From: <na...@us...> - 2008-09-24 18:23:48
|
Revision: 7049 http://playerstage.svn.sourceforge.net/playerstage/?rev=7049&view=rev Author: natepak Date: 2008-09-24 18:23:39 +0000 (Wed, 24 Sep 2008) Log Message: ----------- add svn properties Property Changed: ---------------- code/gazebo/trunk/worlds/ code/gazebo/trunk/worlds/models/ Property changes on: code/gazebo/trunk/worlds ___________________________________________________________________ Added: svn:ignore + .player *.os *.so *.o *.a config.log .scon* Ogre.log gazebo Doxyfile gazeborc *.pc .settings .cproject .project bandit Property changes on: code/gazebo/trunk/worlds/models ___________________________________________________________________ Added: svn:ignore + .player *.os *.so *.o *.a config.log .scon* Ogre.log gazebo Doxyfile gazeborc *.pc .settings .cproject .project bandit This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. |
From: <na...@us...> - 2008-10-03 22:23:09
|
Revision: 7059 http://playerstage.svn.sourceforge.net/playerstage/?rev=7059&view=rev Author: natepak Date: 2008-10-03 22:23:04 +0000 (Fri, 03 Oct 2008) Log Message: ----------- Fixed some problems with point lights. Improved UV tiling of boxes Modified Paths: -------------- code/gazebo/trunk/worlds/pioneer2dx.world code/gazebo/trunk/worlds/simpleshapes.world Modified: code/gazebo/trunk/worlds/pioneer2dx.world =================================================================== --- code/gazebo/trunk/worlds/pioneer2dx.world 2008-10-03 22:22:42 UTC (rev 7058) +++ code/gazebo/trunk/worlds/pioneer2dx.world 2008-10-03 22:23:04 UTC (rev 7059) @@ -34,7 +34,7 @@ </rendering:gui> <rendering:ogre> - <ambient>0.5 0.5 0.5 1.0</ambient> + <ambient>0.2 0.2 0.2 1.0</ambient> <sky> <material>Gazebo/CloudySky</material> </sky> @@ -124,12 +124,13 @@ <!-- White Directional light --> <model:renderable name="directional_white"> + <xyz>0 0 2</xyz> <light> - <type>directional</type> + <type>point</type> <direction>0 -0.6 -0.4</direction> - <diffuseColor>1.0 1.0 1.0</diffuseColor> - <specularColor>0.2 0.2 0.2</specularColor> - <attenuation>1000 1.0 0.0 0</attenuation> + <diffuseColor>0.8 0.8 0.8</diffuseColor> + <specularColor>0.1 0.1 0.1</specularColor> + <attenuation>10 0.8 0.1 0</attenuation> </light> </model:renderable> Modified: code/gazebo/trunk/worlds/simpleshapes.world =================================================================== --- code/gazebo/trunk/worlds/simpleshapes.world 2008-10-03 22:22:42 UTC (rev 7058) +++ code/gazebo/trunk/worlds/simpleshapes.world 2008-10-03 22:23:04 UTC (rev 7059) @@ -114,12 +114,12 @@ <!-- White Directional light --> <model:renderable name="directional_white"> + <xyz>0 0 2</xyz> <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>100 0.0 1.0 0.4</attenuation> + <type>point</type> + <diffuseColor>0.8 0.8 0.8</diffuseColor> + <specularColor>0.1 0.1 0.1</specularColor> + <attenuation>10 0.8 0.1 0.0</attenuation> </light> </model:renderable> This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. |
From: <na...@us...> - 2008-10-12 00:45:35
|
Revision: 7095 http://playerstage.svn.sourceforge.net/playerstage/?rev=7095&view=rev Author: natepak Date: 2008-10-12 00:45:25 +0000 (Sun, 12 Oct 2008) Log Message: ----------- Made some of the world files look a little better Modified Paths: -------------- code/gazebo/trunk/worlds/pioneer2dx.world code/gazebo/trunk/worlds/simpleshapes.world Modified: code/gazebo/trunk/worlds/pioneer2dx.world =================================================================== --- code/gazebo/trunk/worlds/pioneer2dx.world 2008-10-12 00:44:49 UTC (rev 7094) +++ code/gazebo/trunk/worlds/pioneer2dx.world 2008-10-12 00:45:25 UTC (rev 7095) @@ -44,6 +44,8 @@ <linearStart>10</linearStart> <linearEnd>100</linearEnd> </fog> + + <shadowTechnique>stencilAdditive</shadowTechnique> </rendering:ogre> <!-- Ground Plane --> @@ -122,15 +124,14 @@ </include> </model:physical> - <!-- White Directional light --> - <model:renderable name="directional_white"> - <xyz>0 0 2</xyz> + <!-- White Point light --> + <model:renderable name="point_white"> + <xyz>0 2 2</xyz> <light> <type>point</type> - <direction>0 -0.6 -0.4</direction> <diffuseColor>0.8 0.8 0.8</diffuseColor> <specularColor>0.1 0.1 0.1</specularColor> - <attenuation>10 0.8 0.1 0</attenuation> + <attenuation>20 0.5 0.1 0</attenuation> </light> </model:renderable> Modified: code/gazebo/trunk/worlds/simpleshapes.world =================================================================== --- code/gazebo/trunk/worlds/simpleshapes.world 2008-10-12 00:44:49 UTC (rev 7094) +++ code/gazebo/trunk/worlds/simpleshapes.world 2008-10-12 00:45:25 UTC (rev 7095) @@ -28,11 +28,11 @@ </rendering:gui> <rendering:ogre> - <ambient>1.0 1.0 1.0 1.0</ambient> + <ambient>0.1 0.1 0.1 1.0</ambient> <sky> <material>Gazebo/CloudySky</material> </sky> - <grid>false</grid> + <grid>true</grid> </rendering:ogre> <model:physical name="sphere1_model"> @@ -102,7 +102,7 @@ <body:plane name="plane1_body"> <geom:plane name="plane1_geom"> <normal>0 0 1</normal> - <size>2000 2000</size> + <size>100 100</size> <segments>10 10</segments> <uvTile>100 100</uvTile> <material>Gazebo/Grey</material> @@ -113,8 +113,8 @@ </model:physical> <!-- White Directional light --> - <model:renderable name="directional_white"> - <xyz>0 0 2</xyz> + <model:renderable name="point_white"> + <xyz>0 2 2</xyz> <light> <type>point</type> <diffuseColor>0.8 0.8 0.8</diffuseColor> This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. |
From: <na...@us...> - 2008-12-10 18:00:51
|
Revision: 7199 http://playerstage.svn.sourceforge.net/playerstage/?rev=7199&view=rev Author: natepak Date: 2008-12-10 18:00:48 +0000 (Wed, 10 Dec 2008) Log Message: ----------- Removed pioneerarm world and model Modified Paths: -------------- code/gazebo/trunk/worlds/bandit.world code/gazebo/trunk/worlds/models/sonyvid30.model Removed Paths: ------------- code/gazebo/trunk/worlds/models/pioneerarm.model code/gazebo/trunk/worlds/pioneerarm.world Modified: code/gazebo/trunk/worlds/bandit.world =================================================================== --- code/gazebo/trunk/worlds/bandit.world 2008-12-10 17:23:10 UTC (rev 7198) +++ code/gazebo/trunk/worlds/bandit.world 2008-12-10 18:00:48 UTC (rev 7199) @@ -16,10 +16,10 @@ <verbosity>5</verbosity> <physics:ode> - <stepTime>0.3</stepTime> + <stepTime>0.03</stepTime> <gravity>0 0 -9.8</gravity> <cfm>10e-5</cfm> - <erp>0.1</erp> + <erp>0.3</erp> </physics:ode> <rendering:gui> Deleted: code/gazebo/trunk/worlds/models/pioneerarm.model =================================================================== --- code/gazebo/trunk/worlds/models/pioneerarm.model 2008-12-10 17:23:10 UTC (rev 7198) +++ code/gazebo/trunk/worlds/models/pioneerarm.model 2008-12-10 18:00:48 UTC (rev 7199) @@ -1,285 +0,0 @@ -<?xml version="1.0"?> - - -<model:physical name="pioneerarm_model" - xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model" - xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" - xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" - 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:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" - > - - <!-- Pioneer 5DoF Arm --> - - <!-- <model:physical name="Pioneer_Arm"> --> - <verbosity>5</verbosity> - <xyz> 0.00 0.00 0.00</xyz> - <rpy> 0.00 0.00 0.00</rpy> - <static>false</static> - - <canonicalBody>base_body</canonicalBody> - - <body:box name="base_body"> - <xyz> 0.00000 0.00000 0.01250</xyz> - <rpy> 0.00000 0.00000 0.00000</rpy> - <geom:box name="base_geom"> - <size>0.13000 0.13000 0.02500</size> - <mass>1.0</mass> - <visual> - <xyz> 0.00000 0.00000 0.00000</xyz> - <rpy> 0.00000 0.00000 0.00000</rpy> - <scale>0.001 0.001 0.001</scale> - <mesh>PioneerArm/Base.mesh</mesh> - <material>Gazebo/Grey</material> - </visual> - </geom:box> - </body:box> - - <joint:hinge name="base_link1_hinge"> - <body1>base_body</body1> - <body2>link1_body</body2> - <anchor>link1_body</anchor> - <anchorOffset>-0.02175 0.00000 -0.03600</anchorOffset> - <axis>0 0 1</axis> - <lowStop>-90.0</lowStop> - <highStop>90.0</highStop> - </joint:hinge> - - <body:box name="link1_body"> - <xyz> 0.02175 0.00000 0.06100</xyz> - <rpy> 0.00000 0.00000 0.00000</rpy> - <geom:box name="link1_geom"> - <size>0.14350 0.10000 0.07200</size> - <mass>0.5</mass> - <visual> - <xyz> 0.00000 0.00000 0.00000</xyz> - <rpy> 0.00000 0.00000 0.00000</rpy> - <scale>0.001 0.001 0.001</scale> - <mesh>PioneerArm/Link01.mesh</mesh> - <material>Gazebo/Grey</material> - </visual> - </geom:box> - </body:box> - - <joint:hinge name="link1_link2_hinge"> - <body1>link1_body</body1> - <body2>link2_body</body2> - <anchor>link2_body</anchor> - <anchorOffset>-0.07750 0.00000 0.00000</anchorOffset> - <axis>0 1 0</axis> - <lowStop>-60.0</lowStop> - <highStop>120.0</highStop> - </joint:hinge> - - <body:box name="link2_body"> - <xyz> 0.14600 0.00000 0.07200</xyz> - <rpy> 0.00000 0.00000 0.00000</rpy> - <geom:box name="link2_geom"> - <size>0.20500 0.06800 0.05000 </size> - <mass>0.3</mass> - <visual> - <xyz>0.00000 0.00000 0.00000</xyz> - <rpy>0.00000 0.00000 0.00000</rpy> - <scale>0.001 0.001 0.001</scale> - <mesh>PioneerArm/Link02.mesh</mesh> - <material>Gazebo/Grey</material> - </visual> - </geom:box> - </body:box> - - <joint:hinge name="link2_link3_hinge"> - <body1>link2_body</body1> - <body2>link3_body</body2> - <anchor>link3_body</anchor> - <anchorOffset>-0.03925 0.00000 0.00000</anchorOffset> - <axis>0 1 0</axis> - <lowStop>-90.0</lowStop> - <highStop>90.0</highStop> - </joint:hinge> - - <body:box name="link3_body"> - <xyz> 0.26775 0.00000 0.07200</xyz> - <rpy> 0.00000 0.00000 0.00000</rpy> - <geom:box name="link3_geom"> - <size>0.12350 0.04000 0.04000</size> - <mass>0.1</mass> - <visual> - <xyz>0.00000 0.00000 0.00000</xyz> - <rpy>0.00000 0.00000 0.00000</rpy> - <scale>0.001 0.001 0.001</scale> - <mesh>PioneerArm/Link03.mesh</mesh> - <material>Gazebo/Grey</material> - </visual> - </geom:box> - </body:box> - - <joint:hinge name="link3_link4_hinge"> - <body1>link3_body</body1> - <body2>link4_body</body2> - <anchor>link4_body</anchor> - <anchorOffset>-0.03150 -0.00900 0.00000</anchorOffset> - <axis>-1 0 0</axis> - <lowStop>-90.0</lowStop> - <highStop>90.0</highStop> - </joint:hinge> - - <body:box name="link4_body"> - <xyz> 0.36100 0.00900 0.07200</xyz> - <rpy> 0.00000 0.00000 0.00000</rpy> - <geom:box name="link4_geom"> - <size>0.06300 0.06500 0.03500 </size> - <mass>0.1</mass> - <visual> - <xyz>0.00000 0.00000 0.00000</xyz> - <rpy>0.00000 0.00000 0.00000</rpy> - <scale>0.001 0.001 0.001</scale> - <mesh>PioneerArm/Link04.mesh</mesh> - <material>Gazebo/Grey</material> - </visual> - </geom:box> - </body:box> - - <joint:hinge name="link4_link5_hinge"> - <body1>link4_body</body1> - <body2>link5_body</body2> - <anchor>link5_body</anchor> - <anchorOffset>-0.03300 0.00000 0.00000</anchorOffset> - <axis>0 -1 0</axis> - <lowStop>-90.0</lowStop> - <highStop>90.0</highStop> - </joint:hinge> - - <body:box name="link5_body"> - <xyz> 0.39925 0.00000 0.07200</xyz> - <rpy> 0.00000 0.00000 0.00000</rpy> - <geom:box name="link5_geom"> - <size>0.09400 0.04200 0.02000 </size> - <mass>0.1</mass> - <visual> - <xyz>0.00000 0.00000 0.00000</xyz> - <rpy>0.00000 0.00000 0.00000</rpy> - <scale>0.001 0.001 0.001</scale> - <mesh>PioneerArm/Link05.mesh</mesh> - <material>Gazebo/Grey</material> - </visual> - </geom:box> - </body:box> - - <body:box name="right_gripper_body"> - <xyz> 0.45825 -0.01060 0.07200</xyz> - <rpy> 0.00000 0.00000 0.00000</rpy> - <geom:box name="right_gripper_geom"> - <size>0.05600 0.02120 0.00500</size> - <mass>0.05</mass> - <visual> - <xyz> 0.00000 0.00000 0.00000</xyz> - <rpy>180.00000 0.00000 0.00000</rpy> - <scale>0.001 0.001 0.001</scale> - <mesh>PioneerArm/Gripper.mesh</mesh> - <material>Gazebo/Grey</material> - </visual> - </geom:box> - </body:box> - - <body:box name="left_gripper_body"> - <xyz> 0.45825 +0.01060 0.07200</xyz> - <rpy> 0.00000 0.00000 0.00000</rpy> - <geom:box name="left_gripper_geom"> - <size>0.05600 0.02120 0.00500</size> - <mass>0.05</mass> - <visual> - <xyz>0.00000 0.00000 0.00000</xyz> - <rpy>0.00000 0.00000 0.00000</rpy> - <scale>0.001 0.001 0.001</scale> - <mesh>PioneerArm/Gripper.mesh</mesh> - <material>Gazebo/Grey</material> - </visual> - </geom:box> - </body:box> - - <joint:slider name="right_gripper_slider"> - <body1>link5_body</body1> - <body2>right_gripper_body</body2> - <anchor>link5_body</anchor> - <anchorOffset>0 0 0</anchorOffset> - <axis>0 1 0</axis> - <lowStop>0.0</lowStop> - <highStop>+0.026</highStop> - <erp>0.3</erp> - <cfm>10e-5</cfm> - </joint:slider> - - <joint:slider name="left_gripper_slider"> - <body1>link5_body</body1> - <body2>left_gripper_body</body2> - <anchor>link5_body</anchor> - <anchorOffset>0 0 0</anchorOffset> - <axis>0 1 0</axis> - <lowStop>-0.026</lowStop> - <highStop>0.0</highStop> - <erp>0.3</erp> - <cfm>10e-5</cfm> - </joint:slider> - - - <controller:generic_actarray name="pioneerarm_actarray"> - - <joint name="base_link1_hinge"> - <force>2</force> - <gain>2</gain> - <home>0</home> - </joint> - - <joint name="link1_link2_hinge"> - <force>4</force> - <gain>2</gain> - <home>110</home> - </joint> - - <joint name="link2_link3_hinge"> - <force>3</force> - <gain>2</gain> - <home>90</home> - </joint> - - <joint name="link3_link4_hinge"> - <force>1</force> - <gain>2</gain> - <home>0</home> - </joint> - - <joint name="link4_link5_hinge"> - <force>1</force> - <gain>2</gain> - <home>-90</home> - </joint> -<!-- - <joint name="right_gripper_slider"> - <force>1</force> - <gain>2</gain> - <home>0</home> - </joint> - - <joint name="left_gripper_slider"> - <force>1</force> - <gain>2</gain> - <home>0</home> - </joint> ---> - <interface:actarray name="pioneerarm_actarray_iface"/> - - </controller:generic_actarray> - - - <controller:pioneer2_gripper name="pioneerarm_gripper"> - <leftJoint>left_gripper_slider</leftJoint> - <rightJoint>right_gripper_slider</rightJoint> - <interface:gripper name="pioneerarm_gripper_iface"/> - </controller:pioneer2_gripper> - - - -</model:physical> - Modified: code/gazebo/trunk/worlds/models/sonyvid30.model =================================================================== --- code/gazebo/trunk/worlds/models/sonyvid30.model 2008-12-10 17:23:10 UTC (rev 7198) +++ code/gazebo/trunk/worlds/models/sonyvid30.model 2008-12-10 18:00:48 UTC (rev 7199) @@ -89,7 +89,7 @@ <imageSize>320 240</imageSize> <hfov>60</hfov> <nearClip>0.1</nearClip> - <farClip>100</farClip> + <farClip>50</farClip> <saveFrames>false</saveFrames> <saveFramePath>frames</saveFramePath> Deleted: code/gazebo/trunk/worlds/pioneerarm.world =================================================================== --- code/gazebo/trunk/worlds/pioneerarm.world 2008-12-10 17:23:10 UTC (rev 7198) +++ code/gazebo/trunk/worlds/pioneerarm.world 2008-12-10 18:00:48 UTC (rev 7199) @@ -1,152 +0,0 @@ -<?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: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:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" - xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" > - - <verbosity>5</verbosity> - - <physics:ode> - <stepTime>0.03</stepTime> - <gravity>0 0 -9.8</gravity> - <cfm>10e-5</cfm> - <erp>0.3</erp> - </physics:ode> - - <rendering:gui> - <type>fltk</type> - <size>640 480</size> - <pos>0 0</pos> - <frames> - <row height="100%"> - <camera width="100%"> - <xyz>-0.5 1.5 0.5</xyz> - <rpy> 0.0 0.0 -90</rpy> - </camera> - </row> - </frames> - - </rendering:gui> - - <rendering:ogre> - <ambient>0.4 0.4 0.4 1.0</ambient> - <sky> - <material>Gazebo/CloudySky</material> - </sky> - - <!--<fog> - <color>0.9 0.9 0.9</color> - <linearStart>50</linearStart> - <linearEnd>100</linearEnd> - </fog> - --> - </rendering:ogre> - - <!-- Ground Plane --> - <model:physical name="plane1_model"> - <xyz>0 0 0</xyz> - <rpy>0 0 0</rpy> - <static>true</static> - - <body:plane name="plane1_body"> - <geom:plane name="plane1_geom"> - <normal>0 0 1</normal> - <size>2000 2000</size> - <segments>10 10</segments> - <uvTile>100 100</uvTile> - <material>Gazebo/GrassFloor</material> - </geom:plane> - </body:plane> - </model:physical> - - <!-- White Directional light --> - <model:renderable name="directional_white"> - <light> - <type>directional</type> - <direction>0 -0.8 -0.3</direction> - <diffuseColor>0.9 0.9 0.9</diffuseColor> - <specularColor>0.0 0.0 0.0</specularColor> - <attenuation>100 0.0 1.0 0.4</attenuation> - </light> - </model:renderable> - - <!-- Small barrel for manipulation testing --> - <model:physical name="cylinder1_model"> - <xyz>-0.6 0 0.040</xyz> - <rpy>0 0 0</rpy> - <body:cylinder name="cylinder1_body"> - <geom:cylinder name="cylinder1_geom"> - <size>0.015 0.080</size> - <mass>0.01</mass> - <visual> - <mesh>unit_cylinder</mesh> - <scale>0.030 0.030 0.080</scale> - <material>Gazebo/RustyBarrel</material> - </visual> - </geom:cylinder> - </body:cylinder> - </model:physical> - - <!-- Pioneer with attached arm --> - <model:physical name="pioneer2at_model1"> - <xyz>0 0 0.215</xyz> - <rpy>0.0 0.0 0.0</rpy> - - <controller:differential_position2d name="controller1"> - <leftJoint>left_front_wheel_hinge</leftJoint> - <rightJoint>right_front_wheel_hinge</rightJoint> - <wheelSeparation>0.34</wheelSeparation> - <wheelDiameter>0.15</wheelDiameter> - <torque>10.0</torque> - <interface:position name="position_iface_0"/> - </controller:differential_position2d> - - <!-- Pioneer 5-dof Arm --> - <model:physical name="pioneerarm"> - <xyz> -0.150 0.000 0.060</xyz> - <rpy> 0.0 0.0 180.0</rpy> - - <attach> - <parentBody>chassis_body</parentBody> - <myBody>base_body</myBody> - </attach> -<!-- - <model:physical name="cam1_model"> - <xyz>0 0 0</xyz> - <rpy>0.0 0.0 90.0</rpy> - <body:empty name="cam1_body"> - <sensor:camera name="cam1_sensor"> - <imageSize>640 480</imageSize> - <controller:generic_camera name="cam1_controller"> - <interface:camera name="camera_iface_0"/> - </controller:generic_camera> - </sensor:camera> - </body:empty> - </model:physical> ---> - - <include embedded="true"> - <xi:include href="models/pioneerarm.model" /> - </include> - </model:physical> - - - <include embedded="true"> - <xi:include href="models/pioneer2at.model" /> - </include> - </model:physical> - - -</gazebo:world> This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. |
From: <na...@us...> - 2009-02-10 19:46:23
|
Revision: 7327 http://playerstage.svn.sourceforge.net/playerstage/?rev=7327&view=rev Author: natepak Date: 2009-02-10 19:46:19 +0000 (Tue, 10 Feb 2009) Log Message: ----------- minor changes to the world files Modified Paths: -------------- code/gazebo/trunk/worlds/models/sonyvid30.model code/gazebo/trunk/worlds/pioneer2dx_camera.world Modified: code/gazebo/trunk/worlds/models/sonyvid30.model =================================================================== --- code/gazebo/trunk/worlds/models/sonyvid30.model 2009-02-10 18:16:15 UTC (rev 7326) +++ code/gazebo/trunk/worlds/models/sonyvid30.model 2009-02-10 19:46:19 UTC (rev 7327) @@ -23,7 +23,7 @@ <xyz>0.0 0.0 0.02</xyz> <rpy>0 0 90</rpy> <size>0.15 0.14 0.04</size> - <mass>0.01</mass> + <mass>0.1</mass> <visual> <rpy>0 0 -90</rpy> @@ -61,7 +61,7 @@ <geom:box name="camera_top_geom"> <rpy>0 0 90</rpy> <size>0.12 0.119 0.03</size> - <mass>0.01</mass> + <mass>0.0</mass> <visual> <xyz>0.0 0.06 -0.015</xyz> @@ -76,7 +76,7 @@ <xyz>0.045 -0.002 -0.002</xyz> <rpy>0 90 0</rpy> <size>0.01 0.04</size> - <mass>0.01</mass> + <mass>0.0</mass> <visual> <size>0.025 0.025 0.04</size> @@ -106,7 +106,7 @@ <axis>0 0 1</axis> <lowStop>-170</lowStop> <highStop>170</highStop> - <erp>0.1</erp> + <erp>0.2</erp> <cfm>10e-5</cfm> </joint:hinge> @@ -117,7 +117,7 @@ <axis>0 1 0</axis> <lowStop>-20</lowStop> <highStop>20</highStop> - <erp>0.8</erp> + <erp>0.2</erp> <cfm>10e-5</cfm> </joint:hinge> @@ -126,7 +126,7 @@ <tiltJoint>tilt_joint</tiltJoint> <motionGain>1</motionGain> - <force>0.01</force> + <force>0.001</force> <interface:ptz name="ptz_iface_1"/> </controller:generic_ptz> Modified: code/gazebo/trunk/worlds/pioneer2dx_camera.world =================================================================== --- code/gazebo/trunk/worlds/pioneer2dx_camera.world 2009-02-10 18:16:15 UTC (rev 7326) +++ code/gazebo/trunk/worlds/pioneer2dx_camera.world 2009-02-10 19:46:19 UTC (rev 7327) @@ -22,7 +22,7 @@ <stepTime>0.03</stepTime> <gravity>0 0 -9.8</gravity> <cfm>10e-5</cfm> - <erp>0.1</erp> + <erp>0.3</erp> <updateRate>2</updateRate> </physics:ode> @@ -36,7 +36,7 @@ <row height="100%"> <camera width="100%"> <xyz>0.35 -0.5 0.43</xyz> - <rpy>0, 14, 111.5</rpy> + <rpy>0 14 111.5</rpy> </camera> </row> </frames> This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. |
From: <hsu...@us...> - 2009-05-30 00:44:34
|
Revision: 7744 http://playerstage.svn.sourceforge.net/playerstage/?rev=7744&view=rev Author: hsujohnhsu Date: 2009-05-30 00:44:07 +0000 (Sat, 30 May 2009) Log Message: ----------- adding two example worlds. Added Paths: ----------- code/gazebo/trunk/worlds/test_stacks.world code/gazebo/trunk/worlds/test_stacks_with_rays.world Added: code/gazebo/trunk/worlds/test_stacks.world =================================================================== --- code/gazebo/trunk/worlds/test_stacks.world (rev 0) +++ code/gazebo/trunk/worlds/test_stacks.world 2009-05-30 00:44:07 UTC (rev 7744) @@ -0,0 +1,3895 @@ +<?xml version="1.0"?> + +<gazebo:world + 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:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" + 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:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering" + xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" + xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" > + + <verbosity>5</verbosity> + + <!-- + <physics:ode> + <stepTime>0.001</stepTime> + <gravity>0 0 -9.8</gravity> + <cfm>10e-2</cfm> + <erp>0.2</erp> + </physics:ode> + --> + <physics:ode> + <stepTime>0.001</stepTime> + <gravity>0 0 -9.8</gravity> + <cfm>0.0000000001</cfm> + <erp>0.1</erp> + <quickStep>true</quickStep> + <quickStepIters>30</quickStepIters> + <quickStepW>1.3</quickStepW> + </physics:ode> + + <rendering:gui> + <type>fltk</type> + <imageSize>1024 800</imageSize> + <pos>0 0</pos> + <frames> + <row height="100%"> + <camera width="100%"> + <xyz>1.0 1.5 101</xyz> + <rpy>0 90 0</rpy> + </camera> + </row> + </frames> + </rendering:gui> + + <rendering:ogre> + <ambient>0.0 0.0 0.0 1.0</ambient> + <sky> + <material>Gazebo/CloudySky</material> + </sky> + <shadowTechnique>stencilAdditive</shadowTechnique> + <grid>true</grid> + </rendering:ogre> + + <model:physical name="sphere1_model"> + <xyz>1 0 0.5</xyz> + <rpy>0.0 0.0 0.0</rpy> + <static>false</static> + + <body:sphere name="sphere1_body"> + <geom:sphere name="sphere1_geom"> + <size>0.2</size> + <mass>0.0</mass> + + <mu1>109999.0</mu1> + + <visual> + <size>0.4 0.4 0.4</size> + <mesh>unit_sphere</mesh> + <material>Gazebo/Rocky</material> + </visual> + </geom:sphere> + </body:sphere> + </model:physical> + <model:physical name="sphere2_model"> + <xyz>1 0 1.5</xyz> + <rpy>0.0 0.0 0.0</rpy> + <static>false</static> + + <body:sphere name="sphere2_body"> + <geom:sphere name="sphere2_geom"> + <size>0.2</size> + <mass>0.0</mass> + + <mu1>109999.0</mu1> + + <visual> + <size>0.4 0.4 0.4</size> + <mesh>unit_sphere</mesh> + <material>Gazebo/Rocky</material> + </visual> + </geom:sphere> + </body:sphere> + </model:physical> + <model:physical name="sphere3_model"> + <xyz>1 0 2.5</xyz> + <rpy>0.0 0.0 0.0</rpy> + <static>false</static> + + <body:sphere name="sphere3_body"> + <geom:sphere name="sphere3_geom"> + <size>0.2</size> + <mass>0.0</mass> + + <mu1>109999.0</mu1> + + <visual> + <size>0.4 0.4 0.4</size> + <mesh>unit_sphere</mesh> + <material>Gazebo/Rocky</material> + </visual> + </geom:sphere> + </body:sphere> + </model:physical> + <model:physical name="sphere4_model"> + <xyz>1 0 3.5</xyz> + <rpy>0.0 0.0 0.0</rpy> + <static>false</static> + + <body:sphere name="sphere4_body"> + <geom:sphere name="sphere4_geom"> + <size>0.2</size> + <mass>0.0</mass> + + <mu1>109999.0</mu1> + + <visual> + <size>0.4 0.4 0.4</size> + <mesh>unit_sphere</mesh> + <material>Gazebo/Rocky</material> + </visual> + </geom:sphere> + </body:sphere> + </model:physical> + <model:physical name="sphere5_model"> + <xyz>1 0 4.5</xyz> + <rpy>0.0 0.0 0.0</rpy> + <static>false</static> + + <body:sphere name="sphere5_body"> + <geom:sphere name="sphere5_geom"> + <size>0.2</size> + <mass>0.0</mass> + + <mu1>109999.0</mu1> + + <visual> + <size>0.4 0.4 0.4</size> + <mesh>unit_sphere</mesh> + <material>Gazebo/Rocky</material> + </visual> + </geom:sphere> + </body:sphere> + </model:physical> + <model:physical name="sphere6_model"> + <xyz>1 0 5.5</xyz> + <rpy>0.0 0.0 0.0</rpy> + <static>false</static> + + <body:sphere name="sphere6_body"> + <geom:sphere name="sphere6_geom"> + <size>0.2</size> + <mass>0.0</mass> + + <mu1>109999.0</mu1> + + <visual> + <size>0.4 0.4 0.4</size> + <mesh>unit_sphere</mesh> + <material>Gazebo/Rocky</material> + </visual> + </geom:sphere> + </body:sphere> + </model:physical> + <model:physical name="sphere7_model"> + <xyz>1 0 6.5</xyz> + <rpy>0.0 0.0 0.0</rpy> + <static>false</static> + + <body:sphere name="sphere7_body"> + <geom:sphere name="sphere7_geom"> + <size>0.2</size> + <mass>0.0</mass> + + <mu1>109999.0</mu1> + + <visual> + <size>0.4 0.4 0.4</size> + <mesh>unit_sphere</mesh> + <material>Gazebo/Rocky</material> + </visual> + </geom:sphere> + </body:sphere> + </model:physical> + <model:physical name="sphere8_model"> + <xyz>1 0 7.5</xyz> + <rpy>0.0 0.0 0.0</rpy> + <static>false</static> + + <body:sphere name="sphere8_body"> + <geom:sphere name="sphere8_geom"> + <size>0.2</size> + <mass>0.0</mass> + + <mu1>109999.0</mu1> + + <visual> + <size>0.4 0.4 0.4</size> + <mesh>unit_sphere</mesh> + <material>Gazebo/Rocky</material> + </visual> + </geom:sphere> + </body:sphere> + </model:physical> + <model:physical name="sphere9_model"> + <xyz>1 0 8.5</xyz> + <rpy>0.0 0.0 0.0</rpy> + <static>false</static> + + <body:sphere name="sphere9_body"> + <geom:sphere name="sphere9_geom"> + <size>0.2</size> + <mass>0.0</mass> + + <mu1>109999.0</mu1> + + <visual> + <size>0.4 0.4 0.4</size> + <mesh>unit_sphere</mesh> + <material>Gazebo/Rocky</material> + </visual> + </geom:sphere> + </body:sphere> + </model:physical> + <model:physical name="sphere10_model"> + <xyz>1 0 9.5</xyz> + <rpy>0.0 0.0 0.0</rpy> + <static>false</static> + + <body:sphere name="sphere10_body"> + <geom:sphere name="sphere10_geom"> + <size>0.2</size> + <mass>0.0</mass> + + <mu1>109999.0</mu1> + + <visual> + <size>0.4 0.4 0.4</size> + <mesh>unit_sphere</mesh> + <material>Gazebo/Rocky</material> + </visual> + </geom:sphere> + </body:sphere> + </model:physical> + <model:physical name="sphere11_model"> + <xyz>1 0 10.5</xyz> + <rpy>0.0 0.0 0.0</rpy> + <static>false</static> + + <body:sphere name="sphere11_body"> + <geom:sphere name="sphere11_geom"> + <size>0.2</size> + <mass>0.0</mass> + + <mu1>109999.0</mu1> + + <visual> + <size>0.4 0.4 0.4</size> + <mesh>unit_sphere</mesh> + <material>Gazebo/Rocky</material> + </visual> + </geom:sphere> + </body:sphere> + </model:physical> + <model:physical name="sphere12_model"> + <xyz>1 0 11.5</xyz> + <rpy>0.0 0.0 0.0</rpy> + <static>false</static> + + <body:sphere name="sphere12_body"> + <geom:sphere name="sphere12_geom"> + <size>0.2</size> + <mass>0.0</mass> + + <mu1>109999.0</mu1> + + <visual> + <size>0.4 0.4 0.4</size> + <mesh>unit_sphere</mesh> + <material>Gazebo/Rocky</material> + </visual> + </geom:sphere> + </body:sphere> + </model:physical> + <model:physical name="sphere13_model"> + <xyz>1 0 12.5</xyz> + <rpy>0.0 0.0 0.0</rpy> + <static>false</static> + + <body:sphere name="sphere13_body"> + <geom:sphere name="sphere13_geom"> + <size>0.2</size> + <mass>0.0</mass> + + <mu1>109999.0</mu1> + + <visual> + <size>0.4 0.4 0.4</size> + <mesh>unit_sphere</mesh> + <material>Gazebo/Rocky</material> + </visual> + </geom:sphere> + </body:sphere> + </model:physical> + <model:physical name="sphere14_model"> + <xyz>1 0 13.5</xyz> + <rpy>0.0 0.0 0.0</rpy> + <static>false</static> + + <body:sphere name="sphere14_body"> + <geom:sphere name="sphere14_geom"> + <size>0.2</size> + <mass>0.0</mass> + + <mu1>109999.0</mu1> + + <visual> + <size>0.4 0.4 0.4</size> + <mesh>unit_sphere</mesh> + <material>Gazebo/Rocky</material> + </visual> + </geom:sphere> + </body:sphere> + </model:physical> + <model:physical name="sphere15_model"> + <xyz>1 0 14.5</xyz> + <rpy>0.0 0.0 0.0</rpy> + <static>false</static> + + <body:sphere name="sphere15_body"> + <geom:sphere name="sphere15_geom"> + <size>0.2</size> + <mass>0.0</mass> + + <mu1>109999.0</mu1> + + <visual> + <size>0.4 0.4 0.4</size> + <mesh>unit_sphere</mesh> + <material>Gazebo/Rocky</material> + </visual> + </geom:sphere> + </body:sphere> + </model:physical> + <model:physical name="sphere16_model"> + <xyz>1 0 15.5</xyz> + <rpy>0.0 0.0 0.0</rpy> + <static>false</static> + + <body:sphere name="sphere16_body"> + <geom:sphere name="sphere16_geom"> + <size>0.2</size> + <mass>0.0</mass> + + <mu1>109999.0</mu1> + + <visual> + <size>0.4 0.4 0.4</size> + <mesh>unit_sphere</mesh> + <material>Gazebo/Rocky</material> + </visual> + </geom:sphere> + </body:sphere> + </model:physical> + <model:physical name="sphere17_model"> + <xyz>1 0 16.5</xyz> + <rpy>0.0 0.0 0.0</rpy> + <static>false</static> + + <body:sphere name="sphere17_body"> + <geom:sphere name="sphere17_geom"> + <size>0.2</size> + <mass>0.0</mass> + + <mu1>109999.0</mu1> + + <visual> + <size>0.4 0.4 0.4</size> + <mesh>unit_sphere</mesh> + <material>Gazebo/Rocky</material> + </visual> + </geom:sphere> + </body:sphere> + </model:physical> + <model:physical name="sphere18_model"> + <xyz>1 0 17.5</xyz> + <rpy>0.0 0.0 0.0</rpy> + <static>false</static> + + <body:sphere name="sphere18_body"> + <geom:sphere name="sphere18_geom"> + <size>0.2</size> + <mass>0.0</mass> + + <mu1>109999.0</mu1> + + <visual> + <size>0.4 0.4 0.4</size> + <mesh>unit_sphere</mesh> + <material>Gazebo/Rocky</material> + </visual> + </geom:sphere> + </body:sphere> + </model:physical> + <model:physical name="sphere19_model"> + <xyz>1 0 18.5</xyz> + <rpy>0.0 0.0 0.0</rpy> + <static>false</static> + + <body:sphere name="sphere19_body"> + <geom:sphere name="sphere19_geom"> + <size>0.2</size> + <mass>0.0</mass> + + <mu1>109999.0</mu1> + + <visual> + <size>0.4 0.4 0.4</size> + <mesh>unit_sphere</mesh> + <material>Gazebo/Rocky</material> + </visual> + </geom:sphere> + </body:sphere> + </model:physical> + <model:physical name="sphere20_model"> + <xyz>1 0 19.5</xyz> + <rpy>0.0 0.0 0.0</rpy> + <static>false</static> + + <body:sphere name="sphere20_body"> + <geom:sphere name="sphere20_geom"> + <size>0.2</size> + <mass>0.0</mass> + + <mu1>109999.0</mu1> + + <visual> + <size>0.4 0.4 0.4</size> + <mesh>unit_sphere</mesh> + <material>Gazebo/Rocky</material> + </visual> + </geom:sphere> + </body:sphere> + </model:physical> + <model:physical name="sphere21_model"> + <xyz>1 0 20.5</xyz> + <rpy>0.0 0.0 0.0</rpy> + <static>false</static> + + <body:sphere name="sphere21_body"> + <geom:sphere name="sphere21_geom"> + <size>0.2</size> + <mass>0.0</mass> + + <mu1>109999.0</mu1> + + <visual> + <size>0.4 0.4 0.4</size> + <mesh>unit_sphere</mesh> + <material>Gazebo/Rocky</material> + </visual> + </geom:sphere> + </body:sphere> + </model:physical> + <model:physical name="sphere22_model"> + <xyz>1 0 21.5</xyz> + <rpy>0.0 0.0 0.0</rpy> + <static>false</static> + + <body:sphere name="sphere22_body"> + <geom:sphere name="sphere22_geom"> + <size>0.2</size> + <mass>0.0</mass> + + <mu1>109999.0</mu1> + + <visual> + <size>0.4 0.4 0.4</size> + <mesh>unit_sphere</mesh> + <material>Gazebo/Rocky</material> + </visual> + </geom:sphere> + </body:sphere> + </model:physical> + <model:physical name="sphere23_model"> + <xyz>1 0 22.5</xyz> + <rpy>0.0 0.0 0.0</rpy> + <static>false</static> + + <body:sphere name="sphere23_body"> + <geom:sphere name="sphere23_geom"> + <size>0.2</size> + <mass>0.0</mass> + + <mu1>109999.0</mu1> + + <visual> + <size>0.4 0.4 0.4</size> + <mesh>unit_sphere</mesh> + <material>Gazebo/Rocky</material> + </visual> + </geom:sphere> + </body:sphere> + </model:physical> + <model:physical name="sphere24_model"> + <xyz>1 0 23.5</xyz> + <rpy>0.0 0.0 0.0</rpy> + <static>false</static> + + <body:sphere name="sphere24_body"> + <geom:sphere name="sphere24_geom"> + <size>0.2</size> + <mass>0.0</mass> + + <mu1>109999.0</mu1> + + <visual> + <size>0.4 0.4 0.4</size> + <mesh>unit_sphere</mesh> + <material>Gazebo/Rocky</material> + </visual> + </geom:sphere> + </body:sphere> + </model:physical> + <model:physical name="sphere25_model"> + <xyz>1 0 24.5</xyz> + <rpy>0.0 0.0 0.0</rpy> + <static>false</static> + + <body:sphere name="sphere25_body"> + <geom:sphere name="sphere25_geom"> + <size>0.2</size> + <mass>0.0</mass> + + <mu1>109999.0</mu1> + + <visual> + <size>0.4 0.4 0.4</size> + <mesh>unit_sphere</mesh> + <material>Gazebo/Rocky</material> + </visual> + </geom:sphere> + </body:sphere> + </model:physical> + <model:physical name="sphere26_model"> + <xyz>1 0 25.5</xyz> + <rpy>0.0 0.0 0.0</rpy> + <static>false</static> + + <body:sphere name="sphere26_body"> + <geom:sphere name="sphere26_geom"> + <size>0.2</size> + <mass>0.0</mass> + + <mu1>109999.0</mu1> + + <visual> + <size>0.4 0.4 0.4</size> + <mesh>unit_sphere</mesh> + <material>Gazebo/Rocky</material> + </visual> + </geom:sphere> + </body:sphere> + </model:physical> + <model:physical name="sphere27_model"> + <xyz>1 0 26.5</xyz> + <rpy>0.0 0.0 0.0</rpy> + <static>false</static> + + <body:sphere name="sphere27_body"> + <geom:sphere name="sphere27_geom"> + <size>0.2</size> + <mass>0.0</mass> + + <mu1>109999.0</mu1> + + <visual> + <size>0.4 0.4 0.4</size> + <mesh>unit_sphere</mesh> + <material>Gazebo/Rocky</material> + </visual> + </geom:sphere> + </body:sphere> + </model:physical> + <model:physical name="sphere28_model"> + <xyz>1 0 27.5</xyz> + <rpy>0.0 0.0 0.0</rpy> + <static>false</static> + + <body:sphere name="sphere28_body"> + <geom:sphere name="sphere28_geom"> + <size>0.2</size> + <mass>0.0</mass> + + <mu1>109999.0</mu1> + + <visual> + <size>0.4 0.4 0.4</size> + <mesh>unit_sphere</mesh> + <material>Gazebo/Rocky</material> + </visual> + </geom:sphere> + </body:sphere> + </model:physical> + <model:physical name="sphere29_model"> + <xyz>1 0 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</model:physical> + <model:physical name="box16_model"> + <xyz>1 1.5 14.5</xyz> + <canonicalBody>box16_body</canonicalBody> + <static>false</static> + + <body:box name="box16_body"> + <geom:box name="box16_geom1"> + <size>0.5 0.5 1.0</size> + <mass>0.1</mass> + + <visual> + <size>0.5 0.5 1.0</size> + <mesh>unit_box</mesh> + <material>Gazebo/Rocky</material> + </visual> + </geom:box> + </body:box> + </model:physical> + <model:physical name="box17_model"> + <xyz>1 1.5 15.5</xyz> + <canonicalBody>box17_body</canonicalBody> + <static>false</static> + + <body:box name... [truncated message content] |
From: <ro...@us...> - 2009-06-22 23:28:56
|
Revision: 7872 http://playerstage.svn.sourceforge.net/playerstage/?rev=7872&view=rev Author: robotos Date: 2009-06-22 23:28:53 +0000 (Mon, 22 Jun 2009) Log Message: ----------- moved controllers to models Modified Paths: -------------- code/gazebo/trunk/worlds/bandit.world code/gazebo/trunk/worlds/bumper.world code/gazebo/trunk/worlds/map.world code/gazebo/trunk/worlds/models/pioneer2at.model code/gazebo/trunk/worlds/models/pioneer2dx.model code/gazebo/trunk/worlds/models/simplecar.model code/gazebo/trunk/worlds/models/wizbot.model code/gazebo/trunk/worlds/pioneer2at.world code/gazebo/trunk/worlds/pioneer2dx.world code/gazebo/trunk/worlds/pioneer2dx_camera.world code/gazebo/trunk/worlds/simplecar.world code/gazebo/trunk/worlds/terrain.world code/gazebo/trunk/worlds/wizbot.world Modified: code/gazebo/trunk/worlds/bandit.world =================================================================== --- code/gazebo/trunk/worlds/bandit.world 2009-06-22 22:32:53 UTC (rev 7871) +++ code/gazebo/trunk/worlds/bandit.world 2009-06-22 23:28:53 UTC (rev 7872) @@ -53,15 +53,6 @@ <xyz>1 0 0.145</xyz> <rpy>0.0 0.0 0.0</rpy> - <controller:differential_position2d name="controller1"> - <leftJoint>left_wheel_hinge</leftJoint> - <rightJoint>right_wheel_hinge</rightJoint> - <wheelSeparation>0.34</wheelSeparation> - <wheelDiameter>0.15</wheelDiameter> - <torque>5</torque> - <interface:position name="position_iface_0"/> - </controller:differential_position2d> - <include embedded="true"> <xi:include href="models/pioneer2dx.model" /> </include> Modified: code/gazebo/trunk/worlds/bumper.world =================================================================== --- code/gazebo/trunk/worlds/bumper.world 2009-06-22 22:32:53 UTC (rev 7871) +++ code/gazebo/trunk/worlds/bumper.world 2009-06-22 23:28:53 UTC (rev 7872) @@ -108,15 +108,6 @@ <xyz>0 0 0.145</xyz> <rpy>0.0 0.0 0.0</rpy> - <controller:differential_position2d name="controller1"> - <leftJoint>left_wheel_hinge</leftJoint> - <rightJoint>right_wheel_hinge</rightJoint> - <wheelSeparation>0.39</wheelSeparation> - <wheelDiameter>0.15</wheelDiameter> - <torque>5</torque> - <interface:position name="position_iface_0"/> - </controller:differential_position2d> - <model:physical name="laser"> <xyz>0.15 0 0.18</xyz> Modified: code/gazebo/trunk/worlds/map.world =================================================================== --- code/gazebo/trunk/worlds/map.world 2009-06-22 22:32:53 UTC (rev 7871) +++ code/gazebo/trunk/worlds/map.world 2009-06-22 23:28:53 UTC (rev 7872) @@ -94,15 +94,6 @@ <xyz>0 0 0.145</xyz> <rpy>0.0 0.0 0.0</rpy> - <controller:differential_position2d name="controller1"> - <leftJoint>left_wheel_hinge</leftJoint> - <rightJoint>right_wheel_hinge</rightJoint> - <wheelSeparation>0.39</wheelSeparation> - <wheelDiameter>0.15</wheelDiameter> - <torque>5</torque> - <interface:position name="position_iface_0"/> - </controller:differential_position2d> - <model:physical name="laser"> <xyz>0.15 0 0.18</xyz> Modified: code/gazebo/trunk/worlds/models/pioneer2at.model =================================================================== --- code/gazebo/trunk/worlds/models/pioneer2at.model 2009-06-22 22:32:53 UTC (rev 7871) +++ code/gazebo/trunk/worlds/models/pioneer2at.model 2009-06-22 23:28:53 UTC (rev 7872) @@ -15,6 +15,15 @@ <canonicalBody>chassis_body</canonicalBody> +<controller:differential_position2d name="controller1"> + <leftJoint>left_front_wheel_hinge</leftJoint> + <rightJoint>right_front_wheel_hinge</rightJoint> + <wheelSeparation>0.34</wheelSeparation> + <wheelDiameter>0.15</wheelDiameter> + <torque>10.0</torque> + <interface:position name="position_iface_0"/> +</controller:differential_position2d> + <body:box name="chassis_body"> <geom:box name="chassis_geom"> <size>0.497 0.247 0.191</size> Modified: code/gazebo/trunk/worlds/models/pioneer2dx.model =================================================================== --- code/gazebo/trunk/worlds/models/pioneer2dx.model 2009-06-22 22:32:53 UTC (rev 7871) +++ code/gazebo/trunk/worlds/models/pioneer2dx.model 2009-06-22 23:28:53 UTC (rev 7872) @@ -12,6 +12,16 @@ <xyz>0 0 0.0</xyz> <rpy>0.0 0.0 0.0</rpy> +<controller:differential_position2d name="controller1"> + <leftJoint>left_wheel_hinge</leftJoint> + <rightJoint>right_wheel_hinge</rightJoint> + <wheelSeparation>0.39</wheelSeparation> + <wheelDiameter>0.15</wheelDiameter> + <torque>5</torque> + <interface:position name="position_iface_0"/> +</controller:differential_position2d> + + <canonicalBody>chassis_body</canonicalBody> <body:box name="chassis_body"> @@ -171,4 +181,5 @@ <cfm>10e-5</cfm> </joint:ball> + </model:physical> Modified: code/gazebo/trunk/worlds/models/simplecar.model =================================================================== --- code/gazebo/trunk/worlds/models/simplecar.model 2009-06-22 22:32:53 UTC (rev 7871) +++ code/gazebo/trunk/worlds/models/simplecar.model 2009-06-22 23:28:53 UTC (rev 7872) @@ -15,6 +15,36 @@ <canonicalBody>chassis_body</canonicalBody> +<controller:steering_position2d name="a car"> + <wheel> + <joint>left_front_wheel_hinge</joint> + <type>steer</type> + <torque>1000</torque> + <steerTorque>1000</steerTorque> + </wheel> + <wheel> + <joint>right_front_wheel_hinge</joint> + <type>steer</type> + <torque>1000</torque> + <steerTorque>1000</steerTorque> + </wheel> + <wheel> + <joint>left_rear_wheel_hinge</joint> + <type>drive</type> + <torque>1000</torque> + </wheel> + <wheel> + <joint>right_rear_wheel_hinge</joint> + <type>drive</type> + <torque>1000</torque> + </wheel> + <steerPD>10 0</steerPD> + <steerMaxAngle>50</steerMaxAngle> + <interface:position name="position_iface_0"/> +</controller:steering_position2d> + + + <body:box name="chassis_body"> <geom:box name="chassis_geom"> <size>2.54 0.76 0.5</size> Modified: code/gazebo/trunk/worlds/models/wizbot.model =================================================================== --- code/gazebo/trunk/worlds/models/wizbot.model 2009-06-22 22:32:53 UTC (rev 7871) +++ code/gazebo/trunk/worlds/models/wizbot.model 2009-06-22 23:28:53 UTC (rev 7872) @@ -16,6 +16,27 @@ <canonicalBody>chassis_body</canonicalBody> + <controller:holonome3sw_position2d name="controller1"> + <wheels> + <radius>0.075</radius> + <distance>0.175</distance> + <torque>2</torque> + <swedish0> + <joint>wheel0_hinge</joint> + <alpha>0</alpha> + </swedish0> + <swedish1> + <joint>wheel1_hinge</joint> + <alpha>120</alpha> + </swedish1> + <swedish2> + <joint>wheel2_hinge</joint> + <alpha>240</alpha> + </swedish2> + </wheels> + <interface:position name="position_iface_0"/> + </controller:holonome3sw_position2d> + <body:cylinder name="chassis_body"> <xyz>0.0 0.0 0.0</xyz> <rpy>0.0 0.0 0.0</rpy> Modified: code/gazebo/trunk/worlds/pioneer2at.world =================================================================== --- code/gazebo/trunk/worlds/pioneer2at.world 2009-06-22 22:32:53 UTC (rev 7871) +++ code/gazebo/trunk/worlds/pioneer2at.world 2009-06-22 23:28:53 UTC (rev 7872) @@ -75,16 +75,6 @@ <xyz>0 0 0.145</xyz> <rpy>0.0 0.0 0.0</rpy> - <controller:differential_position2d name="controller1"> - <leftJoint>left_front_wheel_hinge</leftJoint> - <rightJoint>right_front_wheel_hinge</rightJoint> - <wheelSeparation>0.34</wheelSeparation> - <wheelDiameter>0.15</wheelDiameter> - <torque>10.0</torque> - <interface:position name="position_iface_0"/> - </controller:differential_position2d> - - <!--<model:physical name="laser"> <xyz>0 0 0.16</xyz> Modified: code/gazebo/trunk/worlds/pioneer2dx.world =================================================================== --- code/gazebo/trunk/worlds/pioneer2dx.world 2009-06-22 22:32:53 UTC (rev 7871) +++ code/gazebo/trunk/worlds/pioneer2dx.world 2009-06-22 23:28:53 UTC (rev 7872) @@ -104,15 +104,6 @@ <rpy>0.0 0.0 90.0</rpy> <collide>all</collide> - <controller:differential_position2d name="controller1"> - <leftJoint>left_wheel_hinge</leftJoint> - <rightJoint>right_wheel_hinge</rightJoint> - <wheelSeparation>0.39</wheelSeparation> - <wheelDiameter>0.15</wheelDiameter> - <torque>5</torque> - <interface:position name="position_iface_0"/> - </controller:differential_position2d> - <model:physical name="laser"> <xyz>0.15 0 0.18</xyz> Modified: code/gazebo/trunk/worlds/pioneer2dx_camera.world =================================================================== --- code/gazebo/trunk/worlds/pioneer2dx_camera.world 2009-06-22 22:32:53 UTC (rev 7871) +++ code/gazebo/trunk/worlds/pioneer2dx_camera.world 2009-06-22 23:28:53 UTC (rev 7872) @@ -86,15 +86,6 @@ <xyz>0 0 0.145</xyz> <rpy>0.0 0.0 0.0</rpy> - <controller:differential_position2d name="controller1"> - <leftJoint>left_wheel_hinge</leftJoint> - <rightJoint>right_wheel_hinge</rightJoint> - <wheelSeparation>0.34</wheelSeparation> - <wheelDiameter>0.15</wheelDiameter> - <torque>5</torque> - <interface:position name="position_iface_0"/> - </controller:differential_position2d> - <model:physical name="sonyvid30_model"> <xyz>0.15 0 0.09</xyz> Modified: code/gazebo/trunk/worlds/simplecar.world =================================================================== --- code/gazebo/trunk/worlds/simplecar.world 2009-06-22 22:32:53 UTC (rev 7871) +++ code/gazebo/trunk/worlds/simplecar.world 2009-06-22 23:28:53 UTC (rev 7872) @@ -75,33 +75,6 @@ <xyz>0 0 0.145</xyz> <rpy>0.0 0.0 0.0</rpy> - <controller:steering_position2d name="a car"> - <wheel> - <joint>left_front_wheel_hinge</joint> - <type>steer</type> - <torque>1000</torque> - <steerTorque>1000</steerTorque> - </wheel> - <wheel> - <joint>right_front_wheel_hinge</joint> - <type>steer</type> - <torque>1000</torque> - <steerTorque>1000</steerTorque> - </wheel> - <wheel> - <joint>left_rear_wheel_hinge</joint> - <type>drive</type> - <torque>1000</torque> - </wheel> - <wheel> - <joint>right_rear_wheel_hinge</joint> - <type>drive</type> - <torque>1000</torque> - </wheel> - <steerPD>10 0</steerPD> - <steerMaxAngle>50</steerMaxAngle> - <interface:position name="position_iface_0"/> - </controller:steering_position2d> <!-- The include should be last within a model. All previous statements Modified: code/gazebo/trunk/worlds/terrain.world =================================================================== --- code/gazebo/trunk/worlds/terrain.world 2009-06-22 22:32:53 UTC (rev 7871) +++ code/gazebo/trunk/worlds/terrain.world 2009-06-22 23:28:53 UTC (rev 7872) @@ -83,14 +83,6 @@ <model:physical name="pioneer2dx_model2"> <xyz>214.76 -79.34 1.29</xyz> <rpy>0 0 20</rpy> - <controller:differential_position2d name="controller1"> - <leftJoint>left_wheel_hinge</leftJoint> - <rightJoint>right_wheel_hinge</rightJoint> - <wheelSeparation>0.34</wheelSeparation> - <wheelDiameter>0.15</wheelDiameter> - <torque>5</torque> - <interface:position name="position_iface_0"/> - </controller:differential_position2d> <model:physical name="laser_model"> <xyz>0 0 0.2</xyz> Modified: code/gazebo/trunk/worlds/wizbot.world =================================================================== --- code/gazebo/trunk/worlds/wizbot.world 2009-06-22 22:32:53 UTC (rev 7871) +++ code/gazebo/trunk/worlds/wizbot.world 2009-06-22 23:28:53 UTC (rev 7872) @@ -99,15 +99,6 @@ <xyz>1 0 0.145</xyz> <rpy>0.0 0.0 0.0</rpy> - <controller:differential_position2d name="controller1"> - <leftJoint>left_wheel_hinge</leftJoint> - <rightJoint>right_wheel_hinge</rightJoint> - <wheelSeparation>0.34</wheelSeparation> - <wheelDiameter>0.15</wheelDiameter> - <torque>5</torque> - <interface:position name="position_iface_1"/> - </controller:differential_position2d> - <model:physical name="laser"> <xyz>0.15 0 0.18</xyz> @@ -129,30 +120,6 @@ <model:physical name="wizbot_model1"> <xyz>0 0 0.1</xyz> <rpy>0 0 0</rpy> - - <controller:holonome3sw_position2d name="controller1"> - - <wheels> - <radius>0.075</radius> - <distance>0.175</distance> - <torque>2</torque> - <swedish0> - <joint>wheel0_hinge</joint> - <alpha>0</alpha> - </swedish0> - <swedish1> - <joint>wheel1_hinge</joint> - <alpha>120</alpha> - </swedish1> - <swedish2> - <joint>wheel2_hinge</joint> - <alpha>240</alpha> - </swedish2> - </wheels> - - <interface:position name="position_iface_0"/> - - </controller:holonome3sw_position2d> <include embedded="true"> <xi:include href="models/wizbot.model" /> This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. |