Revision: 8715
http://playerstage.svn.sourceforge.net/playerstage/?rev=8715&view=rev
Author: natepak
Date: 2010-05-27 18:01:12 +0000 (Thu, 27 May 2010)
Log Message:
-----------
More updates for logging data
Modified Paths:
--------------
code/gazebo/branches/simpar/benchmarks/CMakeLists.txt
code/gazebo/branches/simpar/benchmarks/box_drop_benchmark.cc
code/gazebo/branches/simpar/libgazebo/SimIface.cc
code/gazebo/branches/simpar/libgazebo/gz.h
code/gazebo/branches/simpar/server/CMakeLists.txt
code/gazebo/branches/simpar/server/World.cc
code/gazebo/branches/simpar/server/World.hh
code/gazebo/branches/simpar/server/physics/PhysicsEngine.cc
code/gazebo/branches/simpar/server/physics/PhysicsEngine.hh
code/gazebo/branches/simpar/server/physics/ode/CMakeLists.txt
code/gazebo/branches/simpar/server/physics/ode/ODEPhysics.cc
code/gazebo/branches/simpar/server/physics/ode/ODEPhysics.hh
code/gazebo/branches/simpar/worlds/empty.world
Added Paths:
-----------
code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
code/gazebo/branches/simpar/benchmarks/table_benchmark.cc
code/gazebo/branches/simpar/server/Logger.cc
code/gazebo/branches/simpar/server/Logger.hh
code/gazebo/branches/simpar/worlds/table.world
Modified: code/gazebo/branches/simpar/benchmarks/CMakeLists.txt
===================================================================
--- code/gazebo/branches/simpar/benchmarks/CMakeLists.txt 2010-05-26
01:00:17 UTC (rev 8714)
+++ code/gazebo/branches/simpar/benchmarks/CMakeLists.txt 2010-05-27
18:01:12 UTC (rev 8715)
@@ -21,52 +21,23 @@
include_directories(.)
-set (sources laser_benchmark.cc
- box_grid_benchmark.cc
- box_pile_benchmark.cc
- joint_chain_benchmark.cc
- camera_benchmark.cc
- spinningbox_benchmark.cc
- pendulum_benchmark.cc
- box_drop_benchmark.cc
- )
+set (benchmarks laser
+ box_grid
+ box_pile
+ joint_chain
+ camera
+ spinningbox
+ pendulum
+ box_drop
+ table
+ pioneer_circle
+ )
-set_source_files_properties(${sources} PROPERTIES COMPILE_FLAGS "-ggdb -g2
-Wall")
-
-add_executable(laser_benchmark laser_benchmark.cc)
-add_executable(box_pile_benchmark box_pile_benchmark.cc)
-add_executable(box_grid_benchmark box_grid_benchmark.cc)
-add_executable(joint_chain_benchmark joint_chain_benchmark.cc)
-add_executable(camera_benchmark camera_benchmark.cc)
-add_executable(spinningbox_benchmark spinningbox_benchmark.cc)
-add_executable(pendulum_benchmark pendulum_benchmark.cc)
-add_executable(box_drop_benchmark box_drop_benchmark.cc)
-
-target_link_libraries(laser_benchmark gazebo ${LINK_LIBS} )
-target_link_libraries(box_grid_benchmark gazebo ${LINK_LIBS} )
-target_link_libraries(box_pile_benchmark gazebo ${LINK_LIBS} )
-target_link_libraries(joint_chain_benchmark gazebo ${LINK_LIBS} )
-target_link_libraries(camera_benchmark gazebo ${LINK_LIBS} )
-target_link_libraries(spinningbox_benchmark gazebo ${LINK_LIBS} )
-target_link_libraries(pendulum_benchmark gazebo ${LINK_LIBS} )
-target_link_libraries(box_drop_benchmark gazebo ${LINK_LIBS} )
-
-set_target_properties(laser_benchmark PROPERTIES SKIP_BUILD_RPATH TRUE)
-set_target_properties(box_grid_benchmark PROPERTIES SKIP_BUILD_RPATH TRUE)
-set_target_properties(box_pile_benchmark PROPERTIES SKIP_BUILD_RPATH TRUE)
-set_target_properties(joint_chain_benchmark PROPERTIES SKIP_BUILD_RPATH TRUE)
-set_target_properties(camera_benchmark PROPERTIES SKIP_BUILD_RPATH TRUE)
-set_target_properties(spinningbox_benchmark PROPERTIES SKIP_BUILD_RPATH TRUE)
-set_target_properties(pendulum_benchmark PROPERTIES SKIP_BUILD_RPATH TRUE)
-set_target_properties(box_drop_benchmark PROPERTIES SKIP_BUILD_RPATH TRUE)
-
-set_target_properties(laser_benchmark PROPERTIES LINK_FLAGS
"${LINK_FLAGS} ${gazebo_lflags}")
-set_target_properties(box_grid_benchmark PROPERTIES LINK_FLAGS
"${LINK_FLAGS} ${gazebo_lflags}")
-set_target_properties(box_pile_benchmark PROPERTIES LINK_FLAGS
"${LINK_FLAGS} ${gazebo_lflags}")
-set_target_properties(joint_chain_benchmark PROPERTIES LINK_FLAGS
"${LINK_FLAGS} ${gazebo_lflags}")
-set_target_properties(camera_benchmark PROPERTIES LINK_FLAGS
"${LINK_FLAGS} ${gazebo_lflags}")
-set_target_properties(spinningbox_benchmark PROPERTIES LINK_FLAGS
"${LINK_FLAGS} ${gazebo_lflags}")
-set_target_properties(pendulum_benchmark PROPERTIES LINK_FLAGS
"${LINK_FLAGS} ${gazebo_lflags}")
-set_target_properties(box_drop_benchmark PROPERTIES LINK_FLAGS
"${LINK_FLAGS} ${gazebo_lflags}")
-
-install (TARGETS laser_benchmark box_grid_benchmark box_pile_benchmark
joint_chain_benchmark camera_benchmark spinningbox_benchmark pendulum_benchmark
box_drop_benchmark DESTINATION ${CMAKE_INSTALL_PREFIX}/bin)
+foreach (src ${benchmarks})
+ set_source_files_properties(${src}_benchmark.cc PROPERTIES COMPILE_FLAGS
"-Wall")
+ add_executable(${src}_benchmark ${src}_benchmark.cc)
+ target_link_libraries(${src}_benchmark gazebo ${LINK_LIBS} )
+ set_target_properties(${src}_benchmark PROPERTIES SKIP_BUILD_RPATH TRUE)
+ set_target_properties(${src}_benchmark PROPERTIES LINK_FLAGS "${LINK_FLAGS}
${gazebo_lflags}")
+ install (TARGETS ${src}_benchmark DESTINATION ${CMAKE_INSTALL_PREFIX}/bin)
+endforeach (src ${benchmarks})
Modified: code/gazebo/branches/simpar/benchmarks/box_drop_benchmark.cc
===================================================================
--- code/gazebo/branches/simpar/benchmarks/box_drop_benchmark.cc
2010-05-26 01:00:17 UTC (rev 8714)
+++ code/gazebo/branches/simpar/benchmarks/box_drop_benchmark.cc
2010-05-27 18:01:12 UTC (rev 8715)
@@ -3,6 +3,7 @@
#include <stdlib.h>
#include <vector>
#include <libgazebo/gz.h>
+#include <boost/lexical_cast.hpp>
gazebo::Client *client = NULL;
gazebo::SimulationIface *simIface = NULL;
@@ -45,7 +46,7 @@
model << " <kp>100000000.0</kp>";
model << " <kd>1.0</kd>";
model << " <bounce>0</bounce>";
- model << " <bounceVel>0</bounceVel>";
+ model << " <bounceVel>100000</bounceVel>";
model << " <slip1>0.01</slip1>";
model << " <slip2>0.01</slip2>";
model << " <visual>";
@@ -63,6 +64,32 @@
factoryIface->Unlock();
}
+void RunSim()
+{
+ simIface->StartLogEntity("box");
+ simIface->Unpause();
+ /*gazebo::Vec3 linearVel, angularVel, linearAccel, angularAccel;
+ gazebo::Pose modelPose;
+
+ double time = simIface->data->realTime;
+ while ( simIface->data->realTime - time < 10.0 )
+ {
+ //simIface->GetState("box", modelPose, linearVel, angularVel, linearAccel,
angularAccel);
+
+ //if ( fabs(prev_z - modelPose.pos.z) >= 1e-5)
+ //time = simIface->data->realTime;
+
+ //prev_z = modelPose.pos.z;
+ }
+ */
+ usleep(10000000);
+
+ simIface->StopLogEntity("box");
+ simIface->Pause();
+ simIface->Reset();
+}
+
+
int main()
{
client = new gazebo::Client();
@@ -101,34 +128,52 @@
<< e << "\n";
return -1;
}
-
- FILE *out = fopen(data_filename.c_str(), "w");
-
double prev_z = 5;
-
spawn_box(0, 0, prev_z);
- simIface->Unpause();
+ usleep(10000);
- gazebo::Vec3 linearVel, angularVel, linearAccel, angularAccel;
- gazebo::Pose modelPose;
- double time = simIface->data->realTime;
- while ( simIface->data->realTime - time < 2.0 )
+ std::vector<std::string > step_types;
+ std::vector<std::string >::iterator iter;
+ //step_types.push_back("robust");
+ step_types.push_back("world");
+ step_types.push_back("quick");
+
+ for (iter = step_types.begin(); iter != step_types.end(); iter++)
{
- simIface->GetState("box", modelPose, linearVel, angularVel, linearAccel,
angularAccel);
- fprintf(out,"%f %f %f %f %f %f %f %f\n", simIface->data->simTime,
simIface->data->realTime, modelPose.pos.x, modelPose.pos.y, modelPose.pos.z,
modelPose.roll, modelPose.pitch, modelPose.yaw );
+ std::string path = std::string("/home/nate/work/simpar/data/box_drop/") +
*iter + "/";
- if ( fabs(prev_z - modelPose.pos.z) >= 1e-5)
- time = simIface->data->realTime;
+ system((std::string("mkdir -p ")+path).c_str());
- prev_z = modelPose.pos.z;
- }
+ FILE *out = fopen(std::string(path+"index.txt").c_str(), "w");
+ fprintf(out,"# index step_time\n");
- fclose(out);
+ int i = 0;
- //make_plot();
+ simIface->SetStepType(*iter);
+ for (double step=0.1; step > 1e-5; step *= 0.5)
+ {
+ unsigned int iterations = 10;
+ if (*iter == "world")
+ iterations = 199;
+ for (; iterations < 200; iterations +=20, i++)
+ {
+ simIface->SetStepTime(step);
+ simIface->SetStepIterations(iterations);
+ fprintf(out,"%d %f %d\n",i,step, iterations);
+ std::cout << "Type[" << *iter << "] Step[" << step << "] Iterations["
<< iterations << "]\n";
+ RunSim();
+ std::string mv_cmd = std::string("mv /tmp/box.log ") + path +
"box_drop_benchmark_" + *iter + "_" + boost::lexical_cast<std::string>(i) +
".data";
+ system(mv_cmd.c_str());
+ }
+ }
+ fclose(out);
+ }
+
factoryIface->Close();
simIface->Close();
client->Disconnect();
}
+
+
Added: code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
===================================================================
--- code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
(rev 0)
+++ code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
2010-05-27 18:01:12 UTC (rev 8715)
@@ -0,0 +1,75 @@
+#include <iostream>
+#include <stdio.h>
+#include <stdlib.h>
+#include <vector>
+#include <libgazebo/gz.h>
+
+gazebo::Client *client = NULL;
+gazebo::SimulationIface *simIface = NULL;
+gazebo::FactoryIface *factoryIface = NULL;
+
+std::string test_name="Pioneer Circle Benchmark";
+std::string data_filename = "/tmp/pioneer_circle_benchmark.data";
+
+void spawn_robot()
+{
+ std::ostringstream model;
+
+ model << "<model:physical name='pioneer'>";
+ model << " <xyz>0 0 1.145</xyz>";
+ model << " <rpy>0.0 0.0 90.0</rpy>";
+ model << " <include embedded='true'>";
+ model << " <xi:include
href='/home/nate/local/share/gazebo/worlds/models/pioneer2dx.model'/>";
+ model << " </include>";
+ model << "</model:physical>";
+
+ factoryIface->Lock(1);
+ strcpy( (char*)factoryIface->data->newModel, model.str().c_str() );
+ factoryIface->Unlock();
+}
+
+int main()
+{
+ client = new gazebo::Client();
+ simIface = new gazebo::SimulationIface();
+ factoryIface = new gazebo::FactoryIface();
+
+ try
+ {
+ client->ConnectWait(0, GZ_CLIENT_ID_USER_FIRST);
+ }
+ catch(std::string e)
+ {
+ std::cerr << "Gazebo Error: Unable to connect: " << e << "\n";
+ return -1;
+ }
+
+ /// Open the sim iface
+ try
+ {
+ simIface->Open(client, "default");
+ }
+ catch (std::string e)
+ {
+ std::cerr << "Gazebo error: Unable to connect to sim iface:" << e << "\n";
+ return -1;
+ }
+
+ // Open the factory iface
+ try
+ {
+ factoryIface->Open(client, "default");
+ }
+ catch( std::string e)
+ {
+ std::cerr << "Gazebo error: Unable to connect to the factory Iface:"
+ << e << "\n";
+ return -1;
+ }
+
+ spawn_robot();
+
+ factoryIface->Close();
+ simIface->Close();
+ client->Disconnect();
+}
Added: code/gazebo/branches/simpar/benchmarks/table_benchmark.cc
===================================================================
--- code/gazebo/branches/simpar/benchmarks/table_benchmark.cc
(rev 0)
+++ code/gazebo/branches/simpar/benchmarks/table_benchmark.cc 2010-05-27
18:01:12 UTC (rev 8715)
@@ -0,0 +1,216 @@
+#include <iostream>
+#include <stdio.h>
+#include <stdlib.h>
+#include <vector>
+#include <libgazebo/gz.h>
+
+gazebo::Client *client = NULL;
+gazebo::SimulationIface *simIface = NULL;
+gazebo::FactoryIface *factoryIface = NULL;
+int laser_count = 0;
+
+std::string test_name="Table Benchmark";
+std::string data_filename = "/tmp/table_benchmark.data";
+
+void spawn_table()
+{
+ std::ostringstream model;
+
+ model << "<model:physical name='table'>";
+ model << " <xyz>0 0 0.51</xyz>";
+ model << " <rpy>0 0 0</rpy>";
+ model << " <static>false</static>";
+ model << " <body:box name='body'>";
+
+ model << " <geom:box name='surface'>";
+ model << " <size>1.02 1.02 0.01</size>";
+ model << " <mass>1</mass>";
+ model << " <kp>100000000.0</kp>";
+ model << " <kd>1.0</kd>";
+ model << " <bounce>0</bounce>";
+ model << " <bounceVel>0</bounceVel>";
+ model << " <slip1>0.01</slip1>";
+ model << " <slip2>0.01</slip2>";
+ model << " <visual>";
+ model << " <size>1.02 1.02 .01</size>";
+ model << " <mesh>unit_box</mesh>";
+ model << " <material>Gazebo/Rocky</material>";
+ model << " </visual>";
+ model << " </geom:box>";
+
+ model << " <geom:box name='leg1'>";
+ model << " <xyz>-0.5 -0.5 -0.25</xyz>";
+ model << " <size>.02 .02 0.5</size>";
+ model << " <mass>1</mass>";
+ model << " <kp>100000000.0</kp>";
+ model << " <kd>1.0</kd>";
+ model << " <bounce>0</bounce>";
+ model << " <bounceVel>0</bounceVel>";
+ model << " <slip1>0.01</slip1>";
+ model << " <slip2>0.01</slip2>";
+ model << " <visual>";
+ model << " <size>0.01 0.01 0.5</size>";
+ model << " <mesh>unit_box</mesh>";
+ model << " <material>Gazebo/Rocky</material>";
+ model << " </visual>";
+ model << " </geom:box>";
+
+ model << " <geom:box name='leg2'>";
+ model << " <xyz>-0.5 0.5 -0.25</xyz>";
+ model << " <size>.02 .02 0.5</size>";
+ model << " <mass>1</mass>";
+ model << " <kp>100000000.0</kp>";
+ model << " <kd>1.0</kd>";
+ model << " <bounce>0</bounce>";
+ model << " <bounceVel>0</bounceVel>";
+ model << " <slip1>0.01</slip1>";
+ model << " <slip2>0.01</slip2>";
+ model << " <visual>";
+ model << " <size>0.01 0.01 0.5</size>";
+ model << " <mesh>unit_box</mesh>";
+ model << " <material>Gazebo/Rocky</material>";
+ model << " </visual>";
+ model << " </geom:box>";
+
+ model << " <geom:box name='leg3'>";
+ model << " <xyz>0.5 -0.5 -0.25</xyz>";
+ model << " <size>.02 .02 0.5</size>";
+ model << " <mass>1</mass>";
+ model << " <kp>100000000.0</kp>";
+ model << " <kd>1.0</kd>";
+ model << " <bounce>0</bounce>";
+ model << " <bounceVel>0</bounceVel>";
+ model << " <slip1>0.01</slip1>";
+ model << " <slip2>0.01</slip2>";
+ model << " <visual>";
+ model << " <size>0.01 0.01 0.5</size>";
+ model << " <mesh>unit_box</mesh>";
+ model << " <material>Gazebo/Rocky</material>";
+ model << " </visual>";
+ model << " </geom:box>";
+
+ model << " <geom:box name='leg4'>";
+ model << " <xyz>0.5 0.5 -0.25</xyz>";
+ model << " <size>.02 .02 0.5</size>";
+ model << " <mass>1</mass>";
+ model << " <kp>100000000.0</kp>";
+ model << " <kd>1.0</kd>";
+ model << " <bounce>0</bounce>";
+ model << " <bounceVel>0</bounceVel>";
+ model << " <slip1>0.01</slip1>";
+ model << " <slip2>0.01</slip2>";
+ model << " <visual>";
+ model << " <size>0.01 0.01 0.5</size>";
+ model << " <mesh>unit_box</mesh>";
+ model << " <material>Gazebo/Rocky</material>";
+ model << " </visual>";
+ model << " </geom:box>";
+
+ model << " </body:box>";
+ model << "</model:physical>";
+
+ factoryIface->Lock(1);
+ strcpy( (char*)factoryIface->data->newModel, model.str().c_str() );
+ factoryIface->Unlock();
+}
+
+void spawn_box(double x, double y, double z=1)
+{
+ std::ostringstream model;
+
+ model << "<model:physical name='box'>";
+ model << " <xyz>" << x << " " << y << " " << z << "</xyz>";
+ model << " <rpy>0 0 0</rpy>";
+ model << " <body:box name='body'>";
+ model << " <geom:box name='geom'>";
+ model << " <size>0.5 0.5 0.5</size>";
+ model << " <mass>1</mass>";
+ model << " <kp>100000000.0</kp>";
+ model << " <kd>1.0</kd>";
+ model << " <bounce>0</bounce>";
+ model << " <bounceVel>0</bounceVel>";
+ model << " <slip1>0.01</slip1>";
+ model << " <slip2>0.01</slip2>";
+ model << " <visual>";
+ model << " <size>0.5 0.5 0.5</size>";
+ model << " <mesh>unit_box</mesh>";
+ model << " <material>Gazebo/Rocky</material>";
+ model << " </visual>";
+ model << " </geom:box>";
+ model << " </body:box>";
+ model << "</model:physical>";
+
+ factoryIface->Lock(1);
+ strcpy( (char*)factoryIface->data->newModel, model.str().c_str() );
+ factoryIface->Unlock();
+}
+
+int main()
+{
+ client = new gazebo::Client();
+ simIface = new gazebo::SimulationIface();
+ factoryIface = new gazebo::FactoryIface();
+
+ try
+ {
+ client->ConnectWait(0, GZ_CLIENT_ID_USER_FIRST);
+ }
+ catch(std::string e)
+ {
+ std::cerr << "Gazebo Error: Unable to connect: " << e << "\n";
+ return -1;
+ }
+
+ /// Open the sim iface
+ try
+ {
+ simIface->Open(client, "default");
+ }
+ catch (std::string e)
+ {
+ std::cerr << "Gazebo error: Unable to connect to sim iface:" << e << "\n";
+ return -1;
+ }
+
+ // Open the factory iface
+ try
+ {
+ factoryIface->Open(client, "default");
+ }
+ catch( std::string e)
+ {
+ std::cerr << "Gazebo error: Unable to connect to the factory Iface:"
+ << e << "\n";
+ return -1;
+ }
+
+ double prev_z = 5;
+
+ spawn_table();
+ usleep(100000);
+ spawn_box(0, 0, prev_z);
+ usleep(1000000);
+ simIface->StartLogEntity("box");
+ simIface->StartLogEntity("table");
+ simIface->Unpause();
+
+ gazebo::Vec3 linearVel, angularVel, linearAccel, angularAccel;
+ gazebo::Pose modelPose;
+
+ double time = simIface->data->realTime;
+ while ( simIface->data->realTime - time < 2.0 )
+ {
+ simIface->GetState("box", modelPose, linearVel, angularVel, linearAccel,
angularAccel);
+
+ if ( fabs(prev_z - modelPose.pos.z) >= 1e-5)
+ time = simIface->data->realTime;
+
+ prev_z = modelPose.pos.z;
+ }
+ simIface->StopLogEntity("box");
+ simIface->StopLogEntity("table");
+
+ factoryIface->Close();
+ simIface->Close();
+ client->Disconnect();
+}
Modified: code/gazebo/branches/simpar/libgazebo/SimIface.cc
===================================================================
--- code/gazebo/branches/simpar/libgazebo/SimIface.cc 2010-05-26 01:00:17 UTC
(rev 8714)
+++ code/gazebo/branches/simpar/libgazebo/SimIface.cc 2010-05-27 18:01:12 UTC
(rev 8715)
@@ -851,3 +851,109 @@
return true;
}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Start logging entity information
+void SimulationIface::StartLogEntity(const std::string &entityName)
+{
+ this->Lock(1);
+
+ this->data->responseCount = 0;
+ SimulationRequestData *request;
+
+ request = &(this->data->requests[this->data->requestCount++]);
+ request->type = SimulationRequestData::START_LOG;
+
+ memset(request->name, 0, 512);
+ strncpy(request->name, entityName.c_str(), 512);
+ request->name[511] = '\0';
+
+ this->Unlock();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Stop logging entity information
+void SimulationIface::StopLogEntity(const std::string &entityName)
+{
+ this->Lock(1);
+
+ this->data->responseCount = 0;
+ SimulationRequestData *request;
+
+ request = &(this->data->requests[this->data->requestCount++]);
+ request->type = SimulationRequestData::STOP_LOG;
+
+ memset(request->name, 0, 512);
+ strncpy(request->name, entityName.c_str(), 512);
+ request->name[511] = '\0';
+
+ this->Unlock();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Set the step time
+void SimulationIface::SetStepTime(double time)
+{
+ this->Lock(1);
+
+ this->data->responseCount = 0;
+ SimulationRequestData *request;
+
+ request = &(this->data->requests[this->data->requestCount++]);
+ request->type = SimulationRequestData::SET_STEP_TIME;
+ request->dblValue = time;
+ this->Unlock();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Set the step iteraction
+void SimulationIface::SetStepIterations(unsigned int iters)
+{
+ this->Lock(1);
+
+ this->data->responseCount = 0;
+ SimulationRequestData *request;
+
+ request = &(this->data->requests[this->data->requestCount++]);
+ request->type = SimulationRequestData::SET_STEP_ITERS;
+ request->uintValue = iters;
+
+ this->Unlock();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Set the step type
+void SimulationIface::SetStepType(const std::string &type)
+{
+ this->Lock(1);
+
+ this->data->responseCount = 0;
+ SimulationRequestData *request;
+
+ request = &(this->data->requests[this->data->requestCount++]);
+ request->type = SimulationRequestData::SET_STEP_TYPE;
+ memset(request->strValue, 0, 512);
+ strncpy(request->strValue, type.c_str(), 512);
+ request->strValue[511] = '\0';
+
+ this->Unlock();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Get the step type
+std::string SimulationIface::GetStepType()
+{
+ this->Lock(1);
+ this->data->responseCount = 0;
+
+ SimulationRequestData *request;
+ request = &(this->data->requests[this->data->requestCount++]);
+ request->type = SimulationRequestData::GET_STEP_TYPE;
+
+ this->Unlock();
+ if (!this->WaitForResponse())
+ return false;
+
+ assert(this->data->responseCount == 1);
+ return data->responses[0].strValue;
+}
Modified: code/gazebo/branches/simpar/libgazebo/gz.h
===================================================================
--- code/gazebo/branches/simpar/libgazebo/gz.h 2010-05-26 01:00:17 UTC (rev
8714)
+++ code/gazebo/branches/simpar/libgazebo/gz.h 2010-05-27 18:01:12 UTC (rev
8715)
@@ -447,6 +447,12 @@
GET_MODEL_INTERFACES, // for getting interfaces as well
as the models which are ancestors of interfaces
GET_INTERFACE_TYPE, // if the model is not an
interface 'unknown' is returned
SET_ENTITY_PARAM_VALUE,
+ START_LOG,
+ STOP_LOG,
+ SET_STEP_TIME,
+ SET_STEP_ITERS,
+ SET_STEP_TYPE,
+ GET_STEP_TYPE
};
public: Type type;
@@ -455,6 +461,7 @@
public: char strValue1[512];
public: Vec3 vec3Value;
public: unsigned int uintValue;
+ public: double dblValue;
public: Pose modelPose;
public: Vec3 modelLinearVel;
@@ -465,7 +472,6 @@
public: char childInterfaces[GAZEBO_MAX_NUMBER_OF_CHILDREN][512];
public: int nChildInterfaces;
//public: char modelType[512];
-
};
/// \brief Simulation interface data
@@ -653,6 +659,24 @@
public: void GoAckWait();
public: void GoAckPost();
+ /// \brief Start logging entity information
+ public: void StartLogEntity(const std::string &entityName);
+
+ /// \brief Stop logging entity information
+ public: void StopLogEntity(const std::string &entityName);
+
+ /// \brief Set the step time
+ public: void SetStepTime(double time);
+
+ /// \brief Set the step iteraction
+ public: void SetStepIterations(unsigned int iters);
+
+ /// \brief Set the step type
+ public: void SetStepType(const std::string &type);
+
+ /// \brief Get the step type
+ public: std::string GetStepType();
+
private: void BlockThread();
/// \brief Wait for a return message
Modified: code/gazebo/branches/simpar/server/CMakeLists.txt
===================================================================
--- code/gazebo/branches/simpar/server/CMakeLists.txt 2010-05-26 01:00:17 UTC
(rev 8714)
+++ code/gazebo/branches/simpar/server/CMakeLists.txt 2010-05-27 18:01:12 UTC
(rev 8715)
@@ -93,6 +93,7 @@
OgreLoader.cc
AssimpLoader.cc
STLLoader.cc
+ Logger.cc
)
SET (headers Common.hh
@@ -125,6 +126,7 @@
OgreLoader.hh
AssimpLoader.hh
STLLoader.hh
+ Logger.hh
)
APPEND_TO_SERVER_HEADERS(${headers})
Added: code/gazebo/branches/simpar/server/Logger.cc
===================================================================
--- code/gazebo/branches/simpar/server/Logger.cc
(rev 0)
+++ code/gazebo/branches/simpar/server/Logger.cc 2010-05-27 18:01:12 UTC
(rev 8715)
@@ -0,0 +1,102 @@
+#include <iomanip>
+#include "Time.hh"
+#include "World.hh"
+#include "Entity.hh"
+#include "Simulator.hh"
+#include "Logger.hh"
+
+using namespace gazebo;
+
+////////////////////////////////////////////////////////////////////////////////
+/// Constructor
+Logger::Logger()
+{
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Destructor
+Logger::~Logger()
+{
+ std::vector<LogObj*>::iterator iter;
+
+ for (iter = this->logObjects.begin(); iter != this->logObjects.end(); iter++)
+ delete *iter;
+ this->logObjects.clear();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Add a log
+void Logger::AddLog(const std::string &entity)
+{
+ Logger::LogObj *newLog = new Logger::LogObj(entity + ".log");
+ newLog->entityName = entity;
+ this->logObjects.push_back(newLog);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Remove a log
+void Logger::RemoveLog(const std::string &entity)
+{
+ std::vector<LogObj*>::iterator iter;
+
+ for (iter = this->logObjects.begin(); iter != this->logObjects.end(); iter++)
+ {
+ if ( (*iter)->entityName == entity)
+ {
+ delete *iter;
+ this->logObjects.erase(iter);
+ break;
+ }
+ }
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Update the logger
+void Logger::Update()
+{
+ std::vector<LogObj*>::iterator iter;
+
+ for (iter = this->logObjects.begin(); iter != this->logObjects.end(); iter++)
+ (*iter)->Update();
+}
+
+
+////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////
+/// Constructor
+Logger::LogObj::LogObj(const std::string &filename)
+{
+ std::string fullname = std::string("/tmp/") + filename;
+ this->logFile.open(fullname.c_str(), std::fstream::out);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Destructor
+Logger::LogObj::~LogObj()
+{
+ this->logFile.close();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Update the log object
+void Logger::LogObj::Update()
+{
+ Entity *entity = World::Instance()->GetEntityByName(this->entityName);
+ if (entity)
+ {
+ Pose3d pose3d = entity->GetAbsPose();
+ Time simTime = Simulator::Instance()->GetSimTime();
+ Time realTime = Simulator::Instance()->GetRealTime();
+
+ double roll, pitch, yaw;
+
+ roll = pose3d.rot.GetRoll();
+ pitch = pose3d.rot.GetPitch();
+ yaw = pose3d.rot.GetYaw();
+
+ this->logFile << std::setprecision(8) << std::fixed
+ << simTime.Double() << " " << realTime.Double() << " "
+ << pose3d.pos.x << " " << pose3d.pos.y << " " << pose3d.pos.z
+ << " " << roll << " " << pitch << " " << yaw << "\n";
+ }
+}
Added: code/gazebo/branches/simpar/server/Logger.hh
===================================================================
--- code/gazebo/branches/simpar/server/Logger.hh
(rev 0)
+++ code/gazebo/branches/simpar/server/Logger.hh 2010-05-27 18:01:12 UTC
(rev 8715)
@@ -0,0 +1,40 @@
+#ifndef LOGGER_HH
+#define LOGGER_HH
+
+#include <vector>
+#include <fstream>
+#include <string>
+
+namespace gazebo
+{
+ class Logger
+ {
+ /// \brief Constructor
+ public: Logger();
+
+ /// \brief Destructor
+ public: virtual ~Logger();
+
+ /// \brief Add a log file
+ public: void AddLog(const std::string &model);
+
+ /// \brief Remove a log
+ public: void RemoveLog(const std::string &entity);
+
+ /// \brief Update the log files
+ public: void Update();
+
+ private: class LogObj
+ {
+ public: LogObj(const std::string &filename);
+ public: virtual ~LogObj();
+ public: void Update();
+
+ public: std::string entityName;
+ private: std::fstream logFile;
+ };
+
+ private: std::vector<LogObj*> logObjects;
+ };
+}
+#endif
Modified: code/gazebo/branches/simpar/server/World.cc
===================================================================
--- code/gazebo/branches/simpar/server/World.cc 2010-05-26 01:00:17 UTC (rev
8714)
+++ code/gazebo/branches/simpar/server/World.cc 2010-05-27 18:01:12 UTC (rev
8715)
@@ -44,6 +44,7 @@
#include "Simulator.hh"
#include "gz.h"
#include "World.hh"
+#include "Logger.hh"
#include "OpenAL.hh"
@@ -79,12 +80,15 @@
this->saveStateBufferSizeP = new ParamT<unsigned
int>("saveStateBufferSize",1000,0);
Param::End();
+ this->logger = new Logger();
}
////////////////////////////////////////////////////////////////////////////////
// Private destructor
World::~World()
{
+ delete this->logger;
+ this->logger = NULL;
this->Close();
}
@@ -375,6 +379,8 @@
this->factory->Update();
+ this->logger->Update();
+
this->worldUpdateEndSignal();
}
@@ -1335,14 +1341,7 @@
std::string mname = req->name;
unsigned int i=mname.find(".");
-/*
- unsigned int ind = list[j].find(mname);
- if(ind==0 && ind!=std::string::npos && list[j].size() >
mname.size()){
-
candids.push_back(list[j].substr(ind+mname.size(),list[j].size()-ind-mname.size()));
- }
- }
-*/
while(i!= std::string::npos)
{
mname.erase(i,1);
@@ -1350,7 +1349,6 @@
i= mname.find(".");
}
-
std::vector<std::string> candids;
for(unsigned int j=0;j<list.size();j++)
@@ -1403,24 +1401,17 @@
std::vector<Model*>::iterator mmiter;
- for (mmiter=models.begin(); mmiter!=models.end(); mmiter++)
- GetInterfaceNames((*mmiter), list);
+ for (mmiter=models.begin(); mmiter!=models.end(); mmiter++)
+ GetInterfaceNames((*mmiter), list);
- // removing the ">>type" from the end of each interface names
- for(unsigned int jj=0;jj<list.size();jj++){
- unsigned int index = list[jj].find(">>");
- if(index !=std::string::npos)
- list[jj].replace(index,list[jj].size(),"");
- }
+ // removing the ">>type" from the end of each interface names
+ for(unsigned int jj=0;jj<list.size();jj++){
+ unsigned int index = list[jj].find(">>");
+ if(index !=std::string::npos)
+ list[jj].replace(index,list[jj].size(),"");
+ }
-
- //if(strcmp((char*)req->name,"")==0){
- /*
- for (miter=models.begin(); miter!=models.end(); miter++)
- GetInterfaceNames((*miter), list);
-*/
-
// removing the ">>type" from the end of each interface names
for(unsigned int jj=0;jj<list.size();jj++)
{
@@ -1437,27 +1428,27 @@
- std::string str = list[i].substr(0,list[i].find("::"));
- std::vector<std::string>::iterator itr;
- itr = std::find(chlist.begin(),chlist.end(), str);
+ std::string str = list[i].substr(0,list[i].find("::"));
+ std::vector<std::string>::iterator itr;
+ itr = std::find(chlist.begin(),chlist.end(), str);
- if(itr!=chlist.end() || str=="")
- continue;
+ if(itr!=chlist.end() || str=="")
+ continue;
- unsigned int ii=str.find("::");
- while(ii!= std::string::npos){
-
- str.erase(ii,2);
- str.insert(ii,".");
- ii= str.find("::");
- }
+ unsigned int ii=str.find("::");
+ while(ii!= std::string::npos){
- chlist.push_back(str);
-
strcpy(response->childInterfaces[response->nChildInterfaces++],str.c_str());
-
response->childInterfaces[response->nChildInterfaces-1][511]='\0';
-
- }
-
+ str.erase(ii,2);
+ str.insert(ii,".");
+ ii= str.find("::");
+ }
+
+ chlist.push_back(str);
+
strcpy(response->childInterfaces[response->nChildInterfaces++],str.c_str());
+
response->childInterfaces[response->nChildInterfaces-1][511]='\0';
+
+ }
+
}
else
{
@@ -1499,14 +1490,14 @@
chlist.push_back(str);
// Adding the parent name to the child name e.g "parent.child"
str=mname+"."+str;
-
- unsigned int i=str.find("::");
- while(i!=std::string::npos){
- str.erase(i,2);
- str.insert(i,".");
- i= str.find("::");
- }
+ unsigned int i=str.find("::");
+ while(i!=std::string::npos){
+ str.erase(i,2);
+ str.insert(i,".");
+ i= str.find("::");
+ }
+
strcpy(response->childInterfaces[response->nChildInterfaces++],
str.c_str());
response->childInterfaces[response->nChildInterfaces-1][511]='\0';
@@ -1518,10 +1509,50 @@
break;
}
-
- case SimulationRequestData::GO:
+ case SimulationRequestData::START_LOG:
{
+ this->logger->AddLog(req->name);
+ break;
+ }
+
+ case SimulationRequestData::STOP_LOG:
+ {
+ this->logger->RemoveLog(req->name);
+ break;
+ }
+
+ case SimulationRequestData::SET_STEP_TIME:
+ {
+ this->physicsEngine->SetStepTime(Time(req->dblValue));
+ break;
+ }
+
+ case SimulationRequestData::SET_STEP_ITERS:
+ {
+ this->physicsEngine->SetStepIters(req->uintValue);
+ break;
+ }
+
+ case SimulationRequestData::SET_STEP_TYPE:
+ {
+ this->physicsEngine->SetStepType(req->strValue);
+ break;
+ }
+
+ case SimulationRequestData::GET_STEP_TYPE:
+ {
+ memset(response->strValue, 0, 512);
+ strncpy(response->strValue,
this->physicsEngine->GetStepType().c_str(), 512);
+ response->strValue[511] = '\0';
+ response++;
+ this->simIface->data->responseCount += 1;
+ break;
+ }
+
+
+ case SimulationRequestData::GO:
+ {
int sec = req->runTime/1000;
int nsec = (req->runTime - sec*1000) * 1e6;
Modified: code/gazebo/branches/simpar/server/World.hh
===================================================================
--- code/gazebo/branches/simpar/server/World.hh 2010-05-26 01:00:17 UTC (rev
8714)
+++ code/gazebo/branches/simpar/server/World.hh 2010-05-27 18:01:12 UTC (rev
8715)
@@ -68,6 +68,7 @@
class WorldState;
class Timer;
class Time;
+ class Logger;
/// \brief The World
/*
@@ -435,6 +436,8 @@
private: Timer saveStateTimer;
private: ParamT<Time> *saveStateTimeoutP;
private: ParamT<unsigned int> *saveStateBufferSizeP;
+
+ private: Logger *logger;
};
class WorldState
Modified: code/gazebo/branches/simpar/server/physics/PhysicsEngine.cc
===================================================================
--- code/gazebo/branches/simpar/server/physics/PhysicsEngine.cc 2010-05-26
01:00:17 UTC (rev 8714)
+++ code/gazebo/branches/simpar/server/physics/PhysicsEngine.cc 2010-05-27
18:01:12 UTC (rev 8715)
@@ -130,6 +130,13 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Set the time between each update cycle
+void PhysicsEngine::SetStepTime(Time time)
+{
+ this->stepTimeP->SetValue(time);
+}
+
+////////////////////////////////////////////////////////////////////////////////
/// Lock the physics engine mutex
void PhysicsEngine::LockMutex()
{
Modified: code/gazebo/branches/simpar/server/physics/PhysicsEngine.hh
===================================================================
--- code/gazebo/branches/simpar/server/physics/PhysicsEngine.hh 2010-05-26
01:00:17 UTC (rev 8714)
+++ code/gazebo/branches/simpar/server/physics/PhysicsEngine.hh 2010-05-27
18:01:12 UTC (rev 8715)
@@ -138,6 +138,18 @@
/// \return step time
public: Time GetStepTime() const;
+ /// \brief Set the step time
+ public: void SetStepTime(Time time);
+
+ /// \brief Set the step iterations
+ public: virtual void SetStepIters(unsigned int iters) {}
+
+ /// \brief Get the step type
+ public: virtual std::string GetStepType() const {return "unknown";}
+
+ /// \brief Set the step type
+ public: virtual void SetStepType(const std::string type) {}
+
/// \brief Lock the physics engine mutex
public: void LockMutex();
Modified: code/gazebo/branches/simpar/server/physics/ode/CMakeLists.txt
===================================================================
--- code/gazebo/branches/simpar/server/physics/ode/CMakeLists.txt
2010-05-26 01:00:17 UTC (rev 8714)
+++ code/gazebo/branches/simpar/server/physics/ode/CMakeLists.txt
2010-05-27 18:01:12 UTC (rev 8715)
@@ -40,7 +40,6 @@
endif (CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE})
LIST_TO_STRING(MY_ODE_CFLAGS "${ODE_CFLAGS}")
-message (STATUS "ODE CFLAGS ${MY_ODE_CFLAGS}")
set_target_properties(gazebo_physics_ode PROPERTIES COMPILE_FLAGS "-fPIC
${MY_ODE_CFLAGS}")
target_link_libraries( gazebo_physics_ode ${ODE_LIBRARIES})
Modified: code/gazebo/branches/simpar/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/branches/simpar/server/physics/ode/ODEPhysics.cc
2010-05-26 01:00:17 UTC (rev 8714)
+++ code/gazebo/branches/simpar/server/physics/ode/ODEPhysics.cc
2010-05-27 18:01:12 UTC (rev 8715)
@@ -91,7 +91,7 @@
this->globalCFMP = new ParamT<double>("cfm", 10e-5, 0);
this->globalERPP = new ParamT<double>("erp", 0.2, 0);
this->stepTypeP = new ParamT<std::string>("stepType", "quick", 0);
- this->stepItersP = new ParamT<int>("stepIters", 20, 0);
+ this->stepItersP = new ParamT<unsigned int>("stepIters", 100, 0);
this->stepWP = new ParamT<double>("stepW", 1.3, 0); /// over_relaxation
value for SOR
this->contactMaxCorrectingVelP = new
ParamT<double>("contactMaxCorrectingVel", 10.0, 0);
this->contactSurfaceLayerP = new ParamT<double>("contactSurfaceLayer", 0.01,
0);
@@ -279,7 +279,11 @@
else if (**this->stepTypeP == "world")
dWorldStep( this->worldId, (**this->stepTimeP).Double() );
else if (**this->stepTypeP == "robust")
+ {
+ printf("Robust Step\n");
dWorldRobustStep( this->worldId, (**this->stepTimeP).Double() );
+ printf("Robust Step Done\n");
+ }
else
gzthrow(std::string("Invalid step type[") + **this->stepTypeP);
@@ -389,6 +393,15 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Set the step iterations
+void ODEPhysics::SetStepIters(unsigned int iters)
+{
+ this->stepItersP->SetValue(iters);
+ dWorldSetQuickStepNumIterations(this->worldId, **this->stepItersP );
+ dWorldSetRobustStepMaxIterations(this->worldId, (int)(**this->stepItersP) );
+}
+
+////////////////////////////////////////////////////////////////////////////////
/// Convert an odeMass to Mass
void ODEPhysics::ConvertMass(void *engineMass, const Mass &mass)
{
@@ -437,6 +450,20 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Get the step type
+std::string ODEPhysics::GetStepType() const
+{
+ return **this->stepTypeP;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Set the step type
+void ODEPhysics::SetStepType(const std::string type)
+{
+ this->stepTypeP->SetValue(type);
+}
+
+////////////////////////////////////////////////////////////////////////////////
// Handle a collision
void ODEPhysics::CollisionCallback( void *data, dGeomID o1, dGeomID o2)
{
@@ -550,8 +577,10 @@
contact.surface.slip2 = 0.1;
}
- contact.surface.bounce = std::min(geom1->surface->bounce,
+ contact.surface.bounce = 0;
+ /*contact.surface.bounce = std::min(geom1->surface->bounce,
geom2->surface->bounce);
+ */
contact.surface.bounce_vel = std::min(geom1->surface->bounceVel,
geom2->surface->bounceVel);
dJointID c = dJointCreateContact (self->worldId,
@@ -589,3 +618,4 @@
}
}
}
+
Modified: code/gazebo/branches/simpar/server/physics/ode/ODEPhysics.hh
===================================================================
--- code/gazebo/branches/simpar/server/physics/ode/ODEPhysics.hh
2010-05-26 01:00:17 UTC (rev 8714)
+++ code/gazebo/branches/simpar/server/physics/ode/ODEPhysics.hh
2010-05-27 18:01:12 UTC (rev 8715)
@@ -137,6 +137,15 @@
/// \brief Convert an odeMass to Mass
public: virtual void ConvertMass(void *odeMass, const Mass &mass);
+ /// \brief Set the step iterations
+ public: virtual void SetStepIters(unsigned int iters);
+
+ /// \brief Get the step type
+ public: virtual std::string GetStepType() const;
+
+ /// \brief Set the step type
+ public: virtual void SetStepType(const std::string type);
+
/// \brief Do collision detection
private: static void CollisionCallback( void *data, dGeomID o1, dGeomID o2);
@@ -152,7 +161,7 @@
private: ParamT<double> *globalCFMP;
private: ParamT<double> *globalERPP;
private: ParamT<std::string> *stepTypeP;
- private: ParamT<int> *stepItersP;
+ private: ParamT<unsigned int> *stepItersP;
private: ParamT<double> *stepWP;
private: ParamT<double> *contactMaxCorrectingVelP;
private: ParamT<double> *contactSurfaceLayerP;
Modified: code/gazebo/branches/simpar/worlds/empty.world
===================================================================
--- code/gazebo/branches/simpar/worlds/empty.world 2010-05-26 01:00:17 UTC
(rev 8714)
+++ code/gazebo/branches/simpar/worlds/empty.world 2010-05-27 18:01:12 UTC
(rev 8715)
@@ -15,12 +15,12 @@
<verbosity>4</verbosity>
<physics:ode>
- <stepTime>0.00001</stepTime>
+ <stepTime>0.001</stepTime>
<gravity>0 0 -9.8</gravity>
<cfm>0.0000000001</cfm>
<erp>0.2</erp>
- <stepType>robust</stepType>
+ <stepType>quick</stepType>
<stepIters>10</stepIters>
<stepW>1.3</stepW>
<contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
Added: code/gazebo/branches/simpar/worlds/table.world
===================================================================
--- code/gazebo/branches/simpar/worlds/table.world
(rev 0)
+++ code/gazebo/branches/simpar/worlds/table.world 2010-05-27 18:01:12 UTC
(rev 8715)
@@ -0,0 +1,192 @@
+<?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>4</verbosity>
+
+ <physics:ode>
+ <stepTime>0.001</stepTime>
+ <gravity>0 0 -9.8</gravity>
+ <cfm>0.0000000001</cfm>
+ <erp>0.2</erp>
+
+ <stepType>quick</stepType>
+ <stepIters>10</stepIters>
+ <stepW>1.3</stepW>
+ <contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
+ <contactSurfaceLayer>0.001</contactSurfaceLayer>
+ </physics:ode>
+
+ <rendering:gui>
+ <type>fltk</type>
+ <size>800 600</size>
+ <pos>0 0</pos>
+ </rendering:gui>
+
+ <rendering:ogre>
+ <ambient>.2 .2 .2 1</ambient>
+ <shadows>true</shadows>
+ <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>1 1</segments>
+ <uvTile>100 100</uvTile>
+ <mu1>109999.0</mu1>
+ <mu2>1000.0</mu2>
+ <material>Gazebo/GrayGrid</material>
+ </geom:plane>
+ </body:plane>
+ </model:physical>
+
+ <model:physical name="table">
+ <xyz>0 0 0.51</xyz>
+ <rpy>0 0 0</rpy>
+ <static>false</static>
+ <body:box name='body'>
+
+ <geom:box name='surface'>
+ <size>1.02 1.02 0.01</size>
+ <mass>1</mass>
+ <kp>100000000.0</kp>
+ <kd>1.0</kd>
+ <bounce>0</bounce>
+ <bounceVel>0</bounceVel>
+ <slip1>0.01</slip1>
+ <slip2>0.01</slip2>
+ <visual>
+ <size>1.02 1.02 .01</size>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/Rocky</material>
+ </visual>
+ </geom:box>
+
+ <geom:box name='leg1'>
+ <xyz>-0.5 -0.5 -0.25</xyz>
+ <size>.02 .02 0.5</size>
+ <mass>1</mass>
+ <kp>100000000.0</kp>
+ <kd>1.0</kd>
+ <bounce>0</bounce>
+ <bounceVel>0</bounceVel>
+ <slip1>0.01</slip1>
+ <slip2>0.01</slip2>
+ <visual>
+ <size>0.01 0.01 0.5</size>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/Rocky</material>
+ </visual>
+ </geom:box>
+
+ <geom:box name='leg2'>
+ <xyz>-0.5 0.5 -0.25</xyz>
+ <size>.02 .02 0.5</size>
+ <mass>1</mass>
+ <kp>100000000.0</kp>
+ <kd>1.0</kd>
+ <bounce>0</bounce>
+ <bounceVel>0</bounceVel>
+ <slip1>0.01</slip1>
+ <slip2>0.01</slip2>
+ <visual>
+ <size>0.01 0.01 0.5</size>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/Rocky</material>
+ </visual>
+ </geom:box>
+
+ <geom:box name='leg3'>
+ <xyz>0.5 -0.5 -0.25</xyz>
+ <size>.02 .02 0.5</size>
+ <mass>1</mass>
+ <kp>100000000.0</kp>
+ <kd>1.0</kd>
+ <bounce>0</bounce>
+ <bounceVel>0</bounceVel>
+ <slip1>0.01</slip1>
+ <slip2>0.01</slip2>
+ <visual>
+ <size>0.01 0.01 0.5</size>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/Rocky</material>
+ </visual>
+ </geom:box>
+
+ <geom:box name='leg4'>
+ <xyz>0.5 0.5 -0.25</xyz>
+ <size>.02 .02 0.5</size>
+ <mass>1</mass>
+ <kp>100000000.0</kp>
+ <kd>1.0</kd>
+ <bounce>0</bounce>
+ <bounceVel>0</bounceVel>
+ <slip1>0.01</slip1>
+ <slip2>0.01</slip2>
+ <visual>
+ <size>0.01 0.01 0.5</size>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/Rocky</material>
+ </visual>
+ </geom:box>
+
+ </body:box>
+ </model:physical>
+
+ <model:physical name="box">
+ <xyz>0 0.2 2.0</xyz>
+ <rpy>0 0 0</rpy>
+ <static>false</static>
+ <body:box name='body'>
+ <geom:box name='surface'>
+ <size>0.5 0.5 0.5</size>
+ <mass>2</mass>
+ <kp>100000000.0</kp>
+ <kd>1.0</kd>
+ <bounce>0</bounce>
+ <bounceVel>0</bounceVel>
+ <slip1>0.01</slip1>
+ <slip2>0.01</slip2>
+ <visual>
+ <size>0.5 0.5 .5</size>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/Rocky</material>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+
+ <!-- White Point light -->
+ <model:renderable name="point_white">
+ <xyz>0.0 5.0 10</xyz>
+ <static>true</static>
+ <light>
+ <type>point</type>
+ <diffuseColor>0.4 0.4 0.4</diffuseColor>
+ <specularColor>.1 .1 .1</specularColor>
+ <attenuation>0.2 0.01 0.001</attenuation>
+ <range>30</range>
+ <castShadows>true</castShadows>
+ </light>
+ </model:renderable>
+
+</gazebo:world>
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