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removed useless worldfiles and fixed a couple of outdated settings

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1 parent 24572ed commit 1b0e08b74c651d591c0d9058b465d62b852a0372 @rtv committed
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2 worlds/SFU.world
@@ -10,7 +10,7 @@ speedup -1 # as fast as possible
paused 0
resolution 0.05
-threads 0
+threads 4
# configure the GUI window
window
View
163 worlds/asr.world
@@ -1,163 +0,0 @@
-# ASR 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 1
-
-resolution 0.02
-
-# threads may help here depending on your CPU
-threadpool 0
-# threadpool 2
-
-
-# configure the GUI window
-window
-(
- size [ 967.000 744.000 ]
-
- center [ 3.759 6.706 ]
- rotate [ 70.000 5.000 ]
- scale 71.081
-
- pcam_loc [ 0 -4.000 2.000 ]
- pcam_angle [ 70.000 0 ]
- pcam_on 0
-
- show_data 1
- show_flags 1
-
- interval 50
-
- screenshot_skip 10
-)
-
-# load an environment bitmap
-floorplan
-(
- name "cave"
- size [100.000 100.000 0.600]
- pose [0 0 0 50.000]
- bitmap "bitmaps/frieburg.png"
- boundary 0
-)
-
-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 autorob pioneer2dx
-(
- sicklaser( samples 32 range_max 5 laser_return 2 )
- ctrl "fasr"
-)
-
-autorob( pose [5.099 4.804 0 -73.937] )
-autorob( pose [6.471 5.304 0 14.941] )
-autorob( pose [5.937 4.858 0 -147.503] )
-autorob( pose [7.574 6.269 0 -111.715] )
-autorob( pose [5.664 6.262 0 -51.799] )
-autorob( pose [7.016 6.428 0 -128.279] )
-autorob( pose [5.911 4.040 0 -97.047] )
-autorob( pose [4.909 6.097 0 -44.366] )
-autorob( pose [6.898 4.775 0 -117.576] )
-autorob( pose [7.401 5.544 0 129.497] )
-
-autorob( pose [5.968 7.638 0 170.743] )
-autorob( pose [6.451 4.189 0 -61.453] )
-autorob( pose [5.260 7.436 0 -61.295] )
-autorob( pose [4.149 5.135 0 -90.417] )
-autorob( pose [4.999 4.230 0 -42.157] )
-autorob( pose [4.331 4.217 0 -95.000] )
-autorob( pose [5.440 5.317 0 -26.545] )
-autorob( pose [7.518 6.973 0 163.239] )
-autorob( pose [7.559 4.764 0 -139.066] )
-autorob( pose [4.839 3.595 0 -179.567] )
-
-autorob( pose [7.122 4.175 0 -31.440] )
-autorob( pose [5.912 6.963 0 2.937] )
-autorob( pose [6.800 5.897 0 -103.060] )
-autorob( pose [6.331 6.450 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 [7.225 7.459 0 34.450] )
-autorob( pose [3.875 6.533 0 134.717] )
-autorob( pose [3.199 6.081 0 -103.060] )
-autorob( pose [4.634 6.897 0 -103.060] )
-
-
-autorob( pose [1.288 4.559 0 -103.060] )
-autorob( pose [2.648 5.531 0 -103.060] )
-autorob( pose [2.940 4.559 0 -103.060] )
-autorob( pose [2.228 6.502 0 -103.060] )
-autorob( pose [2.907 7.927 0 -103.060] )
-autorob( pose [0.965 5.595 0 -103.060] )
-autorob( pose [3.847 3.620 0 -103.060] )
-autorob( pose [2.001 4.041 0 -103.060] )
-autorob( pose [2.163 7.603 0 -103.060] )
-autorob( pose [3.393 7.571 0 -103.060] )
-
-autorob( pose [1.256 6.373 0 -103.060] )
-autorob( pose [1.062 7.603 0 -103.060] )
-autorob( pose [3.005 3.847 0 -103.060] )
-autorob( pose [1.807 5.272 0 -103.060] )
-autorob( pose [0.317 4.495 0 -103.060] )
-autorob( pose [0.803 3.361 0 -103.060] )
-autorob( pose [1.968 3.102 0 -103.060] )
-autorob( pose [3.976 8.445 0 -103.060] )
-autorob( pose [3.005 8.898 0 -103.060] )
-autorob( pose [1.871 8.445 0 -103.060] )
-
-autorob( pose [4.656 7.959 0 -103.060] )
-autorob( pose [0.641 8.574 0 -103.060] )
-autorob( pose [5.012 9.740 0 -103.060] )
-autorob( pose [3.749 9.384 0 -103.060] )
-autorob( pose [3.069 2.681 0 -103.060] )
-autorob( pose [2.260 2.390 0 -103.060] )
-autorob( pose [3.523 1.580 0 -103.060] )
-autorob( pose [3.069 6.858 0 -103.060] )
-autorob( pose [5.142 8.995 0 -103.060] )
-autorob( pose [0.903 6.972 0 -103.060] )
-
-autorob( pose [5.405 8.070 0 -103.060] )
-autorob( pose [6.038 8.647 0 -103.060] )
-autorob( pose [2.423 8.379 0 -103.060] )
-autorob( pose [2.437 7.071 0 -103.060] )
-autorob( pose [1.649 6.972 0 -103.060] )
-autorob( pose [4.266 3.019 0 -103.060] )
-autorob( pose [5.490 3.666 0 -103.060] )
-autorob( pose [5.293 2.963 0 -103.060] )
-autorob( pose [3.393 5.228 0 -103.060] )
-autorob( pose [6.418 3.483 0 -103.060] )
-
-autorob( pose [6.587 8.464 0 -103.060] )
-autorob( pose [7.178 8.295 0 -103.060] )
-autorob( pose [5.926 2.878 0 -103.060] )
-autorob( pose [7.150 3.568 0 -103.060] )
-autorob( pose [7.783 4.159 0 -103.060] )
-autorob( pose [0.566 6.002 0 -103.060] )
-autorob( pose [1.804 5.847 0 -103.060] )
-autorob( pose [2.423 4.792 0 -103.060] )
-autorob( pose [3.633 4.342 0 -103.060] )
-autorob( pose [0.298 5.129 0 -103.060] )
-
-
View
2 worlds/everything.world
@@ -136,7 +136,7 @@ trickedoutpioneer
define silly position (
size [1.000 1.000 0.500]
fiducial_return 22
- laser_return 2
+ ranger_return 2
gui_outline 1
gripper_return 1
)
View
170 worlds/fasr.world~
@@ -1,170 +0,0 @@
-
-# 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"
-
-# speedup 0 # 20.000
-paused 0
-
-# time at which to pause (in GUI mode) or quit (in headless mode) the simulation
-#quit_time 3600 # 1 hour of simulated time
-#quit_time 1800 # 30 mins of simulated time
-
-resolution 0.02
-
-threads 4
-
-# configure the GUI window
-window
-(
- size [ 683.000 713.000 ]
-
- center [ -0.061 -0.975 ]
- rotate [ 0 0 ]
- scale 33.591
-
- show_data 0
- show_flags 1
-
- # interval 50
-)
-
-# load an environment bitmap
-floorplan
-(
- name "cave"
- pose [0 0 0 0]
- size [16.000 16.000 0.600]
- bitmap "bitmaps/cave.png"
-)
-
-zone
-(
- size [ 2.000 2.000 0 ]
- color "green"
- pose [ -7.000 -7.000 0 0 ]
- name "source"
- ctrl "source 100 1"
-)
-
-zone
-(
- size [ 2.000 2.000 0 ]
- 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 2000.0
- color "orange"
- obstacle_return 0
-)
-
-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 2000
- fiducial_return 2 # look for this in the fiducial senso
-
- alwayson 1 # so we give charge without any explicit subscriber
- )
-
-)
-
-charge_station( pose [ 7.908 -2.510 0 0 ] )
-charge_station( pose [ 7.920 -3.847 0 0 ] )
-charge_station( pose [ 7.449 -4.974 0 -40.107 ] )
-charge_station( pose [ 14.217 -1.789 0 31.513 ] )
-charge_station( pose [ 5.162 -0.814 0 88.809 ] )
-
-charge_station( pose [ 3.927 -0.693 0 88.808 ] )
-charge_station( pose [ 6.427 -0.964 0 74.484 ] )
-#charge_station( pose [ 4.964 -0.752 0 88.808 ] )
-#charge_station( pose [ 3.832 -0.704 0 91.673 ] )
-#charge_station( pose [ 7.949 -4.019 0 0 ] )
-
-define autorob pioneer2dx
-(
- sickbase( sensor( samples 32 range [0 3] fov 180 color_rgba [ 0 0 1 0.15 ] )
- ranger_return 2.000 watts 30 )
-
- ctrl "fasr"
-# kjoules 400
-# joules_capacity 400000
- fiducial_return 0
- charging_bump( fiducial( range_max 5 pose [ 0 0 -0.100 0 ] ) )
-
- # small speed optimization
- # trail_length 0
-)
-
-autorob( pose [5.880 4.141 0 152.684] kjoules 500 name "r0" )
-autorob( pose [4.542 5.641 0 125.831] kjoules 500 name "r1" )
-autorob( pose [5.043 3.459 0 174.453] kjoules 600 )
-autorob( pose [5.173 4.759 0 -117.456] kjoules 400 )
-autorob( pose [3.230 7.036 0 44.991] kjoules 800 )
-
-autorob( pose [3.757 6.187 0 35.145] kjoules 600 )
-autorob( pose [2.688 4.115 0 -143.181] kjoules 500 )
-autorob( pose [3.975 7.410 0 0] kjoules 80 )
-autorob( pose [6.796 4.223 0 -89.994] kjoules 800 )
-autorob( pose [3.084 5.145 0 90.003] kjoules 600 )
-
-autorob( pose [3.907 4.602 0 -1.811] kjoules 500 )
-autorob( pose [2.558 6.649 0 -116.317] kjoules 700 )
-autorob( pose [7.462 3.892 0 -31.440] kjoules 900)
-autorob( pose [5.944 6.951 0 2.937] kjoules 900)
-autorob( pose [6.405 5.291 0 -103.060] kjoules 500)
-
-autorob( pose [5.974 5.725 0 -103.060] kjoules 850)
-autorob( pose [2.479 5.713 0 53.540] kjoules 850)
-autorob( pose [7.503 6.594 0 2.937] kjoules 750)
-autorob( pose [6.959 3.268 0 34.450] kjoules 650)
-autorob( pose [4.617 6.811 0 134.717] kjoules 550)
-
-#autorob( pose [6.545 7.366 0 2.937] kjoules 350 )
-#autorob( pose [7.237 7.533 0 34.450] kjoules 350)
-#autorob( pose [3.875 6.533 0 134.717] kjoules 350)
-#autorob( pose [3.944 4.674 0 -103.060] kjoules 350)
-#autorob( pose [4.776 5.792 0 -103.060] kjoules 350)
-
-#autorob( pose [3.212 3.779 0 -103.060] kjoules 150)
-#autorob( pose [2.982 6.577 0 -103.060] kjoules 150)
-#autorob( pose [3.189 5.168 0 -103.060] kjoules 150)
-#autorob( pose [2.027 6.472 0 -103.060] kjoules 150)
-#autorob( pose [3.897 5.537 0 -103.060] kjoules 150)
-
-#autorob( pose [4.974 4.800 0 -103.060] kjoules 50)
-#autorob( pose [2.225 7.350 0 -103.060] kjoules 50 )
-#autorob( pose [5.683 4.431 0 -103.060] kjoules 50 )
-#autorob( pose [2.055 2.901 0 -103.060] kjoules 50 )
-#autorob( pose [1.498 7.310 0 -103.060] kjoules 50 )
-
-#autorob( pose [0.366 6.989 0 -103.060] kjoules 200)
-#autorob( pose [5.215 7.601 0 -103.060] kjoules 200)
-#autorob( pose [6.714 6.392 0 -103.060] kjoules 200)
-#autorob( pose [7.418 5.581 0 -103.060] kjoules 200)
-#autorob( pose [2.523 4.878 0 -103.060] kjoules 200)
-
View
320 worlds/fasr2_duo.world
@@ -1,320 +0,0 @@
-
-# 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"
-
-speedup 10.000
-paused 1
-
-# time at which to pause (in GUI mode) or quit (in headless mode) the simulation
-quit_time 3600 # 1 hour of simulated time
-#quit_time 1800 # hour of simulated time
-
-resolution 0.02
-
-threads 0
-
-# configure the GUI window
-window
-(
- size [ 980.000 1016.000 ]
-
- center [ -3.598 0.596 ]
- rotate [ 0 0 ]
- scale 9.570
-
- show_data 1
- show_flags 1
-
- # interval 50
-)
-
-# load an environment bitmap
-floorplan
-(
- name "cave"
- pose [0 0 0 0]
- size [100.000 100.000 0.600]
- bitmap "bitmaps/cave.png"
-)
-
-zone
-(
- color "green"
- pose [ 38.682 -25.820 0 0 ]
- name "green_source"
- ctrl "source"
-)
-
-zone( color "DarkGreen"
- pose [ -10.930 44.453 0 0 ]
- name "green_sink"
- ctrl "sink"
-)
-
-zone( color "blue"
- pose [ -40.264 -18.084 0 0 ]
- name "blue_source"
- ctrl "source"
-)
-
-zone( color "DarkBlue"
- pose [ 39.986 37.517 0 0 ]
- name "blue_sink"
- ctrl "sink"
-)
-
-zone( color "red"
- pose [ -41.325 32.878 0 0 ]
- name "red_source"
- ctrl "source"
-)
-
-zone( color "DarkRed"
- pose [ 40.730 22.450 0 0 ]
- name "red_sink"
- ctrl "sink"
-)
-
-zone( color "yellow"
- pose [ -37.146 -39.531 0 0 ]
- name "yellow_source"
- ctrl "source"
-)
-
-zone( color_rgba [ 0.8 0.8 0 1 ]
- pose [ -38.243 9.591 0 0 ]
- name "yellow_sink"
- ctrl "sink"
-)
-
-zone( color "cyan"
- pose [ 26.255 41.679 0 0 ]
- name "cyan_source"
- ctrl "source"
-)
-
-zone( color "DarkCyan"
- pose [ 9.412 -40.363 0 0 ]
- name "cyan_sink"
- ctrl "sink"
-)
-
-zone( color "magenta"
- pose [ -14.246 -42.150 0 0 ]
- name "magenta_source"
- ctrl "source"
-)
-
-zone( color "DarkMagenta"
- pose [ 38.511 -14.808 0 0 ]
- name "magenta_sink"
- ctrl "sink"
-)
-
-
-define charging_bump model
-(
- pose [0.240 0 -0.100 0 ]
- size [0.120 0.050 0.100]
- take_watts 2000.0
- color "orange"
- obstacle_return 0
-)
-
-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 2000
- fiducial_return 2 # look for this in the fiducial sensor
-
- alwayson 1 # so we give charge without any explicit subscriber
- )
-
-)
-
-#charge_station( pose [ 7.908 -2.510 0 0 ] )
-#charge_station( pose [ 7.920 -3.847 0 0 ] )
-#charge_station( pose [ 7.449 -4.974 0 -40.107 ] )
-#charge_station( pose [ 7.698 -1.432 0 31.513 ] )
-#charge_station( pose [ 5.162 -0.814 0 88.809 ] )
-
-#charge_station( pose [ 3.927 -0.693 0 88.808 ] )
-#charge_station( pose [ 6.427 -0.964 0 74.484 ] )
-#charge_station( pose [ 4.964 -0.752 0 88.808 ] )
-#charge_station( pose [ 3.832 -0.704 0 91.673 ] )
-#charge_station( pose [ 7.949 -4.019 0 0 ] )
-
-define autorob pioneer2dx
-(
- sicklaser( samples 32 range_max 5 laser_return 2 watts 30 )
-# ctrl "fasr2"
- joules 100000
- joules_capacity 400000
- fiducial_return 0
- charging_bump( fiducial( range_max 5 pose [ 0 0 -0.100 0 ] ) )
-
- # small speed optimization
- # trail_length 0
-)
-
-define redbot autorob( color "red" ctrl "fasr2 red" )
-define greenbot autorob( color "green" ctrl "fasr2 green" )
-define bluebot autorob( color "blue" ctrl "fasr2 blue" )
-define cyanbot autorob( color "cyan" ctrl "fasr2 cyan" )
-define yellowbot autorob( color "yellow" ctrl "fasr2 yellow" )
-define magentabot autorob( color "magenta" ctrl "fasr2 magenta" )
-
-#define bot autorob( ctrl "fasr2 " )"
-#define bot autorob( ctrl "fasr2 " )"
-#define bot autorob( ctrl "fasr2 " )"
-
-redbot( pose [-10.909 12.012 0 125.831] joules 100000 )
-redbot( pose [-11.699 11.274 0 125.831] joules 100000 )
-#redbot( pose [-11.356 10.669 0 125.831] joules 100000 )
-#redbot( pose [-10.066 11.432 0 125.831] joules 100000 )
-#redbot( pose [-10.698 10.458 0 125.831] joules 100000 )
-#redbot( pose [-9.987 10.669 0 125.831] joules 100000 )
-#redbot( pose [-11.593 12.222 0 125.831] joules 100000 )
-#redbot( pose [-10.303 12.222 0 125.831] joules 100000 )
-#redbot( pose [-12.120 12.012 0 125.831] joules 100000 )
-#redbot( pose [-12.601 11.375 0 125.831] joules 100000 )
-
-#redbot( pose [-12.145 10.886 0 125.831] joules 100000 )
-#redbot( pose [-12.710 12.157 0 125.831] joules 100000 )
-#redbot( pose [-12.275 12.775 0 125.831] joules 100000 )
-#redbot( pose [-11.461 13.123 0 125.831] joules 100000 )
-#redbot( pose [-10.679 13.036 0 125.831] joules 100000 )
-#redbot( pose [-12.167 13.514 0 125.831] joules 100000 )
-#redbot( pose [-12.992 13.047 0 125.831] joules 100000 )
-#redbot( pose [-13.372 12.243 0 125.831] joules 100000 )
-#redbot( pose [-13.296 11.331 0 125.831] joules 100000 )
-#redbot( pose [-10.777 11.353 0 125.831] joules 100000 )
-
-
-bluebot( pose [-11.191 6.965 0 174.453] joules 200000 )
-bluebot( pose [-11.270 8.097 0 174.453] joules 200000 )
-#bluebot( pose [-10.295 6.886 0 174.453] joules 200000 )
-#bluebot( pose [-8.900 8.361 0 174.453] joules 200000 )
-#bluebot( pose [-10.374 8.940 0 174.453] joules 200000 )
-#bluebot( pose [-9.321 7.650 0 174.453] joules 200000 )
-#bluebot( pose [-9.453 9.072 0 174.453] joules 200000 )
-#bluebot( pose [-11.401 8.966 0 174.453] joules 200000 )
-#bluebot( pose [-9.558 6.570 0 174.453] joules 200000 )
-#bluebot( pose [-9.795 8.473 0 174.453] joules 200000 )
-
-#bluebot( pose [-10.901 7.503 0 174.453] joules 200000 )
-#bluebot( pose [-12.063 7.960 0 174.453] joules 200000 )
-#bluebot( pose [-12.159 8.673 0 174.453] joules 200000 )
-#bluebot( pose [-12.039 7.399 0 174.453] joules 200000 )
-#bluebot( pose [-12.151 6.782 0 174.453] joules 200000 )
-#bluebot( pose [-11.574 6.213 0 174.453] joules 200000 )
-#bluebot( pose [-10.725 6.173 0 174.453] joules 200000 )
-#bluebot( pose [-10.019 5.829 0 174.453] joules 200000 )
-#bluebot( pose [-12.824 8.232 0 174.453] joules 200000 )
-#bluebot( pose [-10.276 7.872 0 174.453] joules 200000 )
-
-cyanbot( pose [-4.059 16.220 0 -117.456] joules 400000 )
-cyanbot( pose [-2.610 16.957 0 -117.456] joules 400000 )
-#cyanbot( pose [-1.794 15.087 0 -117.456] joules 400000 )
-#cyanbot( pose [-4.164 15.272 0 -117.456] joules 400000 )
-#cyanbot( pose [-3.348 14.771 0 -117.456] joules 400000 )
-#cyanbot( pose [-2.242 15.930 0 -117.456] joules 400000 )
-#cyanbot( pose [-3.348 17.036 0 -117.456] joules 400000 )
-#cyanbot( pose [-4.322 17.510 0 -117.456] joules 400000 )
-#cyanbot( pose [-4.822 16.536 0 -117.456] joules 400000 )
-#cyanbot( pose [-5.373 17.628 0 -117.456] joules 400000 )
-
-#cyanbot( pose [-4.708 18.475 0 -117.456] joules 400000 )
-#cyanbot( pose [-5.615 18.687 0 -117.456] joules 400000 )
-#cyanbot( pose [-6.341 17.840 0 -117.456] joules 400000 )
-#cyanbot( pose [-3.710 18.415 0 -117.456] joules 400000 )
-#cyanbot( pose [-4.194 19.473 0 -117.456] joules 400000 )
-#cyanbot( pose [-5.192 19.564 0 -117.456] joules 400000 )
-#cyanbot( pose [-6.341 19.836 0 -117.456] joules 400000 )
-#cyanbot( pose [-2.742 19.050 0 -117.456] joules 400000 )
-#cyanbot( pose [-2.198 18.082 0 -117.456] joules 400000 )
-#cyanbot( pose [-5.796 16.509 0 -117.456] joules 400000 )
-
-greenbot( pose [-7.576 4.137 0 44.991] joules 100000 )
-greenbot( pose [-8.459 4.269 0 44.991] joules 100000 )
-#greenbot( pose [-9.907 3.766 0 44.991] joules 100000 )
-#greenbot( pose [-10.640 2.698 0 44.991] joules 100000 )
-#greenbot( pose [-8.557 1.729 0 44.991] joules 100000 )
-#greenbot( pose [-9.821 1.505 0 44.991] joules 100000 )
-#greenbot( pose [-7.926 3.090 0 44.991] joules 100000 )
-#greenbot( pose [-9.038 2.865 0 44.991] joules 100000 )
-#greenbot( pose [-11.097 0.973 0 44.991] joules 100000 )
-#greenbot( pose [-11.155 2.003 0 44.991] joules 100000 )
-
-#greenbot( pose [-11.819 1.550 0 44.991] joules 100000 )
-#greenbot( pose [-12.401 2.181 0 44.991] joules 100000 )
-#greenbot( pose [-11.236 3.330 0 44.991] joules 100000 )
-#greenbot( pose [-12.078 3.298 0 44.991] joules 100000 )
-#greenbot( pose [-9.909 2.456 0 44.991] joules 100000 )
-#greenbot( pose [-10.734 4.123 0 44.991] joules 100000 )
-#greenbot( pose [-11.592 4.398 0 44.991] joules 100000 )
-#greenbot( pose [-12.903 2.877 0 44.991] joules 100000 )
-#greenbot( pose [-12.434 1.372 0 44.991] joules 100000 )
-#greenbot( pose [-11.689 2.634 0 44.991] joules 100000 )
-
-yellowbot( pose [-15.452 7.366 0 35.145] joules 200000 )
-yellowbot( pose [-13.978 6.340 0 35.145] joules 200000 )
-#yellowbot( pose [-16.163 6.524 0 35.145] joules 200000 )
-#yellowbot( pose [-15.979 5.550 0 35.145] joules 200000 )
-#yellowbot( pose [-14.873 5.208 0 35.145] joules 200000 )
-#yellowbot( pose [-14.504 7.419 0 35.145] joules 200000 )
-#yellowbot( pose [-16.374 8.025 0 35.145] joules 200000 )
-#yellowbot( pose [-15.189 8.420 0 35.145] joules 200000 )
-#yellowbot( pose [-13.793 5.576 0 35.145] joules 200000 )
-#yellowbot( pose [-16.914 7.279 0 35.145] joules 200000 )
-
-#yellowbot( pose [-17.222 6.291 0 35.145] joules 200000 )
-#yellowbot( pose [-17.885 7.198 0 35.145] joules 200000 )
-#yellowbot( pose [-17.254 8.218 0 35.145] joules 200000 )
-#yellowbot( pose [-17.060 5.498 0 35.145] joules 200000 )
-#yellowbot( pose [-18.047 6.227 0 35.145] joules 200000 )
-#yellowbot( pose [-16.930 4.640 0 35.145] joules 200000 )
-#yellowbot( pose [-17.966 5.417 0 35.145] joules 200000 )
-#yellowbot( pose [-15.927 4.640 0 35.145] joules 200000 )
-#yellowbot( pose [-14.988 4.236 0 35.145] joules 200000 )
-#yellowbot( pose [-15.004 6.340 0 35.145] joules 200000 )
-
-magentabot( pose [-7.850 14.772 0 -143.181] joules 300000 )
-magentabot( pose [-8.323 14.087 0 -143.181] joules 300000 )
-#magentabot( pose [-7.850 13.613 0 -143.181] joules 300000 )
-#magentabot( pose [-7.139 14.772 0 -143.181] joules 300000 )
-#magentabot( pose [-6.401 14.061 0 -143.181] joules 300000 )
-#magentabot( pose [-7.165 13.429 0 -143.181] joules 300000 )
-#magentabot( pose [-6.428 13.323 0 -143.181] joules 300000 )
-#magentabot( pose [-7.455 15.430 0 -143.181] joules 300000 )
-#magentabot( pose [-6.507 14.851 0 -143.181] joules 300000 )
-#magentabot( pose [-8.425 15.507 0 -143.181] joules 300000 )
-
-#magentabot( pose [-9.196 15.409 0 -143.181] joules 300000 )
-#magentabot( pose [-9.598 14.812 0 -143.181] joules 300000 )
-#magentabot( pose [-9.304 14.280 0 -143.181] joules 300000 )
-#magentabot( pose [-8.946 13.737 0 -143.181] joules 300000 )
-#magentabot( pose [-8.761 13.140 0 -143.181] joules 300000 )
-#magentabot( pose [-8.153 12.629 0 -143.181] joules 300000 )
-#magentabot( pose [-7.393 12.618 0 -143.181] joules 300000 )
-#magentabot( pose [-8.957 16.386 0 -143.181] joules 300000 )
-#magentabot( pose [-7.925 16.234 0 -143.181] joules 300000 )
-#magentabot( pose [-8.794 14.855 0 -143.181] joules 300000 )
-
View
398 worlds/fasr2_open.world
@@ -1,398 +0,0 @@
-
-# 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"
-
-speedup -1.000 # 10.000
-paused 1
-
-# time at which to pause (in GUI mode) or quit (in headless mode) the simulation
-# quit_time 3600 # 1 hour of simulated time
-
-
-resolution 0.02
-
-threads 4
-
-# configure the GUI window
-window
-(
- size [ 936.000 767.000 ]
-
- center [ -22.306 -34.136 ]
- rotate [ 0 0 ]
- scale 16.257
-
- show_data 0
- show_flags 1
-
- # interval 50
-)
-
-# load an environment bitmap
-floorplan
-(
- name "cave"
- pose [0 0 0 0]
- size [100.000 100.000 0.600]
- bitmap "bitmaps/cave.png"
-)
-
-define smallzone zone
-(
- size [ 2.000 2.000 0.020 ]
-)
-
-smallzone( color "red"
- pose [ -32.000 -33.000 0 0 ]
- name "red_source"
- ctrl "source 60 1"
-)
-
-smallzone( color "DarkRed"
- pose [ 0 -33.000 0 0 ]
- name "red_sink"
- ctrl "sink"
-)
-smallzone
-(
- color "green"
- pose [ -32.000 -39.000 0 0 ]
- name "green_source"
- ctrl "source 120 1"
-)
-
-smallzone( color "DarkGreen"
- pose [ 0 -39.000 0 0 ]
- name "green_sink"
- ctrl "sink"
-)
-
-smallzone( color "blue"
- pose [ -32.000 -45.000 0 0 ]
- name "blue_source"
- ctrl "source 240 1"
-)
-
-smallzone( color "DarkBlue"
- pose [ 0 -45.000 0 0 ]
- name "blue_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 charge_station model
-(
- size [ 0.100 0.100 0.300 ]
- color "purple"
-
- ranger_return 0
- obstacle_return 0
- fiducial_return 2 # look for this in the fiducial sensor
-
- # 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 ] )
-
- kjoules -1 # provides infinite energy
- give_watts 1000
- alwayson 1 # so we give charge without any explicit subscriber
-)
-
-
-#charge_station( pose [ -38.500 -49.900 0 90.000 ] )
-#charge_station( pose [ -39.500 -49.900 0 90.000 ] )
-#charge_station( pose [ -40.500 -49.900 0 90.000 ] )
-#charge_station( pose [ -41.500 -49.900 0 90.000 ] )
-#charge_station( pose [ -42.500 -49.900 0 90.000 ] )
-#charge_station( pose [ -43.500 -49.900 0 90.000 ] )
-#charge_station( pose [ -44.500 -49.900 0 90.000 ] )
-#charge_station( pose [ -45.500 -49.900 0 90.000 ] )
-#charge_station( pose [ -46.500 -49.900 0 90.000 ] )
-#charge_station( pose [ -47.500 -49.900 0 90.000 ] )
-
-charge_station( pose [ -49.900 -34.500 0 0 ] )
-charge_station( pose [ -49.900 -35.500 0 0 ] )
-charge_station( pose [ -49.900 -36.500 0 0 ] )
-charge_station( pose [ -49.900 -37.500 0 0 ] )
-charge_station( pose [ -49.900 -38.500 0 0 ] )
-charge_station( pose [ -49.900 -39.500 0 0 ] )
-charge_station( pose [ -49.900 -40.500 0 0 ] )
-charge_station( pose [ -49.900 -41.500 0 0 ] )
-charge_station( pose [ -49.900 -42.500 0 0 ] )
-charge_station( pose [ -49.900 -43.500 0 0 ] )
-
-smallzone( color "orange"
- pose [ -45.000 -39.000 0 0 ]
- name "fuel_zone"
- size [ 1.000 1.000 0.010 ]
- gui_move 0
-)
-
-smallzone( color "gray5"
- pose [ 8.609 -44.704 0 0 ]
- name "pool_zone"
- size [ 1.000 1.000 0.010 ]
- gui_move 1
-)
-
-define buffer model
-(
- color "orange"
- size [ 0.100 13.000 1.000 ]
-)
-
-#buffer( pose [ -49.543 -42.500 0 0 ] )
-#buffer( pose [ -42.595 -49.527 0 90.000 ] )
-
-define blinker model
-(
- color "orange"
- size [ 0.100 0.700 0.600 ]
-)
-
-#blinker( pose [ -36.066 -48.834 0 0 ] )
-#blinker( pose [ -36.990 -48.838 0 0 ] )
-#blinker( pose [ -38.063 -48.836 0 0 ] )
-#blinker( pose [ -39.020 -48.831 0 0 ] )
-#blinker( pose [ -40.012 -48.823 0 0 ] )
-#blinker( pose [ -41.035 -48.812 0 0 ] )
-#blinker( pose [ -42.047 -48.775 0 0 ] )
-#blinker( pose [ -43.026 -48.834 0 0 ] )
-
-define autorob pioneer2dx
-(
- # sicklaser( samples 32 range_max 2 ranger_return 2 watts 30 )
-
- sickbase( sensor( samples 32 range [0 2] fov 180 color_rgba [ 0 0 1 0.15 ] )
- ranger_return 2.000 watts 30 )
-
-
-# ctrl "fasr2"
- kjoules 400
- kjoules_capacity 400
- fiducial_return 0
- charging_bump( obstacle_return 0 fiducial( range_max_id 9 range_max 9 fov 180 pose [ 0 0 -0.050 0 ] ) )
-
- # small speed optimization
- # trail_length 0
-
- ctrl "fasr2 red green blue"
-)
-
-
-autorob( pose [-41.388 -32.267 0 166.581] )
-autorob( pose [-42.208 -31.744 0 135.003] )
-autorob( pose [-42.289 -30.814 0 147.497] )
-autorob( pose [-40.642 -31.563 0 123.708] )
-autorob( pose [-41.378 -31.274 0 143.281] )
-autorob( pose [-40.200 -31.012 0 46.529] )
-autorob( pose [-43.006 -33.061 0 168.778] )
-autorob( pose [-41.078 -34.196 0 163.730] )
-autorob( pose [-43.740 -32.740 0 157.546] )
-autorob( pose [-45.434 -31.856 0 138.616] )
-
-autorob( pose [-42.841 -29.916 0 125.831] )
-autorob( pose [-42.710 -32.157 0 125.831] )
-autorob( pose [-42.214 -32.593 0 125.831] )
-autorob( pose [-41.461 -33.123 0 125.831] )
-autorob( pose [-40.679 -33.036 0 125.831] )
-autorob( pose [-42.277 -34.027 0 125.831] )
-autorob( pose [-43.981 -33.377 0 125.831] )
-autorob( pose [-43.372 -32.243 0 125.831] )
-autorob( pose [-43.296 -31.331 0 125.831] )
-autorob( pose [-43.944 -31.986 0 125.831] )
-
-autorob( pose [-44.580 -34.279 0 125.831] )
-autorob( pose [-42.922 -33.866 0 125.831] )
-autorob( pose [-43.660 -34.316 0 125.831] )
-autorob( pose [-44.536 -32.558 0 125.831] )
-autorob( pose [-44.577 -31.782 0 125.831] )
-autorob( pose [-43.984 -31.210 0 125.831] )
-autorob( pose [-43.392 -30.618 0 125.831] )
-autorob( pose [-44.883 -33.355 0 125.831] )
-autorob( pose [-45.231 -32.681 0 125.831] )
-autorob( pose [-41.102 -30.456 0 125.831] )
-
-autorob( pose [-45.073 -36.830 0 67.057] )
-autorob( pose [-44.086 -35.691 0 28.480] )
-autorob( pose [-46.862 -29.180 0 64.025] )
-autorob( pose [-46.581 -33.705 0 5.703] )
-autorob( pose [-45.732 -35.716 0 5.731] )
-autorob( pose [-45.842 -28.333 0 24.200] )
-autorob( pose [-46.467 -36.704 0 54.480] )
-autorob( pose [-44.175 -37.403 0 54.588] )
-autorob( pose [-43.232 -37.616 0 52.768] )
-autorob( pose [-46.938 -31.373 0 20.367] )
-
-autorob( pose [-47.440 -35.510 0 -41.980] )
-autorob( pose [-47.760 -33.493 0 -59.991] )
-autorob( pose [-47.980 -32.427 0 -65.139] )
-autorob( pose [-46.892 -32.532 0 -73.426] )
-autorob( pose [-47.745 -30.225 0 -93.488] )
-autorob( pose [-48.195 -31.591 0 -99.719] )
-autorob( pose [-44.737 -29.311 0 27.802] )
-autorob( pose [-47.591 -31.136 0 -96.070] )
-autorob( pose [-45.782 -29.718 0 160.446] )
-autorob( pose [-46.106 -30.470 0 46.259] )
-
-#50
-
-#autorob( pose [-43.004 -6.811 0 166.511] )
-#autorob( pose [-43.272 -8.255 0 175.835] )
-#autorob( pose [-42.180 -6.527 0 -432.938] )
-#autorob( pose [-49.625 -8.080 0 171.172] )
-#autorob( pose [-42.844 -9.141 0 170.270] )
-#autorob( pose [-41.369 -8.011 0 -457.026] )
-#autorob( pose [-41.453 -8.651 0 -420.696] )
-#autorob( pose [-43.876 -8.850 0 -477.508] )
-#autorob( pose [-41.753 -5.510 0 -439.502] )
-#autorob( pose [-40.121 -8.843 0 160.986] )
-
-#autorob( pose [-40.901 -7.503 0 174.453] )
-#autorob( pose [-42.063 -7.960 0 174.453] )
-#autorob( pose [-42.159 -8.673 0 174.453] )
-#autorob( pose [-42.039 -7.399 0 174.453] )
-#autorob( pose [-41.455 -6.855 0 174.453] )
-#autorob( pose [-41.574 -6.213 0 174.453] )
-#autorob( pose [-40.725 -6.173 0 174.453] )
-#autorob( pose [-40.019 -5.829 0 174.453] )
-#autorob( pose [-49.828 -6.667 0 174.453] )
-#autorob( pose [-49.930 -7.369 0 174.453] )
-
-#autorob( pose [-40.706 -8.428 0 174.453] )
-#autorob( pose [-42.069 -9.308 0 174.453] )
-#autorob( pose [-42.719 -7.662 0 174.453] )
-#autorob( pose [-43.739 -7.599 0 174.453] )
-#autorob( pose [-40.988 -9.361 0 174.453] )
-#autorob( pose [-42.708 -6.341 0 174.453] )
-#autorob( pose [-42.163 -5.901 0 174.453] )
-#autorob( pose [-40.500 -6.917 0 174.453] )
-#autorob( pose [-40.727 -5.576 0 174.453] )
-#autorob( pose [-40.286 -7.945 0 174.453] )
-
-#autorob( pose [-43.635 20.622 0 -417.456] )
-#autorob( pose [-45.346 20.649 0 -417.456] )
-#autorob( pose [-44.518 21.397 0 -417.456] )
-#autorob( pose [-43.796 21.611 0 -417.456] )
-#autorob( pose [-43.074 19.927 0 -417.456] )
-#autorob( pose [-42.610 21.900 0 -417.456] )
-#autorob( pose [-44.703 20.756 0 -417.456] )
-#autorob( pose [-44.898 19.927 0 -417.456] )
-#autorob( pose [-44.371 19.088 0 -417.456] )
-#autorob( pose [-45.320 17.681 0 -417.456] )
-
-#autorob( pose [-44.708 18.475 0 -417.456] )
-#autorob( pose [-45.615 18.687 0 -417.456] )
-#autorob( pose [-46.341 17.840 0 -417.456] )
-#autorob( pose [-43.521 18.825 0 -417.456] )
-#autorob( pose [-44.194 19.473 0 -417.456] )
-#autorob( pose [-45.192 19.564 0 -417.456] )
-#autorob( pose [-46.341 19.836 0 -417.456] )
-#autorob( pose [-42.742 19.050 0 -417.456] )
-#autorob( pose [-42.591 18.324 0 -408.862] )
-#autorob( pose [-46.301 18.782 0 -417.456] )
-
-# 100
-
-#autorob( pose [-41.819 1.550 0 44.991] )
-#autorob( pose [-42.401 2.181 0 44.991] )
-#autorob( pose [-41.236 3.330 0 44.991] )
-#autorob( pose [-42.078 3.298 0 44.991] )
-#autorob( pose [-40.275 2.456 0 44.991] )
-#autorob( pose [-40.734 4.123 0 44.991] )
-#autorob( pose [-41.592 4.398 0 44.991] )
-#autorob( pose [-42.903 2.877 0 44.991] )
-#autorob( pose [-42.434 1.372 0 44.991] )
-#autorob( pose [-40.555 3.358 0 44.991] )
-
-#autorob( pose [-9.516 3.311 0 44.991] )
-#autorob( pose [-42.308 3.949 0 44.991] )
-#autorob( pose [-43.185 3.682 0 44.991] )
-#autorob( pose [-43.014 2.167 0 44.991] )
-#autorob( pose [-43.719 2.634 0 44.991] )
-#autorob( pose [-43.633 1.986 0 44.991] )
-#autorob( pose [-43.138 1.385 0 44.991] )
-#autorob( pose [-42.490 0.575 0 44.991] )
-#autorob( pose [-41.775 0.699 0 44.991] )
-#autorob( pose [-41.641 2.586 0 44.991] )
-
-#autorob( pose [-44.296 4.967 0 -413.433] )
-#autorob( pose [-43.218 5.200 0 -405.066] )
-#autorob( pose [-47.084 7.178 0 -413.959] )
-#autorob( pose [-45.829 3.428 0 -400.843] )
-#autorob( pose [-46.001 6.965 0 -416.077] )
-#autorob( pose [-43.589 6.170 0 -408.098] )
-#autorob( pose [-45.665 7.690 0 35.677] )
-#autorob( pose [-48.633 7.374 0 -400.002] )
-#autorob( pose [-44.987 3.480 0 -97.678] )
-#autorob( pose [-46.445 7.660 0 68.821] )
-
-#autorob( pose [-47.222 6.291 0 35.145] )
-#autorob( pose [-47.885 7.198 0 35.145] )
-#autorob( pose [-47.254 8.218 0 35.145] )
-#autorob( pose [-47.060 5.498 0 35.145] )
-#autorob( pose [-48.047 6.227 0 35.145] )
-#autorob( pose [-46.930 4.640 0 35.145] )
-#autorob( pose [-47.966 5.417 0 35.145] )
-#autorob( pose [-45.927 4.640 0 35.145] )
-#autorob( pose [-44.988 4.236 0 35.145] )
-#autorob( pose [-45.706 6.151 0 35.145] )
-
-#autorob( pose [-46.419 6.225 0 35.145] )
-#autorob( pose [-44.574 5.868 0 35.145] )
-#autorob( pose [-48.271 8.274 0 35.145] )
-#autorob( pose [-45.801 8.625 0 35.145] )
-#autorob( pose [-46.598 8.835 0 35.145] )
-#autorob( pose [-44.417 6.791 0 35.145] )
-#autorob( pose [-45.235 6.801 0 35.145] )
-#autorob( pose [-45.444 5.260 0 35.145] )
-#autorob( pose [-46.598 5.187 0 35.145] )
-#autorob( pose [-46.461 4.159 0 35.145] )
-
-#autorob( pose [-8.171 13.723 0 -439.469] )
-#autorob( pose [-8.887 12.177 0 -88.070] )
-#autorob( pose [-7.357 15.181 0 -94.395] )
-#autorob( pose [-7.970 15.169 0 -467.188] )
-#autorob( pose [-7.482 13.834 0 -94.067] )
-#autorob( pose [-8.009 13.153 0 -463.083] )
-#autorob( pose [-6.846 13.156 0 -437.774] )
-#autorob( pose [-8.349 14.435 0 -436.374] )
-#autorob( pose [-6.752 14.083 0 -401.104] )
-#autorob( pose [-6.452 15.332 0 -431.336] )
-
-#autorob( pose [-9.099 17.489 0 -443.181] )
-#autorob( pose [-9.610 15.854 0 -443.181] )
-#autorob( pose [-9.589 16.569 0 -443.181] )
-#autorob( pose [-40.059 15.221 0 -443.181] )
-#autorob( pose [-40.264 16.099 0 -443.181] )
-#autorob( pose [-9.814 17.325 0 -443.181] )
-#autorob( pose [-8.271 16.840 0 -443.181] )
-#autorob( pose [-8.629 17.999 0 -443.181] )
-#autorob( pose [-9.467 18.142 0 -443.181] )
-#autorob( pose [-9.079 16.263 0 -443.181] )
-
-#autorob( pose [-9.196 15.409 0 -443.181] )
-#autorob( pose [-9.598 14.812 0 -443.181] )
-#autorob( pose [-9.304 14.280 0 -443.181] )
-#autorob( pose [-8.946 13.737 0 -443.181] )
-#autorob( pose [-8.761 13.140 0 -443.181] )
-#autorob( pose [-8.153 12.629 0 -443.181] )
-#autorob( pose [-7.393 12.618 0 -443.181] )
-#autorob( pose [-8.467 15.712 0 -443.181] )
-#autorob( pose [-7.762 16.132 0 -443.181] )
-#autorob( pose [-8.794 14.855 0 -443.181] )
-
View
396 worlds/fasr2_open_large.world
@@ -1,396 +0,0 @@
-
-# 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"
-
-speedup -1.000 # 10.000
-paused 1
-
-# time at which to pause (in GUI mode) or quit (in headless mode) the simulation
-# quit_time 3600 # 1 hour of simulated time
-
-
-resolution 0.02
-
-threads 8
-
-# configure the GUI window
-window
-(
- size [ 1401.000 687.000 ]
-
- center [ -9.737 -36.094 ]
- rotate [ 0 0 ]
- scale 16.854
-
- show_data 0
- show_flags 1
-
- # interval 50
-)
-
-# load an environment bitmap
-floorplan
-(
- name "cave"
- pose [0 0 0 0]
- size [100.000 100.000 0.600]
- bitmap "bitmaps/cave.png"
-)
-
-
-zone( color "red"
- pose [ -32.000 -33.000 0 0 ]
- name "red_source"
- ctrl "source 50 10"
-)
-
-zone( color "DarkRed"
- pose [ 20.000 -33.000 0 0 ]
- name "red_sink"
- ctrl "sink"
-)
-
-zone
-(
- color "green"
- pose [ -32.000 -39.000 0 0 ]
- name "green_source"
- ctrl "source 100 10"
-)
-
-zone( color "DarkGreen"
- pose [ 20.000 -39.000 0 0 ]
- name "green_sink"
- ctrl "sink"
-)
-
-zone( color "blue"
- pose [ -32.000 -45.000 0 0 ]
- name "blue_source"
- ctrl "source 200 10"
-)
-
-zone( color "DarkBlue"
- pose [ 20.000 -45.000 0 0 ]
- name "blue_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 charge_station model
-(
- size [ 0.100 0.100 0.300 ]
- color "purple"
-
- laser_return 0
- obstacle_return 0
- fiducial_return 2 # look for this in the fiducial sensor
-
- # 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 ] )
-
- kjoules -1 # provides infinite energy
- give_watts 1000
- alwayson 1 # so we give charge without any explicit subscriber
-)
-
-
-charge_station( pose [ -38.500 -49.900 0 90.000 ] )
-charge_station( pose [ -39.500 -49.900 0 90.000 ] )
-charge_station( pose [ -40.500 -49.900 0 90.000 ] )
-charge_station( pose [ -41.500 -49.900 0 90.000 ] )
-charge_station( pose [ -42.500 -49.900 0 90.000 ] )
-charge_station( pose [ -43.500 -49.900 0 90.000 ] )
-charge_station( pose [ -44.500 -49.900 0 90.000 ] )
-charge_station( pose [ -45.500 -49.900 0 90.000 ] )
-charge_station( pose [ -46.500 -49.900 0 90.000 ] )
-charge_station( pose [ -47.500 -49.900 0 90.000 ] )
-
-charge_station( pose [ -49.900 -38.500 0 0 ] )
-charge_station( pose [ -49.900 -39.500 0 0 ] )
-charge_station( pose [ -49.900 -40.500 0 0 ] )
-charge_station( pose [ -49.900 -41.500 0 0 ] )
-charge_station( pose [ -49.900 -42.500 0 0 ] )
-charge_station( pose [ -49.900 -43.500 0 0 ] )
-charge_station( pose [ -49.900 -44.500 0 0 ] )
-charge_station( pose [ -49.900 -45.500 0 0 ] )
-charge_station( pose [ -49.900 -46.500 0 0 ] )
-charge_station( pose [ -49.900 -47.500 0 0 ] )
-
-
-
-zone( color "orange"
- size [2 2 0.001]
- pose [ -43.000 -43.000 0 0 ]
- name "fuel_zone"
- size [ 1.000 1.000 0.010 ]
- gui_move 0
-)
-
-zone( color "gray5"
- size [2 2 0.001]
- pose [ -43.506 -2.462 0 0 ]
- name "pool_zone"
- size [ 1.000 1.000 0.010 ]
- gui_move 1
-)
-
-define buffer model
-(
- color "orange"
- size [ 0.100 13.000 1.000 ]
-)
-
-#buffer( pose [ -49.543 -42.500 0 0 ] )
-#buffer( pose [ -42.595 -49.527 0 90.000 ] )
-
-define blinker model
-(
- color "orange"
- size [ 0.100 0.700 0.600 ]
-)
-
-#blinker( pose [ -36.066 -48.834 0 0 ] )
-#blinker( pose [ -36.990 -48.838 0 0 ] )
-#blinker( pose [ -38.063 -48.836 0 0 ] )
-#blinker( pose [ -39.020 -48.831 0 0 ] )
-#blinker( pose [ -40.012 -48.823 0 0 ] )
-#blinker( pose [ -41.035 -48.812 0 0 ] )
-#blinker( pose [ -42.047 -48.775 0 0 ] )
-#blinker( pose [ -43.026 -48.834 0 0 ] )
-
-define autorob pioneer2dx
-(
- sicklaser( samples 32 range_max 2 laser_return 2 watts 30 )
-# ctrl "fasr2"
- kjoules 400
- kjoules_capacity 400
- fiducial_return 0
- charging_bump( obstacle_return 0 fiducial( range_max_id 9 range_max 9 fov 180 pose [ 0 0 -0.050 0 ] ) )
-
- # small speed optimization
- # trail_length 0
-
- ctrl "fasr2 red green blue"
-)
-
-
-autorob( pose [-41.388 -32.267 0 166.581] )
-autorob( pose [-42.208 -31.744 0 135.003] )
-autorob( pose [-42.289 -30.814 0 147.497] )
-autorob( pose [-40.642 -31.563 0 123.708] )
-autorob( pose [-41.378 -31.274 0 143.281] )
-autorob( pose [-40.200 -31.012 0 46.529] )
-autorob( pose [-43.006 -33.061 0 168.778] )
-autorob( pose [-41.078 -34.196 0 163.730] )
-autorob( pose [-43.740 -32.740 0 157.546] )
-autorob( pose [-45.434 -31.856 0 138.616] )
-
-autorob( pose [-42.841 -29.916 0 125.831] )
-autorob( pose [-42.710 -32.157 0 125.831] )
-autorob( pose [-42.214 -32.593 0 125.831] )
-autorob( pose [-41.461 -33.123 0 125.831] )
-autorob( pose [-40.679 -33.036 0 125.831] )
-autorob( pose [-42.277 -34.027 0 125.831] )
-autorob( pose [-43.981 -33.377 0 125.831] )
-autorob( pose [-41.237 -27.539 0 125.831] )
-autorob( pose [-43.296 -31.331 0 125.831] )
-autorob( pose [-43.944 -31.986 0 125.831] )
-
-autorob( pose [-44.580 -34.279 0 125.831] )
-autorob( pose [-42.922 -33.866 0 125.831] )
-autorob( pose [-43.660 -34.316 0 125.831] )
-autorob( pose [-44.536 -32.558 0 125.831] )
-autorob( pose [-44.577 -31.782 0 125.831] )
-autorob( pose [-43.984 -31.210 0 125.831] )
-autorob( pose [-43.392 -30.618 0 125.831] )
-autorob( pose [-44.883 -33.355 0 125.831] )
-autorob( pose [-45.231 -32.681 0 125.831] )
-autorob( pose [-41.102 -30.456 0 125.831] )
-
-autorob( pose [-45.073 -36.830 0 67.057] )
-autorob( pose [-44.086 -35.691 0 28.480] )
-autorob( pose [-46.862 -29.180 0 64.025] )
-autorob( pose [-46.581 -33.705 0 5.703] )
-autorob( pose [-45.732 -35.716 0 5.731] )
-autorob( pose [-45.842 -28.333 0 24.200] )
-autorob( pose [-46.467 -36.704 0 54.480] )
-autorob( pose [-44.175 -37.403 0 54.588] )
-autorob( pose [-44.064 -26.688 0 52.768] )
-autorob( pose [-46.938 -31.373 0 20.367] )
-
-autorob( pose [-47.440 -35.510 0 -41.980] )
-autorob( pose [-47.760 -33.493 0 -59.991] )
-autorob( pose [-47.980 -32.427 0 -65.139] )
-autorob( pose [-46.892 -32.532 0 -73.426] )
-autorob( pose [-47.745 -30.225 0 -93.488] )
-autorob( pose [-48.195 -31.591 0 -99.719] )
-autorob( pose [-44.737 -29.311 0 27.802] )
-autorob( pose [-47.591 -31.136 0 -96.070] )
-autorob( pose [-45.782 -29.718 0 160.446] )
-autorob( pose [-46.106 -30.470 0 46.259] )
-
-autorob( pose [-43.004 -36.811 0 166.511] )
-autorob( pose [-43.272 -38.255 0 175.835] )
-autorob( pose [-42.180 -36.527 0 -72.938] )
-autorob( pose [-43.136 -27.898 0 171.172] )
-autorob( pose [-42.844 -39.141 0 170.270] )
-autorob( pose [-41.369 -38.011 0 -97.026] )
-autorob( pose [-39.427 -36.842 0 -60.696] )
-autorob( pose [-45.649 -34.544 0 -117.508] )
-autorob( pose [-41.753 -35.510 0 -79.502] )
-autorob( pose [-40.121 -38.843 0 160.986] )
-
-autorob( pose [-40.901 -37.503 0 174.453] )
-autorob( pose [-42.063 -37.960 0 174.453] )
-autorob( pose [-39.337 -34.874 0 174.453] )
-autorob( pose [-42.039 -37.399 0 174.453] )
-autorob( pose [-41.455 -36.855 0 174.453] )
-autorob( pose [-41.574 -36.213 0 174.453] )
-autorob( pose [-40.725 -36.173 0 174.453] )
-autorob( pose [-40.019 -35.829 0 174.453] )
-autorob( pose [-44.045 -38.400 0 174.453] )
-autorob( pose [-42.062 -29.093 0 174.453] )
-
-autorob( pose [-40.706 -38.428 0 174.453] )
-autorob( pose [-42.069 -39.308 0 174.453] )
-autorob( pose [-42.719 -37.662 0 174.453] )
-autorob( pose [-43.196 -35.537 0 174.453] )
-autorob( pose [-40.988 -39.361 0 174.453] )
-autorob( pose [-43.974 -36.486 0 174.453] )
-autorob( pose [-42.452 -34.924 0 174.453] )
-autorob( pose [-40.500 -36.917 0 174.453] )
-autorob( pose [-40.727 -35.576 0 174.453] )
-autorob( pose [-40.286 -37.945 0 174.453] )
-
-autorob( pose [-43.635 -20.622 0 -57.456] )
-autorob( pose [-45.346 -20.649 0 -57.456] )
-autorob( pose [-44.518 -21.397 0 -57.456] )
-autorob( pose [-43.796 -21.611 0 -57.456] )
-autorob( pose [-43.074 -19.927 0 -57.456] )
-autorob( pose [-42.610 -21.900 0 -57.456] )
-autorob( pose [-44.703 -20.756 0 -57.456] )
-autorob( pose [-44.898 -19.927 0 -57.456] )
-autorob( pose [-44.371 -19.088 0 -57.456] )
-autorob( pose [-45.320 -17.681 0 -57.456] )
-
-autorob( pose [-44.708 -38.475 0 -57.456] )
-autorob( pose [-45.615 -38.687 0 -57.456] )
-autorob( pose [-46.341 -37.840 0 -57.456] )
-autorob( pose [-45.909 -26.812 0 -57.456] )
-autorob( pose [-44.194 -39.473 0 -57.456] )
-autorob( pose [-45.192 -39.564 0 -57.456] )
-autorob( pose [-46.341 -39.836 0 -57.456] )
-autorob( pose [-44.479 -28.086 0 -57.456] )
-autorob( pose [-42.591 -38.324 0 -48.862] )
-autorob( pose [-46.301 -38.782 0 -57.456] )
-
-# 100
-
-#autorob( pose [-41.819 1.550 0 44.991] )
-#autorob( pose [-42.401 2.181 0 44.991] )
-#autorob( pose [-41.236 3.330 0 44.991] )
-#autorob( pose [-42.078 3.298 0 44.991] )
-#autorob( pose [-40.275 2.456 0 44.991] )
-#autorob( pose [-40.734 4.123 0 44.991] )
-#autorob( pose [-41.592 4.398 0 44.991] )
-#autorob( pose [-42.903 2.877 0 44.991] )
-#autorob( pose [-42.434 1.372 0 44.991] )
-#autorob( pose [-40.555 3.358 0 44.991] )
-
-#110
-
-#autorob( pose [-9.516 3.311 0 44.991] )
-#autorob( pose [-42.308 3.949 0 44.991] )
-#autorob( pose [-43.185 3.682 0 44.991] )
-#autorob( pose [-43.014 2.167 0 44.991] )
-#autorob( pose [-43.719 2.634 0 44.991] )
-#autorob( pose [-43.633 1.986 0 44.991] )
-#autorob( pose [-43.138 1.385 0 44.991] )
-#autorob( pose [-42.490 0.575 0 44.991] )
-#autorob( pose [-41.775 0.699 0 44.991] )
-#autorob( pose [-41.641 2.586 0 44.991] )
-
-#120
-
-#autorob( pose [-44.296 4.967 0 -413.433] )
-#autorob( pose [-43.218 5.200 0 -405.066] )
-#autorob( pose [-47.084 7.178 0 -413.959] )
-#autorob( pose [-45.829 3.428 0 -400.843] )
-#autorob( pose [-46.001 6.965 0 -416.077] )
-#autorob( pose [-43.589 6.170 0 -408.098] )
-#autorob( pose [-45.665 7.690 0 35.677] )
-#autorob( pose [-48.633 7.374 0 -400.002] )
-#autorob( pose [-44.987 3.480 0 -97.678] )
-#autorob( pose [-46.445 7.660 0 68.821] )
-
-#autorob( pose [-47.222 6.291 0 35.145] )
-#autorob( pose [-47.885 7.198 0 35.145] )
-#autorob( pose [-47.254 8.218 0 35.145] )
-#autorob( pose [-47.060 5.498 0 35.145] )
-#autorob( pose [-48.047 6.227 0 35.145] )
-#autorob( pose [-46.930 4.640 0 35.145] )
-#autorob( pose [-47.966 5.417 0 35.145] )
-#autorob( pose [-45.927 4.640 0 35.145] )
-#autorob( pose [-44.988 4.236 0 35.145] )
-#autorob( pose [-45.706 6.151 0 35.145] )
-
-#autorob( pose [-46.419 6.225 0 35.145] )
-#autorob( pose [-44.574 5.868 0 35.145] )
-#autorob( pose [-48.271 8.274 0 35.145] )
-#autorob( pose [-45.801 8.625 0 35.145] )
-#autorob( pose [-46.598 8.835 0 35.145] )
-#autorob( pose [-44.417 6.791 0 35.145] )
-#autorob( pose [-45.235 6.801 0 35.145] )
-#autorob( pose [-45.444 5.260 0 35.145] )
-#autorob( pose [-46.598 5.187 0 35.145] )
-#autorob( pose [-46.461 4.159 0 35.145] )
-
-#autorob( pose [-8.171 13.723 0 -439.469] )
-#autorob( pose [-8.887 12.177 0 -88.070] )
-#autorob( pose [-7.357 15.181 0 -94.395] )
-#autorob( pose [-7.970 15.169 0 -467.188] )
-#autorob( pose [-7.482 13.834 0 -94.067] )
-#autorob( pose [-8.009 13.153 0 -463.083] )
-#autorob( pose [-6.846 13.156 0 -437.774] )
-#autorob( pose [-8.349 14.435 0 -436.374] )
-#autorob( pose [-6.752 14.083 0 -401.104] )
-#autorob( pose [-6.452 15.332 0 -431.336] )
-
-#autorob( pose [-9.099 17.489 0 -443.181] )
-#autorob( pose [-9.610 15.854 0 -443.181] )
-#autorob( pose [-9.589 16.569 0 -443.181] )
-#autorob( pose [-40.059 15.221 0 -443.181] )
-#autorob( pose [-40.264 16.099 0 -443.181] )
-#autorob( pose [-9.814 17.325 0 -443.181] )
-#autorob( pose [-8.271 16.840 0 -443.181] )
-#autorob( pose [-8.629 17.999 0 -443.181] )
-#autorob( pose [-9.467 18.142 0 -443.181] )
-#autorob( pose [-9.079 16.263 0 -443.181] )
-
-#autorob( pose [-9.196 15.409 0 -443.181] )
-#autorob( pose [-9.598 14.812 0 -443.181] )
-#autorob( pose [-9.304 14.280 0 -443.181] )
-#autorob( pose [-8.946 13.737 0 -443.181] )
-#autorob( pose [-8.761 13.140 0 -443.181] )
-#autorob( pose [-8.153 12.629 0 -443.181] )
-#autorob( pose [-7.393 12.618 0 -443.181] )
-#autorob( pose [-8.467 15.712 0 -443.181] )
-#autorob( pose [-7.762 16.132 0 -443.181] )
-#autorob( pose [-8.794 14.855 0 -443.181] )
-
View
320 worlds/fasr2_solo.world
@@ -1,320 +0,0 @@
-
-# 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"
-
-speedup 10.000
-paused 1
-
-# time at which to pause (in GUI mode) or quit (in headless mode) the simulation
-quit_time 3600 # 1 hour of simulated time
-#quit_time 1800 # hour of simulated time
-
-resolution 0.02
-
-threads 0
-
-# configure the GUI window
-window
-(
- size [ 980.000 1016.000 ]
-
- center [ -3.598 0.596 ]
- rotate [ 0 0 ]
- scale 9.570
-
- show_data 1
- show_flags 1
-
- # interval 50
-)
-
-# load an environment bitmap
-floorplan
-(
- name "cave"
- pose [0 0 0 0]
- size [100.000 100.000 0.600]
- bitmap "bitmaps/cave.png"
-)
-
-zone
-(
- color "green"
- pose [ 38.682 -25.820 0 0 ]
- name "green_source"
- ctrl "source"
-)
-
-zone( color "DarkGreen"
- pose [ -10.930 44.453 0 0 ]
- name "green_sink"
- ctrl "sink"
-)
-
-zone( color "blue"
- pose [ -40.264 -18.084 0 0 ]
- name "blue_source"
- ctrl "source"
-)
-
-zone( color "DarkBlue"
- pose [ 39.986 37.517 0 0 ]
- name "blue_sink"
- ctrl "sink"
-)
-
-zone( color "red"
- pose [ -41.325 32.878 0 0 ]
- name "red_source"
- ctrl "source"
-)
-
-zone( color "DarkRed"
- pose [ 40.730 22.450 0 0 ]
- name "red_sink"
- ctrl "sink"
-)
-
-zone( color "yellow"
- pose [ -37.146 -39.531 0 0 ]
- name "yellow_source"
- ctrl "source"
-)
-
-zone( color_rgba [ 0.8 0.8 0 1 ]
- pose [ -38.243 9.591 0 0 ]
- name "yellow_sink"
- ctrl "sink"
-)
-
-zone( color "cyan"
- pose [ 26.255 41.679 0 0 ]
- name "cyan_source"
- ctrl "source"
-)
-
-zone( color "DarkCyan"
- pose [ 9.412 -40.363 0 0 ]
- name "cyan_sink"
- ctrl "sink"
-)
-
-zone( color "magenta"
- pose [ -14.246 -42.150 0 0 ]
- name "magenta_source"
- ctrl "source"
-)
-
-zone( color "DarkMagenta"
- pose [ 38.511 -14.808 0 0 ]
- name "magenta_sink"
- ctrl "sink"
-)
-
-
-define charging_bump model
-(
- pose [0.240 0 -0.100 0 ]
- size [0.120 0.050 0.100]
- take_watts 2000.0
- color "orange"
- obstacle_return 0
-)
-
-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 2000
- fiducial_return 2 # look for this in the fiducial sensor
-
- alwayson 1 # so we give charge without any explicit subscriber
- )
-
-)
-
-#charge_station( pose [ 7.908 -2.510 0 0 ] )
-#charge_station( pose [ 7.920 -3.847 0 0 ] )
-#charge_station( pose [ 7.449 -4.974 0 -40.107 ] )
-#charge_station( pose [ 7.698 -1.432 0 31.513 ] )
-#charge_station( pose [ 5.162 -0.814 0 88.809 ] )
-
-#charge_station( pose [ 3.927 -0.693 0 88.808 ] )
-#charge_station( pose [ 6.427 -0.964 0 74.484 ] )
-#charge_station( pose [ 4.964 -0.752 0 88.808 ] )
-#charge_station( pose [ 3.832 -0.704 0 91.673 ] )
-#charge_station( pose [ 7.949 -4.019 0 0 ] )
-
-define autorob pioneer2dx
-(
- sicklaser( samples 32 range_max 5 laser_return 2 watts 30 )
-# ctrl "fasr2"
- joules 100000
- joules_capacity 400000
- fiducial_return 0
- charging_bump( fiducial( range_max 5 pose [ 0 0 -0.100 0 ] ) )
-
- # small speed optimization
- # trail_length 0
-)
-
-define redbot autorob( color "red" ctrl "fasr2 red" )
-define greenbot autorob( color "green" ctrl "fasr2 green" )
-define bluebot autorob( color "blue" ctrl "fasr2 blue" )
-define cyanbot autorob( color "cyan" ctrl "fasr2 cyan" )
-define yellowbot autorob( color "yellow" ctrl "fasr2 yellow" )
-define magentabot autorob( color "magenta" ctrl "fasr2 magenta" )
-
-#define bot autorob( ctrl "fasr2 " )"
-#define bot autorob( ctrl "fasr2 " )"
-#define bot autorob( ctrl "fasr2 " )"
-
-redbot( pose [-10.909 12.012 0 125.831] joules 100000 )
-#redbot( pose [-11.699 11.274 0 125.831] joules 100000 )
-#redbot( pose [-11.356 10.669 0 125.831] joules 100000 )
-#redbot( pose [-10.066 11.432 0 125.831] joules 100000 )
-#redbot( pose [-10.698 10.458 0 125.831] joules 100000 )
-#redbot( pose [-9.987 10.669 0 125.831] joules 100000 )
-#redbot( pose [-11.593 12.222 0 125.831] joules 100000 )
-#redbot( pose [-10.303 12.222 0 125.831] joules 100000 )
-#redbot( pose [-12.120 12.012 0 125.831] joules 100000 )
-#redbot( pose [-12.601 11.375 0 125.831] joules 100000 )
-
-#redbot( pose [-12.145 10.886 0 125.831] joules 100000 )
-#redbot( pose [-12.710 12.157 0 125.831] joules 100000 )
-#redbot( pose [-12.275 12.775 0 125.831] joules 100000 )
-#redbot( pose [-11.461 13.123 0 125.831] joules 100000 )
-#redbot( pose [-10.679 13.036 0 125.831] joules 100000 )
-#redbot( pose [-12.167 13.514 0 125.831] joules 100000 )
-#redbot( pose [-12.992 13.047 0 125.831] joules 100000 )
-#redbot( pose [-13.372 12.243 0 125.831] joules 100000 )
-#redbot( pose [-13.296 11.331 0 125.831] joules 100000 )
-#redbot( pose [-10.777 11.353 0 125.831] joules 100000 )
-
-
-bluebot( pose [-11.191 6.965 0 174.453] joules 200000 )
-#bluebot( pose [-11.270 8.097 0 174.453] joules 200000 )
-#bluebot( pose [-10.295 6.886 0 174.453] joules 200000 )
-#bluebot( pose [-8.900 8.361 0 174.453] joules 200000 )
-#bluebot( pose [-10.374 8.940 0 174.453] joules 200000 )
-#bluebot( pose [-9.321 7.650 0 174.453] joules 200000 )
-#bluebot( pose [-9.453 9.072 0 174.453] joules 200000 )
-#bluebot( pose [-11.401 8.966 0 174.453] joules 200000 )
-#bluebot( pose [-9.558 6.570 0 174.453] joules 200000 )
-#bluebot( pose [-9.795 8.473 0 174.453] joules 200000 )
-
-#bluebot( pose [-10.901 7.503 0 174.453] joules 200000 )
-#bluebot( pose [-12.063 7.960 0 174.453] joules 200000 )
-#bluebot( pose [-12.159 8.673 0 174.453] joules 200000 )
-#bluebot( pose [-12.039 7.399 0 174.453] joules 200000 )
-#bluebot( pose [-12.151 6.782 0 174.453] joules 200000 )
-#bluebot( pose [-11.574 6.213 0 174.453] joules 200000 )
-#bluebot( pose [-10.725 6.173 0 174.453] joules 200000 )
-#bluebot( pose [-10.019 5.829 0 174.453] joules 200000 )
-#bluebot( pose [-12.824 8.232 0 174.453] joules 200000 )
-#bluebot( pose [-10.276 7.872 0 174.453] joules 200000 )
-
-cyanbot( pose [-4.059 16.220 0 -117.456] joules 400000 )
-#cyanbot( pose [-2.610 16.957 0 -117.456] joules 400000 )
-#cyanbot( pose [-1.794 15.087 0 -117.456] joules 400000 )
-#cyanbot( pose [-4.164 15.272 0 -117.456] joules 400000 )
-#cyanbot( pose [-3.348 14.771 0 -117.456] joules 400000 )
-#cyanbot( pose [-2.242 15.930 0 -117.456] joules 400000 )
-#cyanbot( pose [-3.348 17.036 0 -117.456] joules 400000 )
-#cyanbot( pose [-4.322 17.510 0 -117.456] joules 400000 )
-#cyanbot( pose [-4.822 16.536 0 -117.456] joules 400000 )
-#cyanbot( pose [-5.373 17.628 0 -117.456] joules 400000 )
-
-#cyanbot( pose [-4.708 18.475 0 -117.456] joules 400000 )
-#cyanbot( pose [-5.615 18.687 0 -117.456] joules 400000 )
-#cyanbot( pose [-6.341 17.840 0 -117.456] joules 400000 )
-#cyanbot( pose [-3.710 18.415 0 -117.456] joules 400000 )
-#cyanbot( pose [-4.194 19.473 0 -117.456] joules 400000 )
-#cyanbot( pose [-5.192 19.564 0 -117.456] joules 400000 )
-#cyanbot( pose [-6.341 19.836 0 -117.456] joules 400000 )
-#cyanbot( pose [-2.742 19.050 0 -117.456] joules 400000 )
-#cyanbot( pose [-2.198 18.082 0 -117.456] joules 400000 )
-#cyanbot( pose [-5.796 16.509 0 -117.456] joules 400000 )
-
-greenbot( pose [-7.576 4.137 0 44.991] joules 100000 )
-#greenbot( pose [-8.459 4.269 0 44.991] joules 100000 )
-#greenbot( pose [-9.907 3.766 0 44.991] joules 100000 )
-#greenbot( pose [-10.640 2.698 0 44.991] joules 100000 )
-#greenbot( pose [-8.557 1.729 0 44.991] joules 100000 )
-#greenbot( pose [-9.821 1.505 0 44.991] joules 100000 )
-#greenbot( pose [-7.926 3.090 0 44.991] joules 100000 )
-#greenbot( pose [-9.038 2.865 0 44.991] joules 100000 )
-#greenbot( pose [-11.097 0.973 0 44.991] joules 100000 )
-#greenbot( pose [-11.155 2.003 0 44.991] joules 100000 )
-
-#greenbot( pose [-11.819 1.550 0 44.991] joules 100000 )
-#greenbot( pose [-12.401 2.181 0 44.991] joules 100000 )
-#greenbot( pose [-11.236 3.330 0 44.991] joules 100000 )
-#greenbot( pose [-12.078 3.298 0 44.991] joules 100000 )
-#greenbot( pose [-9.909 2.456 0 44.991] joules 100000 )
-#greenbot( pose [-10.734 4.123 0 44.991] joules 100000 )
-#greenbot( pose [-11.592 4.398 0 44.991] joules 100000 )
-#greenbot( pose [-12.903 2.877 0 44.991] joules 100000 )
-#greenbot( pose [-12.434 1.372 0 44.991] joules 100000 )
-#greenbot( pose [-11.689 2.634 0 44.991] joules 100000 )
-
-yellowbot( pose [-15.452 7.366 0 35.145] joules 200000 )
-#yellowbot( pose [-13.978 6.340 0 35.145] joules 200000 )
-#yellowbot( pose [-16.163 6.524 0 35.145] joules 200000 )
-#yellowbot( pose [-15.979 5.550 0 35.145] joules 200000 )
-#yellowbot( pose [-14.873 5.208 0 35.145] joules 200000 )
-#yellowbot( pose [-14.504 7.419 0 35.145] joules 200000 )
-#yellowbot( pose [-16.374 8.025 0 35.145] joules 200000 )
-#yellowbot( pose [-15.189 8.420 0 35.145] joules 200000 )
-#yellowbot( pose [-13.793 5.576 0 35.145] joules 200000 )
-#yellowbot( pose [-16.914 7.279 0 35.145] joules 200000 )
-
-#yellowbot( pose [-17.222 6.291 0 35.145] joules 200000 )
-#yellowbot( pose [-17.885 7.198 0 35.145] joules 200000 )
-#yellowbot( pose [-17.254 8.218 0 35.145] joules 200000 )
-#yellowbot( pose [-17.060 5.498 0 35.145] joules 200000 )
-#yellowbot( pose [-18.047 6.227 0 35.145] joules 200000 )
-#yellowbot( pose [-16.930 4.640 0 35.145] joules 200000 )
-#yellowbot( pose [-17.966 5.417 0 35.145] joules 200000 )
-#yellowbot( pose [-15.927 4.640 0 35.145] joules 200000 )
-#yellowbot( pose [-14.988 4.236 0 35.145] joules 200000 )
-#yellowbot( pose [-15.004 6.340 0 35.145] joules 200000 )
-
-magentabot( pose [-7.850 14.772 0 -143.181] joules 300000 )
-#magentabot( pose [-8.323 14.087 0 -143.181] joules 300000 )
-#magentabot( pose [-7.850 13.613 0 -143.181] joules 300000 )
-#magentabot( pose [-7.139 14.772 0 -143.181] joules 300000 )
-#magentabot( pose [-6.401 14.061 0 -143.181] joules 300000 )
-#magentabot( pose [-7.165 13.429 0 -143.181] joules 300000 )
-#magentabot( pose [-6.428 13.323 0 -143.181] joules 300000 )
-#magentabot( pose [-7.455 15.430 0 -143.181] joules 300000 )
-#magentabot( pose [-6.507 14.851 0 -143.181] joules 300000 )
-#magentabot( pose [-8.425 15.507 0 -143.181] joules 300000 )
-
-#magentabot( pose [-9.196 15.409 0 -143.181] joules 300000 )
-#magentabot( pose [-9.598 14.812 0 -143.181] joules 300000 )
-#magentabot( pose [-9.304 14.280 0 -143.181] joules 300000 )
-#magentabot( pose [-8.946 13.737 0 -143.181] joules 300000 )
-#magentabot( pose [-8.761 13.140 0 -143.181] joules 300000 )
-#magentabot( pose [-8.153 12.629 0 -143.181] joules 300000 )
-#magentabot( pose [-7.393 12.618 0 -143.181] joules 300000 )
-#magentabot( pose [-8.957 16.386 0 -143.181] joules 300000 )
-#magentabot( pose [-7.925 16.234 0 -143.181] joules 300000 )
-#magentabot( pose [-8.794 14.855 0 -143.181] joules 300000 )
-
View
441 worlds/fasr_40m.world
@@ -1,441 +0,0 @@
-
-# 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"
-
-speedup -1.000 # 10.000
-paused 1
-
-# time at which to pause (in GUI mode) or quit (in headless mode) the simulation
-# quit_time 3600 # 1 hour of simulated time
-quit_time 1000
-
-
-resolution 0.02
-
-threads 8
-
-# configure the GUI window
-window
-(
- size [ 1055.000 1000.000 ]
-
- center [ -1.828 -2.339 ]
- rotate [ 0 0 ]
- scale 20.950
-
- show_data 1
- show_flags 1
-
- # interval 50
-)
-
-# load an environment bitmap
-floorplan
-(
- name "cave"
- pose [0 0 0 0]
- size [40.000 40.000 0.600]
- bitmap "bitmaps/cave.png"
-)
-
-
-define smallzone zone ( size [ 2.000 2.000 0.020 ] )
-
-smallzone( color "red"
- pose [ 10.218 17.970 0 0 ]
- name "red_source"
- ctrl "source 100 10"
-)
-
-smallzone( color "DarkRed"
- pose [ 17.909 18.611 0 0 ]
- name "red_sink"
- ctrl "sink"
-)
-smallzone
-(
- color "green"
- pose [ 10.481 13.318 0 0 ]
- name "green_source"
- ctrl "source 200 10"
-)
-
-smallzone( color "DarkGreen"
- pose [ 18.173 13.723 0 0 ]
- name "green_sink"
- ctrl "sink"
-)
-
-smallzone( color "blue"
- pose [ 18.008 -10.127 0 0 ]
- name "blue_source"
- ctrl "source 200 10"
-)
-
-smallzone( color "DarkBlue"
- pose [ 8.303 -17.579 0 0 ]
- name "blue_sink"
- ctrl "sink"
-)
-
-
-smallzone( color "yellow"
- pose [ -17.280 -5.711 0 0 ]
- name "yellow_source"
- ctrl "source 200 10"
-)
-
-smallzone( color_rgba [ 0.8 0.8 0 1 ]
- pose [ -17.704 17.425 0 0 ]
- name "yellow_sink"
- ctrl "sink"
-)
-
-smallzone( color "cyan"
- pose [ -4.955 17.181 0 0 ]
- name "cyan_source"
- ctrl "source 200 10"
-)
-
-smallzone( color "DarkCyan"
- pose [ -4.596 -17.377 0 0 ]
- name "cyan_sink"
- ctrl "sink"
-)
-
-smallzone( color "magenta"
- pose [ -4.848 -11.313 0 0 ]
- name "magenta_source"
- ctrl "source 200 10"
-)
-
-smallzone( color "DarkMagenta"
- pose [ 17.717 -5.020 0 0 ]
- name "magenta_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 charge_station model
-(
- size [ 0.100 0.100 0.300 ]
- color "purple"
-
- laser_return 0
- obstacle_return 0
- fiducial_return 2 # look for this in the fiducial sensor
-
- # 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 ] )
-
- kjoules -1 # provides infinite energy
- give_watts 1000
- alwayson 1 # so we give charge without any explicit subscriber
-)
-
-
-
-
-charge_station( pose [ -8.500 -19.900 0 90.000 ] )
-charge_station( pose [ -9.500 -19.900 0 90.000 ] )
-charge_station( pose [ -10.500 -19.900 0 90.000 ] )
-charge_station( pose [ -11.500 -19.900 0 90.000 ] )
-charge_station( pose [ -12.500 -19.900 0 90.000 ] )
-charge_station( pose [ -13.500 -19.900 0 90.000 ] )
-charge_station( pose [ -14.500 -19.900 0 90.000 ] )
-charge_station( pose [ -15.500 -19.900 0 90.000 ] )
-charge_station( pose [ -16.500 -19.900 0 90.000 ] )
-charge_station( pose [ -17.500 -19.900 0 90.000 ] )
-
-#charge_station( pose [ -38.00 -19.9 0 90.000 ] )
-#charge_station( pose [ -39.00 -19.9 0 90.000 ] )
-#charge_station( pose [ -40.00 -19.9 0 90.000 ] )
-#charge_station( pose [ -41.00 -19.9 0 90.000 ] )
-#charge_station( pose [ -42.00 -19.9 0 90.000 ] )
-#charge_station( pose [ -43.00 -19.9 0 90.000 ] )
-#charge_station( pose [ -44.00 -19.9 0 90.000 ] )
-#charge_station( pose [ -45.00 -19.9 0 90.000 ] )
-#charge_station( pose [ -46.00 -19.9 0 90.000 ] )
-#charge_station( pose [ -47.0 -19.9 0 90.000 ] )
-
-charge_station( pose [ -19.900 -8.500 0 0 ] )
-charge_station( pose [ -19.900 -9.500 0 0 ] )
-charge_station( pose [ -19.900 -10.500 0 0 ] )
-charge_station( pose [ -19.900 -11.500 0 0 ] )
-charge_station( pose [ -19.900 -12.500 0 0 ] )
-charge_station( pose [ -19.900 -13.500 0 0 ] )
-charge_station( pose [ -19.900 -14.500 0 0 ] )
-charge_station( pose [ -19.900 -15.500 0 0 ] )
-charge_station( pose [ -19.900 -16.500 0 0 ] )
-charge_station( pose [ -19.900 -17.500 0 0 ] )
-
-smallzone( color "orange"
- pose [ -12.930 -13.470 0 0 ]
- name "fuel_zone"
- size [ 1.000 1.000 0.010 ]
- gui_move 1
-)
-
-smallzone( color "wheat"
- pose [ 2.764 -12.594 0 0 ]
- name "pool_zone"
- size [ 1.000 1.000 0.010 ]
- gui_move 1
-)
-
-define buffer model
-(
- color "orange"
- size [ 0.100 13.000 1.000 ]
-)
-
-#buffer( pose [ -49.543 -42.500 0 0 ] )
-#buffer( pose [ -42.595 -49.527 0 90.000 ] )
-
-define blinker model
-(
- color "orange"
- size [ 0.100 0.700 0.600 ]
-)
-
-#blinker( pose [ -36.066 -48.834 0 0 ] )
-#blinker( pose [ -36.990 -48.838 0 0 ] )
-#blinker( pose [ -38.063 -48.836 0 0 ] )
-#blinker( pose [ -39.020 -48.831 0 0 ] )
-#blinker( pose [ -40.012 -48.823 0 0 ] )
-#blinker( pose [ -41.035 -48.812 0 0 ] )
-#blinker( pose [ -42.047 -48.775 0 0 ] )
-#blinker( pose [ -43.026 -48.834 0 0 ] )
-
-define autorob pioneer2dx
-(
- sicklaser( samples 32 range_max 2 laser_return 2 watts 30 )
-# ctrl "fasr2"
- kjoules 400
- kjoules_capacity 400
- fiducial_return 0
- charging_bump( obstacle_return 0 fiducial( range_max_id 9 range_max 9 fov 180 pose [ 0 0 -0.050 0 ] ) )
-
- # small speed optimization
- # trail_length 0
-
- ctrl "fasr2 red green blue yellow cyan magenta"
-)
-
-
-
-autorob( pose [-11.073 14.638 0 -14.570] )
-autorob( pose [-3.664 14.079 0 0.270] )
-autorob( pose [-12.813 13.068 0 0.328] )
-autorob( pose [-7.427 15.567 0 19.957] )
-autorob( pose [-6.783 10.442 0 111.261] )
-autorob( pose [1.937 17.295 0 -0.142] )
-autorob( pose [-11.634 15.491 0 108.753] )
-autorob( pose [-9.734 14.469 0 106.572] )
-autorob( pose [-18.978 8.124 0 89.671] )
-autorob( pose [-19.049 10.009 0 32.476] )
-
-autorob( pose [-6.112 11.392 0 -6.058] )
-autorob( pose [-4.105 11.861 0 -0.012] )
-autorob( pose [-6.160 14.503 0 67.392] )
-autorob( pose [-3.812 15.205 0 -16.206] )
-autorob( pose [-9.646 11.922 0 -22.247] )
-autorob( pose [-3.200 10.256 0 69.461] )
-autorob( pose [-18.938 3.403 0 0.314] )
-autorob( pose [-14.100 14.631 0 0.283] )
-autorob( pose [-16.611 9.535 0 -1.299] )
-autorob( pose [-14.047 10.862 0 -0.103] )
-
-autorob( pose [-14.493 13.911 0 0.499] )
-autorob( pose [-14.150 15.349 0 178.048] )
-autorob( pose [-9.700 13.540 0 -43.831] )
-autorob( pose [-17.721 9.977 0 0.067] )
-autorob( pose [-16.432 8.168 0 0.069] )
-autorob( pose [-18.136 -0.751 0 35.649] )
-autorob( pose [-5.335 12.722 0 0.737] )
-autorob( pose [-16.926 10.646 0 0.137] )
-autorob( pose [-12.750 6.295 0 -16.616] )
-autorob( pose [-2.913 6.841 0 -50.403] )
-
-autorob( pose [-9.130 4.681 0 -3.581] )
-autorob( pose [-17.728 -1.259 0 163.583] )
-autorob( pose [-15.801 9.292 0 0.740] )
-autorob( pose [-7.805 2.031 0 7.958] )
-autorob( pose [-12.771 0.353 0 0.162] )
-autorob( pose [-6.256 10.621 0 -108.281] )
-autorob( pose [-6.119 6.997 0 -151.816] )
-autorob( pose [-18.632 11.507 0 5.075] )
-autorob( pose [-8.465 1.297 0 -3.200] )
-autorob( pose [-7.215 2.674 0 0.031] )
-
-autorob( pose [-14.726 8.026 0 0.847] )
-autorob( pose [-2.783 9.267 0 -84.392] )
-autorob( pose [-10.224 1.653 0 0.099] )
-autorob( pose [-2.571 7.271 0 -128.541] )
-autorob( pose [-0.725 7.811 0 -0.304] )
-autorob( pose [-16.135 11.414 0 53.092] )
-autorob( pose [-10.909 -0.845 0 0.141] )
-autorob( pose [-2.195 -4.244 0 0.075] )
-autorob( pose [-5.075 10.145 0 -13.273] )
-autorob( pose [-1.678 8.352 0 -38.840] )
-
-autorob( pose [-7.211 3.713 0 0.397] )
-autorob( pose [-6.892 11.071 0 -80.027] )
-autorob( pose [-17.240 5.413 0 -6.403] )
-autorob( pose [-13.086 15.336 0 6.999] )
-autorob( pose [-12.354 13.839 0 -5.117] )
-autorob( pose [-4.043 10.869 0 -16.433] )
-autorob( pose [-17.870 3.682 0 47.808] )
-autorob( pose [-3.266 13.084 0 29.950] )
-autorob( pose [-2.827 7.796 0 34.088] )
-autorob( pose [-6.394 8.812 0 -66.956] )
-
-autorob( pose [-4.267 16.675 0 -35.762] )
-autorob( pose [-7.022 16.995 0 -159.981] )
-autorob( pose [12.183 14.794 0 0.176] )
-autorob( pose [-10.174 15.461 0 -19.469] )
-autorob( pose [-8.712 13.219 0 150.275] )
-autorob( pose [4.914 18.887 0 -136.687] )
-autorob( pose [14.405 12.281 0 0.143] )
-autorob( pose [-7.374 17.431 0 34.256] )
-autorob( pose [-5.576 15.907 0 -0.343] )
-autorob( pose [5.794 17.328 0 0.153] )
-
-autorob( pose [-9.240 12.454 0 100.710] )
-autorob( pose [-10.440 12.760 0 -175.822] )
-autorob( pose [4.471 17.852 0 0.193] )
-autorob( pose [-3.305 17.525 0 9.638] )
-autorob( pose [-7.767 16.009 0 -123.802] )
-autorob( pose [-0.178 17.609 0 0.346] )
-autorob( pose [-2.222 18.553 0 -0.039] )
-autorob( pose [7.344 18.829 0 0.118] )
-autorob( pose [-4.031 8.246 0 0.446] )
-autorob( pose [-13.144 14.114 0 0.208] )
-
-autorob( pose [-4.952 18.094 0 0.063] )
-autorob( pose [-19.015 17.946 0 -93.897] )
-autorob( pose [-10.249 12.221 0 49.031] )
-autorob( pose [1.012 7.329 0 0.422] )
-autorob( pose [-4.218 15.714 0 -120.118] )
-autorob( pose [-6.474 18.220 0 0.259] )
-autorob( pose [-4.670 14.511 0 -45.901] )
-autorob( pose [4.123 15.595 0 0.281] )
-autorob( pose [-3.400 15.627 0 -45.171] )
-autorob( pose [-8.181 14.988 0 5.715] )
-
-autorob( pose [-5.184 5.286 0 0.233] )
-autorob( pose [-9.393 0.921 0 0.179] )
-autorob( pose [3.042 18.959 0 0.305] )
-autorob( pose [-6.616 5.249 0 34.150] )
-autorob( pose [-15.134 15.839 0 -3.509] )
-autorob( pose [-4.331 9.374 0 -4.658] )
-autorob( pose [-6.695 13.892 0 135.673] )
-autorob( pose [-7.588 16.781 0 -72.238] )
-autorob( pose [-7.521 12.603 0 -143.705] )
-autorob( pose [-1.360 6.264 0 -3.529] )
-
-#100
-
-#autorob( pose [-11.819 1.550 0 44.991] )
-#autorob( pose [-12.401 2.181 0 44.991] )
-#autorob( pose [-11.236 3.330 0 44.991] )
-#autorob( pose [-12.078 3.298 0 44.991] )
-#autorob( pose [-10.275 2.456 0 44.991] )
-#autorob( pose [-10.734 4.123 0 44.991] )
-#autorob( pose [-11.592 4.398 0 44.991] )
-#autorob( pose [-12.903 2.877 0 44.991] )
-#autorob( pose [-12.434 1.372 0 44.991] )
-#autorob( pose [-10.555 3.358 0 44.991] )
-
-#autorob( pose [-9.516 3.311 0 44.991] )
-#autorob( pose [-12.308 3.949 0 44.991] )
-#autorob( pose [-13.185 3.682 0 44.991] )
-#autorob( pose [-13.014 2.167 0 44.991] )
-#autorob( pose [-13.719 2.634 0 44.991] )
-#autorob( pose [-13.633 1.986 0 44.991] )
-#autorob( pose [-13.138 1.385 0 44.991] )
-#autorob( pose [-12.490 0.575 0 44.991] )
-#autorob( pose [-11.775 0.699 0 44.991] )
-#autorob( pose [-11.641 2.586 0 44.991] )
-
-#autorob( pose [-14.296 4.967 0 -113.433] )
-#autorob( pose [-13.218 5.200 0 -105.066] )
-#autorob( pose [-17.084 7.178 0 -113.959] )
-#autorob( pose [-15.829 3.428 0 -100.843] )
-#autorob( pose [-16.001 6.965 0 -116.077] )
-#autorob( pose [-13.589 6.170 0 -108.098] )
-#autorob( pose [-15.665 7.690 0 35.677] )
-#autorob( pose [-18.633 7.374 0 -100.002] )
-#autorob( pose [-14.987 3.480 0 -97.678] )
-#autorob( pose [-16.445 7.660 0 68.821] )
-
-#autorob( pose [-17.222 6.291 0 35.145] )
-#autorob( pose [-17.885 7.198 0 35.145] )
-#autorob( pose [-17.254 8.218 0 35.145] )
-#autorob( pose [-17.060 5.498 0 35.145] )
-#autorob( pose [-18.047 6.227 0 35.145] )
-#autorob( pose [-16.930 4.640 0 35.145] )
-#autorob( pose [-17.966 5.417 0 35.145] )
-#autorob( pose [-15.927 4.640 0 35.145] )
-#autorob( pose [-14.988 4.236 0 35.145] )
-#autorob( pose [-15.706 6.151 0 35.145] )
-
-#autorob( pose [-16.419 6.225 0 35.145] )
-#autorob( pose [-14.574 5.868 0 35.145] )
-#autorob( pose [-18.271 8.274 0 35.145] )
-#autorob( pose [-15.801 8.625 0 35.145] )
-#autorob( pose [-16.598 8.835 0 35.145] )
-#autorob( pose [-14.417 6.791 0 35.145] )
-#autorob( pose [-15.235 6.801 0 35.145] )
-#autorob( pose [-15.444 5.260 0 35.145] )
-#autorob( pose [-16.598 5.187 0 35.145] )
-#autorob( pose [-16.461 4.159 0 35.145] )
-
-#autorob( pose [-8.171 13.723 0 -139.469] )
-#autorob( pose [-8.887 12.177 0 -88.070] )
-#autorob( pose [-7.357 15.181 0 -94.395] )
-#autorob( pose [-7.970 15.169 0 -167.188] )
-#autorob( pose [-7.482 13.834 0 -94.067] )
-#autorob( pose [-8.009 13.153 0 -163.083] )
-#autorob( pose [-6.846 13.156 0 -137.774] )
-#autorob( pose [-8.349 14.435 0 -136.374] )
-#autorob( pose [-6.752 14.083 0 -101.104] )
-#autorob( pose [-6.452 15.332 0 -131.336] )
-
-#autorob( pose [-9.099 17.489 0 -143.181] )
-#autorob( pose [-9.610 15.854 0 -143.181] )
-#autorob( pose [-9.589 16.569 0 -143.181] )
-#autorob( pose [-10.059 15.221 0 -143.181] )
-#autorob( pose [-10.264 16.099 0 -143.181] )
-#autorob( pose [-9.814 17.325 0 -143.181] )
-#autorob( pose [-8.271 16.840 0 -143.181] )
-#autorob( pose [-8.629 17.999 0 -143.181] )
-#autorob( pose [-9.467 18.142 0 -143.181] )
-#autorob( pose [-9.079 16.263 0 -143.181] )
-
-#autorob( pose [-9.196 15.409 0 -143.181] )
-#autorob( pose [-9.598 14.812 0 -143.181] )
-#autorob( pose [-9.304 14.280 0 -143.181] )
-#autorob( pose [-8.946 13.737 0 -143.181] )
-#autorob( pose [-8.761 13.140 0 -143.181] )
-#autorob( pose [-8.153 12.629 0 -143.181] )
-#autorob( pose [-7.393 12.618 0 -143.181] )
-#autorob( pose [-8.467 15.712 0 -143.181] )
-#autorob( pose [-7.762 16.132 0 -143.181] )
-#autorob( pose [-8.794 14.855 0 -143.181] )
-
View
441 worlds/fasr_50m.world
@@ -1,441 +0,0 @@
-
-# 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"
-
-speedup -1.000 # 10.000
-paused 0
-
-# time at which to pause (in GUI mode) or quit (in headless mode) the simulation
-# quit_time 3600 # 1 hour of simulated time
-quit_time 500
-
-
-resolution 0.02
-
-threads 4
-
-# configure the GUI window
-window
-(
- size [ 1055.000 1000.000 ]
-
- center [ 0.746 -1.956 ]
- rotate [ 0 0 ]
- scale 14.438
-
- show_data 0
- show_flags 0
-
- # interval 50
-)
-
-# load an environment bitmap
-floorplan
-(
- name "cave"
- pose [0 0 0 0]
- size [50.000 50.000 0.600]
- bitmap "bitmaps/cave.png"
-)
-
-
-define smallzone zone ( size [ 2.000 2.000 0.020 ] )
-
-smallzone( color "red"
- pose [ 9.304 22.996 0 0 ]
- name "red_source"
- ctrl "source 50 10"
-)
-
-smallzone( color "DarkRed"
- pose [ 22.746 23.241 0 0 ]
- name "red_sink"
- ctrl "sink"
-)
-smallzone
-(
- color "green"
- pose [ 9.567 17.430 0 0 ]
- name "green_source"
- ctrl "source 100 10"
-)
-
-smallzone( color "DarkGreen"
- pose [ 22.913 17.035 0 0 ]
- name "green_sink"
- ctrl "sink"
-)
-
-smallzone( color "blue"
- pose [ -6.474 -18.383 0 0 ]
- name "blue_source"
- ctrl "source 100 10"
-)
-
-smallzone( color "DarkBlue"
- pose [ 23.469 -11.196 0 0 ]
- name "blue_sink"
- ctrl "sink"
-)
-
-
-smallzone( color "yellow"
- pose [ -21.895 -9.333 0 0 ]
- name "yellow_source"
- ctrl "source 100 10"
-)
-
-smallzone( color_rgba [ 0.8 0.8 0 1 ]
- pose [ -22.024 22.444 0 0 ]
- name "yellow_sink"
- ctrl "sink"
-)
-
-smallzone( color "cyan"
- pose [ -14.288 1.781 0 0 ]
- name "cyan_source"
- ctrl "source 100 10"
-)
-
-smallzone( color "DarkCyan"
- pose [ 23.173 13.886 0 0 ]
- name "cyan_sink"
- ctrl "sink"
-)
-
-smallzone( color "magenta"
- pose [ -5.333 -3.861 0 0 ]
- name "magenta_source"
- ctrl "source 100 10"
-)
-
-smallzone( color "DarkMagenta"
- pose [ 22.228 -5.847 0 0 ]
- name "magenta_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 charge_station model
-(
- size [ 0.100 0.100 0.300 ]
- color "purple"
-
- laser_return 0
- obstacle_return 0
- fiducial_return 2 # look for this in the fiducial sensor
-
- # 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 ] )
-
- kjoules -1 # provides infinite energy
- give_watts 1000
- alwayson 1 # so we give charge without any explicit subscriber
-)
-
-
-
-
-charge_station( pose [ -13.500 -24.900 0 90.000 ] )
-charge_station( pose [ -14.500 -24.900 0 90.000 ] )
-charge_station( pose [ -15.500 -24.900 0 90.000 ] )
-charge_station( pose [ -16.500 -24.900 0 90.000 ] )
-charge_station( pose [ -17.500 -24.900 0 90.000 ] )
-charge_station( pose [ -18.500 -24.900 0 90.000 ] )
-charge_station( pose [ -19.500 -24.900 0 90.000 ] )
-charge_station( pose [ -20.500 -24.900 0 90.000 ] )
-charge_station( pose [ -21.500 -24.900 0 90.000 ] )
-charge_station( pose [ -22.500 -24.900 0 90.000 ] )
-
-#charge_station( pose [ -38.00 -24.9 0 90.000 ] )
-#charge_station( pose [ -39.00 -24.9 0 90.000 ] )
-#charge_station( pose [ -40.00 -24.9 0 90.000 ] )
-#charge_station( pose [ -41.00 -24.9 0 90.000 ] )
-#charge_station( pose [ -42.00 -24.9 0 90.000 ] )
-#charge_station( pose [ -43.00 -24.9 0 90.000 ] )
-#charge_station( pose [ -44.00 -24.9 0 90.000 ] )
-#charge_station( pose [ -45.00 -24.9 0 90.000 ] )
-#charge_station( pose [ -46.00 -24.9 0 90.000 ] )
-#charge_station( pose [ -47.0 -24.9 0 90.000 ] )
-
-charge_station( pose [ -24.900 -13.500 0 0 ] )
-charge_station( pose [ -24.900 -14.500 0 0 ] )
-charge_station( pose [ -24.900 -15.500 0 0 ] )
-charge_station( pose [ -24.900 -16.500 0 0 ] )
-charge_station( pose [ -24.900 -17.500 0 0 ] )
-charge_station( pose [ -24.900 -18.500 0 0 ] )
-charge_station( pose [ -24.900 -19.500 0 0 ] )
-charge_station( pose [ -24.900 -20.500 0 0 ] )
-charge_station( pose [ -24.900 -21.500 0 0 ] )
-charge_station( pose [ -24.900 -22.500 0 0 ] )
-
-smallzone( color "orange"
- pose [ -17.631 -17.663 0 0 ]
- name "fuel_zone"
- size [ 1.000 1.000 0.010 ]
- gui_move 1
-)
-
-smallzone( color "wheat"
- pose [ 1.773 -24.100 0 0 ]
- name "pool_zone"
- size [ 1.000 1.000 0.010 ]
- gui_move 1
-)
-
-define buffer model
-(
- color "orange"
- size [ 0.100 13.000 1.000 ]
-)
-
-#buffer( pose [ -49.543 -42.500 0 0 ] )
-#buffer( pose [ -42.595 -49.527 0 90.000 ] )
-
-define blinker model
-(
- color "orange"
- size [ 0.100 0.700 0.600 ]
-)
-
-#blinker( pose [ -36.066 -48.834 0 0 ] )
-#blinker( pose [ -36.990 -48.838 0 0 ] )
-#blinker( pose [ -38.063 -48.836 0 0 ] )
-#blinker( pose [ -39.020 -48.831 0 0 ] )
-#blinker( pose [ -40.012 -48.823 0 0 ] )
-#blinker( pose [ -41.035 -48.812 0 0 ] )
-#blinker( pose [ -42.047 -48.775 0 0 ] )
-#blinker( pose [ -43.026 -48.834 0 0 ] )
-
-define autorob pioneer2dx
-(
- sicklaser( samples 32 range_max 2 laser_return 2 watts 30 )
-# ctrl "fasr2"
- kjoules 400
- kjoules_capacity 400
- fiducial_return 0
- charging_bump( obstacle_return 0 fiducial( range_max_id 9 range_max 9 fov 180 pose [ 0 0 -0.050 0 ] ) )
-
- # small speed optimization
- # trail_length 0
-
- ctrl "fasr2 red green blue yellow cyan magenta"
-)
-
-
-
-autorob( pose [5.782 6.484 0 -164.391] )
-autorob( pose [8.716 7.849 0 -145.386] )
-autorob( pose [18.196 22.065 0 -170.203] )
-autorob( pose [6.568 -4.287 0 -1.784] )
-autorob( pose [-21.074 2.574 0 110.475] )
-autorob( pose [16.042 13.485 0 2.204] )
-autorob( pose [-20.422 6.431 0 -89.882] )
-autorob( pose [-20.020 2.334 0 -78.518] )
-autorob( pose [-20.640 14.337 0 -86.730] )
-autorob( pose [-23.477 20.502 0 80.906] )
-
-autorob( pose [14.128 -12.265 0 26.429] )
-autorob( pose [-19.500 -24.585 0 -90.019] )
-autorob( pose [-23.532 3.374 0 91.229] )
-autorob( pose [18.910 24.437 0 1.179] )
-autorob( pose [-13.500 -24.586 0 -89.999] )
-autorob( pose [11.411 10.480 0 -154.328] )
-autorob( pose [14.511 24.096 0 7.177] )
-autorob( pose [8.807 -17.864 0 -169.242] )
-autorob( pose [-19.682 -17.687 0 21.778] )
-autorob( pose [-17.500 -24.585 0 -90.001] )
-
-autorob( pose [-22.500 -24.585 0 -89.998] )
-autorob( pose [21.746 18.127 0 -19.240] )
-autorob( pose [-7.054 1.943 0 -158.039] )
-autorob( pose [-4.140 -4.460 0 162.638] )
-autorob( pose [-21.803 -11.403 0 68.734] )
-autorob( pose [19.557 16.770 0 -174.637] )
-autorob( pose [12.084 16.377 0 -159.525] )
-autorob( pose [22.218 -11.627 0 -153.382] )
-autorob( pose [-21.801 -5.772 0 87.614] )
-autorob( pose [7.249 -18.084 0 -172.409] )
-
-autorob( pose [16.584 24.305 0 3.999] )
-autorob( pose [10.481 16.212 0 178.709] )
-autorob( pose [-24.456 -19.500 0 -118.117] )
-autorob( pose [-15.500 -24.585 0 -90.003] )
-autorob( pose [-21.500 -24.586 0 -90.007] )
-autorob( pose [-3.964 7.720 0 24.926] )
-autorob( pose [-2.780 -19.432 0 -178.338] )
-autorob( pose [-8.160 5.508 0 42.584] )
-autorob( pose [-23.605 13.647 0 89.519] )
-autorob( pose [10.269 23.038 0 25.559] )
-
-autorob( pose [0.150 6.074 0 -170.344] )
-autorob( pose [13.625 13.412 0 2.376] )
-autorob( pose [-12.041 3.622 0 50.631] )
-autorob( pose [-20.413 5.172 0 -89.596] )
-autorob( pose [12.304 23.709 0 12.900] )
-autorob( pose [-3.744 4.423 0 -122.380] )
-autorob( pose [18.700 -10.968 0 8.271] )
-autorob( pose [9.843 17.152 0 -3.776] )
-autorob( pose [11.604 21.625 0 174.293] )
-autorob( pose [-24.584 -18.500 0 -179.999] )
-
-autorob( pose [17.293 16.601 0 -177.139] )
-autorob( pose [-21.413 8.502 0 -89.838] )
-autorob( pose [-24.584 -20.500 0 -179.926] )
-autorob( pose [9.164 -14.413 0 24.780] )
-autorob( pose [2.086 11.344 0 4.183] )
-autorob( pose [15.325 -14.654 0 -166.327] )
-autorob( pose [0.993 9.107 0 -129.069] )
-autorob( pose [-24.585 -13.500 0 -179.997] )
-autorob( pose [-23.510 -17.566 0 -2.265] )
-autorob( pose [20.494 24.377 0 -6.610] )
-
-autorob( pose [-24.429 -16.500 0 -179.996] )
-autorob( pose [-20.486 10.612 0 -88.573] )
-autorob( pose [18.464 -5.610 0 179.760] )
-autorob( pose [-21.187 -11.556 0 -103.659] )
-autorob( pose [-23.565 5.428 0 90.654] )
-autorob( pose [-20.394 -1.729 0 -90.428] )
-autorob( pose [-23.144 -3.560 0 96.599] )
-autorob( pose [16.262 -11.463 0 15.315] )
-autorob( pose [-18.500 -24.585 0 -90.001] )
-autorob( pose [-14.500 -24.585 0 -89.998] )
-
-autorob( pose [15.838 18.472 0 2.181] )
-autorob( pose [0.286 -4.161 0 -2.986] )
-autorob( pose [11.410 17.326 0 20.635] )
-autorob( pose [-13.273 1.218 0 -84.343] )
-autorob( pose [-23.589 19.430 0 86.550] )
-autorob( pose [20.054 22.485 0 -164.321] )
-autorob( pose [-24.586 -22.500 0 -179.985] )
-autorob( pose [13.904 -5.609 0 -179.629] )
-autorob( pose [-24.585 -21.500 0 -179.921] )
-autorob( pose [-21.166 -15.745 0 167.668] )
-
-autorob( pose [-23.586 7.995 0 90.704] )
-autorob( pose [17.275 -4.381 0 0.178] )
-autorob( pose [-13.913 1.578 0 61.561] )
-autorob( pose [22.242 23.878 0 -62.301] )
-autorob( pose [10.540 21.804 0 165.310] )
-autorob( pose [-5.834 6.991 0 22.896] )
-autorob( pose [17.778 24.386 0 3.321] )
-autorob( pose [10.268 13.092 0 7.525] )
-autorob( pose [-24.586 -17.500 0 180.000] )
-autorob( pose [17.018 11.257 0 -167.502] )
-
-autorob( pose [4.624 -13.736 0 1.427] )
-autorob( pose [21.722 -10.787 0 -4.463] )
-autorob( pose [-0.166 9.880 0 24.494] )
-autorob( pose [11.381 16.223 0 -133.560] )
-autorob( pose [-12.907 0.810 0 -152.188] )
-autorob( pose [-19.213 -16.317 0 154.047] )
-autorob( pose [-16.500 -24.585 0 -90.000] )
-autorob( pose [-20.500 -24.585 0 -90.020] )
-autorob( pose [12.150 -5.610 0 -179.976] )
-autorob( pose [-24.585 -14.504 0 179.199] )
-
-#100
-
-#autorob( pose [-11.824 1.550 0 44.991] )
-#autorob( pose [-12.401 2.181 0 44.991] )
-#autorob( pose [-11.236 3.330 0 44.991] )
-#autorob( pose [-12.078 3.298 0 44.991] )
-#autorob( pose [-10.275 2.456 0 44.991] )
-#autorob( pose [-10.734 4.123 0 44.991] )
-#autorob( pose [-11.592 4.398 0 44.991] )
-#autorob( pose [-12.903 2.877 0 44.991] )
-#autorob( pose [-12.434 1.372 0 44.991] )
-#autorob( pose [-10.555 3.358 0 44.991] )
-
-#autorob( pose [-9.516 3.311 0 44.991] )
-#autorob( pose [-12.308 3.949 0 44.991] )
-#autorob( pose [-13.185 3.682 0 44.991] )
-#autorob( pose [-13.014 2.167 0 44.991] )
-#autorob( pose [-13.724 2.634 0 44.991] )
-#autorob( pose [-13.633 1.986 0 44.991] )
-#autorob( pose [-13.138 1.385 0 44.991] )
-#autorob( pose [-12.490 0.575 0 44.991] )
-#autorob( pose [-11.775 0.699 0 44.991] )
-#autorob( pose [-11.641 2.586 0 44.991] )
-
-#autorob( pose [-14.296 4.967 0 -113.433] )
-#autorob( pose [-13.218 5.200 0 -105.066] )
-#autorob( pose [-17.084 7.178 0 -113.959] )
-#autorob( pose [-15.829 3.428 0 -100.843] )
-#autorob( pose [-16.001 6.965 0 -116.077] )
-#autorob( pose [-13.589 6.170 0 -108.098] )
-#autorob( pose [-15.665 7.690 0 35.677] )
-#autorob( pose [-18.633 7.374 0 -100.002] )
-#autorob( pose [-14.987 3.480 0 -97.678] )
-#autorob( pose [-16.445 7.660 0 68.821] )
-
-#autorob( pose [-17.222 6.291 0 35.145] )
-#autorob( pose [-17.885 7.248 0 35.145] )
-#autorob( pose [-17.254 8.218 0 35.145] )
-#autorob( pose [-17.060 5.498 0 35.145] )
-#autorob( pose [-18.047 6.227 0 35.145] )
-#autorob( pose [-16.930 4.640 0 35.145] )
-#autorob( pose [-17.966 5.417 0 35.145] )
-#autorob( pose [-15.927 4.640 0 35.145] )
-#autorob( pose [-14.988 4.236 0 35.145] )
-#autorob( pose [-15.706 6.151 0 35.145] )
-
-#autorob( pose [-16.424 6.225 0 35.145] )
-#autorob( pose [-14.574 5.868 0 35.145] )
-#autorob( pose [-18.271 8.274 0 35.145] )
-#autorob( pose [-15.801 8.625 0 35.145] )
-#autorob( pose [-16.598 8.835 0 35.145] )
-#autorob( pose [-14.417 6.791 0 35.145] )
-#autorob( pose [-15.235 6.801 0 35.145] )
-#autorob( pose [-15.444 5.260 0 35.145] )
-#autorob( pose [-16.598 5.187 0 35.145] )
-#autorob( pose [-16.461 4.159 0 35.145] )
-
-#autorob( pose [-8.171 13.723 0 -139.469] )
-#autorob( pose [-8.887 12.177 0 -88.070] )
-#autorob( pose [-7.357 15.181 0 -94.395] )
-#autorob( pose [-7.970 15.169 0 -167.188] )
-#autorob( pose [-7.482 13.834 0 -94.067] )
-#autorob( pose [-8.009 13.153 0 -163.083] )
-#autorob( pose [-6.846 13.156 0 -137.774] )
-#autorob( pose [-8.349 14.435 0 -136.374] )
-#autorob( pose [-6.752 14.083 0 -101.104] )
-#autorob( pose [-6.452 15.332 0 -131.336] )
-
-#autorob( pose [-9.099 17.489 0 -143.181] )
-#autorob( pose [-9.610 15.854 0 -143.181] )
-#autorob( pose [-9.589 16.569 0 -143.181] )
-#autorob( pose [-10.059 15.221 0 -143.181] )
-#autorob( pose [-10.264 16.099 0 -143.181] )
-#autorob( pose [-9.814 17.325 0 -143.181] )
-#autorob( pose [-8.271 16.840 0 -143.181] )
-#autorob( pose [-8.629 17.999 0 -143.181] )
-#autorob( pose [-9.467 18.142 0 -143.181] )
-#autorob( pose [-9.079 16.263 0 -143.181] )
-
-#autorob( pose [-9.246 15.409 0 -143.181] )
-#autorob( pose [-9.598 14.812 0 -143.181] )
-#autorob( pose [-9.304 14.280 0 -143.181] )
-#autorob( pose [-8.946 13.737 0 -143.181] )
-#autorob( pose [-8.761 13.140 0 -143.181] )
-#autorob( pose [-8.153 12.629 0 -143.181] )
-#autorob( pose [-7.393 12.618 0 -143.181] )
-#autorob( pose [-8.467 15.712 0 -143.181] )
-#autorob( pose [-7.762 16.132 0 -143.181] )
-#autorob( pose [-8.794 14.855 0 -143.181] )
-
View
195 worlds/fasr_slave.world
@@ -1,195 +0,0 @@
-# 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 0
-# threadpool 16
-
-
-# configure the GUI window
-window
-(
- size [ 788.000 842.000 ]
-
- center [ -0.354 -0.807 ]
- rotate [ 0 0 ]
- scale 38.889
-
- 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 16 range_max 5 laser_return 2 watts 30 )
- ctrl "fasr"
- 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
- )
-)
-
-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
- )