Raul TCC final version.

diff --git a/models/centenario/model.sdf b/models/centenario/model.sdf
index b5853ff..a05577e 100644 (file)
--- a/models/centenario/model.sdf
+++ b/models/centenario/model.sdf
@@ -13,7 +13,7 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Purple</name>
           </script>
           <ambient>1 1 1 1</ambient>
         </material>
@@ -413,7 +413,7 @@
         <material>
           <script>
             <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Grey</name>
+            <name>Gazebo/Wood</name>
           </script>
           <ambient>0.980392 0.705882 0.588235 1</ambient>
         </material>

diff --git a/worlds/centenario.world b/worlds/centenario.world
index 4571f07..8fc19ff 100644 (file)
--- a/worlds/centenario.world
+++ b/worlds/centenario.world
@@ -709,7 +709,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -754,7 +754,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -799,7 +799,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -844,7 +844,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -889,7 +889,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -934,7 +934,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -979,7 +979,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -1024,7 +1024,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -1049,7 +1049,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -1088,7 +1088,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -1127,7 +1127,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -1192,7 +1192,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -1237,7 +1237,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -1282,7 +1282,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -1327,7 +1327,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -1372,7 +1372,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -1417,7 +1417,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -1462,7 +1462,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -1507,7 +1507,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -1552,7 +1552,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -1597,7 +1597,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -1642,7 +1642,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -1687,7 +1687,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -1732,7 +1732,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -1777,7 +1777,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -1822,7 +1822,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -1867,7 +1867,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -1912,7 +1912,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -1957,7 +1957,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -2002,7 +2002,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -2047,7 +2047,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -2092,7 +2092,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -2137,7 +2137,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -2182,7 +2182,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -2227,7 +2227,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -2272,7 +2272,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -2317,7 +2317,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -2362,7 +2362,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -2387,7 +2387,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -2426,7 +2426,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -2465,7 +2465,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -2530,7 +2530,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -2575,7 +2575,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -2620,7 +2620,7 @@
           <material>
             <script>
               <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
+              <name>Gazebo/Wood</name>
             </script>
             <ambient>0.980392 0.705882 0.588235 1</ambient>
           </material>
@@ -2899,6 +2899,14 @@
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
         </link>
+        <surface>
+        <friction>
+          <ode>
+            <mu>10000</mu>
+            <mu2>10000</mu2>
+          </ode>
+        </friction>
+      </surface>
       </model>
       <light name='sun'>
         <pose frame=''>0 0 10 0 -0 0</pose>