Revision: 8739
http://playerstage.svn.sourceforge.net/playerstage/?rev=8739&view=rev
Author: natepak
Date: 2010-05-29 23:25:31 +0000 (Sat, 29 May 2010)
Log Message:
-----------
Update the pioneer model
Modified Paths:
--------------
code/gazebo/branches/simpar/worlds/empty.world
code/gazebo/branches/simpar/worlds/models/pioneer2dx.model
code/gazebo/branches/simpar/worlds/pioneer2dx.world
Modified: code/gazebo/branches/simpar/worlds/empty.world
===================================================================
--- code/gazebo/branches/simpar/worlds/empty.world 2010-05-29 21:06:13 UTC
(rev 8738)
+++ code/gazebo/branches/simpar/worlds/empty.world 2010-05-29 23:25:31 UTC
(rev 8739)
@@ -20,7 +20,7 @@
<cfm>0.0000000001</cfm>
<erp>0.2</erp>
- <stepType>world</stepType>
+ <stepType>robust</stepType>
<stepIters>100</stepIters>
<stepW>1.3</stepW>
<contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
Modified: code/gazebo/branches/simpar/worlds/models/pioneer2dx.model
===================================================================
--- code/gazebo/branches/simpar/worlds/models/pioneer2dx.model 2010-05-29
21:06:13 UTC (rev 8738)
+++ code/gazebo/branches/simpar/worlds/models/pioneer2dx.model 2010-05-29
23:25:31 UTC (rev 8739)
@@ -130,7 +130,7 @@
</body:cylinder>
<body:sphere name="castor_body">
- <xyz>-0.200 0 -0.11</xyz>
+ <xyz>-0.200 0 -0.108</xyz>
<rpy>0 0 0</rpy>
<geom:sphere name="castor_geom">
<size>0.04</size>
Modified: code/gazebo/branches/simpar/worlds/pioneer2dx.world
===================================================================
--- code/gazebo/branches/simpar/worlds/pioneer2dx.world 2010-05-29 21:06:13 UTC
(rev 8738)
+++ code/gazebo/branches/simpar/worlds/pioneer2dx.world 2010-05-29 23:25:31 UTC
(rev 8739)
@@ -24,11 +24,11 @@
<cfm>0.0000000001</cfm>
<erp>0.2</erp>
- <stepType>quick</stepType>
+ <stepType>robust</stepType>
<stepIters>100</stepIters>
<stepW>1.3</stepW>
<contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
- <contactSurfaceLayer>0.001</contactSurfaceLayer>
+ <contactSurfaceLayer>0.00</contactSurfaceLayer>
</physics:ode>
<rendering:gui>
@@ -91,7 +91,7 @@
-->
<model:physical name="pioneer2dx_model">
- <xyz>0 0 0.15</xyz>
+ <xyz>0 0 0.147</xyz>
<rpy>0.0 0.0 90.0</rpy>
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