PEIS Home Simulator - Ãrebro universitet

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1 3.1.4 Fake window There are plans to add a fake window to one of the walls of the real <strong>PEIS</strong> <strong>Home</strong> in the future. The fake window does not yet actually exist in the real home so no facts were available for what dimensions to use for the model, some appropriate values were arrived upon during programming. Once the fake window is in the real home the model should be easy to adjust appropriately. Figure 3.4 The model as it appears in Gazebo. As seen in the images a texture is in the window. The model has been made to accept a “” attribute where one could specify a file path to use to use for a texture. In its current appearance the model more than anything resembles a framed picture The model declaration in the world file: plugins/FakeWindow/FakeWindow.so 0 0 90 1.375 0.007 1.000 skyTones.jpg 15
3.1.5 Kitchen There are a few models making up the kitchen fixtures. Most of it is made of a single big model making up benches, a sink and the parts in which the spaces for cabinets are built. Figure 3.5 The model as it appears in Gazebo. Worth to note is that the larger cabinet space in the model does not exist in the real home, the doors that would open to that space if it existed are just dummies made for display. Model declaration in the world file: plugins/Kitchen/Kitchen.so 0.000 2.210 0 16
Page 1 and 2: Examensarbete 20 poäng D-nivå PEI
Page 3 and 4: Contents ABSTRACT..................
Page 5 and 6: Acknowledgements Thanks go to the f
Page 7 and 8: Figure 1.1 Physical Layout of the P
Page 9 and 10: 2 The Player Project The Player Pro
Page 11 and 12: The start and end tags; “” and
Page 13 and 14: 3 Simulation Environment 3.1 Home H
Page 15: As can be seen in the images one wa
Page 19 and 20: The models together: Figure 3.8 The
Page 21 and 22: 3.2.2 Bookcase This is a basic book
Page 23 and 24: 3.2.5 Sofa This is a model of a sof
Page 25 and 26: To avoid unnecessary computations c
Page 27 and 28: Images from the camera in the simul
Page 29 and 30: Model declaration in the world file
Page 31 and 32: Model declaration in the world file
Page 33 and 34: Player Interfaces The fridge provid
Page 35 and 36: Player Interfaces The manipulator m
Page 37 and 38: Some images showing comparison betw
Page 39 and 40: 7.2 Limitations and Problems In thi
Page 41: 8 References 1) A. Saffiotti and M.

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PEIS Home Simulator - Ãrebro universitet