[TeamTalk 141]: [678] usarsim: 1) moast.ini now included SegwayRPM and DM-RoboticsLab_250
bfrisch@edam.speech.cs.cmu.edu
bfrisch at edam.speech.cs.cmu.edu
Tue Jul 31 21:34:05 EDT 2007
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Modified: moast-bth/moast/etc/moast.ini
===================================================================
--- moast-bth/moast/etc/moast.ini 2007-07-31 21:17:58 UTC (rev 677)
+++ moast-bth/moast/etc/moast.ini 2007-08-01 01:34:03 UTC (rev 678)
@@ -555,6 +555,15 @@
CENTER_OF_GRAVITY = 0 0 0
MASS = 12.0
+[SegwayRMP]
+; vehicle parameters for TreasureHunt SegwayRPM
+STEERING_TYPE = DUAL_INDEPENDENT
+WHEEL_RADIUS= 0.1
+WHEEL_SEPARATION = 0.256
+DIMENSIONS = 0.256 0.3 0.244
+CENTER_OF_GRAVITY = 0 0 0
+MASS = 6.53
+
[Talon]
; vehicle parameters for USARSIM P2AT
STEERING_TYPE = DUAL_INDEPENDENT
Modified: usarsim/Maps/DM-RoboticsLab_250.ut2
===================================================================
(Binary files differ)
Modified: usarsim/StaticMeshes/TreasureHuntMesh.usx
===================================================================
(Binary files differ)
Added: usarsim/System/TreasureHunt.ini
===================================================================
--- usarsim/System/TreasureHunt.ini (rev 0)
+++ usarsim/System/TreasureHunt.ini 2007-08-01 01:34:03 UTC (rev 678)
@@ -0,0 +1,81 @@
+# -------------------------------- NOTE ------------------------------------------------
+# The parameters that change options in classes that do not belog to the TreasureHunt package.are from
+# USARSim. If a bug or feature is changed in USARSim.ini, please make the appropiate change here.
+#------------------------------------------------------------------------------------------
+
+[TreasureHunt.SegwayRMP]
+bDebug=False
+# Not used by USARSim, right now is just a note that the real weight is 24km
+Weight=24
+Payload=40
+MotorTorque=35.0
+bMountByUU=False
+JointParts=(PartName="RightSegwayRPMTire",PartClass=class'TreasureHunt.SegwayRMPTireRight',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=0.690016,X=1.408492,Z=0.349312),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+JointParts=(PartName="LeftSegwayRPMTire",PartClass=class'TreasureHunt.SegwayRMPTireLeft',DrawScale3D=(X=1.0,Y=1.0,Z=1.0),bSuspensionLocked=true,Parent="",JointClass=class'KCarWheelJoint',ParentPos=(Y=-0.688876,X=1.408492,Z=0.349312),ParentAxis=(Z=1.0),ParentAxis2=(Y=1.0),SelfPos=(Z=-0.0),SelfAxis=(Z=1.0),SelfAxis2=(Y=1.0))
+MisPkgs=(PkgName="CameraPanTilt",Location=(Y=0.6,X=0.34,Z=-0.05),PkgClass=Class'USARMisPkg.CameraPanTilt')
+Cameras=(ItemClass=class'USARBot.RobotCamera',ItemName="Camera",Parent="CameraPanTilt",Position=(Y=0.6,X=0.34,Z=-0.05),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.OdometrySensor',ItemName="Odometry",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.VictSensor',ItemName="VictSensor",Parent="CameraPanTilt_Link2",Position=(Y=0.0 X=0.34,Z=-0.05),Direction=(Y=0,Z=0,X=0))
+Sensors=(ItemClass=class'USARBot.CO2Sensor',ItemName="CO2",Position=(X=0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+Sensors=(ItemClass=class'USARBot.GroundTruth',ItemName="GroundTruth",Position=(X=0.0,Y=0.0,Z=-0.0),Direction=(Y=0.0,Z=0.0,X=0.0))
+
+
+[Engine.Vehicle]
+bVehicleShadows=True
+
+
+[XGame.xPlayer]
+bClassicTrans=False
+
+[UnrealGame.UnrealPlayer]
+CustomizedAnnouncerPack=
+CustomStatusAnnouncerPack=UnrealGame.FemaleAnnouncer
+CustomRewardAnnouncerPack=UnrealGame.MaleAnnouncer
+MaxRecentServers=25
+bDontShowLoginMenu=False
+RecentServers=127.0.0.1:7777
+RecentServers=129.6.72.19:7777
+
+[Engine.PlayerController]
+bLookUpStairs=False
+bSnapToLevel=False
+bAlwaysMouseLook=True
+bKeyboardLook=True
+bNeverSwitchOnPickup=False
+bAlwaysLevel=False
+bNoVoiceMessages=False
+bNoTextToSpeechVoiceMessages=True
+bNoVoiceTaunts=False
+bNoAutoTaunts=False
+bAutoTaunt=False
+bNoMatureLanguage=False
+bDynamicNetSpeed=True
+bSmallWeapons=True
+bLandingShake=True
+bAimingHelp=False
+bEnablePickupForceFeedback=False
+bEnableWeaponForceFeedback=False
+bEnableDamageForceFeedback=False
+bEnableGUIForceFeedback=False
+bEnableInitialChatRoom=True
+bEnableStatsTracking=False
+bOnlySpeakTeamText=False
+AutoJoinMask=5
+AnnouncerLevel=2
+AnnouncerVolume=4
+TextToSpeechVoiceVolume=1.000000
+DesiredFOV=90.000000
+DefaultFOV=90.000000
+ScreenFlashScaling=1.000000
+TimeMarginSlack=0.000000
+StatsUsername=
+StatsPassword=
+DynamicPingThreshold=400.000000
+LastActiveChannel=
+VoiceChatCodec=CODEC_48NB
+VoiceChatLANCodec=CODEC_96WB
+ChatPassword=
+DefaultActiveChannel=
+
+[Engine.Controller]
+Handedness=1.000000
Modified: usarsim/Textures/TreasureHuntTex.utx
===================================================================
(Binary files differ)
Added: usarsim/TreasureHunt/Classes/SegwayRMP.uc
===================================================================
--- usarsim/TreasureHunt/Classes/SegwayRMP.uc (rev 0)
+++ usarsim/TreasureHunt/Classes/SegwayRMP.uc 2007-08-01 01:34:03 UTC (rev 678)
@@ -0,0 +1,52 @@
+class SegwayRMP extends SkidSteeredRobot config(TreasureHunt);
+
+defaultproperties
+{
+
+ // Number=0 indicates that this wheel is the first JointPart defined in TreasureHunt.ini (ORDER MATTERS!)
+ // Power=Right_Powered tells USARSim to spin this wheel using the right throttle
+ // Note that since the variables SteerType and MaxSteerAngle are not defined, this wheel is not steered (steering is locked)
+ Wheels(0)=(Number=0,PowerType=Right_Powered);
+
+ // Number=1 indicates that this wheel is the second JointPart defined in TreasureHunt.ini (ORDER MATTERS!)
+ // Power=Left_Powered tells USARSim to spin this wheel using the left throttle
+ // Note that since the variables SteerType and MaxSteerAngle are not defined, this wheel is not steered (steering is locked)
+ Wheels(1)=(Number=1,PowerType=Left_Powered);
+
+
+ StaticMesh = StaticMesh'TreasureHuntMesh.SegwayBody';
+ DrawScale = 1.0;
+ ChassisMass = 7.0;
+
+ Weight = 64; #64kg
+
+ Begin Object Class=KarmaParamsRBFull Name=KParams0
+ bHighDetailOnly=False;
+ bClientOnly=False;
+ bKAllowRotate=True;
+ bKDoubleTickRate=True;
+ bKNonSphericalInertia=True;
+ bKStayUpright=True;
+ KActorGravScale=2.58;
+ KAngularDamping=0;
+ KLinearDamping=0.1;
+ KStartEnabled=True;
+ StayUprightStiffness=75;
+ StayUprightDamping=50;
+
+ kFriction=0.9;
+ KRestitution=0.2;
+
+ KInertiaTensor(0)=0.061;
+ KInertiaTensor(3)=0.078;
+ KInertiaTensor(5)=0.083;
+ KCOMOffset=(X=0.0,Y=0.0,Z=0.0);
+
+ KMaxAngularSpeed=100;
+ KMaxSpeed=25000;
+ Name="KParams0";
+
+ End Object
+
+ KParams=KarmaParamsRBFull'TreasureHunt.SegwayRMP.KParams0';
+}
\ No newline at end of file
Added: usarsim/TreasureHunt/Classes/SegwayRMPTireLeft.uc
===================================================================
--- usarsim/TreasureHunt/Classes/SegwayRMPTireLeft.uc (rev 0)
+++ usarsim/TreasureHunt/Classes/SegwayRMPTireLeft.uc 2007-08-01 01:34:03 UTC (rev 678)
@@ -0,0 +1,6 @@
+class SegwayRMPTireLeft extends CooperTireLeft;
+
+defaultproperties
+{
+
+}
\ No newline at end of file
Added: usarsim/TreasureHunt/Classes/SegwayRMPTireRight.uc
===================================================================
--- usarsim/TreasureHunt/Classes/SegwayRMPTireRight.uc (rev 0)
+++ usarsim/TreasureHunt/Classes/SegwayRMPTireRight.uc 2007-08-01 01:34:03 UTC (rev 678)
@@ -0,0 +1,6 @@
+class SegwayRMPTireRight extends CooperTireRight;
+
+defaultproperties
+{
+
+}
\ No newline at end of file
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