Revision: 7720
http://playerstage.svn.sourceforge.net/playerstage/?rev=7720&view=rev
Author: natepak
Date: 2009-05-26 14:06:50 +0000 (Tue, 26 May 2009)
Log Message:
-----------
Added bullet.world
Added Paths:
-----------
code/gazebo/branches/bullet/worlds/bullet.world
Added: code/gazebo/branches/bullet/worlds/bullet.world
===================================================================
--- code/gazebo/branches/bullet/worlds/bullet.world
(rev 0)
+++ code/gazebo/branches/bullet/worlds/bullet.world 2009-05-26 14:06:50 UTC
(rev 7720)
@@ -0,0 +1,148 @@
+<?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: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: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:bullet>
+ <stepTime>0.001</stepTime>
+ <gravity>0 0 -9.8</gravity>
+ </physics:bullet>
+
+ <rendering:gui>
+ <type>fltk</type>
+ <size>800 600</size>
+ <pos>0 0</pos>
+ </rendering:gui>
+
+ <rendering:ogre>
+ <ambient>0.0 0.0 0.0 1.0</ambient>
+ <sky>
+ <material>Gazebo/CloudySky</material>
+ </sky>
+ <shadowTechnique>stencilAdditive</shadowTechnique>
+ <grid>true</grid>
+ </rendering:ogre>
+
+ <model:physical name="sphere1_model">
+ <xyz>1 0 1.5</xyz>
+ <rpy>0.0 0.0 0.0</rpy>
+ <static>false</static>
+
+ <body:sphere name="sphere1_body">
+ <geom:sphere name="sphere1_geom">
+ <size>0.2</size>
+ <mass>.1</mass>
+
+ <mu1>109999.0</mu1>
+
+ <visual>
+ <size>0.4 0.4 0.4</size>
+ <mesh>unit_sphere</mesh>
+ <material>Gazebo/Rocky</material>
+ </visual>
+ </geom:sphere>
+
+ <geom:sphere name="sphere2_geom">
+ <xyz>0.5 0 0.5</xyz>
+ <size>0.1</size>
+ <mass>1</mass>
+ <mu1>109999.0</mu1>
+ <visual>
+ <size>0.2 0.2 0.2</size>
+ <mesh>unit_sphere</mesh>
+ <material>Gazebo/Rocky</material>
+ </visual>
+ </geom:sphere>
+
+ </body:sphere>
+ </model:physical>
+
+ <!--<model:physical name="box1_model">
+ <xyz>1 1 0.8</xyz>
+ <rpy>0.0 0.0 0.0</rpy>
+ <enableGravity>false</enableGravity>
+ <static>false</static>
+
+ <body:box name="box1_body">
+ <geom:box name="box1_geom">
+ <size>0.2 0.2 0.2</size>
+ <mass>1</mass>
+
+ <mu1>109999.0</mu1>
+
+ <visual>
+ <size>0.4 0.4 0.4</size>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/Rocky</material>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+ <model:physical name="cylinder1_model">
+ <xyz>1 -1 0.5</xyz>
+ <rpy>0.0 0.0 0.0</rpy>
+ <static>false</static>
+
+ <body:cylinder name="cylinder1_body">
+ <geom:cylinder name="cylinder1_geom">
+ <size>0.2 0.2</size>
+ <mass>1</mass>
+
+ <mu1>109999.0</mu1>
+
+ <visual>
+ <size>0.4 0.4 0.4</size>
+ <mesh>unit_cylinder</mesh>
+ <material>Gazebo/Rocky</material>
+ </visual>
+ </geom:cylinder>
+ </body:cylinder>
+ </model:physical>
+ -->
+
+
+ <!-- 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>100 100</size>
+ <segments>10 10</segments>
+ <uvTile>100 100</uvTile>
+ <material>Gazebo/Rockwall</material>
+ <mu1>109999.0</mu1>
+ <mu2>1000.0</mu2>
+ </geom:plane>
+ </body:plane>
+ </model:physical>
+
+ <!-- White Point light -->
+ <model:renderable name="point_white">
+ <xyz>0 0 5</xyz>
+ <enableGravity>false</enableGravity>
+
+ <light>
+ <type>point</type>
+ <diffuseColor>0.9 0.9 0.9</diffuseColor>
+ <specularColor>0.1 0.1 0.1</specularColor>
+ <attenuation>20 0.8 0.1 0.0</attenuation>
+ </light>
+ </model:renderable>
+
+</gazebo:world>
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