30] > > # define the size of each transducer [xsize ysize] in meters > ssize [0.01 0.05] > ) > > define romaa_sonar_all ranger > ( > scount 16 # the number of transducers > > # define the pose of each transducer [xpos ypos heading] > spose[0] [ 0.075 0.240 90 ] > spose[1] [ 0.124 0.190 50 ] > spose[2] [ 0.154 0.120 30 ] > spose[3] [ 0.154 0.05 10 ] > spose[4] [ 0.154 -0.05 -10 ] > spose[5] [ 0.154 -0.120 -30 ] > spose[6] [ 0.124 -0.190 -50 ] > spose[7] [ 0.075 -0.240 -90 ] > spose[8] [ -0.324 0.200 90 ] > spose[9] [ -0.350 0.155 130 ] > spose[10] [ -0.376 0.109 150 ] > spose[11] [ -0.376 0.05 170 ] > spose[12] [ -0.376 -0.05 -170 ] > spose[13] [ -0.376 -0.109 -150 ] > spose[14] [ -0.350 -0.155 -130 ] > spose[15] [ -0.324 -0.200 -90 ] > > # define the field of view of each transducer [range_min range_max > view_angle] #sview [0 5.0 15] > sview [0 5.0 30] > > # define the size of each transducer [xsize ysize] in meters > ssize [0.01 0.05] > ) > > define romaa_front_sonar romaa > ( > # use the sonar array defined above with a small vertical offset to > # drop the sensors into the robot body > romaa_sonar_front( pose [0 0 -0.1 0] ) > ) > > define romaa_sonar romaa > ( > # use the sonar array defined above with a small vertical offset to > # drop the sensors into the robot body > romaa_sonar_all( pose [0 0 -0.1 0] ) > ) > > > > > -- > Gonzalo F. Perez Paina > Centro de Investigación en Informática para la Ingeniería, CIII. > Universidad Tecnológica Nacional. Facultad Regional Córdoba. > Maestro M. López esq. Cruz Roja Argentina. CP X5016ZAA > gp...@sc...<mailto:gp...@sc...> |
From: Jenny O. <jo...@yo...> - 2012-06-07 10:14:54
|
Oh I had this problem a few years ago! You need to declare the points in your block anti-clockwise otherwise the openGL renders the robot strangely. http://sourceforge.net/mailarchive/message.php?msg_id=24053866 Jenny On 05/06/12 16:47, Fred Labrosse wrote: > On Wednesday 09 May 2012 15:36:18 Gonzalo Fernando Perez Paina wrote: >> Hi all, >> I recently install Stage 4.0.0 (from git) and I notice that it renders the >> scene objects in a strange way. > Attached are two image files. They show >> the Stage with a custom robot. >> Image romaastage322.png an old image that was taken from Stage3.2.2. The >> robot is shown in > a correct way, with black (square) wheels. But in the >> image romaastage4.png the robot is render with "holes". It also has a laser >> sick on it, and the sick model also has the same problem. Below is the >> model of our custom robot. >> >> I also notice that it produced the same result with a pioneer model of the >> simple.world file from source of Stage 4. > (image pionerfancysick.png). >> Is it a bug of Stage 4? or is there any way to describe the model in world >> file to avoid this issue? > Not really a solution, but this looks like some of the surfaces are specified > inside out (if stage does back face culling). Try specifying the points in a > different order for the surfaces that are not visible. > > Fred > > >> Bellow if the model of our custom robot. >> >> Thanks in advance. >> Best regards, >> Gonzalo. >> >> ------- >> romaa.inc >> # RoMAA robot model for Stage 3.1.0 >> # Author: Gonzalo F. Perez Paina >> >> define romaa position >> ( >> # specify the size of the model >> size [0.570 0.520 0.200] >> >> # the romaa's center of rotation is offset from its center of area >> origin [-0.111 0 0 0] >> >> obstacle_return 1 # can hit things >> ranger_return 1 # reflect laser >> and sonar beams > blob_return 1 # seen >> by blobfinders fiducial_return 1 # seen >> as "1" fiducial finders >> color "blue" >> >> # main body >> block( >> points 10 >> point[0] [ 0.174 0.142 ] >> point[1] [ 0.0962 0.260 ] >> point[2] [ -0.136 0.260 ] >> point[3] [ -0.344 0.221 ] >> point[4] [ -0.396 0.109 ] >> >> point[5] [ -0.396 -0.109 ] >> point[6] [ -0.344 -0.221 ] >> point[7] [ -0.136 -0.260 ] >> point[8] [ 0.0962 -0.260 ] >> point[9] [ 0.174 -0.142 ] >> z [0.07 0.3] >> color "blue" >> ) >> >> # sensors base >> block( >> points 4 >> point[0] [ 0.12 0.16 ] >> point[1] [ 0.04 0.16 ] >> point[2] [ 0.04 -0.16 ] >> point[3] [ 0.12 -0.16 ] >> z [0.3 0.31] >> color "black" >> ) >> >> # left wheel >> block( >> points 4 >> point[0] [ 0.075 0.240 ] >> point[1] [ -0.075 0.240 ] >> point[2] [ -0.075 0.210 ] >> point[3] [ 0.075 0.210 ] >> z [0 0.07] >> color "black" >> ) >> >> # right wheel >> block( >> points 4 >> point[0] [ 0.075 -0.210 ] >> point[1] [ -0.075 -0.210 ] >> point[2] [ -0.075 -0.240 ] >> point[3] [ 0.075 -0.240 ] >> z [0 0.07] >> color "black" >> ) >> >> # castor >> block( >> points 4 >> point[0] [ -0.336 0.01 ] >> point[1] [ -0.396 0.01 ] >> point[2] [ -0.396 -0.01 ] >> point[3] [ -0.336 -0.01 ] >> z [0 0.07] >> color "black" >> ) >> >> # differential-steer model >> drive "diff" >> # estimated mass in KG >> mass 35 >> >> localization "odom" # odometric >> localization with simple error model > odom_error [ 0.05 0.05 0.0 0.1 ] # >> Odometry error or slip in X, Y and Theta ) >> >> define romaa_sonar_front ranger >> ( >> scount 8 # the number of transducers >> >> # define the pose of each transducer [xpos ypos heading] >> spose[0] [ 0.075 0.240 90 ] >> spose[1] [ 0.124 0.190 50 ] >> spose[2] [ 0.154 0.120 30 ] >> spose[3] [ 0.154 0.05 10 ] >> spose[4] [ 0.154 -0.05 -10 ] >> spose[5] [ 0.154 -0.120 -30 ] >> spose[6] [ 0.124 -0.190 -50 ] >> spose[7] [ 0.075 -0.240 -90 ] >> >> # define the field of view of each transducer [range_min range_max >> view_angle] > #sview [0 5.0 15] >> sview [0 5.0 30] >> >> # define the size of each transducer [xsize ysize] in meters >> ssize [0.01 0.05] >> ) >> >> define romaa_sonar_all ranger >> ( >> scount 16 # the number of transducers >> >> # define the pose of each transducer [xpos ypos heading] >> spose[0] [ 0.075 0.240 90 ] >> spose[1] [ 0.124 0.190 50 ] >> spose[2] [ 0.154 0.120 30 ] >> spose[3] [ 0.154 0.05 10 ] >> spose[4] [ 0.154 -0.05 -10 ] >> spose[5] [ 0.154 -0.120 -30 ] >> spose[6] [ 0.124 -0.190 -50 ] >> spose[7] [ 0.075 -0.240 -90 ] >> spose[8] [ -0.324 0.200 90 ] >> spose[9] [ -0.350 0.155 130 ] >> spose[10] [ -0.376 0.109 150 ] >> spose[11] [ -0.376 0.05 170 ] >> spose[12] [ -0.376 -0.05 -170 ] >> spose[13] [ -0.376 -0.109 -150 ] >> spose[14] [ -0.350 -0.155 -130 ] >> spose[15] [ -0.324 -0.200 -90 ] >> >> # define the field of view of each transducer [range_min range_max >> view_angle] > #sview [0 5.0 15] >> sview [0 5.0 30] >> >> # define the size of each transducer [xsize ysize] in meters >> ssize [0.01 0.05] >> ) >> >> define romaa_front_sonar romaa >> ( >> # use the sonar array defined above with a small vertical offset to >> # drop the sensors into the robot body >> romaa_sonar_front( pose [0 0 -0.1 0] ) >> ) >> >> define romaa_sonar romaa >> ( >> # use the sonar array defined above with a small vertical offset to >> # drop the sensors into the robot body >> romaa_sonar_all( pose [0 0 -0.1 0] ) >> ) >> >> >> >> >> -- >> Gonzalo F. Perez Paina >> Centro de Investigación en Informática para la Ingeniería, CIII. >> Universidad Tecnológica Nacional. Facultad Regional Córdoba. >> Maestro M. López esq. Cruz Roja Argentina. CP X5016ZAA >> gp...@sc...<mailto:gp...@sc...> > > ------------------------------------------------------------------------------ > Live Security Virtual Conference > Exclusive live event will cover all the ways today's security and > threat landscape has changed and how IT managers can respond. Discussions > will include endpoint security, mobile security and the latest in malware > threats. http://www.accelacomm.com/jaw/sfrnl04242012/114/50122263/ > _______________________________________________ > Playerstage-users mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-users -- ----------------- Jennifer Owen Research Student Department of Computer Science, The Ron Cooke Hub University of York, York YO10 5GE Email: jo...@yo... 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