init

breakable_test/model.config

@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Breakable Test</name>
+  <version>1.0</version>
+  <sdf version="1.4">model-1_4.sdf</sdf>
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Steve Peters</name>
+    <email>scpeters@osrfoundation.org</email>
+  </author>
+
+  <description>
+    Testing breakable wall panels. Note that model.sdf
+    was generated from model.rsdf using ruby erb.
+    `erb model.rsdf > model.sdf`
+  </description>
+</model>

breakable_test/model.rsdf

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+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <model name="breakable_test">
+    <pose>0 0 1  0 0 0</pose>
+    <%
+      # Parameters
+      # Aluminum 2700 kg/m^3
+      density = 2700.0
+      dx = 0.05
+      dy = dx
+      dz = dx
+      mass = density * dx * dy * dz 
+      Lx = 0.5
+      Lz = 0.5
+      Nx = (Lx / dx).floor
+      Nz = (Lz / dz).floor
+    %>
+    <%
+      Nx.times do |xi|
+        Nz.times do |zi|
+    %>
+      <%= "<link name=" + '"link_' + xi.to_s + '_' + zi.to_s + '">' %>
+        <pose><%= xi*dx %> 0 <%= zi*dy %>  0 0 0</pose>
+        <inertial>
+          <mass><%= mass %></mass>
+          <inertia>
+            <ixx><%= 1.0 / 12 * mass * (dy*dy + dz*dz) %></ixx>
+            <iyy><%= 1.0 / 12 * mass * (dz*dz + dx*dx) %></iyy>
+            <izz><%= 1.0 / 12 * mass * (dx*dx + dy*dy) %></izz>
+            <ixy>0.0</ixy>
+            <ixz>0.0</ixz>
+            <iyz>0.0</iyz>
+          </inertia>
+        </inertial>
+        <collision name="collision">
+          <geometry>
+            <box>
+              <size><%= dx %> <%= dy %> <%= dz %></size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <box>
+              <size><%= dx %> <%= dy %> <%= dz %></size>
+            </box>
+          </geometry>
+        </visual>
+      </link>
+      <%= "<joint name=" + '"joint_' + xi.to_s + '_' + zi.to_s + '" type="revolute">' %>
+        <parent>world</parent>
+        <child>link_<%= xi %>_<%= zi %></child>
+        <axis>
+          <xyz>0 0 1</xyz>
+          <limit>
+            <lower>0.0</lower>
+            <upper>0.0</upper>
+          </limit>
+        </axis>
+        <physics>
+          <ode>
+            <erp>1</erp>
+            <cfm>1</cfm>
+          </ode>
+        </physics>
+        <sensor name="force_torque" type="force_torque">
+          <always_on>true</always_on>
+          <update_rate>1000</update_rate>
+          <plugin name="breakable_<%= xi %>_<%= zi %>" filename="libBreakableJointPlugin.so">
+            <breaking_force_N>50</breaking_force_N>
+          </plugin>
+        </sensor>
+      </joint>
+    <%
+        end
+      end
+    %>
+  </model>
+</sdf>