gazebo_models/drc_practice_weighted_door/model.rsdf

<?xml version="1.0" ?>
<sdf version="1.4">
  <model name="drc_practice_weighted_door">

    <link name="frame">

    <% frame_pose = [-0.025145, -0.03429, 1.0541]

       frame_size = [0.05029, 0.06858, 2.10820]
       mass = 19 
       %>
      <pose>0.06 -0.0005 0 0 0 0</pose>

      <inertial>
        <pose> <%= frame_pose.join(' ') %> 0 0 0</pose>
        <mass><%= mass %></mass>
        <% ixx = mass*(frame_size[1]**2+frame_size[2]**2)/12 
           iyy = mass*(frame_size[0]**2+frame_size[2]**2)/12 
           izz = mass*(frame_size[0]**2+frame_size[1]**2)/12
         %>
        <inertia>
          <ixx><%= ixx %></ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy><%= iyy %></iyy>
          <iyz>0</iyz>
          <izz><%= izz %></izz>
        </inertia>

      </inertial>

      <collision name="collision_2">
        <pose> <%= frame_pose.join(' ') %> 0 0 0</pose>
        <geometry>
          <box>
            <size><%= frame_size.join(' ') %></size>
          </box>
        </geometry>
      </collision>

      <visual name="visual">
        <pose><%= frame_pose.join(' ') %> 0 0 0</pose>
        <geometry>
          <box>
            <size><%= frame_size.join(' ') %></size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/White</name>
          </script>
        </material>
      </visual>

    </link>
    <link name="door">
      <pose>-0.0 0.000 2.040 3.14159 0 0</pose>

      <% pose_offset = [0.4569, 0.0349, 1.016]
         door_size = [0.9144, 0.04445, 2.032]
         mass = 41.3256
       %>

      <inertial>
        <mass><%= mass %></mass>
        <pose><%= pose_offset.join(' ') %> 0 0 0</pose>
        <inertia>
          <% ixx = mass*(door_size[1]**2+door_size[2]**2)/12 
             iyy = mass*(door_size[0]**2+door_size[2]**2)/12 
             izz = mass*(door_size[0]**2+door_size[1]**2)/12
           %>
          <ixx><%= ixx %></ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy><%= iyy %></iyy>
          <iyz>0</iyz>
          <izz><%= izz %></izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <pose><%= pose_offset.join(' ') %> 0 0 0</pose>
        <geometry>
          <box>
            <size><%= door_size.join(' ') %></size>
          </box>
        </geometry>
      </collision>
      <visual name="visual">
        <pose>0 -0.06858 0 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://hinged_door/meshes/door.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>

    <link name="handles">
      <% handle_cylinder_dims = [0.03556/2, 0.082956] # radius, height
         handle_cylinder_pos  = [0, 0, handle_cylinder_dims[1]/2]
         handle_box_dims = [0.156, 0.03556, 0.011]
         handle_box_pos  = [handle_box_dims[0]/2, 0, handle_cylinder_dims[1]]
         handle_pose = [door_size[0]-0.1, -0.07, 1.05, 0, 0, Math::PI]
         mass = [1, 1] # box, cylinder
         total_mass = mass[0]+mass[1]
         com = (0..2).map{ |i| (handle_cylinder_pos[i]+handle_box_pos[i])/2 }
       %>
      <pose><%= handle_pose.join(' ') %></pose>

      <inertial>
        <pose>0 -0.035 0 0 0 0</pose>
        <% ixx_box = mass[0]*(handle_box_dims[1]**2+handle_box_dims[2]**2)/12
           iyy_box = mass[0]*(handle_box_dims[0]**2+handle_box_dims[2]**2)/12 
           izz_box = mass[0]*(handle_box_dims[0]**2+handle_box_dims[1]**2)/12

           ixx_cyl = mass[1]*(3*handle_cylinder_dims[1]**2+handle_cylinder_dims[1]**2)/12
           iyy_cyl = mass[1]*(3*handle_cylinder_dims[1]**2+handle_cylinder_dims[1]**2)/12 
           izz_cyl = mass[1]*(handle_cylinder_dims[0]**2)/12

           ixx = ixx_box + mass[0]*(handle_box_pos[1]**2+handle_box_pos[2]**2) + ixx_cyl + mass[1]*(handle_cylinder_pos[1]**2+handle_cylinder_pos[2]**2)
           iyy = iyy_box + mass[0]*(handle_box_pos[0]**2+handle_box_pos[2]**2) + iyy_cyl + mass[1]*(handle_cylinder_pos[0]**2+handle_cylinder_pos[2]**2)
           izz = izz_box + mass[0]*(handle_box_pos[0]**2+handle_box_pos[1]**2) + izz_cyl + mass[1]*(handle_cylinder_pos[0]**2+handle_cylinder_pos[1]**2)
           ixy = -mass[0]*handle_box_pos[0]*handle_box_pos[1] - mass[1]*handle_cylinder_pos[0]*handle_cylinder_pos[1]
           ixz = -mass[0]*handle_box_pos[0]*handle_box_pos[2] - mass[1]*handle_cylinder_pos[0]*handle_cylinder_pos[2]
           iyz = -mass[0]*handle_box_pos[1]*handle_box_pos[2] - mass[1]*handle_cylinder_pos[1]*handle_cylinder_pos[2]
         %>
        <mass><%= total_mass %></mass>
        <inertia>
          <ixx><%= ixx %></ixx>
          <ixy><%= ixy %></ixy>
          <ixz><%= ixz %></ixz>
          <iyy><%= iyy %></iyy>
          <iyz><%= iyz %></iyz>
          <izz><%= izz %></izz>
        </inertia>
      </inertial>

      <collision name="handle1_collision">
        <pose>0.015 -0.015 0 -1.57 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://door_handle/meshes/handle.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name="handle1_visual">
        <pose>0.015 -0.015 0 -1.57 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://door_handle/meshes/handle.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <collision name="handle2_collision">
        <pose>0.015 -0.055 0 1.57 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://door_handle/meshes/handle.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name="handle2_visual">
        <pose>0.015 -0.055 0 1.57 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://door_handle/meshes/handle.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>

    <joint name="handle" type="revolute">
      <parent>door</parent>
      <child>handles</child>
      <pose>0.015 0 0 0 0 0</pose>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1.58</lower>
          <upper>0</upper>
        </limit>
        <dynamics>
          <damping>1.0</damping>
          <friction>10</friction>
        </dynamics>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
      <physics>
        <ode>
          <cfm_damping>1</cfm_damping>
        </ode>
      </physics>
    </joint>

    <% lbs_force = 3
       newtons = 4.44822*3
       torque = newtons*door_size[0]
       angular_vel = Math::PI/4
       damping_coeff = torque/angular_vel
     %>
    <joint name="hinge" type="revolute">
      <parent>frame</parent>
      <child>door</child>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-1.58</lower>
          <upper>0</upper>
        </limit>
        <dynamics>
          <damping><%= damping_coeff %></damping>
          <friction><%= damping_coeff %></friction>
        </dynamics>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
      <physics>
        <ode>
          <cfm_damping>1</cfm_damping>
        </ode>
      </physics>
    </joint>
    <joint name="world_joint" type="revolute">
      <child>frame</child>
      <parent>world</parent>
      <axis>
        <limit>
          <lower>0</lower>
          <upper>0</upper>
        </limit>
        <xyz>0 1 0</xyz>
        <dynamics>
          <damping>1.0</damping>
        </dynamics>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
      <physics>
        <ode>
          <cfm_damping>1</cfm_damping>
        </ode>
      </physics>
    </joint>
  </model>
</sdf>