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
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