Revision: 8911
http://playerstage.svn.sourceforge.net/playerstage/?rev=8911&view=rev
Author: hsujohnhsu
Date: 2010-09-17 03:58:04 +0000 (Fri, 17 Sep 2010)
Log Message:
-----------
reverting simpleshapes with accidental bullet test overwrite. add
test_bullet.world
Modified Paths:
--------------
code/gazebo/branches/wg/worlds/simpleshapes.world
Added Paths:
-----------
code/gazebo/branches/wg/worlds/test_bullet.world
Modified: code/gazebo/branches/wg/worlds/simpleshapes.world
===================================================================
--- code/gazebo/branches/wg/worlds/simpleshapes.world 2010-09-17 03:56:12 UTC
(rev 8910)
+++ code/gazebo/branches/wg/worlds/simpleshapes.world 2010-09-17 03:58:04 UTC
(rev 8911)
@@ -14,11 +14,12 @@
<verbosity>5</verbosity>
- <physics:bullet>
+ <physics:ode>
<stepTime>0.001</stepTime>
<gravity>0 0 -9.8</gravity>
<cfm>10e-10</cfm>
<erp>0.2</erp>
+ <stepType>quick</stepType>
<stepIters>50</stepIters>
<stepW>1.3</stepW>
<contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
@@ -28,7 +29,7 @@
0 == No throttling
>0 == Frequency at which to throttle the sim -->
<updateRate>0</updateRate>
- </physics:bullet>
+ </physics:ode>
<rendering:gui>
<type>fltk</type>
@@ -46,9 +47,9 @@
</rendering:ogre>
<model:physical name="sphere1_model">
- <xyz>0 0 1.2</xyz>
+ <xyz>0 0 0.2</xyz>
<rpy>0 0.0 0.0</rpy>
- <static>false</static>
+ <static>true</static>
<body:sphere name="sphere1_body">
<geom:sphere name="sphere1_geom">
@@ -59,7 +60,7 @@
<visual>
<size>0.4 0.4 0.4</size>
- <mesh>unit_sphere</mesh>
+ <mesh>unit_box</mesh>
<shader>pixel</shader>
<material>Gazebo/Rocky</material>
</visual>
Copied: code/gazebo/branches/wg/worlds/test_bullet.world (from rev 8910,
code/gazebo/branches/wg/worlds/simpleshapes.world)
===================================================================
--- code/gazebo/branches/wg/worlds/test_bullet.world
(rev 0)
+++ code/gazebo/branches/wg/worlds/test_bullet.world 2010-09-17 03:58:04 UTC
(rev 8911)
@@ -0,0 +1,104 @@
+<?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>
+ <cfm>10e-10</cfm>
+ <erp>0.2</erp>
+ <stepIters>50</stepIters>
+ <stepW>1.3</stepW>
+ <contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
+ <contactSurfaceLayer>0.001</contactSurfaceLayer>
+
+ <!-- updateRate: <0 == throttle simTime to match realTime.
+ 0 == No throttling
+ >0 == Frequency at which to throttle the sim -->
+ <updateRate>0</updateRate>
+ </physics:bullet>
+
+ <rendering:gui>
+ <type>fltk</type>
+ <size>800 600</size>
+ <pos>0 0</pos>
+ </rendering:gui>
+
+ <rendering:ogre>
+ <ambient>.1 .1 .1 1</ambient>
+ <sky>
+ <material>Gazebo/CloudySky</material>
+ </sky>
+ <grid>false</grid>
+ <shadows>false</shadows>
+ </rendering:ogre>
+
+ <model:physical name="sphere1_model">
+ <xyz>0 0 1.2</xyz>
+ <rpy>0 0.0 0.0</rpy>
+ <static>false</static>
+
+ <body:sphere name="sphere1_body">
+ <geom:sphere name="sphere1_geom">
+ <size>0.2</size>
+ <mass>1.0</mass>
+
+ <mu1>109999.0</mu1>
+
+ <visual>
+ <size>0.4 0.4 0.4</size>
+ <mesh>unit_sphere</mesh>
+ <shader>pixel</shader>
+ <material>Gazebo/Rocky</material>
+ </visual>
+ </geom:sphere>
+ </body:sphere>
+ </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/GrayGrid</material>
+ <mu1>109999.0</mu1>
+ <mu2>1000.0</mu2>
+ </geom:plane>
+ </body:plane>
+ </model:physical>
+
+ <!-- White Point light -->
+ <model:renderable name="point_white">
+ <xyz>-2 2 10</xyz>
+ <static>false</static>
+
+ <light>
+ <type>point</type>
+ <diffuseColor>0.4 0.4 0.4</diffuseColor>
+ <specularColor>.1 .1 .1</specularColor>
+ <range>20</range>
+
+ <attenuation>0.1 0.01 0.01</attenuation>
+ </light>
+ </model:renderable>
+
+</gazebo:world>
This was sent by the SourceForge.net collaborative development platform, the
world's largest Open Source development site.
------------------------------------------------------------------------------
Start uncovering the many advantages of virtual appliances
and start using them to simplify application deployment and
accelerate your shift to cloud computing.
http://p.sf.net/sfu/novell-sfdev2dev
_______________________________________________
Playerstage-commit mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/playerstage-commit
