71 lines
2.0 KiB
Plaintext
71 lines
2.0 KiB
Plaintext
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<?xml version="1.0" ?>
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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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<include>
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<uri>model://ground_plane</uri>
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</include>
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<model name="linear_battery_demo_model">
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<pose>0 0 0 0 0 0</pose>
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<static>false</static>
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<link name="body">
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<pose>0 0 0.5 0 0 0</pose>
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<inertial>
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<inertia>
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<ixx>1.8</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0</ixz>
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<iyy>1.8</iyy>
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<iyz>0.0</iyz>
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<izz>1.8</izz>
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</inertia>
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<mass>10.0</mass>
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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>1 1 1</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>0.1</mu>
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<mu2>0.1</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>1 1 1</size>
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</box>
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</geometry>
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</visual>
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<battery name="linear_battery">
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<voltage>12.592</voltage>
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</battery>
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</link>
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<plugin name="battery" filename="libLinearBatteryPlugin.so">
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<link_name>body</link_name>
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<battery_name>linear_battery</battery_name>
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<open_circuit_voltage_constant_coef>12.694</open_circuit_voltage_constant_coef>
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<open_circuit_voltage_linear_coef>-3.1424</open_circuit_voltage_linear_coef>
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<initial_charge>1.1665</initial_charge>
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<capacity>1.2009</capacity>
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<resistance>0.061523</resistance>
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<smooth_current_tau>1.9499</smooth_current_tau>
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</plugin>
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<plugin name="motherboard" filename="libLinearBatteryConsumerPlugin.so">
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<link_name>body</link_name>
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<battery_name>linear_battery</battery_name>
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<power_load>6.6</power_load> <!-- mother board power load = 6.6 W -->
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</plugin>
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</model>
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</world>
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</sdf>
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