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>
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