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. ------------------------------------------------------------------------------ SF.Net email is Sponsored by MIX09, March 18-20, 2009 in Las Vegas, Nevada. 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