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Quella777
2025-08-25 16:30:02 +08:00
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13
hoop_red/model.config Normal file
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<?xml version="1.0" ?>
<model>
<name>Hoop (red)</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>Jackie Kay</name>
<email>jackie@osrfoundation.org</email>
</author>
<description>
Approximately 2.0m diameter hoop mounted on a 5m pole.
</description>
</model>

149
hoop_red/model.sdf Normal file
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<?xml version='1.0'?>
<sdf version='1.6'>
<model name='hoop_red'>
<static>1</static>
<link name='link'>
<pose>0 0 2.979342 0 0 0</pose>
<visual name='visual'>
<pose>0 0.05 3.83 1.57519 -0.165904 0</pose>
<geometry>
<polyline>
<height>0.1</height>
<point>2e-08 1.23625</point>
<point>0.390749 1.17179</point>
<point>0.73011 0.992324</point>
<point>0.997722 0.718657</point>
<point>1.17322 0.371616</point>
<point>1.23625 -0.0279752</point>
<point>1.17268 -0.421748</point>
<point>0.995887 -0.754913</point>
<point>0.726734 -1.01202</point>
<point>0.38608 -1.17761</point>
<point>-0.00521072 -1.23625</point>
<point>-0.395418 -1.17761</point>
<point>-0.733487 -1.01202</point>
<point>-0.999556 -0.754913</point>
<point>-1.17376 -0.421748</point>
<point>-1.23625 -0.0279752</point>
<point>-1.17322 0.371616</point>
<point>-0.997722 0.718657</point>
<point>-0.73011 0.992324</point>
<point>-0.390749 1.17179</point>
<point>2e-08 1.23625</point>
</polyline>
<polyline>
<height>0.1</height>
<point>-1e-08 1.05964</point>
<point>0.334928 1.0044</point>
<point>0.625809 0.850564</point>
<point>0.85519 0.615992</point>
<point>1.00562 0.318528</point>
<point>1.05964 -0.0239787</point>
<point>1.00515 -0.361498</point>
<point>0.853618 -0.647068</point>
<point>0.622915 -0.867444</point>
<point>0.330926 -1.00938</point>
<point>-0.00446633 -1.05964</point>
<point>-0.33893 -1.00938</point>
<point>-0.628703 -0.867444</point>
<point>-0.856762 -0.647068</point>
<point>-1.00608 -0.361498</point>
<point>-1.05964 -0.0239787</point>
<point>-1.00562 0.318528</point>
<point>-0.85519 0.615992</point>
<point>-0.625809 0.850564</point>
<point>-0.334928 1.0044</point>
<point>-1e-08 1.05964</point>
</polyline>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Red</name>
</script>
</material>
</visual>
<collision name='collision'>
<pose>0 0.05 3.83 1.57519 -0.165904 -0.00102</pose>
<geometry>
<polyline>
<height>0.1</height>
<point>2e-08 1.23625</point>
<point>0.390749 1.17179</point>
<point>0.73011 0.992324</point>
<point>0.997722 0.718657</point>
<point>1.17322 0.371616</point>
<point>1.23625 -0.0279752</point>
<point>1.17268 -0.421748</point>
<point>0.995887 -0.754913</point>
<point>0.726734 -1.01202</point>
<point>0.38608 -1.17761</point>
<point>-0.00521072 -1.23625</point>
<point>-0.395418 -1.17761</point>
<point>-0.733487 -1.01202</point>
<point>-0.999556 -0.754913</point>
<point>-1.17376 -0.421748</point>
<point>-1.23625 -0.0279752</point>
<point>-1.17322 0.371616</point>
<point>-0.997722 0.718657</point>
<point>-0.73011 0.992324</point>
<point>-0.390749 1.17179</point>
<point>2e-08 1.23625</point>
</polyline>
<polyline>
<height>0.1</height>
<point>-1e-08 1.05964</point>
<point>0.334928 1.0044</point>
<point>0.625809 0.850564</point>
<point>0.85519 0.615992</point>
<point>1.00562 0.318528</point>
<point>1.05964 -0.0239787</point>
<point>1.00515 -0.361498</point>
<point>0.853618 -0.647068</point>
<point>0.622915 -0.867444</point>
<point>0.330926 -1.00938</point>
<point>-0.00446633 -1.05964</point>
<point>-0.33893 -1.00938</point>
<point>-0.628703 -0.867444</point>
<point>-0.856762 -0.647068</point>
<point>-1.00608 -0.361498</point>
<point>-1.05964 -0.0239787</point>
<point>-1.00562 0.318528</point>
<point>-0.85519 0.615992</point>
<point>-0.625809 0.850564</point>
<point>-0.334928 1.0044</point>
<point>-1e-08 1.05964</point>
</polyline>
</geometry>
</collision>
<visual name='pole_visual'>
<pose>0 0 0.134295 0.004331 -0.016759 0</pose>
<geometry>
<box>
<size>0.3 0.1 5</size>
</box>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Red</name>
</script>
</material>
</visual>
<collision name='pole_collision'>
<pose>0 0 0.134295 0.004331 -0.016759 0</pose>
<geometry>
<box>
<size>0.3 0.1 5</size>
</box>
</geometry>
</collision>
</link>
</model>
</sdf>

164
hoop_red/model.sdf.erb Normal file
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<?xml version='1.0'?>
<sdf version='1.6'>
<%
pole_height = 5
%>
<model name='hoop_red'>
<link name='link3'>
<pose>0 0 <%=pole_height/2 + 0.979342%> 0 0 0</pose>
<inertial>
<mass>1</mass>
<pose>0 0 0 0 -0 0</pose>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<visual name='hoop_visual'>
<pose>0 0.05 <%= pole_height/2 + 0.979342%> 1.57519 -0.165904 0</pose>
<geometry>
<polyline>
<height>0.1</height>
<point>5.64446e-09 0.348897</point>
<point>0.110278 0.330707</point>
<point>0.206054 0.280056</point>
<point>0.28158 0.202821</point>
<point>0.33111 0.104879</point>
<point>0.348897 -0.00789524</point>
<point>0.330957 -0.119027</point>
<point>0.281062 -0.213054</point>
<point>0.205101 -0.285615</point>
<point>0.108961 -0.332349</point>
<point>-0.00147058 -0.348897</point>
<point>-0.111596 -0.332349</point>
<point>-0.207007 -0.285615</point>
<point>-0.282097 -0.213054</point>
<point>-0.331263 -0.119027</point>
<point>-0.348897 -0.00789524</point>
<point>-0.33111 0.104879</point>
<point>-0.28158 0.202821</point>
<point>-0.206054 0.280056</point>
<point>-0.110278 0.330707</point>
<point>5.64446e-09 0.348897</point>
</polyline>
<polyline>
<height>0.1</height>
<point>-2.82223e-09 0.299054</point>
<point>0.0945243 0.283463</point>
<point>0.176618 0.240048</point>
<point>0.241354 0.173847</point>
<point>0.283808 0.0898959</point>
<point>0.299054 -0.00676734</point>
<point>0.283677 -0.102023</point>
<point>0.24091 -0.182617</point>
<point>0.175801 -0.244813</point>
<point>0.0933949 -0.284871</point>
<point>-0.0012605 -0.299054</point>
<point>-0.0956537 -0.284871</point>
<point>-0.177434 -0.244813</point>
<point>-0.241798 -0.182617</point>
<point>-0.283939 -0.102023</point>
<point>-0.299054 -0.00676734</point>
<point>-0.283808 0.0898959</point>
<point>-0.241354 0.173847</point>
<point>-0.176618 0.240048</point>
<point>-0.0945243 0.283463</point>
<point>-2.82223e-09 0.299054</point>
</polyline>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Red</name>
</script>
</material>
</visual>
<collision name='hoop_collision'>
<pose>0 0.05 <%= pole_height/2 + 0.979342%> 1.57519 -0.165904 -0.00102</pose>
<geometry>
<polyline>
<height>0.1</height>
<point>5.64446e-09 0.348897</point>
<point>0.110278 0.330707</point>
<point>0.206054 0.280056</point>
<point>0.28158 0.202821</point>
<point>0.33111 0.104879</point>
<point>0.348897 -0.00789524</point>
<point>0.330957 -0.119027</point>
<point>0.281062 -0.213054</point>
<point>0.205101 -0.285615</point>
<point>0.108961 -0.332349</point>
<point>-0.00147058 -0.348897</point>
<point>-0.111596 -0.332349</point>
<point>-0.207007 -0.285615</point>
<point>-0.282097 -0.213054</point>
<point>-0.331263 -0.119027</point>
<point>-0.348897 -0.00789524</point>
<point>-0.33111 0.104879</point>
<point>-0.28158 0.202821</point>
<point>-0.206054 0.280056</point>
<point>-0.110278 0.330707</point>
<point>5.64446e-09 0.348897</point>
</polyline>
<polyline>
<height>0.1</height>
<point>-2.82223e-09 0.299054</point>
<point>0.0945243 0.283463</point>
<point>0.176618 0.240048</point>
<point>0.241354 0.173847</point>
<point>0.283808 0.0898959</point>
<point>0.299054 -0.00676734</point>
<point>0.283677 -0.102023</point>
<point>0.24091 -0.182617</point>
<point>0.175801 -0.244813</point>
<point>0.0933949 -0.284871</point>
<point>-0.0012605 -0.299054</point>
<point>-0.0956537 -0.284871</point>
<point>-0.177434 -0.244813</point>
<point>-0.241798 -0.182617</point>
<point>-0.283939 -0.102023</point>
<point>-0.299054 -0.00676734</point>
<point>-0.283808 0.0898959</point>
<point>-0.241354 0.173847</point>
<point>-0.176618 0.240048</point>
<point>-0.0945243 0.283463</point>
<point>-2.82223e-09 0.299054</point>
</polyline>
</geometry>
</collision>
<visual name='pole_visual'>
<pose>0 0 0.134295 0.004331 -0.016759 0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length><%= pole_height %></length>
</cylinder>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Red</name>
</script>
</material>
</visual>
<collision name='pole_collision'>
<pose>0 0 0.134295 0.004331 -0.016759 0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length><%= pole_height %></length>
</cylinder>
</geometry>
</collision>
</link>
<static>1</static>
</model>
</sdf>