World file configuration

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Template
Entity attribute
Camera parameters
World parameters
Collision parameters

Template †

The following parameters can be set in the world file. (※ v2.2.0 or later)

<?xml version="1.0" encoding="utf8"?>
<world name="myworld1">
  <gravity x="0.0" y="-980.7" z="0.0"/>
  <instanciate class="seToy_D.xml">
    <set-attr-value name="name" value="toy_D"/>
    <set-attr-value name="x" value="0.0"/>
    <set-attr-value name="y" value="60.0"/>
    <set-attr-value name="z" value="0.0"/>
    <set-attr-value name="scalex" value="1.0"/>
    <set-attr-value name="scaley" value="1.0"/>
    <set-attr-value name="scalez" value="1.0"/>
    <set-attr-value name="qw" value="1.0"/>
    <set-attr-value name="qx" value="0.0"/>
    <set-attr-value name="qy" value="0.0"/>
    <set-attr-value name="qz" value="0.0"/>
    <set-attr-value name="mass" value="1.0"/>
    <set-attr-value name="dynamics" value="true"/>
    <set-attr-value name="collision" value="true"/>
    <set-attr-value name="graspable" value="true"/>
    <set-attr-value name="graspRadius" value="40.0"/>
    <set-attr-value name="language" value="c++"/>
    <set-attr-value name="implementation"
                    value="./ControllerSample.so"/>
    <camera id="1"
            link="body"
            fov="45"
            aspectRatio="1.5"
            direction="0.0 0.0 1.0"
            quaternion="1.0 .0. 0.0 0.0"/>
  </instanciate>
  <worldParam erp="0.5" cfm="1e-8" autostep="true" quickstep="false" stepsize="0.01"/>
  <collisionParam mu="0.9" mu2="0.02" slip1="0.01" slip2="0.01"
                  soft_erp="0.8" soft_cfm="0.00001" bounce="0.9" bounce_vel="5.0"/>
</world>

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Entity attribute †

Attribute	Type	Initial value	Description
name	string	-	Please pay attention for duplicate name
x	double	0.0	Initial position x
y	double	0.0	Initial position y
z	double	0.0	Initial position z
qw	double	1.0	Initial rotation (quaternion) qw
qx	double	0.0	Initial rotation (quaternion) qx
qy	double	0.0	Initial rotation (quaternion) qy
qz	double	0.0	Initial rotation (quaternion) qz
scalex	double	1.0	Scale for x axis for the object
scaley	double	1.0	Scale for y axis for the object
scalez	double	1.0	Scale for z axis for the object
mass	double	1.0	Mass (kg)
dynamics	bool	true	Physics flag
collision	bool	false	Collision detection flag
graspable	bool	true	grasp ability flag
graspRadius	double	40.0	Radius for grasp ability
language	string	-	Controller programming language (only C++ is supported)
implementation	string	-	Controller file specification

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Camera parameters †

Parameter	Type	Initial value	Description
id	int	-	ID number
link	string	-	Link name
fov	double	45	y-direction Viewing Angle (degree)
aspectRatio	double	1.5	Aspect ratio (width / height)
direction	double*3	"0.0 0.0 1.0"	Camera's direction vector
quaternion	double*4	"1.0 0.0 0.0 0.0"	Rotation of the camera

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World parameters †

Parameter	Type	Initial value	Description
erp	double	0.5	If the value is 0, the error increases. If 1, the error decreases.
cfm	double	1e-8	This is the parameter to decide the softness of the ground and the joints. The maximum value is 1.0
autostep	bool	true	If the automatic step mode is true, the time division is the step-size, the simulation time is automatically adjusted to the real world time. If it is false, you should adjust the time by using wordStep or wordQuickStep in the agent's controller.
quickstep	bool	false	Increments the time by using quick step mode. When autostep=true, the mode is fast and not accurate for physics.
stepsize	double	0.01	Step width (sec).It works only when autostep=true

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Collision parameters †

Parameter name	Type	Default value	Description
mu	double	0.9	Friction coefficient is from 0 to infinite, no friction when it's equal to 0
mu2	double	0.02	Friction coefficient, it's perpendicular to the direction on which the force is applied
slip1	double	0.01	The force-dependent-slip friction coefficient in direction 1
slip2	double	0.01	The force-dependent-slip friction coefficient in direction 2
soft_erp	double	0.8	Softness for vertical direction
soft_cfm	double	0.0001	Softness for horizontal direction
bounce	double	0.3	Coefficient of restitution (０～１）
bounce_vel	double	5.0	The minimum velocity required to bounce(cm / s)

※Note）　These collision's parameters are applied to all objects collision.

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