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tag: v4.1.0
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# Desc: Stage demo with lots of models. Works with everything.cfg.
# CVS: $Id: everything.world,v 1.87 2008-02-12 02:53:53 rtv Exp $
# the size of a pixel in Stage's underlying raytrace model in meters
resolution 0.02
include "pioneer.inc"
include "irobot.inc"
include "map.inc"
include "sick.inc"
window
(
size [ 811.000 642.000 ]
center [-7.205 1.437]
scale 71.472 # pixels per meter
show_data 0
)
floorplan
(
bitmap "bitmaps/hospital_section.png"
map_resolution 0.02
size [40.000 18.000 0.600]
name "hospital"
color "gray50"
gui_grid 1
gui_outline 1
)
# a block for gripping
define puck model(
size [ 0.080 0.080 0.100 ]
gripper_return 1
gui_move 1
gui_nose 0
fiducial_return 10
)
puck( pose [-9.114 2.467 0 -105.501 ] color "red" )
puck( pose [-9.045 2.624 0 -37.717 ] color "purple" )
puck( pose [-8.959 2.752 0 -101.643 ] color "orange" )
# extend the pioneer2dx definition from pioneer.inc
#
define trickedoutpioneer pioneer2dx
(
ranger( alwayson 1 )
sicklaser( pose [0.030 0 0 0 ] alwayson 1 )
fiducial( range_max 8 range_max_id 5 alwayson 1 )
fiducial_return 17
gripper_return 0
localization "gps"
localization_origin [ 0 0 0 0 ]
)
trickedoutpioneer
(
name "robot1"
pose [-10.071 3.186 0 -2.333]
gripper( pose [0.23 0.000 -0.20 0.000] color "gray" )
blobfinder(
colors_count 6
colors [ "red" "blue" "green" "cyan" "yellow" "magenta" ]
alwayson 1
)
)
trickedoutpioneer
(
color "red"
name "redrobot_w_camera"
pose [-5.645 3.034 0 -162.098]
camera( pose [ 0 0 0 0 ] range [ 0.2 8.0 ] resolution [ 100 100 ] fov [ 70 40 ] pantilt [ 0 0 ] alwayson 1 )
)
trickedoutpioneer
(
fiducial_return 18
color "NavyBlue"
name "p1"
pose [-7.009 2.481 0 165.780]
)
trickedoutpioneer
(
fiducial_return 18
color "NavyBlue"
name "p2"
pose [-6.009 2.481 0 165.780]
)
trickedoutpioneer
(
color "green"
name "p3"
pose [-6.492 2.156 0 160.219]
)
trickedoutpioneer
(
color "cyan"
name "p4"
pose [-7.641 3.989 0 -127.216]
)
trickedoutpioneer
(
color "yellow"
name "p5"
pose [-6.759 3.634 0 -110.414]
)
trickedoutpioneer
(
color "magenta"
name "p6"
pose [-6.232 3.440 0 -135.449]
)
# a silly object to look at
define silly position (
size [1.000 1.000 0.500]
fiducial_return 22
ranger_return 2
gui_outline 1
gripper_return 1
)
silly(
name "invader"
pose [-4.152 0.820 0 0]
color "green"
bitmap "bitmaps/space_invader.png"
)
silly(
name "ghost"
pose [-4.067 -0.941 0 0]
color "blue"
bitmap "bitmaps/ghost.png"
)
create(
name "create0"
pose [-8.489 0.340 0 0]
)
create(
name "create1"
pose [-8.625 -0.527 0 0]
)
create(
name "create2"
pose [-9.330 -0.631 0 0]
)
create(
name "create3"
pose [-9.313 0.477 0 0]
)
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