16-264: Humanoids: Assignment 1

The point of this assignment is to get you started using either the Gazebo or ODE simulators.

Part 1: Create an environment in either Gazebo or ODE with a cube.

Part 2: Texture map your smiling face onto the cube faces.

Part 3: Create some interesting road patterns.

What to turn in?

• Create a web page describing what you did and email the URL to the Prof. and TA. No writeup required, just a screenshot of the simulator display window with your smiling face on a cube with a road. Be sure to list the names of all the members of your group. Their faces need to be on cubes as well.

My screen shots

ODE

For ODE I figured out where the texture files were, and change the wood file wood.ppm to be my smiling face in .ppm format. On linux the texture files were at: /usr/local/include/drawstuff/textures/ (see where the Makefile points to) and on Windows they were at (for me): c:/cga/ode-1906/drawstuff/textures (see where the file texturepath.h points to). Then I used the wood texture for several objects. A more elegant way to do this is to add new textures to the file ode-1906/drawstuff/src/drawstuff.cpp.

To build the red road I just put down red blocks 8mx8mx0.3m. One could generate turns by just laying down the blocks to form a curve.

Gazebo

For Gazebo I created a new "Material" in drc-cmub/gazebo/models/media/materials

To build the red road I put down a stack of disks of different colors. One could generate a wider variety of shapes using the sequence of red blocks as I did in ODE.