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From: <hsu...@us...> - 2009-09-04 07:04:11
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Revision: 23820
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23820&view=rev
Author: hsujohnhsu
Date: 2009-09-04 07:03:58 +0000 (Fri, 04 Sep 2009)
Log Message:
-----------
test world
Added Paths:
-----------
pkg/trunk/stacks/simulator_gazebo/gazebo_worlds/worlds/test_friction.world
Added: pkg/trunk/stacks/simulator_gazebo/gazebo_worlds/worlds/test_friction.world
===================================================================
--- pkg/trunk/stacks/simulator_gazebo/gazebo_worlds/worlds/test_friction.world (rev 0)
+++ pkg/trunk/stacks/simulator_gazebo/gazebo_worlds/worlds/test_friction.world 2009-09-04 07:03:58 UTC (rev 23820)
@@ -0,0 +1,348 @@
+<?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>100</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>-22.4 1.72 17.21</xyz>
+ <rpy>0 20.90 -0.9</rpy>
+ </camera>
+ </row>
+ </frames>
+ </rendering:gui>
+
+
+ <rendering:ogre>
+ <ambient>1.0 1.0 1.0 1.0</ambient>
+ <sky>
+ <material>Gazebo/CloudySky</material>
+ </sky>
+ <gazeboPath>media</gazeboPath>
+ <grid>false</grid>
+ <maxUpdateRate>30.0</maxUpdateRate>
+ </rendering:ogre>
+
+
+
+ <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>
+
+
+ <!-- This sphere is for debugging the target
+ <model:physical name="debug_model">
+ <xyz> -3.0 0.5 2.6</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
+ <static>true</static>
+ <body:cylinder name="debug_body">
+ <geom:cylinder name="debug_geom">
+ <kp>100000.0</kp>
+ <kd>1.0</kd>
+ <mesh>default</mesh>
+ <size> 0 0 0</size>
+ <mass> 1.0</mass>
+ <visual>
+ <size> 8 8 1</size>
+ <material>Gazebo/Brick</material>
+ <mesh>unit_cylinder</mesh>
+ </visual>
+ </geom:cylinder>
+ </body:cylinder>
+ </model:physical>-->
+
+
+
+ <!-- The Slide-->
+ <model:physical name="slide1_model">
+ <static>true</static>
+ <xyz> 0.0 0.0 0.00</xyz>
+ <rpy> 0.0 0.0 0.00</rpy>
+ <body:box name="slide1_legs_body">
+ <geom:box name="slide_base_geom">
+ <kp>1000000000.0</kp>
+ <kd>1.0</kd>
+ <mu1>10.0</mu1>
+ <mu2>10.0</mu2>
+ <xyz> 0.0 5.0 13</xyz>
+ <rpy> 45.0 0.0 0.00</rpy>
+ <size> 50.0 20.0 1.0</size>
+ <mass> 1000.0</mass>
+ <visual>
+ <size>50.0 20.0 1.0</size>
+ <material>PR2/Red</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+
+ <!-- boxes -->
+ <model:physical name="box_01_model">
+ <xyz> 2.0 8.0 17.42</xyz>
+ <rpy> 45.0 0.0 0.0</rpy>
+ <body:box name="box_01_body">
+ <massMatrix>true</massMatrix>
+ <mass>1.0</mass>
+ <ixx>10.0</ixx>
+ <ixy>0.0</ixy>
+ <ixz>0.0</ixz>
+ <iyy>10.0</iyy>
+ <iyz>0.0</iyz>
+ <izz>10.0</izz>
+ <cx>0.0</cx>
+ <cy>0.0</cy>
+ <cz>-0.5</cz>
+
+ <geom:box name="box_01_geom">
+ <kp>100000.0</kp>
+ <kd>1.0</kd>
+ <mu1>0.98</mu1>
+ <mu2>0.98</mu2>
+ <mesh>default</mesh>
+ <size>1 1 1</size>
+ <visual>
+ <size>1 1 1</size>
+ <material>Gazebo/Rocky</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+ <model:physical name="box_02_model">
+ <xyz> 4.0 8.0 17.42</xyz>
+ <rpy> 45.0 0.0 0.0</rpy>
+ <body:box name="box_02_body">
+ <massMatrix>true</massMatrix>
+ <mass>1.0</mass>
+ <ixx>10.0</ixx>
+ <ixy>0.0</ixy>
+ <ixz>0.0</ixz>
+ <iyy>10.0</iyy>
+ <iyz>0.0</iyz>
+ <izz>10.0</izz>
+ <cx>0.0</cx>
+ <cy>0.0</cy>
+ <cz>-0.5</cz>
+
+ <geom:box name="box_02_geom">
+ <kp>100000.0</kp>
+ <kd>1.0</kd>
+ <mu1>0.99</mu1>
+ <mu2>0.99</mu2>
+ <mesh>default</mesh>
+ <size>1 1 1</size>
+ <visual>
+ <size>1 1 1</size>
+ <material>Gazebo/Rocky</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+ <model:physical name="box_03_model">
+ <xyz> 6.0 8.0 17.42</xyz>
+ <rpy> 45.0 0.0 0.0</rpy>
+ <body:box name="box_03_body">
+ <massMatrix>true</massMatrix>
+ <mass>1.0</mass>
+ <ixx>10.0</ixx>
+ <ixy>0.0</ixy>
+ <ixz>0.0</ixz>
+ <iyy>10.0</iyy>
+ <iyz>0.0</iyz>
+ <izz>10.0</izz>
+ <cx>0.0</cx>
+ <cy>0.0</cy>
+ <cz>-0.5</cz>
+
+ <geom:box name="box_03_geom">
+ <kp>100000.0</kp>
+ <kd>1.0</kd>
+ <mu1>0.999</mu1>
+ <mu2>0.999</mu2>
+ <mesh>default</mesh>
+ <size>1 1 1</size>
+ <visual>
+ <size>1 1 1</size>
+ <material>Gazebo/Rocky</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+ <model:physical name="box_04_model">
+ <xyz> 8.0 8.0 17.42</xyz>
+ <rpy> 45.0 0.0 0.0</rpy>
+ <body:box name="box_04_body">
+ <massMatrix>true</massMatrix>
+ <mass>1.0</mass>
+ <ixx>10.0</ixx>
+ <ixy>0.0</ixy>
+ <ixz>0.0</ixz>
+ <iyy>10.0</iyy>
+ <iyz>0.0</iyz>
+ <izz>10.0</izz>
+ <cx>0.0</cx>
+ <cy>0.0</cy>
+ <cz>-0.5</cz>
+
+ <geom:box name="box_04_geom">
+ <kp>100000.0</kp>
+ <kd>1.0</kd>
+ <mu1>0.9999</mu1>
+ <mu2>0.9999</mu2>
+ <mesh>default</mesh>
+ <size>1 1 1</size>
+ <visual>
+ <size>1 1 1</size>
+ <material>Gazebo/Rocky</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+ <model:physical name="box_05_model">
+ <xyz> 10.0 8.0 17.42</xyz>
+ <rpy> 45.0 0.0 0.0</rpy>
+ <body:box name="box_05_body">
+ <massMatrix>true</massMatrix>
+ <mass>1.0</mass>
+ <ixx>10.0</ixx>
+ <ixy>0.0</ixy>
+ <ixz>0.0</ixz>
+ <iyy>10.0</iyy>
+ <iyz>0.0</iyz>
+ <izz>10.0</izz>
+ <cx>0.0</cx>
+ <cy>0.0</cy>
+ <cz>-0.5</cz>
+
+ <geom:box name="box_05_geom">
+ <kp>100000.0</kp>
+ <kd>1.0</kd>
+ <mu1>1.00</mu1>
+ <mu2>1.00</mu2>
+ <mesh>default</mesh>
+ <size>1 1 1</size>
+ <visual>
+ <size>1 1 1</size>
+ <material>Gazebo/Rocky</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+ <model:physical name="box_06_model">
+ <xyz> 12.0 8.0 17.42</xyz>
+ <rpy> 45.0 0.0 0.0</rpy>
+ <body:box name="box_06_body">
+ <massMatrix>true</massMatrix>
+ <mass>1.0</mass>
+ <ixx>10.0</ixx>
+ <ixy>0.0</ixy>
+ <ixz>0.0</ixz>
+ <iyy>10.0</iyy>
+ <iyz>0.0</iyz>
+ <izz>10.0</izz>
+ <cx>0.0</cx>
+ <cy>0.0</cy>
+ <cz>-0.5</cz>
+
+ <geom:box name="box_06_geom">
+ <kp>100000.0</kp>
+ <kd>1.0</kd>
+ <mu1>1.01</mu1>
+ <mu2>1.01</mu2>
+ <mesh>default</mesh>
+ <size>1 1 1</size>
+ <visual>
+ <size>1 1 1</size>
+ <material>Gazebo/Rocky</material>
+ <mesh>unit_box</mesh>
+ </visual>
+ </geom:box>
+ </body:box>
+ </model:physical>
+
+
+
+ <!-- White Directional light -->
+ <!--
+ <model:renderable name="directional_white">
+ <light>
+ <type>directional</type>
+ <direction>0 -0.5 -0.5</direction>
+ <diffuseColor>0.4 0.4 0.4</diffuseColor>
+ <specularColor>0.0 0.0 0.0</specularColor>
+ <attenuation>1 0.0 1.0 0.4</attenuation>
+ </light>
+ </model:renderable>
+ -->
+
+</gazebo:world>
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <hsu...@us...> - 2009-09-04 21:09:40
|
Revision: 23873
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23873&view=rev
Author: hsujohnhsu
Date: 2009-09-04 21:09:32 +0000 (Fri, 04 Sep 2009)
Log Message:
-----------
fix demo
Modified Paths:
--------------
pkg/trunk/stacks/simulator_gazebo/gazebo_worlds/worlds/test_friction.world
Modified: pkg/trunk/stacks/simulator_gazebo/gazebo_worlds/worlds/test_friction.world
===================================================================
--- pkg/trunk/stacks/simulator_gazebo/gazebo_worlds/worlds/test_friction.world 2009-09-04 21:09:13 UTC (rev 23872)
+++ pkg/trunk/stacks/simulator_gazebo/gazebo_worlds/worlds/test_friction.world 2009-09-04 21:09:32 UTC (rev 23873)
@@ -25,7 +25,7 @@
<!-- here's the global contact cfm/erp -->
<physics:ode>
<stepTime>0.001</stepTime>
- <gravity>0 0 -9.8</gravity>
+ <gravity>0.0 -1.0 -1.0</gravity>
<cfm>0.0000000001</cfm>
<erp>0.2</erp>
<quickStep>true</quickStep>
@@ -66,7 +66,6 @@
</rendering:ogre>
-
<model:physical name="gplane">
<xyz>0 0 0</xyz>
<rpy>0 0 0</rpy>
@@ -112,9 +111,9 @@
- <!-- The Slide-->
+ <!-- The Slide
<model:physical name="slide1_model">
- <static>true</static>
+ <static>false</static>
<xyz> 0.0 0.0 0.00</xyz>
<rpy> 0.0 0.0 0.00</rpy>
<body:box name="slide1_legs_body">
@@ -126,7 +125,7 @@
<xyz> 0.0 5.0 13</xyz>
<rpy> 45.0 0.0 0.00</rpy>
<size> 50.0 20.0 1.0</size>
- <mass> 1000.0</mass>
+ <mass> 100.0</mass>
<visual>
<size>50.0 20.0 1.0</size>
<material>PR2/Red</material>
@@ -134,13 +133,24 @@
</visual>
</geom:box>
</body:box>
+ <joint:hinge name="slide_fixed_joint">
+ <body1>slide1_legs_body</body1>
+ <body2>world</body2>
+ <anchor>slide1_legs_body</anchor>
+ <lowStop>0</lowStop>
+ <highStop>0</highStop>
+ <axis>1 0 0</axis>
+ </joint:hinge>
+
</model:physical>
+ -->
+
<!-- boxes -->
<model:physical name="box_01_model">
- <xyz> 2.0 8.0 17.42</xyz>
- <rpy> 45.0 0.0 0.0</rpy>
+ <xyz> 2.0 8.0 0.5</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
<body:box name="box_01_body">
<massMatrix>true</massMatrix>
<mass>1.0</mass>
@@ -171,8 +181,8 @@
</model:physical>
<model:physical name="box_02_model">
- <xyz> 4.0 8.0 17.42</xyz>
- <rpy> 45.0 0.0 0.0</rpy>
+ <xyz> 4.0 8.0 0.5</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
<body:box name="box_02_body">
<massMatrix>true</massMatrix>
<mass>1.0</mass>
@@ -203,8 +213,8 @@
</model:physical>
<model:physical name="box_03_model">
- <xyz> 6.0 8.0 17.42</xyz>
- <rpy> 45.0 0.0 0.0</rpy>
+ <xyz> 6.0 8.0 0.5</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
<body:box name="box_03_body">
<massMatrix>true</massMatrix>
<mass>1.0</mass>
@@ -235,8 +245,8 @@
</model:physical>
<model:physical name="box_04_model">
- <xyz> 8.0 8.0 17.42</xyz>
- <rpy> 45.0 0.0 0.0</rpy>
+ <xyz> 8.0 8.0 0.5</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
<body:box name="box_04_body">
<massMatrix>true</massMatrix>
<mass>1.0</mass>
@@ -267,8 +277,8 @@
</model:physical>
<model:physical name="box_05_model">
- <xyz> 10.0 8.0 17.42</xyz>
- <rpy> 45.0 0.0 0.0</rpy>
+ <xyz> 10.0 8.0 0.5</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
<body:box name="box_05_body">
<massMatrix>true</massMatrix>
<mass>1.0</mass>
@@ -299,8 +309,8 @@
</model:physical>
<model:physical name="box_06_model">
- <xyz> 12.0 8.0 17.42</xyz>
- <rpy> 45.0 0.0 0.0</rpy>
+ <xyz> 12.0 8.0 0.5</xyz>
+ <rpy> 0.0 0.0 0.0</rpy>
<body:box name="box_06_body">
<massMatrix>true</massMatrix>
<mass>1.0</mass>
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
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