Revision: 6920
http://playerstage.svn.sourceforge.net/playerstage/?rev=6920&view=rev
Author: natepak
Date: 2008-07-24 15:27:54 +0000 (Thu, 24 Jul 2008)
Log Message:
-----------
Updates to geom and body.
Modified Paths:
--------------
code/gazebo/trunk/server/Entity.cc
code/gazebo/trunk/server/Entity.hh
code/gazebo/trunk/server/Simulator.cc
code/gazebo/trunk/server/physics/Body.cc
code/gazebo/trunk/server/physics/Body.hh
code/gazebo/trunk/server/physics/ContactParams.cc
code/gazebo/trunk/server/physics/Geom.cc
code/gazebo/trunk/server/physics/Geom.hh
code/gazebo/trunk/server/physics/MapGeom.cc
code/gazebo/trunk/server/physics/MapGeom.hh
code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
code/gazebo/trunk/worlds/map.world
code/gazebo/trunk/worlds/pioneer2dx.world
code/gazebo/trunk/worlds/simpleshapes.world
Modified: code/gazebo/trunk/server/Entity.cc
===================================================================
--- code/gazebo/trunk/server/Entity.cc 2008-07-24 00:03:46 UTC (rev 6919)
+++ code/gazebo/trunk/server/Entity.cc 2008-07-24 15:27:54 UTC (rev 6920)
@@ -44,6 +44,8 @@
visualNode(0)
{
+ this->selected = false;
+
if (this->parent)
{
this->parent->AddChild(this);
@@ -159,6 +161,31 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Set whether this entity has been selected by the user through the gui
+bool Entity::SetSelected( bool s )
+{
+ std::vector< Entity *>::iterator iter;
+ Body *body = NULL;
+
+ this->selected = s;
+
+ for (iter = this->children.begin(); iter != this->children.end(); iter++)
+ {
+ (*iter)->SetSelected(s);
+ body = dynamic_cast<Body*>(*iter);
+ if (body)
+ body->SetEnabled(!s);
+ }
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// True if the entity is selected by the user
+bool Entity::IsSelected() const
+{
+ return this->selected;
+}
+
+////////////////////////////////////////////////////////////////////////////////
/// Returns true if the entities are the same. Checks only the name
bool Entity::operator==(const Entity &ent) const
{
Modified: code/gazebo/trunk/server/Entity.hh
===================================================================
--- code/gazebo/trunk/server/Entity.hh 2008-07-24 00:03:46 UTC (rev 6919)
+++ code/gazebo/trunk/server/Entity.hh 2008-07-24 15:27:54 UTC (rev 6920)
@@ -101,6 +101,13 @@
/// \return bool True = static
public: bool IsStatic() const;
+ /// \brief Set whether this entity has been selected by the user through
+ // the gui
+ public: bool SetSelected( bool s );
+
+ /// \brief True if the entity is selected by the user
+ public: bool IsSelected() const;
+
/// \brief Returns true if the entities are the same. Checks only the name
public: bool operator==(const Entity &ent) const;
@@ -128,6 +135,8 @@
/// \brief Name of the entity
private: std::string name;
+ private: bool selected;
+
};
/// \}
Modified: code/gazebo/trunk/server/Simulator.cc
===================================================================
--- code/gazebo/trunk/server/Simulator.cc 2008-07-24 00:03:46 UTC (rev
6919)
+++ code/gazebo/trunk/server/Simulator.cc 2008-07-24 15:27:54 UTC (rev
6920)
@@ -464,14 +464,14 @@
if (this->selectedEntity)
{
this->selectedEntity->GetVisualNode()->ShowSelectionBox(false);
- this->selectedEntity->SetStatic(false);
+ this->selectedEntity->SetSelected(false);
}
if (this->selectedEntity != ent)
{
this->selectedEntity = ent;
this->selectedEntity->GetVisualNode()->ShowSelectionBox(true);
- this->selectedEntity->SetStatic(true);
+ this->selectedEntity->SetSelected(true);
}
else
this->selectedEntity = NULL;
Modified: code/gazebo/trunk/server/physics/Body.cc
===================================================================
--- code/gazebo/trunk/server/physics/Body.cc 2008-07-24 00:03:46 UTC (rev
6919)
+++ code/gazebo/trunk/server/physics/Body.cc 2008-07-24 15:27:54 UTC (rev
6920)
@@ -51,11 +51,17 @@
Body::Body(Entity *parent, dWorldID worldId)
: Entity(parent)
{
- this->bodyId = dBodyCreate(worldId);
- dMassSetZero( &this->mass );
+ if ( !this->IsStatic() )
+ {
+ this->bodyId = dBodyCreate(worldId);
- this->SetEnabled(!this->IsStatic());
+ dMassSetZero( &this->mass );
+ }
+ else
+ {
+ this->bodyId = NULL;
+ }
}
@@ -158,7 +164,8 @@
// Set whether gravity affects this body
void Body::SetGravityMode(bool mode)
{
- dBodySetGravityMode(this->bodyId, mode);
+ if (this->bodyId)
+ dBodySetGravityMode(this->bodyId, mode);
}
////////////////////////////////////////////////////////////////////////////////
@@ -185,21 +192,20 @@
if (!this->IsStatic())
{
- //this->SetEnabled(true);
Pose3d pose = this->GetPose();
// Set the pose of the scene node
this->visualNode->SetPose(pose);
}
- else
- {
- this->SetEnabled(false);
- }
for (geomIter=this->geoms.begin();
geomIter!=this->geoms.end(); geomIter++)
{
(*geomIter)->Update();
+ if ((*geomIter)->GetName() == "sphere1_geom")
+ {
+ std::cout << "Geom pose[" << (*geomIter)->GetPose() << "]\n";
+ }
}
for (sensorIter=this->sensors.begin();
@@ -213,7 +219,7 @@
// Attach a geom to this body
void Body::AttachGeom( Geom *geom )
{
- //if (this->bodyId)
+ if ( this->bodyId )
{
if (geom->IsPlaceable())
{
@@ -233,11 +239,38 @@
{
Pose3d localPose;
- // Compute pose of CoM
- localPose = this->comPose + pose;
+ if (this->IsStatic())
+ {
+ Pose3d oldPose = this->staticPose;
+ Pose3d newPose;
+ this->staticPose = pose;
- this->SetPosition(localPose.pos);
- this->SetRotation(localPose.rot);
+ std::vector<Geom*>::iterator iter;
+
+ //this->SetPosition(this->staticPose.pos);
+ //this->SetRotation(this->staticPose.rot);
+
+ if (this->GetName() == "map_body")
+ {
+ std::cout << "Set new pose[" << pose << "]\n";
+ std::cout << "Old Pose[ " << oldPose << "]\n";
+ }
+
+ for (iter = this->geoms.begin(); iter != this->geoms.end(); iter++)
+ {
+ newPose = (*iter)->GetPose() - oldPose;
+ newPose += this->staticPose;
+ (*iter)->SetPose(newPose);
+ }
+ }
+ else
+ {
+ // Compute pose of CoM
+ localPose = this->comPose + pose;
+
+ this->SetPosition(localPose.pos);
+ this->SetRotation(localPose.rot);
+ }
}
////////////////////////////////////////////////////////////////////////////////
@@ -246,10 +279,17 @@
{
Pose3d pose;
- pose.pos = this->GetPosition();
- pose.rot = this->GetRotation();
+ if (this->IsStatic())
+ {
+ pose = this->staticPose;
+ }
+ else
+ {
+ pose.pos = this->GetPosition();
+ pose.rot = this->GetRotation();
- pose = this->comPose.CoordPoseSolve(pose);
+ pose = this->comPose.CoordPoseSolve(pose);
+ }
return pose;
}
@@ -258,7 +298,8 @@
// Set the position of the body
void Body::SetPosition(const Vector3 &pos)
{
- dBodySetPosition(this->bodyId, pos.x, pos.y, pos.z);
+ if (this->bodyId)
+ dBodySetPosition(this->bodyId, pos.x, pos.y, pos.z);
// Set the position of the scene node
this->visualNode->SetPosition(pos);
@@ -268,15 +309,19 @@
// Set the rotation of the body
void Body::SetRotation(const Quatern &rot)
{
- dQuaternion q;
- q[0] = rot.u;
- q[1] = rot.x;
- q[2] = rot.y;
- q[3] = rot.z;
- // Set the rotation of the ODE body
- dBodySetQuaternion(this->bodyId, q);
+ if (this->bodyId)
+ {
+ dQuaternion q;
+ q[0] = rot.u;
+ q[1] = rot.x;
+ q[2] = rot.y;
+ q[3] = rot.z;
+ // Set the rotation of the ODE body
+ dBodySetQuaternion(this->bodyId, q);
+ }
+
// Set the orientation of the scene node
this->visualNode->SetRotation(rot);
}
@@ -286,14 +331,22 @@
Vector3 Body::GetPosition() const
{
Vector3 pos;
- const dReal *p;
- p = dBodyGetPosition(this->bodyId);
+ if (this->bodyId)
+ {
+ const dReal *p;
- pos.x = p[0];
- pos.y = p[1];
- pos.z = p[2];
+ p = dBodyGetPosition(this->bodyId);
+ pos.x = p[0];
+ pos.y = p[1];
+ pos.z = p[2];
+ }
+ else
+ {
+ pos = this->staticPose.pos;
+ }
+
return pos;
}
@@ -303,15 +356,23 @@
Quatern Body::GetRotation() const
{
Quatern rot;
- const dReal *r;
- r = dBodyGetQuaternion(this->bodyId);
+ if (this->bodyId)
+ {
+ const dReal *r;
- rot.u = r[0];
- rot.x = r[1];
- rot.y = r[2];
- rot.z = r[3];
+ r = dBodyGetQuaternion(this->bodyId);
+ rot.u = r[0];
+ rot.x = r[1];
+ rot.y = r[2];
+ rot.z = r[3];
+ }
+ else
+ {
+ rot = this->staticPose.rot;
+ }
+
return rot;
}
@@ -327,6 +388,9 @@
// Set whether this body is enabled
void Body::SetEnabled(bool enable) const
{
+ if (!this->bodyId)
+ return;
+
if (enable)
dBodyEnable(this->bodyId);
else
@@ -356,7 +420,7 @@
}
else if (node->GetName() == "map")
{
- this->SetStatic(true);
+ //this->SetStatic(true);
geom = new MapGeom(this);
}
else
@@ -418,6 +482,9 @@
Pose3d oldPose, newPose, pose;
std::vector< Geom* >::iterator giter;
+ if (!this->bodyId)
+ return;
+
// Construct the mass matrix by combining all the geoms
dMassSetZero( &this->mass );
@@ -489,7 +556,8 @@
/// Set the velocity of the body
void Body::SetLinearVel(const Vector3 &vel)
{
- dBodySetLinearVel(this->bodyId, vel.x, vel.y, vel.z);
+ if (this->bodyId)
+ dBodySetLinearVel(this->bodyId, vel.x, vel.y, vel.z);
}
////////////////////////////////////////////////////////////////////////////////
@@ -497,14 +565,18 @@
Vector3 Body::GetLinearVel() const
{
Vector3 vel;
- const dReal *dvel;
- dvel = dBodyGetLinearVel(this->bodyId);
+ if (this->bodyId)
+ {
+ const dReal *dvel;
- vel.x = dvel[0];
- vel.y = dvel[1];
- vel.z = dvel[2];
+ dvel = dBodyGetLinearVel(this->bodyId);
+ vel.x = dvel[0];
+ vel.y = dvel[1];
+ vel.z = dvel[2];
+ }
+
return vel;
}
@@ -512,7 +584,8 @@
/// Set the velocity of the body
void Body::SetAngularVel(const Vector3 &vel)
{
- dBodySetAngularVel(this->bodyId, vel.x, vel.y, vel.z);
+ if (this->bodyId)
+ dBodySetAngularVel(this->bodyId, vel.x, vel.y, vel.z);
}
////////////////////////////////////////////////////////////////////////////////
@@ -520,21 +593,26 @@
Vector3 Body::GetAngularVel() const
{
Vector3 vel;
- const dReal *dvel;
- dvel = dBodyGetAngularVel(this->bodyId);
+ if (this->bodyId)
+ {
+ const dReal *dvel;
- vel.x = dvel[0];
- vel.y = dvel[1];
- vel.z = dvel[2];
+ dvel = dBodyGetAngularVel(this->bodyId);
+ vel.x = dvel[0];
+ vel.y = dvel[1];
+ vel.z = dvel[2];
+ }
+
return vel;
}
////////////////////////////////////////////////////////////////////////////////
/// \brief Set the force applied to the body
void Body::SetForce(const Vector3 &force)
{
- dBodySetForce(this->bodyId, force.x, force.y, force.z);
+ if (this->bodyId)
+ dBodySetForce(this->bodyId, force.x, force.y, force.z);
}
////////////////////////////////////////////////////////////////////////////////
@@ -542,14 +620,18 @@
Vector3 Body::GetForce() const
{
Vector3 force;
- const dReal *dforce;
- dforce = dBodyGetForce(this->bodyId);
+ if (this->bodyId)
+ {
+ const dReal *dforce;
- force.x = dforce[0];
- force.y = dforce[1];
- force.z = dforce[2];
+ dforce = dBodyGetForce(this->bodyId);
+ force.x = dforce[0];
+ force.y = dforce[1];
+ force.z = dforce[2];
+ }
+
return force;
}
@@ -557,7 +639,8 @@
/// \brief Set the torque applied to the body
void Body::SetTorque(const Vector3 &torque)
{
- dBodySetTorque(this->bodyId, torque.x, torque.y, torque.z);
+ if (this->bodyId)
+ dBodySetTorque(this->bodyId, torque.x, torque.y, torque.z);
}
////////////////////////////////////////////////////////////////////////////////
@@ -565,13 +648,16 @@
Vector3 Body::GetTorque() const
{
Vector3 torque;
- const dReal *dtorque;
+ if (this->bodyId)
+ {
+ const dReal *dtorque;
- dtorque = dBodyGetTorque(this->bodyId);
+ dtorque = dBodyGetTorque(this->bodyId);
- torque.x = dtorque[0];
- torque.y = dtorque[1];
- torque.z = dtorque[2];
+ torque.x = dtorque[0];
+ torque.y = dtorque[1];
+ torque.z = dtorque[2];
+ }
return torque;
}
Modified: code/gazebo/trunk/server/physics/Body.hh
===================================================================
--- code/gazebo/trunk/server/physics/Body.hh 2008-07-24 00:03:46 UTC (rev
6919)
+++ code/gazebo/trunk/server/physics/Body.hh 2008-07-24 15:27:54 UTC (rev
6920)
@@ -168,6 +168,7 @@
private: bool isStatic;
private: Pose3d comPose;
+ private: Pose3d staticPose;
};
/// \}
Modified: code/gazebo/trunk/server/physics/ContactParams.cc
===================================================================
--- code/gazebo/trunk/server/physics/ContactParams.cc 2008-07-24 00:03:46 UTC
(rev 6919)
+++ code/gazebo/trunk/server/physics/ContactParams.cc 2008-07-24 15:27:54 UTC
(rev 6920)
@@ -42,7 +42,7 @@
this->softCfm = 0.01;
this->mu1 = dInfinity;
- this->mu2 = 0.0;
+ this->mu2 = dInfinity;
this->slip1 = 0.01;
this->slip2 = 0.01;
}
Modified: code/gazebo/trunk/server/physics/Geom.cc
===================================================================
--- code/gazebo/trunk/server/physics/Geom.cc 2008-07-24 00:03:46 UTC (rev
6919)
+++ code/gazebo/trunk/server/physics/Geom.cc 2008-07-24 15:27:54 UTC (rev
6920)
@@ -215,6 +215,8 @@
//this->SetName(stream.str());
}
+////////////////////////////////////////////////////////////////////////////////
+// Update
void Geom::Update()
{
this->UpdateChild();
@@ -251,34 +253,6 @@
return this->placeable;
}
-void Geom::PlaceImmovable()
-{
- assert(IsStatic());
- if (this->geomId == 0) return;
-
- dQuaternion q;
- Pose3d finalPose = immovableRelativePose + immovableBasePose;
- q[0] = finalPose.rot.u;
- q[1] = finalPose.rot.x;
- q[2] = finalPose.rot.y;
- q[3] = finalPose.rot.z;
-
- // Set the pose of the encapsulated geom
- dGeomSetPosition( this->geomId, finalPose.pos.x, finalPose.pos.y,
finalPose.pos.z );
- dGeomSetQuaternion( this->geomId, q);
-
- return;
-}
-
-//////////////////////////////////////////////////////////////////////////////
-// Set base pose when body is immovable (static)
-void Geom::SetImmovableBasePose(const Pose3d & pose)
-{
- immovableBasePose = pose;
- this->PlaceImmovable();
- return;
-}
-
////////////////////////////////////////////////////////////////////////////////
// Set the pose relative to the body
void Geom::SetPose(const Pose3d &pose, bool updateCoM)
@@ -299,18 +273,16 @@
this->visualNode->SetPose(pose);
- if (this->IsStatic())
- {
- immovableRelativePose = pose;
- this->PlaceImmovable();
- return;
- }
-
// Set the pose of the encapsulated geom; this is always relative
// to the CoM
dGeomSetPosition(this->geomId, localPose.pos.x, localPose.pos.y,
localPose.pos.z);
dGeomSetQuaternion(this->geomId, q);
+ if (this->GetName() == "sphere1_geom")
+ {
+ std::cout << "Geom set pose[" << this->GetPose() << "]\n";
+ }
+
if (updateCoM)
{
this->body->UpdateCoM();
Modified: code/gazebo/trunk/server/physics/Geom.hh
===================================================================
--- code/gazebo/trunk/server/physics/Geom.hh 2008-07-24 00:03:46 UTC (rev
6919)
+++ code/gazebo/trunk/server/physics/Geom.hh 2008-07-24 15:27:54 UTC (rev
6920)
@@ -136,12 +136,6 @@
/// \brief Set the visibility of the physical entity of this geom
public: void ShowPhysics(bool);
- /// @brief Place Geom when body is immovable (static)
- private: void PlaceImmovable( );
-
- /// @brief Set base pose when body is immovable (static)
- public: virtual void SetImmovableBasePose( const Pose3d & pose );
-
/// Contact parameters
public: ContactParams *contact;
@@ -181,9 +175,6 @@
///our XML DATA
private: XMLConfigNode *xmlNode;
- private: Pose3d immovableBasePose;
- private: Pose3d immovableRelativePose;
-
};
/// \}
Modified: code/gazebo/trunk/server/physics/MapGeom.cc
===================================================================
--- code/gazebo/trunk/server/physics/MapGeom.cc 2008-07-24 00:03:46 UTC (rev
6919)
+++ code/gazebo/trunk/server/physics/MapGeom.cc 2008-07-24 15:27:54 UTC (rev
6920)
@@ -110,11 +110,50 @@
this->ReduceTree(this->root);
}
- this->CreateBoxes(this->root);
+ //this->CreateBoxes(this->root);
+ this->CreateBox();
this->visualNode->MakeStatic();
}
+void MapGeom::CreateBox()
+{
+ std::ostringstream stream;
+
+ // Create the box geometry
+ BoxGeom* newBox = new BoxGeom( this->body );
+
+ XMLConfig *boxConfig = new XMLConfig();
+
+ stream << "<gazebo:world
xmlns:gazebo=\"http://playerstage.sourceforge.net/gazebo/xmlschema/#gz\";
xmlns:geom=\"http://playerstage.sourceforge.net/gazebo/xmlschema/#geom\";>";
+
+ float x = 2;
+ float y = 2;
+ float z = 0.5;
+ float xSize = 1.0;
+ float ySize = 1.0;
+ float zSize = 1.0;
+
+ stream << "<geom:box name='map_geom_box'>";
+ stream << " <mass>0.0</mass>";
+ stream << " <xyz>" << x << " " << y << " " << z << "</xyz>";
+ stream << " <rpy>0 0 0</rpy>";
+ stream << " <size>" << xSize << " " << ySize << " " << zSize << "</size>";
+ stream << " <mass>0.01</mass>";
+ stream << " <visual>";
+ stream << " <mesh>unit_box</mesh>";
+ stream << " <material>" << this->material << "</material>";
+ stream << " <size>" << xSize << " " << ySize << " " << zSize << "</size>";
+ stream << " </visual>";
+ stream << "</geom:box>";
+ stream << "</gazebo:world>";
+
+ boxConfig->LoadString( stream.str() );
+
+ newBox->Load( boxConfig->GetRootNode()->GetChild() );
+ delete boxConfig;
+}
+
void MapGeom::CreateBoxes(QuadNode *node)
{
if (node->leaf)
@@ -125,7 +164,7 @@
std::ostringstream stream;
// Create the box geometry
- BoxGeom* newBox = new BoxGeom( body );
+ BoxGeom* newBox = new BoxGeom( this->body );
XMLConfig *boxConfig = new XMLConfig();
Modified: code/gazebo/trunk/server/physics/MapGeom.hh
===================================================================
--- code/gazebo/trunk/server/physics/MapGeom.hh 2008-07-24 00:03:46 UTC (rev
6919)
+++ code/gazebo/trunk/server/physics/MapGeom.hh 2008-07-24 15:27:54 UTC (rev
6920)
@@ -115,6 +115,8 @@
/// \brief Try to merge to nodes
private: void Merge(QuadNode *nodeA, QuadNode *nodeB);
+ private: void CreateBox();
+
/// \brief Create the boxes for the map
private: void CreateBoxes(QuadNode *node);
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2008-07-24 00:03:46 UTC
(rev 6919)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2008-07-24 15:27:54 UTC
(rev 6920)
@@ -259,8 +259,7 @@
double h, kp, kd;
contact.geom = contactGeoms[i];
- contact.surface.mode = dContactSoftERP | dContactSoftCFM |
- dContactBounce | dContactMu2;
+ contact.surface.mode = dContactSoftERP | dContactBounce | dContactMu2;
// Compute the CFM and ERP by assuming the two bodies form a
@@ -276,7 +275,7 @@
contact.surface.mu2 = MIN(geom1->contact->mu2, geom2->contact->mu2);
contact.surface.bounce = 0.1;
contact.surface.bounce_vel = 0.1;
- contact.surface.soft_cfm = 0.01;
+ //contact.surface.soft_cfm = 0.01;
dJointID c = dJointCreateContact (self->worldId,
self->contactGroup, &contact);
Modified: code/gazebo/trunk/worlds/map.world
===================================================================
--- code/gazebo/trunk/worlds/map.world 2008-07-24 00:03:46 UTC (rev 6919)
+++ code/gazebo/trunk/worlds/map.world 2008-07-24 15:27:54 UTC (rev 6920)
@@ -22,7 +22,7 @@
<stepTime>0.03</stepTime>
<gravity>0 0 -9.8</gravity>
<cfm>10e-5</cfm>
- <erp>0.8</erp>
+ <erp>0.3</erp>
<maxUpdateRate>0</maxUpdateRate>
</physics:ode>
@@ -63,6 +63,7 @@
<model:physical name="map">
+ <static>true</static>
<body:map name="map_body">
<geom:map name="map_geom">
<image>willowMap.png</image>
@@ -85,5 +86,36 @@
</light>
</model:renderable>
+ <model:physical name="pioneer2dx_model1">
+ <xyz>0 0 0.145</xyz>
+ <rpy>0.0 0.0 0.0</rpy>
+ <controller:differential_position2d name="controller1">
+ <leftJoint>left_wheel_hinge</leftJoint>
+ <rightJoint>right_wheel_hinge</rightJoint>
+ <wheelSeparation>0.39</wheelSeparation>
+ <wheelDiameter>0.15</wheelDiameter>
+ <torque>5</torque>
+ <interface:position name="position_iface_0"/>
+ </controller:differential_position2d>
+
+ <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>
+
+ <include embedded="true">
+ <xi:include href="models/pioneer2dx.model" />
+ </include>
+ </model:physical>
+
+
</gazebo:world>
Modified: code/gazebo/trunk/worlds/pioneer2dx.world
===================================================================
--- code/gazebo/trunk/worlds/pioneer2dx.world 2008-07-24 00:03:46 UTC (rev
6919)
+++ code/gazebo/trunk/worlds/pioneer2dx.world 2008-07-24 15:27:54 UTC (rev
6920)
@@ -64,9 +64,9 @@
</model:physical>
<model:physical name="sphere1_model">
- <xyz>2.15 -1.68 .7</xyz>
+ <xyz>2.15 -1.68 .3</xyz>
<rpy>0.0 0.0 0.0</rpy>
- <static>false</static>
+ <static>true</static>
<body:sphere name="sphere1_body">
<geom:sphere name="sphere1_geom">
@@ -117,10 +117,6 @@
</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>
Modified: code/gazebo/trunk/worlds/simpleshapes.world
===================================================================
--- code/gazebo/trunk/worlds/simpleshapes.world 2008-07-24 00:03:46 UTC (rev
6919)
+++ code/gazebo/trunk/worlds/simpleshapes.world 2008-07-24 15:27:54 UTC (rev
6920)
@@ -38,7 +38,7 @@
<model:physical name="sphere1_model">
<xyz>1 0 0.25</xyz>
<rpy>0.0 0.0 0.0</rpy>
- <static>false</static>
+ <static>true</static>
<body:sphere name="sphere1_body">
<geom:sphere name="sphere1_geom">
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