Revision: 8602
http://playerstage.svn.sourceforge.net/playerstage/?rev=8602&view=rev
Author: hsujohnhsu
Date: 2010-03-25 19:53:03 +0000 (Thu, 25 Mar 2010)
Log Message:
-----------
update masses so sim is stable.
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 2010-03-25 01:06:42 UTC
(rev 8601)
+++ code/gazebo/trunk/worlds/models/sonyvid30.model 2010-03-25 19:53:03 UTC
(rev 8602)
@@ -19,11 +19,21 @@
<xyz>0.0 0.0 0.0</xyz>
<rpy>0.0 0.0 0.0</rpy>
+ <massMatrix>true</massMatrix>
+ <mass>0.1</mass>
+ <ixx>0.01</ixx>
+ <ixy>0.00</ixy>
+ <ixz>0.00</ixz>
+ <iyy>0.01</iyy>
+ <iyz>0.00</iyz>
+ <izz>0.01</izz>
+ <cx>0.0</cx>
+ <cy>0.0</cy>
+ <cz>0.0</cz>
<geom:box name="camera_bottom_geom">
<xyz>0.0 0.0 0.02</xyz>
<rpy>0 0 90</rpy>
<size>0.15 0.14 0.04</size>
- <mass>0.1</mass>
<visual>
<rpy>0 0 -90</rpy>
@@ -38,11 +48,21 @@
<xyz>0.0 0.0 0.04</xyz>
<rpy>0.0 0.0 0.0</rpy>
+ <massMatrix>true</massMatrix>
+ <mass>0.01</mass>
+ <ixx>0.001</ixx>
+ <ixy>0.00</ixy>
+ <ixz>0.00</ixz>
+ <iyy>0.001</iyy>
+ <iyz>0.00</iyz>
+ <izz>0.001</izz>
+ <cx>0.0</cx>
+ <cy>0.0</cy>
+ <cz>0.0</cz>
<geom:box name="camera_column_geom">
<xyz>0.02 0.00 0.0</xyz>
<rpy>0 0 90</rpy>
<size>0.11 0.11 0.03</size>
- <mass>0.01</mass>
<visual>
<rpy>0 0 -90</rpy>
@@ -58,10 +78,20 @@
<xyz>0.0 0.0 0.06</xyz>
<rpy>0.0 0.0 0.0</rpy>
+ <massMatrix>true</massMatrix>
+ <mass>0.01</mass>
+ <ixx>0.001</ixx>
+ <ixy>0.00</ixy>
+ <ixz>0.00</ixz>
+ <iyy>0.001</iyy>
+ <iyz>0.00</iyz>
+ <izz>0.001</izz>
+ <cx>0.0</cx>
+ <cy>0.0</cy>
+ <cz>0.0</cz>
<geom:box name="camera_top_geom">
<rpy>0 0 90</rpy>
<size>0.12 0.119 0.03</size>
- <mass>0.0</mass>
<visual>
<xyz>0.0 0.06 -0.015</xyz>
@@ -76,7 +106,6 @@
<xyz>0.045 -0.002 -0.002</xyz>
<rpy>0 90 0</rpy>
<size>0.01 0.04</size>
- <mass>0.0</mass>
<visual>
<size>0.025 0.025 0.04</size>
Modified: code/gazebo/trunk/worlds/pioneer2dx_camera.world
===================================================================
--- code/gazebo/trunk/worlds/pioneer2dx_camera.world 2010-03-25 01:06:42 UTC
(rev 8601)
+++ code/gazebo/trunk/worlds/pioneer2dx_camera.world 2010-03-25 19:53:03 UTC
(rev 8602)
@@ -19,7 +19,7 @@
<verbosity>5</verbosity>
<physics:ode>
- <stepTime>0.03</stepTime>
+ <stepTime>0.01</stepTime>
<gravity>0 0 -9.8</gravity>
<cfm>10e-5</cfm>
<erp>0.3</erp>
@@ -68,9 +68,19 @@
<rpy>0.0 0.0 0.0</rpy>
<body:cylinder name="cylinder1_body">
+ <massMatrix>true</massMatrix>
+ <mass>1.0</mass>
+ <ixx>0.01</ixx>
+ <ixy>0.00</ixy>
+ <ixz>0.00</ixz>
+ <iyy>0.01</iyy>
+ <iyz>0.00</iyz>
+ <izz>0.01</izz>
+ <cx>0.0</cx>
+ <cy>0.0</cy>
+ <cz>0.0</cz>
<geom:cylinder name="cylinder1_geom">
<size>0.5 1</size>
- <mass>1.0</mass>
<visual>
<mesh>unit_cylinder</mesh>
<material>Gazebo/RustyBarrel</material>
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