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removed useless worldfiles and fixed a couple of outdated settings

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rtv committed Dec 29, 2011
1 parent 24572ed commit 1b0e08b74c651d591c0d9058b465d62b852a0372
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@@ -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
@@ -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
@@ -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
@@ -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)
-
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