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Quella777
2025-08-25 16:30:02 +08:00
commit 32cc2a8e96
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14
drc_practice_hinged_door/model.config Normal file
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<?xml version='1.0'?>
<model>
<name>DRC Practice: Hinged door</name>
<version>0.1.0</version>
<sdf version='1.5'>model.sdf</sdf>
<author>
<name>Jackie Kay</name>
<email>jackie@osrfoundation.org</email>
</author>
<description>
A hinged door with two handles and no threshold.
</description>
</model>

236
drc_practice_hinged_door/model.rsdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="drc_practice_hinged_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, 1.05, 0, 3.14, 0]
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>
<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>1.0</damping>
<friction>1.0</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>

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drc_practice_hinged_door/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="drc_practice_hinged_door">
<link name="frame">
<pose>0.06 -0.0005 0 0 0 0</pose>
<inertial>
<pose> -0.025145 -0.03429 1.0541 0 0 0</pose>
<mass>19</mass>
<inertia>
<ixx>7.044583222633334</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>7.041140846491667</iyy>
<iyz>0</iyz>
<izz>0.011451142458333334</izz>
</inertia>
</inertial>
<collision name="collision_2">
<pose> -0.025145 -0.03429 1.0541 0 0 0</pose>
<geometry>
<box>
<size>0.05029 0.06858 2.1082</size>
</box>
</geometry>
</collision>
<visual name="visual">
<pose>-0.025145 -0.03429 1.0541 0 0 0</pose>
<geometry>
<box>
<size>0.05029 0.06858 2.1082</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>
<inertial>
<mass>41.3256</mass>
<pose>0.4569 0.0349 1.016 0 0 0</pose>
<inertia>
<ixx>14.226337119849498</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>17.098988253568</iyy>
<iyz>0</iyz>
<izz>2.8862596710175</izz>
</inertia>
</inertial>
<collision name="collision">
<pose>0.4569 0.0349 1.016 0 0 0</pose>
<geometry>
<box>
<size>0.9144 0.04445 2.032</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">
<pose>0.8144 0 1.05 0 3.14 0</pose>
<inertial>
<pose>0 -0.035 0 0 0 0</pose>
<mass>2</mass>
<inertia>
<ixx>0.011011481198666666</ixx>
<ixy>-0.0</ixy>
<ixz>-0.006470568</ixz>
<iyy>0.019018105065333336</iyy>
<iyz>0.0</iyz>
<izz>0.008243720166666666</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>
<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>1.0</damping>
<friction>1.0</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>