109 lines
2.7 KiB
Plaintext
109 lines
2.7 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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<sdf version='1.6'>
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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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<include>
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<uri>model://ground_plane</uri>
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</include>
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<physics type="ode">
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<ode>
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<solver>
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<type>quick</type>
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<iters>50</iters>
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<friction_model>cone_model</friction_model>
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</solver>
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</ode>
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</physics>
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<%
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# Test cone friction model
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# set equal friction coefficients, but use default directions
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require 'matrix'
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def a_to_s(v)
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Array(v).join(" ")
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end
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# box dimensions
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dx = 0.5
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dy = dx
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dz = 0.2
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box = {}
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box[:size] = Vector[dx, dy, dz]
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box[:mass] = 1
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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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box_count = 32
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box_angles = 2 * Math::PI * Vector[*(0..box_count-1)] / box_count
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radius = 9
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box_angles.each_with_index do |a,i|
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name = "box_#{i}"
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pos_xy = radius * Vector[Math.cos(a), Math.sin(a)]
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vel_xy = pos_xy
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%>
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<model name='<%= name %>'>
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<pose><%= a_to_s(pos_xy) %> 0.1 0 -0 0</pose>
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<link name='link_1'>
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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><%= a_to_s(box[:size]) %></size>
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</box>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>0.3</mu>
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<mu2>0.3</mu2>
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</ode>
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</friction>
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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><%= a_to_s(box[:size]) %></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/Grey</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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<plugin name="radial_velocity" filename="libInitialVelocityPlugin.so">
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<linear><%= a_to_s(vel_xy) %> 0</linear>
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<angular>0 0 0</angular>
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</plugin>
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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>-0.93396 -19.9626 11.7572 0 0.503643 1.6562</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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