113 lines
3.0 KiB
Plaintext
113 lines
3.0 KiB
Plaintext
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<?xml version="1.0" ?>
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<%
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# See-saw world with balanced boxes
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# SI units (length in meters)
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# wood
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density = 500
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boxes = {
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"cube1" => {},
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"cube2" => {},
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"fulcrum" => {},
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"plank" => {},
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}
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boxes["fulcrum"][:size] = [0.1, 0.5, 0.8]
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boxes["plank"][:size] = [6.0, 0.5, 0.08]
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boxes["cube1"][:size] = [0.45, 0.45, 0.45]
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boxes["cube2"][:size] = [0.45, 0.45, 0.45]
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boxes.keys.each do |name|
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box = boxes[name]
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dx = box[:size][0]
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dy = box[:size][1]
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dz = box[:size][2]
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volume = box[:size].reduce(:*)
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box[:pose] = [0, 0, dz/2, 0, 0, 0]
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box[:mass] = density * volume
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box[:ixx] = box[:mass] / 12.0 * (dy**2 + dz**2)
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box[:iyy] = box[:mass] / 12.0 * (dz**2 + dx**2)
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box[:izz] = box[:mass] / 12.0 * (dx**2 + dy**2)
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end
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boxes["plank"][:pose][2] += boxes["fulcrum"][:size][2]
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boxes["cube1"][:pose][2] += boxes["plank"][:pose][2] + boxes["plank"][:size][2]/2
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boxes["cube2"][:pose][2] += boxes["plank"][:pose][2] + boxes["plank"][:size][2]/2
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boxes["cube1"][:pose][0] += boxes["plank"][:size][0] * 0.45
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boxes["cube2"][:pose][0] -= boxes["plank"][:size][0] * 0.45
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%>
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<sdf version='1.5'>
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<world name='default'>
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<physics type='ode'>
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<ode>
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<solver>
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<iters>150</iters>
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</solver>
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</ode>
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</physics>
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<include>
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<uri>model://sun</uri>
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</include>
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<%
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boxes.keys.each do |name|
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box = boxes[name]
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%>
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<model name='<%= name %>'>
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<pose><%= box[:pose].join(" ") %></pose>
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<allow_auto_disable>0</allow_auto_disable>
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<link name='link'>
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<inertial>
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<mass><%= box[:mass] %></mass>
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<inertia>
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<ixx><%= box[:ixx] %></ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy><%= box[:iyy] %></iyy>
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<iyz>0</iyz>
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<izz><%= box[:izz] %></izz>
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</inertia>
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</inertial>
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<collision name='collision'>
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<geometry>
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<box>
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<size><%= box[:size].join(" ") %></size>
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</box>
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</geometry>
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<surface>
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<contact>
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<ode>
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<max_vel>0.1</max_vel>
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<min_depth>0.01</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name='visual'>
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<geometry>
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<box>
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<size><%= box[:size].join(" ") %></size>
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</box>
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</geometry>
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<material>
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<script>
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<name>Gazebo/Wood</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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</link>
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</model>
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<%
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end
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%>
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<gui fullscreen='0'>
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<camera name='user_camera'>
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<pose>0 -7 2.41737 0 0.339643 <%= Math::PI / 2%></pose>
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<view_controller>orbit</view_controller>
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<projection_type>perspective</projection_type>
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</camera>
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</gui>
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</world>
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</sdf>
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