[Personalrobots-commit] SF.net SVN: personalrobots:[23566] pkg/trunk

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Revision: 23566
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23566&view=rev
Author:   hsujohnhsu
Date:     2009-09-01 18:12:44 +0000 (Tue, 01 Sep 2009)

Log Message:
-----------
moving gazebo_worlds into simulator_gazebo stack.

Modified Paths:
--------------
    pkg/trunk/stacks/simulator_gazebo/gazebo_worlds/manifest.xml

Added Paths:
-----------
    pkg/trunk/stacks/simulator_gazebo/gazebo_worlds/
    pkg/trunk/stacks/simulator_gazebo/gazebo_worlds/Media/materials/textures/bathymetry.jpg
    pkg/trunk/stacks/simulator_gazebo/gazebo_worlds/Media/materials/textures/bathymetry.png
    pkg/trunk/stacks/simulator_gazebo/gazebo_worlds/worlds/bathymetry.world

Removed Paths:
-------------
    pkg/trunk/robot_descriptions/gazebo_worlds/

Added: pkg/trunk/stacks/simulator_gazebo/gazebo_worlds/Media/materials/textures/bathymetry.jpg
===================================================================
(Binary files differ)


Property changes on: pkg/trunk/stacks/simulator_gazebo/gazebo_worlds/Media/materials/textures/bathymetry.jpg
___________________________________________________________________
Added: svn:mime-type
   + application/octet-stream

Added: pkg/trunk/stacks/simulator_gazebo/gazebo_worlds/Media/materials/textures/bathymetry.png
===================================================================
(Binary files differ)


Property changes on: pkg/trunk/stacks/simulator_gazebo/gazebo_worlds/Media/materials/textures/bathymetry.png
___________________________________________________________________
Added: svn:mime-type
   + application/octet-stream

Modified: pkg/trunk/stacks/simulator_gazebo/gazebo_worlds/manifest.xml
===================================================================

--- pkg/trunk/robot_descriptions/gazebo_worlds/manifest.xml	2009-08-31 16:38:51 UTC (rev 23388)
+++ pkg/trunk/stacks/simulator_gazebo/gazebo_worlds/manifest.xml	2009-09-01 18:12:44 UTC (rev 23566)
@@ -8,5 +8,4 @@
   <depend package="pr2_defs"/>
   <depend package="pr2_ogre"/>
   <depend package="ikea_ogre"/>
-  <depend package="gazebo_plugin"/>
 </package>

Added: pkg/trunk/stacks/simulator_gazebo/gazebo_worlds/worlds/bathymetry.world
===================================================================
--- pkg/trunk/stacks/simulator_gazebo/gazebo_worlds/worlds/bathymetry.world	                        (rev 0)
+++ pkg/trunk/stacks/simulator_gazebo/gazebo_worlds/worlds/bathymetry.world	2009-09-01 18:12:44 UTC (rev 23566)
@@ -0,0 +1,140 @@
+<?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:geo="http://willowgarage.com/xmlschema/#geo" 
+  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:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable" 
+  xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+  xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" >
+
+  <verbosity>5</verbosity>
+
+  <!-- cfm is 1e-5 for single precision -->
+  <!-- erp is typically .1-.8 -->
+  <!-- here's the global contact cfm/erp -->
+  <physics:ode>
+    <stepTime>0.001</stepTime>
+    <gravity>0 0 -9.8</gravity>
+    <cfm>0.0000000001</cfm>
+    <erp>0.2</erp>
+    <quickStep>true</quickStep>
+    <quickStepIters>10</quickStepIters>
+    <quickStepW>1.3</quickStepW>
+    <contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
+    <contactSurfaceLayer>0.001</contactSurfaceLayer>
+  </physics:ode>
+
+  <geo:origin>
+    <lat>37.4270909558</lat><lon>-122.077919338</lon>
+  </geo:origin>
+
+  <rendering:gui>
+    <type>fltk</type>
+    <size>480 320</size>
+    <pos>0 0</pos>
+    <frames>
+      <row height="100%">
+        <camera width="100%">
+          <xyz>0.3 0 3</xyz>
+          <rpy>0 90 90</rpy>
+        </camera>
+      </row>
+    </frames>
+  </rendering:gui>
+
+
+  <rendering:ogre>
+    <ambient>0.8 0.8 0.8 0.8</ambient>
+    <sky>
+      <material>Gazebo/CloudySky</material>
+    </sky>
+    <gazeboPath>media</gazeboPath>
+    <grid>false</grid>
+    <maxUpdateRate>10.</maxUpdateRate>
+    <shadowTechnique>stencilAdditive</shadowTechnique>
+  </rendering:ogre>
+
+  <model:physical name="terrain_model">
+    <body:heightmap name ="terrain_body">
+      <geom:heightmap name="terrain_geom">
+        <image>bathymetry.png</image>
+        <worldTexture>bathymetry.jpg</worldTexture>
+        <detailTexture>bathymetry.jpg</detailTexture>
+        <size>2049 2049 10</size>
+      </geom:heightmap>
+    </body:heightmap>
+  </model:physical>
+
+
+  <model:physical name="gplane">
+    <xyz>0 0 0</xyz>	
+    <rpy>0 0 0</rpy>
+    <static>true</static>
+
+    <body:plane name="plane">
+      <geom:plane name="plane">
+        <laserRetro>2000.0</laserRetro>
+        <mu1>50.0</mu1>
+        <mu2>50.0</mu2>
+        <kp>1000000000.0</kp>
+        <kd>1.0</kd>
+        <normal>0 0 1</normal>
+        <size>51.3 51.3</size>
+        <segments>10 10</segments>
+        <uvTile>100 100</uvTile>
+        <material>Gazebo/GrayGrid</material>
+      </geom:plane>
+    </body:plane>
+  </model:physical>
+
+<!--
+  <model:physical name="walls">
+    <include embedded="false">
+      <xi:include href="tests/willow-walls.model" />
+    </include>
+  </model:physical>
+-->
+<!--
+  <model:physical name="willow_map">
+   <xyz>-25.65 25.65 1.0</xyz>	
+   <rpy>180 0 0</rpy>
+   <static>true</static>
+   <body:map name="willow_map_body">
+     <geom:map name="willow_map_geom">
+       <image>willowMap.png</image>
+       <threshold>200</threshold>
+       <granularity>1</granularity>
+       <negative>false</negative>
+       <scale>0.1</scale>
+       <offset>0 0 0</offset>
+       <material>Gazebo/Rocky</material>
+     </geom:map>
+   </body:map>
+  </model:physical>
+-->
+
+  <!-- White Point light -->
+  <model:renderable name="point_white">
+    <xyz>0.0 0.0 3</xyz>
+    <enableGravity>false</enableGravity>
+    <light>
+      <type>point</type>
+      <diffuseColor>0.8 0.8 0.8</diffuseColor>
+      <specularColor>.1 .1 .1</specularColor>
+      <attenuation>0.2 0.1 0</attenuation>
+      <range>10</range>
+    </light>
+  </model:renderable>
+
+</gazebo:world>


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