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Test case to reproduce transformation error in buoyancy plugin in the graded mode. Based on test in gazebosim/gz-sim#1302.
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<?xml version="1.0" ?> | |
<sdf version="1.6"> | |
<world name="center_of_volume"> | |
<physics name="fast" type="ignored"> | |
<real_time_factor>0</real_time_factor> | |
</physics> | |
<plugin | |
filename="libignition-gazebo-physics-system.so" | |
name="ignition::gazebo::systems::Physics"> | |
</plugin> | |
<plugin | |
filename="libignition-gazebo-buoyancy-system.so" | |
name="ignition::gazebo::systems::Buoyancy"> | |
<!--<uniform_fluid_density>1000</uniform_fluid_density>--> | |
<graded_buoyancy> | |
<default_density>1000</default_density> | |
<density_change> | |
<above_depth>500</above_depth> | |
<density>1</density> | |
</density_change> | |
</graded_buoyancy> | |
</plugin> | |
<plugin | |
filename="ignition-gazebo-user-commands-system" | |
name="ignition::gazebo::systems::UserCommands"> | |
</plugin> | |
<plugin | |
filename="ignition-gazebo-scene-broadcaster-system" | |
name="ignition::gazebo::systems::SceneBroadcaster"> | |
</plugin> | |
<model name='no_offset'> | |
<pose>0 0 0 0 0 0</pose> | |
<link name='link'> | |
<pose>0 0 0 0 0 0</pose> | |
<inertial> | |
<pose>0 0 0 0 0 0</pose> | |
<inertia> | |
<ixx>166.66</ixx> | |
<ixy>0</ixy> | |
<ixz>0</ixz> | |
<iyy>166.66</iyy> | |
<iyz>0</iyz> | |
<izz>166.66</izz> | |
</inertia> | |
<mass>1000.0</mass> | |
</inertial> | |
<visual name='visual'> | |
<pose>0 0 0 0 0 0</pose> | |
<geometry> | |
<box> | |
<size>1.0 1.0 1.0</size> | |
</box> | |
</geometry> | |
</visual> | |
<collision name='collision'> | |
<pose>0 0 0 0 0 0</pose> | |
<geometry> | |
<box> | |
<size>1.0 1.0 1.0</size> | |
</box> | |
</geometry> | |
</collision> | |
</link> | |
</model> | |
<model name='no_offset_rotated'> | |
<pose>-3 0 0 0.1 0.2 0.3</pose> | |
<link name='link'> | |
<pose>0 0 0 0 0 0</pose> | |
<inertial> | |
<pose>0 0 0 0 0 0</pose> | |
<inertia> | |
<ixx>166.66</ixx> | |
<ixy>0</ixy> | |
<ixz>0</ixz> | |
<iyy>166.66</iyy> | |
<iyz>0</iyz> | |
<izz>166.66</izz> | |
</inertia> | |
<mass>1000.0</mass> | |
</inertial> | |
<visual name='visual'> | |
<pose>0 0 0 0 0 0</pose> | |
<geometry> | |
<box> | |
<size>1.0 1.0 1.0</size> | |
</box> | |
</geometry> | |
</visual> | |
<collision name='collision'> | |
<pose>0 0 0 0 0 0</pose> | |
<geometry> | |
<box> | |
<size>1.0 1.0 1.0</size> | |
</box> | |
</geometry> | |
</collision> | |
</link> | |
</model> | |
<model name='com_cov_offset'> | |
<pose>0 3 0 0 0 0</pose> | |
<link name='link'> | |
<pose>0 0 0 0 0 0</pose> | |
<inertial> | |
<pose>1 1 1 0 0 0</pose> | |
<inertia> | |
<ixx>166.66</ixx> | |
<ixy>0</ixy> | |
<ixz>0</ixz> | |
<iyy>166.66</iyy> | |
<iyz>0</iyz> | |
<izz>166.66</izz> | |
</inertia> | |
<mass>1000.0</mass> | |
</inertial> | |
<visual name='visual'> | |
<pose>1 1 1 0 0 0</pose> | |
<geometry> | |
<box> | |
<size>1.0 1.0 1.0</size> | |
</box> | |
</geometry> | |
</visual> | |
<collision name='collision'> | |
<pose>1 1 1 0 0 0</pose> | |
<geometry> | |
<box> | |
<size>1.0 1.0 1.0</size> | |
</box> | |
</geometry> | |
</collision> | |
</link> | |
</model> | |
<model name='com_cov_offset_rotated'> | |
<pose>-3 3 0 0.1 0.2 0.3</pose> | |
<link name='link'> | |
<pose>0 0 0 0 0 0</pose> | |
<inertial> | |
<pose>1 1 1 0 0 0</pose> | |
<inertia> | |
<ixx>166.66</ixx> | |
<ixy>0</ixy> | |
<ixz>0</ixz> | |
<iyy>166.66</iyy> | |
<iyz>0</iyz> | |
<izz>166.66</izz> | |
</inertia> | |
<mass>1000.0</mass> | |
</inertial> | |
<visual name='visual'> | |
<pose>1 1 1 0 0 0</pose> | |
<geometry> | |
<box> | |
<size>1.0 1.0 1.0</size> | |
</box> | |
</geometry> | |
</visual> | |
<collision name='collision'> | |
<pose>1 1 1 0 0 0</pose> | |
<geometry> | |
<box> | |
<size>1.0 1.0 1.0</size> | |
</box> | |
</geometry> | |
</collision> | |
</link> | |
</model> | |
</world> | |
</sdf> |
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