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- define block model
- (
- size [0.5 0.5 0.75]
- gui_nose 0
- )
- define topurg ranger
- (
- sensor(
- range_max 30.0
- fov 270.25
- samples 1081
- )
- # generic model properties
- color "black"
- size [ 0.05 0.05 0.1 ]
- )
- define pr2 position
- (
- size [0.65 0.65 0.25]
- origin [-0.05 0 0 0]
- gui_nose 1
- drive "omni"
- topurg(pose [ 0.275 0.000 0 0.000 ])
- )
- define floorplan model
- (
- # sombre, sensible, artistic
- color "gray30"
- # most maps will need a bounding box
- boundary 1
- gui_nose 0
- gui_grid 0
- gui_outline 0
- gripper_return 0
- fiducial_return 0
- ranger_return 1
- )
- # set the resolution of the underlying raytrace model in meters
- resolution 0.02
- interval_sim 100 # simulation timestep in milliseconds
- window
- (
- size [ 745.000 448.000 ]
- rotate [ 0.000 -1.560 ]
- scale 18.806
- )
- # load an environment bitmap
- floorplan
- (
- name "willow"
- bitmap "../maps/willow-full-0.05.pgm"
- size [58.25 47.25 1.0]
- pose [ -23.625 29.125 0 90.000 ]
- )
- # throw in a robot
- pr2( pose [ -28.610 13.562 0 99.786 ] name "pr2" color "blue")
- block( pose [ -25.062 12.909 0 180.000 ] color "red")
- block( pose [ -25.062 12.909 0 180.000 ] color "red")
- block( pose [ -25.062 12.909 0 180.000 ] color "red")
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