Hello, currently I have two possibilities to create own models for my gazebo-world - a static and a plugin model, right?
Our idea is using pyODE (http://pyode.sourcefrge.net) for creating such models so that there is no need to compile a *.cc File each time the model changes. For example in the 'old' way I descripe a box in C-Code: geom = new BoxGeom( this->body, this->modelSpaceId, .4, .4, .7 ); geom->SetMass( node->GetDouble("mass", 1, 0) ); geom->SetColor( GzColor(1.0, 1.0, 1.0) ); geom->SetFriction(0.00005, 0.00005); geom->SetSlip1(5); geom->SetSlip2(5); In pyODE I use the following code for describing a likewise model: # Create body body = ode.Body(world) M = ode.Mass() M.setBox(density, lx, ly, lz) body.setMass(M) # Set parameters for drawing the body body.shape = "box" body.boxsize = (lx, ly, lz) # Create a box geom for collision detection geom = ode.GeomBox(space, lengths=body.boxsize) geom.setBody(body) Ok, that enough for the preamble. ;-) Here are my questions to this topic: 1. Exists a way to access such a pyODE model through a world-file to generate the simulation-world? 2. Is it generally possible to get gazebo working together with pyODE an if not what must be changed? Best regards from Paderborn, Germany Volker Fortströer ------------------------------------------------------------------------- This SF.net email is sponsored by DB2 Express Download DB2 Express C - the FREE version of DB2 express and take control of your XML. No limits. Just data. Click to get it now. http://sourceforge.net/powerbar/db2/ _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
