Revision: 6682
http://playerstage.svn.sourceforge.net/playerstage/?rev=6682&view=rev
Author: natepak
Date: 2008-06-25 10:00:34 -0700 (Wed, 25 Jun 2008)
Log Message:
-----------
Added gripper world and model
Added Paths:
-----------
code/gazebo/trunk/worlds/models/pioneer2gripper.model
code/gazebo/trunk/worlds/pioneer2dx_gripper.world
Added: code/gazebo/trunk/worlds/models/pioneer2gripper.model
===================================================================
--- code/gazebo/trunk/worlds/models/pioneer2gripper.model
(rev 0)
+++ code/gazebo/trunk/worlds/models/pioneer2gripper.model 2008-06-25
17:00:34 UTC (rev 6682)
@@ -0,0 +1,125 @@
+<?xml version="1.0"?>
+
+<!-- Generic Pioneer2dx Model -->
+<model:physical name="default_pioneer_model"
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model";
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor";
+ 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:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller";
+
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface";
+ >
+
+<xyz>0 0 0.0</xyz>
+<rpy>0.0 0.0 0.0</rpy>
+
+<canonicalBody>gripper_base_body</canonicalBody>
+
+<body:box name="gripper_base_body">
+ <xyz>0.0 0 0.0</xyz>
+
+ <geom:box name="gripper_base_geom">
+ <xyz>0 0 0</xyz>
+ <size>0.053 0.123 0.130</size>
+ <mass>0.01</mass>
+
+ <visual>
+ <size>0.053 0.123 0.130</size>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/Black</material>
+ </visual>
+ </geom:box>
+</body:box>
+
+<body:box name="gripper_lift_body">
+ <xyz>0.061 0 0</xyz>
+
+ <geom:box name="gripper_lift_body">
+ <xyz>0 0 0</xyz>
+ <size>0.069 0.313 0.063</size>
+ <mass>0</mass>
+
+ <visual>
+ <size>0.069 0.313 0.063</size>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/Black</material>
+ </visual>
+ </geom:box>
+</body:box>
+
+<body:box name="gripper_left_paddle_body">
+ <xyz>0.140 0.0125 0</xyz>
+ <geom:box name="gripper_left_paddle_geom">
+ <xyz>0 0 0</xyz>
+ <size>0.095 0.025 0.039</size>
+ <mass>0</mass>
+
+ <visual>
+ <size>0.095 0.025 0.039</size>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/Black</material>
+ </visual>
+ </geom:box>
+</body:box>
+
+<body:box name="gripper_right_paddle_body">
+ <xyz>0.140 -0.0125 0</xyz>
+ <geom:box name="gripper_right_paddle_geom">
+ <xyz>0 0 0</xyz>
+ <size>0.095 0.025 0.039</size>
+ <mass>0</mass>
+
+ <visual>
+ <size>0.095 0.025 0.039</size>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/Black</material>
+ </visual>
+ </geom:box>
+</body:box>
+
+
+<joint:slider name="lift_slider_joint">
+ <body1>gripper_base_body</body1>
+ <body2>gripper_lift_body</body2>
+ <anchor>gripper_base_body</anchor>
+ <anchorOffset>0 0 0</anchorOffset>
+ <axis>0 0 -1</axis>
+ <lowStop>-0.05</lowStop>
+ <highStop>0.05</highStop>
+ <erp>0.3</erp>
+ <cfm>10e-5</cfm>
+</joint:slider>
+
+<joint:slider name="left_paddle_joint">
+ <body1>gripper_lift_body</body1>
+ <body2>gripper_left_paddle_body</body2>
+ <anchor>gripper_lift_body</anchor>
+ <anchorOffset>0 0 0</anchorOffset>
+ <axis>0 1 0</axis>
+ <lowStop>-0.12</lowStop>
+ <highStop>0.0</highStop>
+ <erp>0.3</erp>
+ <cfm>10e-5</cfm>
+</joint:slider>
+
+<joint:slider name="right_paddle_joint">
+ <body1>gripper_lift_body</body1>
+ <body2>gripper_right_paddle_body</body2>
+ <anchor>gripper_lift_body</anchor>
+ <anchorOffset>0 0 0</anchorOffset>
+ <axis>0 1 0</axis>
+ <lowStop>0.0</lowStop>
+ <highStop>0.12</highStop>
+ <erp>0.3</erp>
+ <cfm>10e-5</cfm>
+</joint:slider>
+
+<controller:pioneer2_gripper name="pioneer2gripper_controller">
+ <leftJoint>left_paddle_joint</leftJoint>
+ <rightJoint>right_paddle_joint</rightJoint>
+ <interface:gripper name="gripper_iface_0"/>
+</controller:pioneer2_gripper>
+
+</model:physical>
Added: code/gazebo/trunk/worlds/pioneer2dx_gripper.world
===================================================================
--- code/gazebo/trunk/worlds/pioneer2dx_gripper.world
(rev 0)
+++ code/gazebo/trunk/worlds/pioneer2dx_gripper.world 2008-06-25 17:00:34 UTC
(rev 6682)
@@ -0,0 +1,130 @@
+<?xml version="1.0"?>
+
+<gazebo:world
+ xmlns:xi="http://www.w3.org/2001/XInclude";
+ 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/#param";
+ 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/#interface";
+ xmlns:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui";
+
xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering";
+
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller";
+ xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics";
>
+
+ <verbosity>5</verbosity>
+
+ <physics:ode>
+ <stepTime>0.03</stepTime>
+ <gravity>0 0 -9.8</gravity>
+ <cfm>10e-5</cfm>
+ <erp>0.8</erp>
+ <maxUpdateRate>0</maxUpdateRate>
+ </physics:ode>
+
+ <rendering:gui>
+ <type>fltk</type>
+ <size>640 480</size>
+ <pos>0 0</pos>
+ </rendering:gui>
+
+ <rendering:ogre>
+ <ambient>0.5 0.5 0.5 1.0</ambient>
+ <sky>
+ <material>Gazebo/CloudySky</material>
+ </sky>
+ <maxUpdateRate>0</maxUpdateRate>
+ </rendering:ogre>
+
+
+ <!-- Ground Plane -->
+ <model:physical 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 0 1</normal>
+ <size>2000 2000</size>
+ <segments>10 10</segments>
+ <uvTile>100 100</uvTile>
+ <material>Gazebo/Grey</material>
+ </geom:plane>
+ </body:plane>
+ </model:physical>
+
+ <!-- The camera -->
+ <model:physical name="cam1_model">
+ <xyz>0.07 -1.10 0.5</xyz>
+ <rpy>0 12 52.5</rpy>
+ <static>true</static>
+
+ <body:empty name="cam1_body">
+ <sensor:camera name="cam1_sensor">
+ <imageSize>640 480</imageSize>
+ <hfov>60</hfov>
+ <nearClip>0.1</nearClip>
+ <farClip>100</farClip>
+ -->
+ </sensor:camera>
+ </body:empty>
+ </model:physical>
+
+
+ <model:physical name="pioneer2dx_model1">
+ <xyz>0 0 0.145</xyz>
+ <rpy>0.0 0.0 0.0</rpy>
+
+ <model:physical name="gripper">
+ <xyz>0.228 0 -0.025</xyz>
+
+ <attach>
+ <parentBody>chassis_body</parentBody>
+ <myBody>gripper_base_body</myBody>
+ </attach>
+
+ <include embedded = "true">
+ <xi:include href="models/pioneer2gripper.model"/>
+ </include>
+ </model:physical>
+
+ <model:physical name="laser">
+ <xyz>0.15 0 0.18</xyz>
+
+ <attach>
+ <parentBody>chassis_body</parentBody>
+ <myBody>laser_body</myBody>
+ </attach>
+
+ <include embedded="true">
+ <xi:include href="models/sicklms200.model" />
+ </include>
+ </model:physical>
+
+ <!--
+ The include should be last within a model. All previous statements
+ will override those in the included file
+ -->
+ <include embedded="true">
+ <xi:include href="models/pioneer2dx.model" />
+ </include>
+ </model:physical>
+
+ <!-- White Directional light -->
+ <model:renderable name="directional_white">
+ <light>
+ <type>directional</type>
+ <direction>0 -0.6 -0.4</direction>
+ <diffuseColor>1.0 1.0 1.0</diffuseColor>
+ <specularColor>0.2 0.2 0.2</specularColor>
+ <attenuation>1000 1.0 0.0 0</attenuation>
+ </light>
+ </model:renderable>
+
+
+</gazebo:world>
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