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Resolving Issue #2 (ValueError: top-level default class 'main' cannot be renamed when using <include> with <default> block) #3

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Resolving Issue #2 (ValueError: top-level default class 'main' cannot be renamed when using <include> with <default> block) #3

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3bdbf31
Update rover4We-only.xml
srinjoy-not-007 May 9, 2025
2cb4abc
Merge pull request #1 from srinjoy-not-007/srinjoy-not-007-patch-1
srinjoy-not-007 May 9, 2025
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22 changes: 12 additions & 10 deletions rover4We-only.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -17,17 +17,19 @@
<default>
<!--making every geom collidable. expect those that dont are default-->
<geom contype="1" conaffinity="1"/>
</default>

<default class="acker_solver_param">
<!--solver impedance and reference(?) for ackerman equality constraint-->
<!--default solimp: "0.900 0.950 0.001"-->
<!--default solref: "0.020 1.000"-->
<!--solref: (timeconst, dampratio)
b = 2 / (dmax * timeconst)
k = d(r) / (dmax * dmax * timeconst * timeconst * dampratio * dampratio)
-->
<equality solimp="0.9950 0.9990 0.0001" solref="0.0100 0.7500"/>

<default class="acker_solver_param">
<!--solver impedance and reference(?) for ackerman equality constraint-->
<!--default solimp: "0.900 0.950 0.001"-->
<!--default solref: "0.020 1.000"-->
<!--solref: (timeconst, dampratio)
b = 2 / (dmax * timeconst)
k = d(r) / (dmax * dmax * timeconst * timeconst * dampratio * dampratio)
-->
<equality solimp="0.9950 0.9990 0.0001" solref="0.0100 0.7500"/>
</default>

</default>

<visual>
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