Update of /cvsroot/playerstage/code/gazebo/worlds
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv14516/worlds
Added Files:
Tag: ogre
ogre.world
Log Message:
Added new files
--- NEW FILE: ogre.world ---
<?xml version="1.0"?>
<gazebo:world
xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz";
xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model";
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor";
xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window";
xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#params";
xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body";
xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom";
xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint";
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint";
xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui";>
<!-- <model:xml name="sphere1_model">
<xyz>0 1 0</xyz>
<rpy>0.0 0.0 0.0</rpy>
<body:sphere name="sphere1_body">
<xyz>0.0 0.0 0.0</xyz>
<rpy>0.0 0.0 0.0</rpy>
<geom:sphere name="sphere1_geom">
<mesh>sphere.mesh</mesh>
<size>0.5</size>
<density>1.0</density>
<material>Gazebo/Rocky</material>
</geom:sphere>
</body:sphere>
</model:xml>
<model:xml name="box1_model">
<xyz>2 1 0</xyz>
<rpy>0.0 0.0 0.0</rpy>
<body:box name="box1_body">
<xyz>0.0 0.0 0.0</xyz>
<rpy>0.0 0.0 0.0</rpy>
<geom:box name="box1_geom">
<mesh>box.mesh</mesh>
<size>0.5 0.5 0.5</size>
<density>1.0</density>
<material>Gazebo/BumpyMetal</material>
</geom:box>
</body:box>
</model:xml>
<model:xml name="cylinder1_model">
<xyz>-2 1 0</xyz>
<rpy>0.0 0.0 0.0</rpy>
<body:cylinder name="cylinder1_body">
<xyz>0.0 0.0 0.0</xyz>
<rpy>0.0 0.0 0.0</rpy>
<geom:cylinder name="cylinder1_geom">
<mesh>cylinder.mesh</mesh>
<size>0.5 0.5 0.5</size>
<density>1.0</density>
<material>Gazebo/RustyBarrel</material>
</geom:cylinder>
</body:cylinder>
</model:xml>
-->
<model:xml name="plane1_model">
<xyz>0 0 0</xyz>
<rpy>0 0 0</rpy>
<static>true</static>
<body:plane name="plane1_body">
<geom:plane name="plane1_geom">
<normal>0 1 0</normal>
<altitude>0</altitude>
<material>Gazebo/GrassFloor</material>
</geom:plane>
</body:plane>
</model:xml>
<model:LightSource>
<name>light1</name>
<xyz>0.000 10.000 -10.000</xyz>
<type>point</type>
<diffuseColor>1.0 1.0 1.0</diffuseColor>
<specularColor>0.5 0.5 0.5</specularColor>
<attenuation>100 1.0 0.00 0.00</attenuation>
</model:LightSource>
<model:ObserverCam>
<name>userCam0</name>
<xyz>0 10 0</xyz>
<rpy>-0 45 -39</rpy>
<imageSize>640 480</imageSize>
<updateRate>10</updateRate>
</model:ObserverCam>
<model:xml name="pioneer1_model">
<xyz>0 1 0</xyz>
<rpy>0.0 0.0 0.0</rpy>
<python>pioneer2dx</python>
<body:box name="chassis_body">
<xyz>0.0 0.0 0.0</xyz>
<rpy>0.0 0.0 0.0</rpy>
<geom:box name="box1_geom">
<mesh>box.mesh</mesh>
<size>0.277 0.17 0.445</size>
<density>1.0</density>
<material>Gazebo/PioneerBody</material>
</geom:box>
</body:box>
<body:cylinder name="left_wheel">
<xyz>-0.16 -0.0725 0.02</xyz>
<rpy>0 90 0</rpy>
<geom:cylinder name="cylinder1_geom">
<mesh>cylinder.mesh</mesh>
<size>0.075 0.05</size>
<density>0.1</density>
<material>Gazebo/Black</material>
</geom:cylinder>
</body:cylinder>
<body:cylinder name="right_wheel">
<xyz>0.16 -0.0725 0.02</xyz>
<rpy>0 90 0</rpy>
<geom:cylinder name="cylinder1_geom">
<mesh>cylinder.mesh</mesh>
<size>0.075 0.05</size>
<density>0.1</density>
<material>Gazebo/Black</material>
</geom:cylinder>
</body:cylinder>
<body:sphere name="castor_body">
<xyz>0 -0.11 -0.200</xyz>
<rpy>0 0 0</rpy>
<geom:sphere name="castor_geom">
<mesh>sphere.mesh</mesh>
<size>0.04</size>
<density>0.1</density>
<material>Gazebo/Black</material>
</geom:sphere>
</body:sphere>
<joint:hinge>
<body1>left_wheel</body1>
<body2>chassis_body</body2>
<anchor>left_wheel</anchor>
<axis>1 0 0</axis>
<erp>0.4</erp>
<cfm>0.8</cfm>
</joint:hinge>
<joint:hinge>
<body1>right_wheel</body1>
<body2>chassis_body</body2>
<anchor>right_wheel</anchor>
<axis>1 0 0</axis>
<erp>0.4</erp>
<cfm>0.8</cfm>
</joint:hinge>
<joint:ball>
<body1>castor_body</body1>
<body2>chassis_body</body2>
<anchor>castor_body</anchor>
</joint:ball>
<interface:position2d name="position_iface"/>
<!--<interface:power name="power_iface"/>
<interface:sonar name="sonar_iface"/>
-->
</model:xml>
</gazebo:world>
-------------------------------------------------------------------------
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