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commands:
- id: g
name: GO
- id: m
name: MOVE
- id: t
name: TURN
- id: s
name: STOP
- id: b
name: BATTERY
- id: i
name: TIME
- id: n
name: NAME
- id: c
name: COME
goals:
- id: 0
name: HOME
pose: [-0.2, -0.2, 0, 0, 0, 0, 1]
- id: 1
name: OFFICE
pose: [1, 0.6, 0, 0, 0, -0.7071, 0.7071]
- id: 2
name: LIVINGROOM
pose: [0.5, 3.5, 0, 0, 0, 0, 1]
- id: 3
name: KITCHEN
pose: [5.6, 4.5, 0, 0, 0, 0.7071, 0.7071]
- id: 4
name: CORRIDOR
pose: [7.4, 1.6, 0, 0, 0, 1, 0]
numbers:
- id: 0
name: HALF
value: 0.5
- id: 1
name: ONE
value: 1.0
- id: 2
name: TWO
value: 2.0
- id: 3
name: THREE
value: 3.0
moves:
- id: f
name: FORWARD
pose: [1, 0, 0, 0, 0, 0, 1]
- id: b
name: BACKWARDS
pose: [-1, 0, 0, 0, 0, 0, 1]
- id: l
name: LEFT
pose: [0, 1, 0, 0, 0, 0, 1]
- id: r
name: RIGHT
pose: [0, -1, 0, 0, 0, 0, 1]
turns:
- id: a
name: AROUND
pose: [0, 0, 0, 0, 0, 1, 0]
- id: l
name: LEFT
pose: [0, 0, 0, 0, 0, 0.7071, 0.7071]
- id: r
name: RIGHT
pose: [0, 0, 0, 0, 0, -0.7071, 0.7071]
# pose[0] = position.x
# pose[1] = position.y
# pose[2] = position.z
# pose[3] = orientation.x
# pose[4] = orientation.y
# pose[5] = orientation.z
# pose[6] = orientation.w
You can’t perform that action at this time.