230 lines
6.3 KiB
Plaintext
230 lines
6.3 KiB
Plaintext
<?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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<gravity>0 0 -9.81</gravity>
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<%
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# Test pose offsets for model, link and collision elements
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# There are three equivalent models that have 90 degree rotations
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# expressed in each element.
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# There is a 4th model with a translation of the collision
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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 = 0.9
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dy = 0.4
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dz = dx
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box = {}
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box[:size] = Vector[dx, dy, dz]
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box[:mass] = 10
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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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%>
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<!-- model pose rotation -->
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<model name='box_0'>
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<pose>0 0 0.9 <%= 0.5*Math::PI %> -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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</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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</model>
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<!-- link pose rotation -->
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<model name='box_1'>
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<pose>4.5 0 0.9 0 -0 0</pose>
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<link name='link_1'>
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<pose>0 0 0 <%= 0.5*Math::PI %> -0 0</pose>
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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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</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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</model>
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<!-- collision pose rotation -->
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<model name='box_2'>
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<pose>9 0 0.9 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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<pose>0 0 0 <%= 0.5*Math::PI %> -0 0</pose>
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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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<pose>0 0 0 <%= 0.5*Math::PI %> -0 0</pose>
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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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</model>
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<!-- collision pose translation -->
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<model name='box_3'>
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<pose>13.5 0 0.9 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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<pose>0 0 0.9 0 -0 0</pose>
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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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<pose>0 0 0.9 0 -0 0</pose>
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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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<link name='link_2'>
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<pose>0 1 0 0 0 0</pose>
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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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</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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</model>
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<gui fullscreen='0'>
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<camera name='user_camera'>
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<pose>6 -12 12 0 0.75 <%= 0.5*Math::PI %></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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