[[Tutorial]]

[[Japanese version:http://localhost/sigverseTranslation/index.php?%E4%B8%96%E7%95%8C%E3%83%95%E3%82%A1%E3%82%A4%E3%83%AB%E3%83%91%E3%83%A9%E3%83%A1%E3%83%BC%E3%82%BF%E4%B8%80%E8%A6%A7]]
**Template [#g9a8dbde]
The following parameters can be set in the world file. (※ v2.2.0 or later)


#highlight(xml){{
<?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>
}}


**Entity attribute [#h74efcd9]

|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 [#a8446ccb]
|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 [#u0b99bfd]

|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 [#mfc28452]
|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.

#highlight(end)
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