forked from cesar.alejandro/oscillation_ctrl
224 lines
7.0 KiB
Django/Jinja
224 lines
7.0 KiB
Django/Jinja
{#-------------------SDF generator for Tether Gazebo model--------------------#}
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{#--------------The parameters bellow are the ones to be tweaked--------------#}
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{#--------------------------:Tweakable parameters:----------------------------#}
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{%- set number_elements = 1 -%}
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{%- set last_elem = number_elements |int - 1 -%}
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{%- set cl = 0.17 -%} {#- cl: length of the element (meters) -#}
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{%- set cr = 0.001 -%} {#- cr: radius of the element (meters) -#}
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{%- set sr = 0.009 -%} {#- sr: element joint radius (sphere) (meters) -#}
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{%- set y_el = 0.2 -%} {#- y_el: length of the Y elements (meters) -#}
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{%- set y_tetha = 18 -%} {#- y_tetha: angle between the Y elements (degrees)-#}
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{%- set m = 0.03 * cl -%} {#- m: mass of the element (kg), given the length -#}
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{%- set damping = 0.05 -%}
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{%- set friction = 0.0 -%}
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{%- set spring_stiffness = 0.01 -%}
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{%- set spring_reference = 0.0 -%}
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{%- set element_color = 'White' -%}
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{%- set joint_color = 'Red' -%}
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{#----------------------------------------------------------------------------#}
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{%- macro cylinder(cl, cr) -%}
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<geometry>
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<cylinder>
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<length>{{cl}}</length>
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<radius>{{cr}}</radius>
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</cylinder>
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</geometry>
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{%- endmacro -%}
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{%- macro sphere(sr) -%}
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<geometry>
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<sphere>
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<radius>{{sr}}</radius>
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</sphere>
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</geometry>
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{%- endmacro -%}
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{%- macro inertial(m) -%}
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{#- A note about the inertial tensor matrix - It should be as bellow -#}
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{#- {%- set izz = m/2*cr**2 -%} -#}
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{#- {%- set ixx = m/12*cl**2 + m/4*cr**2 -%} -#}
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{#- {%- set iyy = m/12*cl**2 + m/4*cr**2 -%} -#}
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{#- but seems to segfault Gazebo when changing the values of the element specs -#}
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{%- set izz = 0.01 -%}
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{%- set ixx = 0.01 -%}
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{%- set iyy = 0.01 -%}
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<inertial>
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<mass>{{m}}</mass>
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<inertia>
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<ixx>{{ixx}}</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>{{iyy}}</iyy>
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<iyz>0</iyz>
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<izz>{{izz}}</izz>
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</inertia>
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</inertial>
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{%- endmacro -%}
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{%- macro collision(cl, cr) -%}
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<collision name="collision">
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<pose>0.1 0 0 0 1.570790 0</pose>
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{{ cylinder(cl, cr) }}
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<surface>
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<contact>
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<ode>
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<min_depth>0.00005</min_depth>
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</ode>
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</contact>
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<friction>
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<ode>
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<mu>1.0</mu>
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<mu2>1.0</mu2>
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</ode>
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</friction>
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</surface>
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</collision>
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{%- endmacro -%}
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{%- macro element_material(element_color) -%}
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<material>
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<script>
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<name>Gazebo/{{element_color}}</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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{%- endmacro -%}
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{%- macro joint_material(joint_color) -%}
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<material>
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<script>
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<name>Gazebo/{{joint_color}}</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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{%- endmacro -%}
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{%- macro element_visual(cl, cr, element_color) -%}
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{%- set x = cl * 0.5 -%}
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<visual name="element_visual">
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<pose>{{x}} 0 0 0 1.570790 0</pose>
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{{ cylinder(cl, cr) }}
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{{ element_material(element_color) }}
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</visual>
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{%- endmacro -%}
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{%- macro sphere_visual(sr, sphere_clor) -%}
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<visual name="sphere_visual">
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{{ sphere(sr) }}
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{{ joint_material(joint_color) }}
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</visual>
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{%- endmacro -%}
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{%- macro link(n, x, y, z, yaw, m, cl, cr, sr, element_color, joint_color) -%}
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<link name="link_{{n}}">
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<gravity>true</gravity>
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<pose>{{x}} {{y}} {{z}} 0.0 0.0 {{yaw}}</pose>
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{{ inertial(m) }}
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{%- if n != last_elem -%}
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{{ collision(cl, cr) }}
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{{ element_visual(cl, cr, element_color) }}
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{%- endif -%}
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{{ sphere_visual(sr, joint_color) }}
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</link>
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{%- endmacro %}
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{%- macro joint(k, damping, friction, spring_stiffness, spring_reference) -%}
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{%- if k is number -%}
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{%- set link_n = k - 1 -%}
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<joint name="joint_{{k}}" type="universal">
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<child>link_{{k}}</child>
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<parent>link_{{link_n}}</parent>
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{%- else -%}
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{%- set link_n = 0 -%}
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<joint name="joint_{{k}}" type="universal">
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<child>link_{{link_n}}</child>
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<parent>link_{{k}}</parent>
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{%- endif %}
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<axis>
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<xyz>0 1 0</xyz>
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<dynamics>
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<damping>{{damping}}</damping>
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<friction>{{friction}}</friction>
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<spring_stiffness>{{spring_stiffness}}</spring_stiffness>
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<spring_reference>{{spring_reference}}</spring_reference>
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</dynamics>
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<use_parent_model_frame>true</use_parent_model_frame>
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</axis>
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<axis2>
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<xyz>0 0 1</xyz>
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<dynamics>
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<damping>{{damping}}</damping>
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<friction>{{friction}}</friction>
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<spring_stiffness>{{spring_stiffness}}</spring_stiffness>
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<spring_reference>{{spring_reference}}</spring_reference>
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</dynamics>
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<use_parent_model_frame>true</use_parent_model_frame>
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</axis2>
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<physics>
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<ode>
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<cfm_damping>1</cfm_damping>
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</ode>
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</physics>
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</joint>
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{%- endmacro -%}
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{%- macro lift_drag(n, cl, cr) -%}
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{%- set area = 2 * cr * cl -%}
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<plugin name="link_{{n}}_drag" filename="libLiftDragPlugin.so">
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<robotNamespace></robotNamespace>
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<a0>0</a0>
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<cla>0</cla>
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<cda>1.2535816618911175</cda>
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<alpha_stall>0</alpha_stall>
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<cda_stall>1.4326647564469914</cda_stall>
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<cp>0 0 0</cp>
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<area>{{area}}</area>
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<air_density>1.2041</air_density>
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<forward>0 1 0</forward>
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<upward>0 0 1</upward>
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<link_name>link_{{n}}</link_name>
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</plugin>
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{%- endmacro %}
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{%- macro y_element(cl, y_el, y_tetha) %}
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{%- set x_l = - cl / 2 -%}
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{%- set y_l = 0.0 -%}
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{%- set z_l = 0.0 -%}
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{%- set yaw_l = - y_tetha / 2 -%}
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{{ link("y_left", x_l, y_l, z_l, yaw_l, m, y_el, cr, sr, element_color, joint_color) }}
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{{ lift_drag("y_left", cl, cr) }}
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{%- set x_r = - cl / 2 -%}
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{%- set y_r = 0 -%}
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{%- set z_r = 0.0 -%}
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{%- set yaw_r = y_tetha / 2 %}
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{{ link("y_right", x_r, y_r, z_r, yaw_r, m, y_el, cr, sr, element_color, joint_color) }}
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{{ lift_drag("y_right", cl, cr) }}
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{{ joint("y_left", damping, friction, spring_stiffness, spring_reference) }}
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{{ joint("y_right", damping, friction, spring_stiffness, spring_reference) }}
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{%- endmacro -%}
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<?xml version="1.0" ?>
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<!-- DO NOT EDIT: Generated from tether.sdf.jinja -->
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<sdf version="1.5">
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<model name="tether">
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<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
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{% for n in range(number_elements) -%}
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{%- set x = n * cl / 2 + ( n - 1) * cl / 2 -%}
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{%- set y = 0.0 -%}
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{%- set z = 0.0 -%}
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{%- set yaw = 0.0 -%}
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{{ link(n, x, y, z, yaw, m, cl, cr, sr, element_color, joint_color) }}
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{{ lift_drag(n, cl, cr) }}
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{% endfor -%}
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{{ y_element(cl, y_el, y_tetha) }}
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{% for k in range(1, number_elements) -%}
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{{ joint(k, damping, friction, spring_stiffness, spring_reference) }}
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{% endfor -%}
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<joint name="fixed_to_world" type="fixed">
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<child>link_{{last_elem}}</child>
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<parent>world</parent>
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</joint>
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</model>
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</sdf>
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