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Template †
The following parameters can be set in the world file. (※ v2.2.0 or later)
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 positiony |
z | double | 0.0 | Initial positionz |
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 |
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 |
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 | 関節や地面などの柔らかさを決めるパラメータ.大きいほど柔らかい. 最大値は1.0 |
autostep | bool | true | 自動ステップモード.trueのときはstepsizeの値で時間を刻み、現実世界とシミュレーション世界の時間を自動で一致させる。falseにした場合はエージェントコントローラでworldStep(もしくはworldQuickStep)を使ってSIGVerse時間を進める必要がある。 |
quickstep | bool | false | quick step モードでSIGVerse時間を進める。高速だが物理演算シミュレーションの精度が悪い autostep=trueのときのみ有効 |
stepsize | double | 0.01 | Step width (sec).It works only when autostep=true |
Collision parameters †
Parameter name | Type | Default value | Description |
mu | double | 0.9 | 摩擦係数 0~無限の値をとり0の場合摩擦がない |
mu2 | double | 0.02 | Friction coefficient, it's perpendicular to the direction on which the force is applied |
slip1 | double | 0.01 | 摩擦方向1における force-dependent-slip係数 |
slip2 | double | 0.01 | 摩擦方向2における force-dependent-slip係数 |
soft_erp | double | 0.8 | 接触法線方向の柔らかさ |
soft_cfm | double | 0.0001 | 接触法線方向の柔らかさ |
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.