Commit 980a0785 authored by Johannes Barthel's avatar Johannes Barthel
Browse files

better physics for running over maize plants

parent eb7bf9f5
......@@ -316,26 +316,26 @@
</model>
{% elif coordinate.type == 'maize_01' %}
<model name='{{ coordinate.name }}'>
<pose frame=''>{{ coordinate.x }} {{ coordinate.y }} 0 0 -0 {{ coordinate.yaw }}</pose>
<pose frame=''>{{ coordinate.x }} {{ coordinate.y }} 0.05 0 -0 {{ coordinate.yaw }}</pose>
<link name='{{ coordinate.name }}_link'>
<inertial>
<mass>{{ coordinate.mass }}</mass>
<inertia>
<ixx>{{ coordinate.inertia.ixx }}</ixx>
<ixx>0.0033416667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>{{ coordinate.inertia.iyy }}</iyy>
<iyy>0.0033416667</iyy>
<iyz>0</iyz>
<izz>{{ coordinate.inertia.izz }}</izz>
<izz>0.000016666667</izz>
</inertia>
<pose>0 0 0.1 0 0 0</pose>
</inertial>
<collision name='collision'>
<pose>0 0 0.3 0 -0 0</pose>
<pose>0 0 0.2 0 -0 0</pose>
<geometry>
<cylinder>
<radius>{{ coordinate.radius }}</radius>
<length>0.6</length>
</cylinder>
<box>
<size>0.02 0.02 0.4</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
......@@ -344,10 +344,10 @@
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
<ode>
<mu>10</mu>
<mu2>10</mu2>
</ode>
</friction>
</surface>
</collision>
......@@ -368,26 +368,26 @@
</model>
{% elif coordinate.type == 'maize_02' %}
<model name='{{ coordinate.name }}'>
<pose frame=''>{{ coordinate.x }} {{ coordinate.y }} 0 0 -0 {{ coordinate.yaw }}</pose>
<pose frame=''>{{ coordinate.x }} {{ coordinate.y }} 0.05 0 -0 {{ coordinate.yaw }}</pose>
<link name='{{ coordinate.name }}_link'>
<inertial>
<mass>{{ coordinate.mass }}</mass>
<inertia>
<ixx>{{ coordinate.inertia.ixx }}</ixx>
<ixx>0.0033416667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>{{ coordinate.inertia.iyy }}</iyy>
<iyy>0.0033416667</iyy>
<iyz>0</iyz>
<izz>{{ coordinate.inertia.izz }}</izz>
<izz>0.000016666667</izz>
</inertia>
<pose>0 0 0.1 0 0 0</pose>
</inertial>
<collision name='collision'>
<pose>0 0 0.3 0 -0 0</pose>
<pose>0 0 0.2 0 -0 0</pose>
<geometry>
<cylinder>
<radius>{{ coordinate.radius }}</radius>
<length>0.6</length>
</cylinder>
<box>
<size>0.02 0.02 0.4</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
......@@ -396,10 +396,10 @@
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
<ode>
<mu>10</mu>
<mu2>10</mu2>
</ode>
</friction>
</surface>
</collision>
......
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