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updated linear drag coefficient, geomtery and spawning position to re…
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…duce oscillations (#699)

Co-authored-by: M1chaelM <[email protected]>
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@tejalbarnwal @M1chaelM
tejalbarnwal and M1chaelM authored Jul 3, 2023
1 parent 5b501ea commit 9e9a743
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Showing 2 changed files with 35 additions and 35 deletions.
20 changes: 10 additions & 10 deletions vrx_gz/worlds/2023_practice/practice_2023_perception1_task.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -457,14 +457,14 @@
filename="libPolyhedraBuoyancyDrag.so">
<fluid_density>1000</fluid_density>
<fluid_level>0.0</fluid_level>
<linear_drag>25.0</linear_drag>
<linear_drag>75.0</linear_drag>
<angular_drag>2.0</angular_drag>
<buoyancy name="collision_outer">
<link_name>link</link_name>
<pose>0 0 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.25</radius>
<radius>0.21</radius>
</sphere>
</geometry>
</buoyancy>
Expand Down Expand Up @@ -510,14 +510,14 @@
filename="libPolyhedraBuoyancyDrag.so">
<fluid_density>1000</fluid_density>
<fluid_level>0.0</fluid_level>
<linear_drag>25.0</linear_drag>
<linear_drag>75.0</linear_drag>
<angular_drag>2.0</angular_drag>
<buoyancy name="collision_outer">
<link_name>link</link_name>
<pose>0 0 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.25</radius>
<radius>0.21</radius>
</sphere>
</geometry>
</buoyancy>
Expand All @@ -536,14 +536,14 @@
filename="libPolyhedraBuoyancyDrag.so">
<fluid_density>1000</fluid_density>
<fluid_level>0.0</fluid_level>
<linear_drag>25.0</linear_drag>
<linear_drag>75.0</linear_drag>
<angular_drag>2.0</angular_drag>
<buoyancy name="collision_outer">
<link_name>link</link_name>
<pose>0 0 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.25</radius>
<radius>0.21</radius>
</sphere>
</geometry>
</buoyancy>
Expand Down Expand Up @@ -624,25 +624,25 @@
<time>25.0</time>
<type>mb_round_buoy_black</type>
<name>black_round_0</name>
<pose>4.9 1.32 0.2 0 0 0</pose>
<pose>4.9 1.32 0.7 0 0 0</pose>
</object>
<object>
<time>25.0</time>
<type>mb_round_buoy_black</type>
<name>black_round_1</name>
<pose>4.7 0.7 0.2 0 0 0</pose>
<pose>4.7 0.7 0.7 0 0 0</pose>
</object>
<object>
<time>35.0</time>
<type>mb_marker_buoy_white</type>
<name>white_0</name>
<pose>4.1 -2.2 0.2 0 0 0</pose>
<pose>4.1 -2.2 0.7 0 0 0</pose>
</object>
<object>
<time>35.0</time>
<type>mb_round_buoy_black</type>
<name>black_round_0</name>
<pose>6.1 0.2 0.2 0 0 0</pose>
<pose>6.1 0.2 0.7 0 0 0</pose>
</object>
</object_sequence>
</plugin>
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50 changes: 25 additions & 25 deletions vrx_gz/worlds/2023_practice/practice_2023_perception2_task.sdf
View file
Original file line number Diff line number Diff line change
Expand Up @@ -457,14 +457,14 @@
filename="libPolyhedraBuoyancyDrag.so">
<fluid_density>1000</fluid_density>
<fluid_level>0.0</fluid_level>
<linear_drag>25.0</linear_drag>
<linear_drag>75.0</linear_drag>
<angular_drag>2.0</angular_drag>
<buoyancy name="collision_outer">
<link_name>link</link_name>
<pose>0 0 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.25</radius>
<radius>0.21</radius>
</sphere>
</geometry>
</buoyancy>
Expand All @@ -483,14 +483,14 @@
filename="libPolyhedraBuoyancyDrag.so">
<fluid_density>1000</fluid_density>
<fluid_level>0.0</fluid_level>
<linear_drag>25.0</linear_drag>
<linear_drag>75.0</linear_drag>
<angular_drag>2.0</angular_drag>
<buoyancy name="collision_outer">
<link_name>link</link_name>
<pose>0 0 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.25</radius>
<radius>0.21</radius>
</sphere>
</geometry>
</buoyancy>
Expand All @@ -509,7 +509,7 @@
filename="libPolyhedraBuoyancyDrag.so">
<fluid_density>1000</fluid_density>
<fluid_level>0.0</fluid_level>
<linear_drag>25.0</linear_drag>
<linear_drag>50.0</linear_drag>
<angular_drag>2.0</angular_drag>
<buoyancy name="collision_outer">
<link_name>link</link_name>
Expand All @@ -536,7 +536,7 @@
filename="libPolyhedraBuoyancyDrag.so">
<fluid_density>1000</fluid_density>
<fluid_level>0.0</fluid_level>
<linear_drag>25.0</linear_drag>
<linear_drag>50.0</linear_drag>
<angular_drag>2.0</angular_drag>
<buoyancy name="collision_outer">
<link_name>link</link_name>
Expand All @@ -563,14 +563,14 @@
filename="libPolyhedraBuoyancyDrag.so">
<fluid_density>1000</fluid_density>
<fluid_level>0.0</fluid_level>
<linear_drag>25.0</linear_drag>
<linear_drag>75.0</linear_drag>
<angular_drag>2.0</angular_drag>
<buoyancy name="collision_outer">
<link_name>link</link_name>
<pose>0 0 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.25</radius>
<radius>0.21</radius>
</sphere>
</geometry>
</buoyancy>
Expand All @@ -589,14 +589,14 @@
filename="libPolyhedraBuoyancyDrag.so">
<fluid_density>1000</fluid_density>
<fluid_level>0.0</fluid_level>
<linear_drag>25.0</linear_drag>
<linear_drag>75.0</linear_drag>
<angular_drag>2.0</angular_drag>
<buoyancy name="collision_outer">
<link_name>link</link_name>
<pose>0 0 0 0 0 0</pose>
<geometry>
<sphere>
<radius>0.25</radius>
<radius>0.21</radius>
</sphere>
</geometry>
</buoyancy>
Expand All @@ -615,7 +615,7 @@
filename="libPolyhedraBuoyancyDrag.so">
<fluid_density>1000</fluid_density>
<fluid_level>0.0</fluid_level>
<linear_drag>25.0</linear_drag>
<linear_drag>50.0</linear_drag>
<angular_drag>2.0</angular_drag>
<buoyancy name="collision_outer">
<link_name>link</link_name>
Expand All @@ -642,7 +642,7 @@
filename="libPolyhedraBuoyancyDrag.so">
<fluid_density>1000</fluid_density>
<fluid_level>0.0</fluid_level>
<linear_drag>25.0</linear_drag>
<linear_drag>50.0</linear_drag>
<angular_drag>2.0</angular_drag>
<buoyancy name="collision_outer">
<link_name>link</link_name>
Expand All @@ -669,7 +669,7 @@
filename="libPolyhedraBuoyancyDrag.so">
<fluid_density>1000</fluid_density>
<fluid_level>0.0</fluid_level>
<linear_drag>25.0</linear_drag>
<linear_drag>50.0</linear_drag>
<angular_drag>2.0</angular_drag>
<buoyancy name="collision_outer">
<link_name>link</link_name>
Expand All @@ -696,7 +696,7 @@
filename="libPolyhedraBuoyancyDrag.so">
<fluid_density>1000</fluid_density>
<fluid_level>0.0</fluid_level>
<linear_drag>25.0</linear_drag>
<linear_drag>50.0</linear_drag>
<angular_drag>2.0</angular_drag>
<buoyancy name="collision_outer">
<link_name>link</link_name>
Expand All @@ -723,7 +723,7 @@
filename="libPolyhedraBuoyancyDrag.so">
<fluid_density>1000</fluid_density>
<fluid_level>0.0</fluid_level>
<linear_drag>25.0</linear_drag>
<linear_drag>50.0</linear_drag>
<angular_drag>2.0</angular_drag>
<buoyancy name="collision_outer">
<link_name>link</link_name>
Expand All @@ -750,7 +750,7 @@
filename="libPolyhedraBuoyancyDrag.so">
<fluid_density>1000</fluid_density>
<fluid_level>0.0</fluid_level>
<linear_drag>25.0</linear_drag>
<linear_drag>50.0</linear_drag>
<angular_drag>2.0</angular_drag>
<buoyancy name="collision_outer">
<link_name>link</link_name>
Expand All @@ -777,7 +777,7 @@
filename="libPolyhedraBuoyancyDrag.so">
<fluid_density>1000</fluid_density>
<fluid_level>0.0</fluid_level>
<linear_drag>25.0</linear_drag>
<linear_drag>50.0</linear_drag>
<angular_drag>2.0</angular_drag>
<buoyancy name="collision_outer">
<link_name>link</link_name>
Expand All @@ -804,7 +804,7 @@
filename="libPolyhedraBuoyancyDrag.so">
<fluid_density>1000</fluid_density>
<fluid_level>0.0</fluid_level>
<linear_drag>25.0</linear_drag>
<linear_drag>50.0</linear_drag>
<angular_drag>2.0</angular_drag>
<buoyancy name="collision_outer">
<link_name>link</link_name>
Expand All @@ -831,7 +831,7 @@
filename="libPolyhedraBuoyancyDrag.so">
<fluid_density>1000</fluid_density>
<fluid_level>0.0</fluid_level>
<linear_drag>25.0</linear_drag>
<linear_drag>50.0</linear_drag>
<angular_drag>2.0</angular_drag>
<buoyancy name="collision_outer">
<link_name>link</link_name>
Expand Down Expand Up @@ -917,37 +917,37 @@
<time>25.0</time>
<type>mb_marker_buoy_black</type>
<name>black_0</name>
<pose>10 0.15 0.3 0 0 0</pose>
<pose>10 0.15 0.7 0 0 0</pose>
</object>
<object>
<time>25.0</time>
<type>mb_marker_buoy_green</type>
<name>green_0</name>
<pose>16.5 0.7 0.3 0 0 0</pose>
<pose>16.5 0.7 0.7 0 0 0</pose>
</object>
<object>
<time>25.0</time>
<type>mb_marker_buoy_red</type>
<name>red_0</name>
<pose>7.63 1.85 0.3 0 0 0</pose>
<pose>7.63 1.85 0.7 0 0 0</pose>
</object>
<object>
<time>25.0</time>
<type>mb_marker_buoy_green</type>
<name>green_1</name>
<pose>12.4 2.37 0.3 0 0 0</pose>
<pose>12.4 2.37 0.7 0 0 0</pose>
</object>
<object>
<time>25.0</time>
<type>mb_marker_buoy_black</type>
<name>black_1</name>
<pose>5.4 2.1 0.3 0 0 0</pose>
<pose>5.4 2.1 0.7 0 0 0</pose>
</object>
<object>
<time>25.0</time>
<type>mb_marker_buoy_red</type>
<name>red_1</name>
<pose>4.4 -0.43 0.3 0 0 0</pose>
<pose>4.4 -0.43 0.7 0 0 0</pose>
</object>
<object>
<time>35.0</time>
Expand Down

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