71 lines
2.0 KiB
XML
71 lines
2.0 KiB
XML
<?xml version="1.0" ?>
|
|
<sdf version="1.5">
|
|
<world name="default">
|
|
<include>
|
|
<uri>model://sun</uri>
|
|
</include>
|
|
<include>
|
|
<uri>model://ground_plane</uri>
|
|
</include>
|
|
|
|
<model name="linear_battery_demo_model">
|
|
<pose>0 0 0 0 0 0</pose>
|
|
<static>false</static>
|
|
<link name="body">
|
|
<pose>0 0 0.5 0 0 0</pose>
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>1.8</ixx>
|
|
<ixy>0.0</ixy>
|
|
<ixz>0.0</ixz>
|
|
<iyy>1.8</iyy>
|
|
<iyz>0.0</iyz>
|
|
<izz>1.8</izz>
|
|
</inertia>
|
|
<mass>10.0</mass>
|
|
</inertial>
|
|
<collision name="collision">
|
|
<geometry>
|
|
<box>
|
|
<size>1 1 1</size>
|
|
</box>
|
|
</geometry>
|
|
<surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>0.1</mu>
|
|
<mu2>0.1</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<box>
|
|
<size>1 1 1</size>
|
|
</box>
|
|
</geometry>
|
|
</visual>
|
|
<battery name="linear_battery">
|
|
<voltage>12.592</voltage>
|
|
</battery>
|
|
</link>
|
|
<plugin name="battery" filename="libLinearBatteryPlugin.so">
|
|
<link_name>body</link_name>
|
|
<battery_name>linear_battery</battery_name>
|
|
<open_circuit_voltage_constant_coef>12.694</open_circuit_voltage_constant_coef>
|
|
<open_circuit_voltage_linear_coef>-3.1424</open_circuit_voltage_linear_coef>
|
|
<initial_charge>1.1665</initial_charge>
|
|
<capacity>1.2009</capacity>
|
|
<resistance>0.061523</resistance>
|
|
<smooth_current_tau>1.9499</smooth_current_tau>
|
|
</plugin>
|
|
<plugin name="motherboard" filename="libLinearBatteryConsumerPlugin.so">
|
|
<link_name>body</link_name>
|
|
<battery_name>linear_battery</battery_name>
|
|
<power_load>6.6</power_load> <!-- mother board power load = 6.6 W -->
|
|
</plugin>
|
|
</model>
|
|
</world>
|
|
</sdf>
|