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# FASR demo world
# Authors: Richard Vaughan
# $Id: fasr.world,v 1.4 2008-04-01 23:57:41 rtv Exp $
include "pioneer.inc"
include "map.inc"
include "sick.inc"
interval_sim 100 # simulation timestep in milliseconds
interval_real 0 # real-time interval between simulation updates in milliseconds
paused 0
resolution 0.02
# threads may speed things up here depending on available CPU cores & workload
# threadpool 8
threadpool 0
# configure the GUI window
window
(
size [ 788.000 842.000 ]
center [ 0.240 -0.382 ]
rotate [ 0 0 ]
scale 35.648
pcam_loc [ 0 -4.000 2.000 ]
pcam_angle [ 70.000 0 ]
pcam_on 0
show_data 1
show_flags 1
interval 50
)
# load an environment bitmap
floorplan
(
name "cave"
size [16.000 16.000 0.600]
pose [0 0 0 0]
bitmap "bitmaps/cave.png"
)
zone
(
color "green"
pose [ -7.000 -7.000 0 0 ]
name "source"
ctrl "source"
)
zone
(
color "red"
pose [ 7.000 7.000 0 0 ]
name "sink"
ctrl "sink"
)
define charging_bump model
(
pose [0.240 0 -0.100 0 ]
size [0.120 0.050 0.100]
take_watts 1000.0
color "orange"
obstacle_return 0
)
define autorob pioneer2dx
(
sicklaser( samples 64 range_max 5 laser_return 2 watts 30 fov 180 size [0.3 0.3 0.2 ])
ctrl "fasr_plan"
joules 100000
joules_capacity 400000
fiducial_return 0
# charging_bump( fiducial( range 3 pose [ 0 0 -0.100 0 ] ) )
gripper( pose [0.250 0 -0.220 0]
take_watts 1000.0
fiducial( range 3 )
# paddles [ "closed" "up" ]
obstacle_return 0 # cheating for simplicity
# autosnatch 1
)
localization "gps"
localization_origin [ 0 0 0 0 ]
show_waypoints 1
)
define charge_station model
(
size [ 0.100 0.300 0.100 ]
color "purple"
# side blocks to restrict view angle
model( color "purple" size [0.100 0.050 0.250] pose [ 0 0.100 0 0 ] )
model( color "purple" size [0.100 0.050 0.250] pose [ 0 -0.100 0 0 ] )
# the charging block
model(
pose [ 0.010 0 0 0 ]
color "yellow"
size [ 0.050 0.200 0.100 ]
joules -1 # provides infinite energy
give_watts 1000
fiducial_return 2 # look for this in the fiducial sensor
)
)
charge_station( pose [ 7.803 -1.332 0 34.377 ] )
charge_station( pose [ 7.940 -2.349 0 0 ] )
charge_station( pose [ 7.931 -3.367 0 0 ] )
charge_station( pose [ 7.931 -4.444 0 0 ] )
define puck model (
size [0.120 0.120 0.100]
color "violet"
gripper_return 1
obstacle_return 0
)
position( pose [ 0 0 0 0 ] size [ 1 1 1 ] name "dummy" )
#puck( pose [ 1.175 2.283 0 0 ] )
#puck( pose [ 0.875 3.139 0 0 ] )
#puck( pose [ 1.043 2.825 0 0 ] )
#puck( pose [ 1.349 2.734 0 0 ] )
#puck( pose [ 2.625 3.068 0 0 ] )
#puck( pose [ 0.447 2.689 0 0 ] )
#puck( pose [ 0.143 3.308 0 0 ] )
#puck( pose [ 0.334 3.441 0 0 ] )
#puck( pose [ 1.439 3.218 0 0 ] )
#puck( pose [ 0.747 2.741 0 0 ] )
#puck( pose [ 0.955 2.086 0 0 ] )
#puck( pose [ 1.781 2.593 0 0 ] )
#puck( pose [ 1.068 2.476 0 0 ] )
#puck( pose [ 0.488 3.190 0 0 ] )
#puck( pose [ 1.708 3.198 0 0 ] )
#puck( pose [ 1.440 2.416 0 0 ] )
#puck( pose [ 1.140 3.045 0 0 ] )
#puck( pose [ 0.682 2.969 0 0 ] )
#puck( pose [ 2.205 3.268 0 0 ] )
#puck( pose [ 1.990 2.312 0 0 ] )
#puck( pose [ 0.646 3.486 0 0 ] )
#puck( pose [ 1.670 2.907 0 0 ] )
#puck( pose [ 2.091 2.830 0 0 ] )
#puck( pose [ -0.103 2.564 0 0 ] )
#puck( pose [ 1.950 3.462 0 0 ] )
#puck( pose [ 2.668 2.674 0 0 ] )
#puck( pose [ 0.549 2.367 0 0 ] )
#puck( pose [ 0.162 2.983 0 0 ] )
#puck( pose [ 1.067 3.367 0 0 ] )
#puck( pose [ 1.412 3.604 0 0 ] )
autorob( pose [5.418 7.478 0 -163.478] joules 300000 )
autorob( pose [7.574 6.269 0 -111.715] joules 100000 )
autorob( pose [5.615 6.185 0 107.666] joules 200000 )
autorob( pose [7.028 6.502 0 -128.279] joules 400000 )
#autorob( pose [5.750 4.137 0 -97.047] joules 100000 )
#autorob( pose [4.909 6.097 0 -44.366] joules 200000 )
#autorob( pose [6.898 4.775 0 -117.576] joules 300000 )
#autorob( pose [7.394 5.595 0 129.497] joules 400000 )
#autorob( pose [6.468 6.708 0 170.743] joules 100000 )
#autorob( pose [6.451 4.189 0 -61.453] joules 200000 )
#autorob( pose [5.060 6.868 0 -61.295] joules 300000 )
#autorob( pose [4.161 5.544 0 -147.713] joules 400000 )
#autorob( pose [4.911 4.552 0 -125.236] joules 100000 )
#autorob( pose [3.985 6.474 0 -158.025] joules 200000 )
#autorob( pose [5.440 5.317 0 -26.545] joules 300000 )
#autorob( pose [6.362 5.632 0 163.239] joules 400000 )
#autorob( pose [7.559 4.764 0 -139.066] )
#autorob( pose [5.471 7.446 0 77.301] )
#autorob( pose [7.122 4.175 0 -31.440] )
#autorob( pose [5.944 6.951 0 2.937] )
#autorob( pose [6.800 5.897 0 -103.060] )
#autorob( pose [6.405 5.291 0 -103.060] )
#autorob( pose [5.974 5.725 0 -103.060] )
#autorob( pose [4.151 7.272 0 53.540] )
#autorob( pose [6.545 7.459 0 2.937] )
#autorob( pose [7.237 7.533 0 34.450] )
#autorob( pose [3.875 6.533 0 134.717] )
#autorob( pose [3.944 4.674 0 -103.060] )
#autorob( pose [4.634 6.897 0 -103.060] )
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