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2013-04-15 14:49:53 -0500 asked a question DRCSIM 2.3: Strange Sensor head Changes

There were a number of changes to the multisense sensor head in the most recent version of DRCSIM. Strange inertial values have been added to the head for each frame. See below:

  <link name="head_hokuyo_frame">
    <inertial>
      <mass value="1e-5" />
      <!-- collocate with parent link and remove mass from it -->
      <origin xyz="0.042428 0.0004084 0.0108165" rpy="0 0 0"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
    </inertial>
  </link>

Where do these numbers come from and what do they mean? Are they significant?

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2013-02-25 10:03:13 -0500 asked a question Whats the source of the shadows in gazebo?

See linked figure. There is a sun (the green square) directly above the robot and scene yet the shadows fall to the bottom right corner.

Whats the source of this shadowing?

link text

2013-02-25 09:43:18 -0500 answered a question Can Textures be added to simple objects from my own source?

Thanks Thomas, that's perfect. maurice

2013-02-22 15:27:16 -0500 asked a question Can Textures be added to simple objects from my own source?

If I build a simple object such as a cylinder or a box I can add texture from the gazebo.material file e.g.:

     <script>
        <uri>file://media/materials/scripts/gazebo.material</uri>
        <name>Gazebo/CeilingTiled</name>
      </script>

And this is matched with the block from the gazebo.material file:

material Gazebo/CeilingTiled { receive_shadows on

technique { pass { ambient 0.5 0.5 0.5 1.000000

  texture_unit
  {
    texture ceiling_tiled.jpg
  }
}

} }

... and then I can get a nice textured and properly lit object in Gazebo.

But this seems to be limited to just the materials in this particular file - about 20 of them. How can I specify my own .material file to map my own texture onto the object model?