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Tag: v4.1.0
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# device definitions for the UMASS UBot
# the ubot has an IR array
define ubot_ir reb_ir
(
add_noise 1
# noiseparams [1.913005560938 -7.728130591833] # used to generate noise
power_on 1
min_range 0.10 # in meters
max_range 0.8 # in meters
ircount 8
irpose[0] [ 0.035 0.0 0.0 ]
irpose[1] [ 0.025 0.025 45 ]
irpose[2] [ 0.0 0.035 90 ]
irpose[3] [ -0.025 0.025 135 ]
irpose[4] [ -0.035 0.0 180 ]
irpose[5] [ -0.025 -0.025 225 ]
irpose[6] [ 0.0 -0.035 270 ]
irpose[7] [ 0.025 -0.025 315 ]
)
define ubot reb_position
(
size [ 0.19 0.19 0.19]
offset [ 0.0 0.0 ]
ubot_ir()
)
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