Revision: 8277
http://playerstage.svn.sourceforge.net/playerstage/?rev=8277&view=rev
Author: natepak
Date: 2009-10-06 00:17:13 +0000 (Tue, 06 Oct 2009)
Log Message:
-----------
Updated the trimesh world and added an empty world
Modified Paths:
--------------
code/gazebo/trunk/worlds/trimesh.world
Added Paths:
-----------
code/gazebo/trunk/worlds/empty.world
Added: code/gazebo/trunk/worlds/empty.world
===================================================================
--- code/gazebo/trunk/worlds/empty.world (rev 0)
+++ code/gazebo/trunk/worlds/empty.world 2009-10-06 00:17:13 UTC (rev
8277)
@@ -0,0 +1,59 @@
+<?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:ode>
+ <stepTime>0.001</stepTime>
+ <gravity>0 0 -9.8</gravity>
+ <cfm>10e-2</cfm>
+ <erp>0.2</erp>
+
+ <!-- updateRate: <0 == throttle simTime to match realTime.
+ 0 == No throttling
+ >0 == Frequency at which to throttle the sim -->
+ <updateRate>0</updateRate>
+ </physics:ode>
+
+ <rendering:gui>
+ <type>fltk</type>
+ <size>800 600</size>
+ <pos>0 0</pos>
+ </rendering:gui>
+
+ <rendering:ogre>
+ <ambient>1 1 1 1</ambient>
+ <shadowTechnique>stencilAdditive</shadowTechnique>
+ <grid>false</grid>
+ </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>100 100</size>
+ <segments>10 10</segments>
+ <uvTile>100 100</uvTile>
+ <material>Gazebo/GrayGrid</material>
+ <mu1>109999.0</mu1>
+ <mu2>1000.0</mu2>
+ </geom:plane>
+ </body:plane>
+ </model:physical>
+
+</gazebo:world>
Modified: code/gazebo/trunk/worlds/trimesh.world
===================================================================
--- code/gazebo/trunk/worlds/trimesh.world 2009-10-06 00:16:40 UTC (rev
8276)
+++ code/gazebo/trunk/worlds/trimesh.world 2009-10-06 00:17:13 UTC (rev
8277)
@@ -17,10 +17,11 @@
<verbosity>5</verbosity>
<physics:ode>
- <stepTime>0.02</stepTime>
+ <stepTime>0.001</stepTime>
<gravity>0 0 -9.80665</gravity>
<cfm>10e-5</cfm>
<erp>0.3</erp>
+ <updateRate>0</updateRate>
</physics:ode>
<rendering:gui>
@@ -34,6 +35,7 @@
<sky>
<material>Gazebo/CloudySky</material>
</sky>
+ <grid>false</grid>
</rendering:ogre>
<model:physical name="plane1_model">
@@ -47,13 +49,13 @@
<size>2000 2000</size>
<segments>10 10</segments>
<uvTile>100 100</uvTile>
- <material>Gazebo/Grey</material>
+ <material>Gazebo/GrayGrid</material>
</geom:plane>
</body:plane>
</model:physical>
<model:physical name="wood_pallet">
- <xyz>0 0 1.0</xyz>
+ <xyz>0 0 1.5</xyz>
<rpy>90 0 0</rpy>
<static>false</static>
<body:trimesh name="pallet_body">
@@ -72,6 +74,28 @@
</body:trimesh>
</model:physical>
+ <model:physical name="sphere1_model">
+ <xyz>0.1 0.1 0.5</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>0.0</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>
+ </body:sphere>
+ </model:physical>
+
+
<!-- White Directional light -->
<model:renderable name="directional_white">
<enableGravity>false</enableGravity>
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