pxmlw6n2f/Gazebo_Distributed_MPI/test/worlds/pendulum_axes.world.erb

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