91 lines
2.8 KiB
Plaintext
91 lines
2.8 KiB
Plaintext
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<?xml version="1.0" ?>
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<%= "<!-- this file was generated using embedded ruby -->" %>
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<%
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# Pendulum axes test
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# Pendulums with different link frame orientations
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require "matrix"
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# Inertial parameters
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# Aluminum 2700 kg/m^3
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density = 2700.0
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# Largest pendulum box dimension
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dd = 0.1
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# Initial angle of revolute joints
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theta = 0.1* Math::PI
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pendula = {
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"longZ_Xaxis" => {:pose => [0, 0, -dd/2, 0, 0, 0], :size => [dd/10, dd/10, dd], :axis => [1, 0, 0]},
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"longZ_Yaxis" => {:pose => [0, 0, -dd/2, 0, 0, 0], :size => [dd/10, dd/10, dd], :axis => [0, 1, 0]},
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"longX_Xaxis" => {:pose => [dd/2, 0, 0, 0, Math::PI/2, 0], :size => [dd, dd/10, dd/10], :axis => [1, 0, 0]},
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"longX_Yaxis" => {:pose => [dd/2, 0, 0, 0, Math::PI/2, 0], :size => [dd, dd/10, dd/10], :axis => [0, 1, 0]},
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"longY_Xaxis" => {:pose => [0, -dd/2, 0, Math::PI/2, 0, 0], :size => [dd/10, dd, dd/10], :axis => [1, 0, 0]},
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"longY_Yaxis" => {:pose => [0, -dd/2, 0, Math::PI/2, 0, 0], :size => [dd/10, dd, dd/10], :axis => [0, 1, 0]},
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}
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%>
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<sdf version="1.5">
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<world name="default">
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<include>
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<uri>model://sun</uri>
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</include>
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<% # Revolute joints
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i = 0
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pendula.keys.each do |p|
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i = i + 1
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name = 'pendulum_' + p
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size = Vector.elements(pendula[p][:size])
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dx = size[0]
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dy = size[1]
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dz = size[2]
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mass = density * dx * dy * dz
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ixx = 1.0 / 12 * mass * (dy*dy + dz*dz)
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iyy = 1.0 / 12 * mass * (dz*dz + dx*dx)
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izz = 1.0 / 12 * mass * (dx*dx + dy*dy)
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pose = Vector.elements(pendula[p][:pose])
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axis = Vector.elements(pendula[p][:axis])
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%>
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<%= "<model name='#{name}'>" %>
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<pose><%= dd*2.1*i %> 0 <%= dd*1.8 %> <%= (theta*axis).to_a.join(" ") %></pose>
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<link name="link">
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<pose><%= pose.to_a.join(" ") %></pose>
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<inertial>
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<mass><%= mass %></mass>
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<inertia>
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<ixx><%= ixx %></ixx>
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<iyy><%= iyy %></iyy>
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<izz><%= izz %></izz>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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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><%= size.to_a.join(" ") %></size>
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</box>
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</geometry>
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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><%= dx %> <%= dy %> <%= dz %></size>
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</box>
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</geometry>
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</visual>
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</link>
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<joint name="joint" type="revolute">
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<pose><%= (-1 * pose).to_a.join(" ") %></pose>
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<parent>world</parent>
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<child>link</child>
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<axis>
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<xyz><%= axis.to_a.join(" ") %></xyz>
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</axis>
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</joint>
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</model>
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<% end %>
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</world>
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</sdf>
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