367 lines
11 KiB
Plaintext
367 lines
11 KiB
Plaintext
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<?xml version="1.0" ?>
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<%
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# Tricycle with spherical wheels and front steering
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# Consists of triangular frame with 1 steerable
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# and 2 non-steerable wheels
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# SI units (length in meters)
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# Geometry
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wheel_radius = 0.15
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wheelbase = 6 * wheel_radius
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half_track = wheelbase * Math.tan(30 * Math::PI/180)
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caster_angle = 10 * Math::PI / 180.0
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fork_length = 1.5 * wheel_radius * Math.sqrt(2)
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headtube_length = 0.5 * fork_length
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front_steer_L = headtube_length + fork_length
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front_steer_dx = front_steer_L * Math.sin(caster_angle)
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front_steer_dz = front_steer_L * Math.cos(caster_angle)
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rear_steer_dx = wheelbase - front_steer_dx
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rear_steer_L = Math.sqrt(rear_steer_dx**2 + front_steer_dz**2)
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frame_pitch = Math.atan2(front_steer_dz, rear_steer_dx)
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frame_dx = rear_steer_L
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frame_dy = half_track
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frame_dz = 0.4*wheel_radius
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frame_z0 = wheel_radius + front_steer_dz / 2.0
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frame_angle = 20 * Math::PI/180
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fork_dx = 0.5 * wheel_radius
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fork_dy = 2*fork_length
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fork_dz = front_steer_L
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fork_offset = fork_length - 0.5*front_steer_L
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wheel_x0 = rear_steer_dx
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wheel_y0 = half_track
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steer_limit = 55 * Math::PI / 180.0
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rear_wheel_locations = {
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"rear_left" => {:x0 => -wheel_x0, :y0 => wheel_y0 },
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"rear_right" => {:x0 => -wheel_x0, :y0 => -wheel_y0 },
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}
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# inertia
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frame_mass = 10
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frame_ixx = frame_mass/12.0 * (frame_dy**2 + frame_dz**2)
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frame_iyy = frame_mass/12.0 * (frame_dz**2 + frame_dx**2)
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frame_izz = frame_mass/12.0 * (frame_dx**2 + frame_dy**2)
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# frame c.g. offset from center of box
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frame_cgx = frame_dx*0.0
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frame_cgy = 0
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frame_cgz = 0
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frame_mass = 10
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fork_mass = frame_mass / 3
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fork_ixx = fork_mass/12.0 * (fork_dy**2 + fork_dz**2)
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fork_iyy = fork_mass/12.0 * (fork_dz**2 + fork_dx**2)
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fork_izz = fork_mass/12.0 * (fork_dx**2 + fork_dy**2)
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wheel_mass = 0.5
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wheel_ixx = 0.4 * wheel_mass * wheel_radius**2
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wheel_iyy = wheel_ixx
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wheel_izz = wheel_ixx
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# wheel surface properties
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wheel_kp = 1e8
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wheel_kd = 1
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wheel_min_depth = 0.0005
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%>
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<sdf version="1.6">
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<model name="trisphere_cycle">
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<link name="frame">
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<pose><%= -rear_steer_dx / 2 %> 0 <%= frame_z0 %> 0 <%= -frame_pitch %> 0</pose>
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<inertial>
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<pose><%= frame_cgx %> <%= frame_cgy %> <%= frame_cgz %> 0 0 0</pose>
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<mass><%= frame_mass %></mass>
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<inertia>
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<ixx><%= frame_ixx %></ixx>
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<iyy><%= frame_iyy %></iyy>
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<izz><%= frame_izz %></izz>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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</inertia>
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</inertial>
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<% ["collision", "visual"].each do |elem| %>
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<<%= elem %> name="axle_<%= elem %>">
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<pose><%= -0.5*frame_dx %> 0 0 <%= Math::PI/2 %> 0 0</pose>
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<geometry>
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<cylinder>
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<length><%= 2 * half_track %></length>
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<radius><%= 0.2 * wheel_radius %></radius>
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</cylinder>
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</geometry>
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<% if elem == "visual" %>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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<% end %>
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</<%= elem %>>
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<% end %>
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<% ["collision", "visual"].each do |elem| %>
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<<%= elem %> name="frame_left_<%= elem %>">
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<pose>0 <%= 0.5*frame_dx*Math.tan(frame_angle) %> 0 0 <%= Math::PI/2 %> <%= -frame_angle %></pose>
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<geometry>
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<cylinder>
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<length><%= frame_dx / Math.cos(frame_angle) %></length>
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<radius><%= 0.2 * wheel_radius %></radius>
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</cylinder>
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</geometry>
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<% if elem == "visual" %>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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<% end %>
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</<%= elem %>>
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<% end %>
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<% ["collision", "visual"].each do |elem| %>
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<<%= elem %> name="frame_right_<%= elem %>">
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<pose>0 <%= -0.5*frame_dx*Math.tan(frame_angle) %> 0 0 <%= Math::PI/2 %> <%= frame_angle %></pose>
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<geometry>
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<cylinder>
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<length><%= frame_dx / Math.cos(frame_angle) %></length>
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<radius><%= 0.2 * wheel_radius %></radius>
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</cylinder>
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</geometry>
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<% if elem == "visual" %>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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<% end %>
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</<%= elem %>>
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<% end %>
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</link>
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<link name="fork">
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<pose><%= front_steer_dx / 2 %> 0 <%= frame_z0 %> 0 <%= -caster_angle %> 0</pose>
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<inertial>
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<mass><%= fork_mass %></mass>
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<inertia>
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<ixx><%= fork_ixx %></ixx>
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<iyy><%= fork_iyy %></iyy>
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<izz><%= fork_izz %></izz>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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</inertia>
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</inertial>
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<% ["collision", "visual"].each do |elem| %>
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<<%= elem %> name="handlebars_<%= elem %>">
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<pose>0 0 <%= 2*headtube_length + fork_offset %> <%= Math::PI/2 %> 0 0</pose>
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<geometry>
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<cylinder>
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<length><%= 2*fork_length %></length>
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<radius><%= 0.5*fork_dx %></radius>
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</cylinder>
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</geometry>
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<% if elem == "visual" %>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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<% end %>
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</<%= elem %>>
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<% end %>
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<% ["collision", "visual"].each do |elem| %>
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<<%= elem %> name="headtube_<%= elem %>">
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<pose>0 0 <%= headtube_length + fork_offset %> 0 0 0</pose>
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<geometry>
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<cylinder>
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<length><%= 2*headtube_length %></length>
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<radius><%= 0.5*fork_dx %></radius>
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</cylinder>
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</geometry>
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<% if elem == "visual" %>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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<% end %>
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</<%= elem %>>
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<% end %>
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<% ["collision", "visual"].each do |elem| %>
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<<%= elem %> name="spindle_<%= elem %>">
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<pose>0 0 <%= -fork_length + fork_offset %> <%= Math::PI/2 %> 0 0</pose>
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<geometry>
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<cylinder>
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<length><%= 2 * fork_length %></length>
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<radius><%= 0.1 * wheel_radius %></radius>
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</cylinder>
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</geometry>
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<% if elem == "visual" %>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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<% end %>
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</<%= elem %>>
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<% end %>
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<% ["collision", "visual"].each do |elem| %>
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<<%= elem %> name="fork_left_<%= elem %>">
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<pose>0 <%= fork_length / 2 %> <%= -fork_length/2 + fork_offset %> <%= Math::PI/4 %> 0 0</pose>
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<geometry>
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<cylinder>
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<length><%= fork_length * Math.sqrt(2) %></length>
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<radius><%= 0.5*fork_dx %></radius>
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</cylinder>
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</geometry>
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<% if elem == "visual" %>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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<% end %>
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</<%= elem %>>
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<% end %>
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<% ["collision", "visual"].each do |elem| %>
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<<%= elem %> name="fork_right_<%= elem %>">
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<pose>0 <%= -fork_length / 2 %> <%= -fork_length/2 + fork_offset %> <%= -Math::PI/4 %> 0 0</pose>
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<geometry>
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<cylinder>
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<length><%= fork_length * Math.sqrt(2) %></length>
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<radius><%= 0.5*fork_dx %></radius>
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</cylinder>
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</geometry>
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<% if elem == "visual" %>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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<% end %>
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</<%= elem %>>
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<% end %>
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</link>
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<link name="wheel_front">
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<pose><%= front_steer_dx %> 0 <%= wheel_radius %> 0 0 0</pose>
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<inertial>
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<mass><%= wheel_mass %></mass>
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<inertia>
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<ixx><%= wheel_ixx %></ixx>
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<iyy><%= wheel_iyy %></iyy>
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<izz><%= wheel_izz %></izz>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<sphere>
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<radius><%= wheel_radius %></radius>
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</sphere>
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</geometry>
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<surface>
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<contact>
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<ode>
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<kp><%= wheel_kp %></kp>
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<kd><%= wheel_kd %></kd>
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<min_depth><%= wheel_min_depth %></min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="visual">
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<geometry>
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<sphere>
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<radius><%= wheel_radius %></radius>
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</sphere>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Black</name>
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</script>
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</material>
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</visual>
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</link>
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<joint name="wheel_front_steer" type="revolute">
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<parent>frame</parent>
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<child>fork</child>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower><%= -steer_limit %></lower>
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<upper><%= steer_limit %></upper>
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</limit>
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</axis>
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</joint>
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<joint name="wheel_front_spin" type="revolute">
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<parent>fork</parent>
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<child>wheel_front</child>
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<axis>
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<xyz>0 1 0</xyz>
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</axis>
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</joint>
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<%
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rear_wheel_locations.keys.each do |k|
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x0 = rear_wheel_locations[k][:x0]
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y0 = rear_wheel_locations[k][:y0]
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%>
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<link name="wheel_<%= k %>">
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<pose><%= x0 %> <%= y0 %> <%= wheel_radius %> 0 0 0</pose>
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<inertial>
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<mass><%= wheel_mass %></mass>
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<inertia>
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<ixx><%= wheel_ixx %></ixx>
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<iyy><%= wheel_iyy %></iyy>
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<izz><%= wheel_izz %></izz>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<sphere>
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<radius><%= wheel_radius %></radius>
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</sphere>
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</geometry>
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<surface>
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<contact>
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<ode>
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<kp><%= wheel_kp %></kp>
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<kd><%= wheel_kd %></kd>
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<min_depth><%= wheel_min_depth %></min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="visual">
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<geometry>
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<sphere>
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<radius><%= wheel_radius %></radius>
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</sphere>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Black</name>
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</script>
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</material>
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</visual>
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</link>
|
||
|
|
<joint name="wheel_<%= k %>_spin" type="revolute">
|
||
|
|
<parent>frame</parent>
|
||
|
|
<child>wheel_<%= k %></child>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
<%
|
||
|
|
end
|
||
|
|
%>
|
||
|
|
</model>
|
||
|
|
</sdf>
|