#Make sure you call this file sparko.inc and put it in the same directory as your world #Desc: device definition for Sparko ( a Pioneer robot with sonars,bumpers,gripper and camera) #Author : Ioana Butoi #Date: 28 May 2003 #define 16 sonars define sparko_sonar sonar ( scount 16 spose[0] [ 0.115 0.130 90] spose[1] [ 0.155 0.115 50 ] spose[2] [ 0.190 0.080 30 ] spose[3] [ 0.210 0.025 10 ] spose[4] [ 0.210 -0.025 -10 ] spose[5] [ 0.190 -0.080 -30 ] spose[6] [ 0.155 -0.115 -50 ] spose[7] [ 0.115 -0.130 -90 ] spose[8] [ -0.115 -0.130 -90 ] spose[9] [ -0.155 -0.115 -130 ] spose[10] [ -0.190 -0.080 -150 ] spose[11] [ -0.210 -0.025 -170 ] spose[12] [ -0.210 0.025 170 ] spose[13] [ -0.190 0.080 150 ] spose[14] [ -0.155 0.115 130 ] spose[15] [ -0.115 0.130 90 ] ) #define 5 straight bumpers on the rear edge of the robot define sparko_bumpers bumper ( bcount 5 bpose[0] [ -0.25 0.22 128 0.105 0.0 ] bpose[1] [ -0.32 0.12 161 0.105 0.0 ] bpose[2] [ -0.34 0.00 180 0.105 0.0 ] bpose[3] [ -0.32 -0.12 199 0.105 0.0 ] bpose[4] [ -0.25 -0.22 232 0.105 0.0 ] ) # the pioneer's center of rotation is offset from its # center of area define sparko position ( size [.440 .330] offset [-0.04 0.0] sparko_sonar() sparko_bumpers() gripper( pose [0.2 0 0] consume "false") ptz( pose [0.1 0 0 ] blobfinder() ) power() )
