From: Konstantinos D. <da...@fr...> - 2006-08-11 17:13:59
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On Friday 11 August 2006 11:24, Nate Koenig wrote: > Let's take a step back for a moment, and consider what gazebo really > needs in a XML format. We will have two types of files, one that > describes the world and one that describes a model. A model is > collection of bodies connected via joints and zero or more sensors. A > world is a collection of models along with some global parameters such > as gravity. Actually maybe we could separate the model file into two. The model file would be a collection of various geometries possibly connected via joints, thus describing an ODE entity. Implementation-wise this could be an xode file. Other loadable files could be collada, x3d, etc. The functionality of a robot would be described in a hierarchical robot file, that puts together a few models (e.g. the robot itself, a gripper and the SICK) and define the functionality (motors, sensors and the interfaces to them). This would be a custom format of Gazebo. The world file would then be a collection of models (for inert objects) and robots and of course light sources, cameras and other information. More or less what it currently is. > Better player support. Gazebo doesn't fully support the simulation > interface. I'm interested in this task. If there are not any changes planned for the related code and the position interfaces I'll start on that. dalai ____________________________________________________________________ http://www.freemail.gr - http://www.freemail.gr - free email service for the Greek-speaking. |