Revision: 8804
http://playerstage.svn.sourceforge.net/playerstage/?rev=8804&view=rev
Author: natepak
Date: 2010-06-28 16:19:58 +0000 (Mon, 28 Jun 2010)
Log Message:
-----------
Added an elevator world
Added Paths:
-----------
code/gazebo/trunk/worlds/elevator.world
Added: code/gazebo/trunk/worlds/elevator.world
===================================================================
--- code/gazebo/trunk/worlds/elevator.world (rev 0)
+++ code/gazebo/trunk/worlds/elevator.world 2010-06-28 16:19:58 UTC (rev
8804)
@@ -0,0 +1,454 @@
+<?xml version="1.0"?>
+<gazebo:world
+ xmlns:xi="http://www.w3.org/2001/XInclude";
+ 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:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window";
+ xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param";
+ 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:ui="http://playerstage.sourceforge.net/gazebo/xmlschema/#ui";
+
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>0</verbosity>
+ <logData>0</logData>
+
+ <physics:ode>
+ <stepTime>0.001</stepTime>
+ <gravity>0 0 -9.8</gravity>
+ <updateRate>0</updateRate>
+ <cfm>1e-10</cfm>
+ <erp>0.2</erp>
+ <stepType>quick</stepType>
+ <stepIters>10</stepIters>
+ <stepW>1.3</stepW>
+ <contactMaxCorrectingVel>100</contactMaxCorrectingVel>
+ <contactSurfaceLayer>0.001</contactSurfaceLayer>
+ </physics:ode>
+
+ <rendering:ogre>
+ <ambient>.1 .1 .1 1</ambient>
+ <fog>
+ <type>none</type>
+ <color>1 1 1 1</color>
+ <linearStart>0</linearStart>
+ <linearEnd>0</linearEnd>
+ <density>0</density>
+ </fog>
+ <shadows>1</shadows>
+ </rendering:ogre>
+
+ <rendering:gui>
+ <size>800 600</size>
+ <pos>1 52</pos>
+ <frames>
+ <camera width="550" height="485" x="250" y="50">
+ <xyz>-2 0 2</xyz>
+ <rpy>0 30 0</rpy>
+ </camera>
+ </frames>
+ </rendering:gui>
+
+ <model:physical name="plane1_model">
+ <xyz>0 0 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <enableGravity>1</enableGravity>
+ <enableFriction>1</enableFriction>
+ <collide>all</collide>
+ <static>1</static>
+
+ <body name="plane1_body">
+ <xyz>0 0 0</xyz>
+ <rpy>0 -0 0</rpy>
+
+ <geom:plane name="plane1_geom">
+ <xyz>0 0 0</xyz>
+ <rpy>0 -0 0</rpy>
+ <normal>0 0 1</normal>
+ <size>100 100</size>
+ <segments>10 10</segments>
+ <uvTile>100 100</uvTile>
+ <material>Gazebo/GrayGrid</material>
+ <castShadows>0</castShadows>
+ <mass>0.001</mass>
+ <laserFiducialId>-1</laserFiducialId>
+ <laserRetro>-1</laserRetro>
+ </geom:plane>
+ </body>
+ </model:physical>
+
+ <!--
+ <model:physical name="user_box0">
+ <xyz>1.0 1.5 1.5</xyz>
+ <rpy>0 0 0</rpy>
+ <static>true</static>
+
+ <body name="body">
+ <geom:box name="geom">
+ <size>0.1 1.5 3</size>
+ <mass>0.1</mass>
+ <visual>
+ <mesh>unit_box_U1V1</mesh>
+ <material>Gazebo/Grey</material>
+ <castShadows>1</castShadows>
+ <scale>0.1 1.5 3</scale>
+ </visual>
+ </geom:box>
+ </body>
+ </model:physical>
+
+ <model:physical name="user_box1">
+ <xyz>1.0 -1.5 1.5</xyz>
+ <rpy>0 0 0</rpy>
+ <static>true</static>
+
+ <body name="body">
+ <geom:box name="geom">
+ <size>0.1 1.5 3</size>
+ <mass>0.1</mass>
+ <visual>
+ <mesh>unit_box_U1V1</mesh>
+ <material>Gazebo/Grey</material>
+ <castShadows>1</castShadows>
+ <scale>0.1 1.5 3</scale>
+ </visual>
+ </geom:box>
+ </body>
+ </model:physical>
+ -->
+
+ <model:physical name="frame">
+ <xyz>1.1 0 1.5</xyz>
+ <static>true</static>
+
+ <body name="body">
+ <geom:box name="right-front">
+ <xyz>-0.1 -1.5 0.1</xyz>
+ <size>0.1 1.5 3</size>
+ <visual>
+ <mesh>unit_box_U1V1</mesh>
+ <material>Gazebo/Grey</material>
+ <castShadows>1</castShadows>
+ <scale>0.1 1.5 3</scale>
+ </visual>
+ </geom:box>
+
+ <geom:box name="right-back">
+ <xyz>0.1 -1.5 0.1</xyz>
+ <size>0.1 1.5 3</size>
+ <visual>
+ <mesh>unit_box_U1V1</mesh>
+ <material>Gazebo/Grey</material>
+ <castShadows>1</castShadows>
+ <scale>0.1 1.5 3</scale>
+ </visual>
+ </geom:box>
+
+ <geom:box name="left-front">
+ <xyz>-0.1 1.5 0.1</xyz>
+ <size>0.1 1.5 3</size>
+ <visual>
+ <mesh>unit_box_U1V1</mesh>
+ <material>Gazebo/Grey</material>
+ <castShadows>1</castShadows>
+ <scale>0.1 1.5 3</scale>
+ </visual>
+ </geom:box>
+
+ <geom:box name="left-back">
+ <xyz>0.1 1.5 0.1</xyz>
+ <size>0.1 1.5 3</size>
+ <visual>
+ <mesh>unit_box_U1V1</mesh>
+ <material>Gazebo/Grey</material>
+ <castShadows>1</castShadows>
+ <scale>0.1 1.5 3</scale>
+ </visual>
+ </geom:box>
+
+ <geom:box name="left-side">
+ <xyz>-0.85 2.30 0.2</xyz>
+ <size>2 .1 3.2</size>
+ <visual>
+ <mesh>unit_box_U1V1</mesh>
+ <material>Gazebo/Grey</material>
+ <castShadows>1</castShadows>
+ <size>2 .1 3.2</size>
+ </visual>
+ </geom:box>
+
+ <geom:box name="right-side">
+ <xyz>-0.85 -2.30 0.2</xyz>
+ <size>2 .1 3.2</size>
+ <visual>
+ <mesh>unit_box_U1V1</mesh>
+ <material>Gazebo/Grey</material>
+ <castShadows>1</castShadows>
+ <size>2 .1 3.2</size>
+ </visual>
+ </geom:box>
+
+ <geom:box name="bottom">
+ <xyz>-1.85 0.0 -1.45</xyz>
+ <size>4 4.7 0.1</size>
+ <visual>
+ <mesh>unit_box_U1V1</mesh>
+ <material>Gazebo/Grey</material>
+ <castShadows>1</castShadows>
+ <size>4 4.7 0.1</size>
+ </visual>
+ </geom:box>
+
+ <geom:box name="top">
+ <xyz>0.0 0 1.7</xyz>
+ <size>0.3 4.5 .2</size>
+ <visual>
+ <mesh>unit_box_U1V1</mesh>
+ <material>Gazebo/Grey</material>
+ <castShadows>0</castShadows>
+ <size>0.3 4.5 .2</size>
+ </visual>
+ </geom:box>
+
+ <geom:box name="shaft_back">
+ <xyz>2.2 0 0</xyz>
+ <size>0.1 2.7 3</size>
+ <visual>
+ <mesh>unit_box_U1V1</mesh>
+ <material>Gazebo/Grey</material>
+ <castShadows>0</castShadows>
+ <size>0.1 2.7 3</size>
+ </visual>
+ </geom:box>
+
+ <geom:box name="shaft_front">
+ <xyz>0.1 0 2.3</xyz>
+ <size>0.1 2.7 1.5</size>
+ <visual>
+ <mesh>unit_box_U1V1</mesh>
+ <material>Gazebo/Grey</material>
+ <castShadows>0</castShadows>
+ <size>0.1 2.7 1.5</size>
+ </visual>
+ </geom:box>
+
+
+ <geom:box name="shaft_right">
+ <xyz>1.2 -1.30 1.025</xyz>
+ <size>2.1 0.1 4.05</size>
+ <visual>
+ <mesh>unit_box_U1V1</mesh>
+ <material>Gazebo/Grey</material>
+ <castShadows>0</castShadows>
+ <size>2.1 0.1 4.05</size>
+ </visual>
+ </geom:box>
+
+ <geom:box name="shaft_left">
+ <xyz>1.2 1.30 1.025</xyz>
+ <size>2.1 0.1 4.05</size>
+ <visual>
+ <mesh>unit_box_U1V1</mesh>
+ <material>Gazebo/Grey</material>
+ <castShadows>0</castShadows>
+ <size>2.1 0.1 4.05</size>
+ </visual>
+ </geom:box>
+
+ <geom:box name="stopbar_left">
+ <xyz>1.2 1.2 3.01</xyz>
+ <size>2.1 0.1 0.01</size>
+ <visual>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/White</material>
+ <castShadows>false</castShadows>
+ <size>2.1 0.1 0.01</size>
+ </visual>
+ </geom:box>
+
+ <geom:box name="stopbar_right">
+ <xyz>1.2 -1.2 3.01</xyz>
+ <size>2.1 0.1 0.01</size>
+ <visual>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/White</material>
+ <castShadows>false</castShadows>
+ <size>2.1 0.1 0.01</size>
+ </visual>
+ </geom:box>
+
+
+ </body>
+ </model:physical>
+
+ <model:physical name="doors">
+ <xyz>1.1 0 1.6</xyz>
+ <rpy>0 0 0</rpy>
+ <static>false</static>
+
+ <body name="right">
+ <xyz>0 -0.75 0</xyz>
+ <kinematic>true</kinematic>
+ <geom:box name="geom">
+ <size>0.1 1.5 3</size>
+ <mass>0.1</mass>
+ <visual>
+ <mesh>unit_box_U1V1</mesh>
+ <material>Gazebo/White</material>
+ <castShadows>1</castShadows>
+ <scale>0.1 1.5 3</scale>
+ </visual>
+ </geom:box>
+ </body>
+
+ <body name="left">
+ <xyz>0 0.75 0</xyz>
+ <geom:box name="geom">
+ <size>0.1 1.5 3</size>
+ <mass>0.1</mass>
+ <visual>
+ <mesh>unit_box_U1V1</mesh>
+ <material>Gazebo/White</material>
+ <castShadows>1</castShadows>
+ <scale>0.1 1.5 3</scale>
+ </visual>
+ </geom:box>
+ </body>
+ </model:physical>
+
+ <model:physical name="lift">
+ <xyz>2.26 0 0.045</xyz>
+ <body name="body">
+ <geom:box name="geom">
+ <size>2 2.5 0.09</size>
+ <mass>200</mass>
+ <visual>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/White</material>
+ <castShadows>false</castShadows>
+ <scale>2 2.5 0.09</scale>
+ </visual>
+ </geom:box>
+
+ <geom:box name="stabilizer1">
+ <xyz>0.95 1.2 0.5</xyz>
+ <size>0.1 0.1 1.0</size>
+ <mass>1</mass>
+ <visual>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/White</material>
+ <castShadows>false</castShadows>
+ <size>0.1 0.1 1.0</size>
+ </visual>
+ </geom:box>
+
+ <geom:box name="stabilizer2">
+ <xyz>-0.95 1.2 0.5</xyz>
+ <size>0.1 0.1 1.0</size>
+ <mass>1</mass>
+ <visual>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/White</material>
+ <castShadows>false</castShadows>
+ <size>0.1 0.1 1.0</size>
+ </visual>
+ </geom:box>
+
+ <geom:box name="stabilizer3">
+ <xyz>-0.95 -1.2 0.5</xyz>
+ <size>0.1 0.1 1.0</size>
+ <mass>1</mass>
+ <visual>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/White</material>
+ <castShadows>false</castShadows>
+ <size>0.1 0.1 1.0</size>
+ </visual>
+ </geom:box>
+
+ <geom:box name="stabilizer4">
+ <xyz>0.95 -1.2 0.5</xyz>
+ <size>0.1 0.1 1.0</size>
+ <mass>1</mass>
+ <visual>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/White</material>
+ <castShadows>false</castShadows>
+ <size>0.1 0.1 1.0</size>
+ </visual>
+ </geom:box>
+
+
+
+ <geom:box name="contact">
+ <xyz>0.2 0 0.044</xyz>
+ <size>.2 1 .01</size>
+ <visual>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/Red</material>
+ <castShadows>false</castShadows>
+ <scale>.2 1 0.01</scale>
+ </visual>
+ </geom:box>
+
+ </body>
+ </model:physical>
+
+ <model:physical name="contact">
+ <xyz>-1.0 0 0.099</xyz>
+ <static>true</static>
+ <body name="body">
+ <geom:box name="geom">
+ <size>1 1 .01</size>
+ <visual>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/Red</material>
+ <castShadows>false</castShadows>
+ <scale>1 1 0.01</scale>
+ </visual>
+ </geom:box>
+ </body>
+ </model:physical>
+
+
+ <model:physical name="second_floor">
+ <xyz>0 0 3.5</xyz>
+ <static>true</static>
+ <body name="body">
+ <geom:box name="main_floor">
+ <xyz>5.765 0 0</xyz>
+ <size>5 5 0.1</size>
+ <visual>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/White</material>
+ <castShadows>false</castShadows>
+ <scale>5 5 0.1</scale>
+ </visual>
+ </geom:box>
+
+ </body>
+ </model:physical>
+
+ <!-- White Point light -->
+ <model:renderable name="point_white">
+ <xyz>-5 5 10</xyz>
+ <static>true</static>
+
+ <light>
+ <type>point</type>
+ <diffuseColor>0.8 0.8 0.8</diffuseColor>
+ <specularColor>0.1 0.1 0.1</specularColor>
+ <range>30</range>
+
+ <!-- Constant(0-1) Linear(0-1) Quadratic -->
+ <attenuation>0.5 0.01 0</attenuation>
+ </light>
+ </model:renderable>
+
+
+</gazebo:world>
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