From ea7942b131b5e526d275ea68764614ff6228f5b7 Mon Sep 17 00:00:00 2001
From: Daniel Christoph <daniel.christoph@informatik.hu-berlin.de>
Date: Sat, 14 Dec 2019 17:31:21 +0100
Subject: [PATCH] Update Simulation/WorldMaker/Main.java
---
Simulation/WorldMaker/Main.java | 180 ++++++++++++++++++++++++++++++++
1 file changed, 180 insertions(+)
create mode 100644 Simulation/WorldMaker/Main.java
diff --git a/Simulation/WorldMaker/Main.java b/Simulation/WorldMaker/Main.java
new file mode 100644
index 0000000..43b6f24
--- /dev/null
+++ b/Simulation/WorldMaker/Main.java
@@ -0,0 +1,180 @@
+import java.io.File;
+import java.io.FileWriter;
+import java.io.IOException;
+import java.util.ArrayList;
+
+public class Main {
+
+ public static int id = 1;
+
+ public static ArrayList<String> obj = new ArrayList<>();
+
+ public static void boxSlec(String posx, String posy, String len, String wid, String high){
+ String box = " <model name='unit_box_"+ id + "'>\n" +
+ " <pose frame=''>" + posx + " " + posy + " 0 0 0 0</pose>\n" +
+ " <link name='link'>\n" +
+ " <inertial>\n" +
+ " <mass>1</mass>\n" +
+ " <inertia>\n" +
+ " <ixx>0.166667</ixx>\n" +
+ " <ixy>0</ixy>\n" +
+ " <ixz>0</ixz>\n" +
+ " <iyy>0.166667</iyy>\n" +
+ " <iyz>0</iyz>\n" +
+ " <izz>0.166667</izz>\n" +
+ " </inertia>\n" +
+ " </inertial>\n" +
+ " <collision name='collision'>\n" +
+ " <geometry>\n" +
+ " <box>\n" +
+ " <size>" + len + " " + wid + " " + high + "</size>\n" +
+ " </box>\n" +
+ " </geometry>\n" +
+ " <max_contacts>10</max_contacts>\n" +
+ " <surface>\n" +
+ " <contact>\n" +
+ " <ode/>\n" +
+ " </contact>\n" +
+ " <bounce/>\n" +
+ " <friction>\n" +
+ " <torsional>\n" +
+ " <ode/>\n" +
+ " </torsional>\n" +
+ " <ode/>\n" +
+ " </friction>\n" +
+ " </surface>\n" +
+ " </collision>\n" +
+ " <visual name='visual'>\n" +
+ " <geometry>\n" +
+ " <box>\n" +
+ " <size>" + len + " " + wid + " " + high + "</size>\n" +
+ " </box>\n" +
+ " </geometry>\n" +
+ " <material>\n" +
+ " <script>\n" +
+ " <name>Gazebo/Grey</name>\n" +
+ " <uri>file://media/materials/scripts/gazebo.material</uri>\n" +
+ " </script>\n" +
+ " </material>\n" +
+ " </visual>\n" +
+ " <self_collide>0</self_collide>\n" +
+ " <enable_wind>0</enable_wind>\n" +
+ " <kinematic>0</kinematic>\n" +
+ " </link>\n" +
+ " </model>";
+ obj.add(box);
+ id = id +1;
+ }
+ public static void zylSelec(String posx, String posy, String rad, String len){
+ String zyl = " <model name=\"obstacle_" + id + "\">\n" +
+ " <pose>" + posx + " " + posy + " 0 0 0 0</pose>\n" +
+ " <link name=\"link\">\n" +
+ " <collision name=\"collision\">\n" +
+ " <geometry>\n" +
+ " <cylinder>\n" +
+ " <radius>"+ rad + "</radius>\n" +
+ " <length>"+ len +"</length>\n" +
+ " </cylinder>\n" +
+ " </geometry>\n" +
+ " </collision>\n" +
+ "\n" +
+ " <visual name=\"visual\">\n" +
+ " <geometry>\n" +
+ " <cylinder>\n" +
+ " <radius>" + rad +"</radius>\n" +
+ " <length>" + len + "</length>\n" +
+ " </cylinder>\n" +
+ " </geometry>\n" +
+ " </visual>\n" +
+ " </link>\n" +
+ " </model>" + "\n";
+ obj.add(zyl);
+ id = id +1;
+ }
+ public static void main(String[] args) {
+ obj.add("<sdf version='1.4'>\n" +
+ " <world name='default'>\n" +
+ " \n" +
+ " <!-- A global light source -->\n" +
+ " <include>\n" +
+ " <uri>model://sun</uri>\n" +
+ " </include>\n" +
+ "\n" +
+ " <!-- A ground plane -->\n" +
+ " <include>\n" +
+ " <uri>model://ground_plane</uri>\n" +
+ " </include>\n" +
+ "\n" +
+ " <physics type=\"ode\">\n" +
+ " <real_time_update_rate>1000.0</real_time_update_rate>\n" +
+ " <max_step_size>0.001</max_step_size>\n" +
+ " <real_time_factor>1</real_time_factor>\n" +
+ " <ode>\n" +
+ " <solver>\n" +
+ " <type>quick</type>\n" +
+ " <iters>150</iters>\n" +
+ " <precon_iters>0</precon_iters>\n" +
+ " <sor>1.400000</sor>\n" +
+ " <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>\n" +
+ " </solver>\n" +
+ " <constraints>\n" +
+ " <cfm>0.00001</cfm>\n" +
+ " <erp>0.2</erp>\n" +
+ " <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>\n" +
+ " <contact_surface_layer>0.01000</contact_surface_layer>\n" +
+ " </constraints>\n" +
+ " </ode>\n" +
+ " </physics>\n" +
+ " \n" +
+ " <scene>\n" +
+ " <ambient>0.4 0.4 0.4 1</ambient>\n" +
+ " <background>0.7 0.7 0.7 1</background>\n" +
+ " <shadows>true</shadows>\n" +
+ " </scene>\n" +
+ "\n" +
+ " <gui fullscreen='0'>\n" +
+ " <camera name='user_camera'>\n" +
+ " <pose>0.0 0.0 17.0 0 1.5708 0</pose>\n" +
+ " <view_controller>orbit</view_controller>\n" +
+ " </camera>\n" +
+ " </gui>" + "\n");
+
+ File file = new File(args[0]);
+ try {
+ if (file.createNewFile())
+ {
+ System.out.println("File is created!");
+ } else {
+ System.out.println("File overwrite!");
+ }
+ } catch (IOException e) {
+ e.printStackTrace();
+ }
+ for(int i = 1; i < args.length-1; ) {
+ if ((args[i].compareTo("zyl") == 0)) {
+ zylSelec(args[i+1], args[i+2], args[i+3], args[i+4]);
+ i=i+5;
+ }
+ if ((args[i].compareTo("box") == 0)) {
+ boxSlec(args[i+1], args[i+2], args[i+3], args[i+4], args[i+5]);
+ i =i+6;
+ }
+ }
+ obj.add(" </world>\n" +
+ "</sdf>");
+ FileWriter writer = null;
+ try {
+ writer = new FileWriter(file);
+
+ for (int i = 0;i<obj.size();i++){
+ writer.write(obj.get(i));
+ writer.write("\n");
+ }
+
+ writer.close();
+ } catch (IOException e) {
+ e.printStackTrace();
+ }
+ }
+
+}
--
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