Revision: 9022
http://playerstage.svn.sourceforge.net/playerstage/?rev=9022&view=rev
Author: natepak
Date: 2011-01-17 23:59:54 +0000 (Mon, 17 Jan 2011)
Log Message:
-----------
Added directory for new world format
Added Paths:
-----------
code/gazebo/branches/dev/worlds/new/
code/gazebo/branches/dev/worlds/new/empty.world
Added: code/gazebo/branches/dev/worlds/new/empty.world
===================================================================
--- code/gazebo/branches/dev/worlds/new/empty.world
(rev 0)
+++ code/gazebo/branches/dev/worlds/new/empty.world 2011-01-17 23:59:54 UTC
(rev 9022)
@@ -0,0 +1,114 @@
+<?xml version="1.0"?>
+<gazebo>
+ <config>
+ <verbosity>4</verbosity>
+
+ <gui>
+ <size>800 600</size>
+ <pos>0 0</pos>
+ </gui>
+
+ <rendering>
+ <ambient>.2 .2 .2 1</ambient>
+ <shadows>true</shadows>
+ <grid>false</grid>
+ </rendering>
+ </config>
+
+ <world name="default">
+ <physics type="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>0.0</contactSurfaceLayer>
+ </physics>
+
+ <!-- Ground Plane -->
+ <model type="physical" name="plane1_model">
+ <xyz>0 0 0</xyz>
+ <rpy>0 0 0</rpy>
+ <static>true</static>
+ <body name="plane1_body">
+ <geom type="plane" name="plane1_geom">
+ <normal>0 0 1</normal>
+ <mu1>109999.0</mu1>
+ <mu2>1000.0</mu2>
+
+ <size>100 100</size>
+ <mesh>unit_plane</mesh>
+ <material>Gazebo/GreyGrid</material>
+ <uvTile>100 100</uvTile>
+ </geom>
+ </body>
+ </model>
+
+ <model type="physical" name="box_model">
+ <xyz>0 0 1.5</xyz>
+ <static>false</static>
+ <body name="body">
+ <geom type="box" name="geom">
+ <size>1 1 1</size>
+ <mass>1.0</mass>
+ <visual>
+ <size>1 1 1</size>
+ <mesh>unit_box</mesh>
+ <material>Gazebo/Red</material>
+ </visual>
+ </geom>
+ </body>
+ </model>
+
+ <model type="physical" name="sphere_model">
+ <xyz>0 1.5 3.5</xyz>
+ <static>false</static>
+ <body name="body">
+ <geom type="box" name="geom">
+ <size>0.5</size>
+ <mass>1.0</mass>
+ <visual>
+ <size>1 1 1</size>
+ <mesh>unit_sphere</mesh>
+ <material>Gazebo/Blue</material>
+ </visual>
+ </geom>
+ </body>
+ </model>
+
+ <model type="physical" name="cylinder_model">
+ <xyz>0 -1.5 1.5</xyz>
+ <static>false</static>
+ <body name="body">
+ <geom type="box" name="geom">
+ <size>0.5 1.0</size>
+ <mass>1.0</mass>
+ <visual>
+ <size>0.5 0.5 1</size>
+ <mesh>unit_cylinder</mesh>
+ <material>Gazebo/Green</material>
+ </visual>
+ </geom>
+ </body>
+ </model>
+
+ <!-- White Point light -->
+ <light name="point_white">
+ <xyz>0.0 0 10</xyz>
+ <rpy>0 0 0</rpy>
+ <type>point</type>
+ <diffuseColor>0.4 0.4 0.4 1.0</diffuseColor>
+ <specularColor>.1 .1 .1 1.0</specularColor>
+ <attenuation>.2 0.1 0.0</attenuation>
+ <range>20</range>
+ <direction>0 0 -1.0</direction>
+ <castShadows>true</castShadows>
+ </light>
+
+ </world>
+
+</gazebo>
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