init
This commit is contained in:
Quella777
244
drc_practice_weighted_door/model.rsdf
Normal file
244
drc_practice_weighted_door/model.rsdf
Normal file
@@ -0,0 +1,244 @@
|
||||
<?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>
|
||||
Reference in New Issue
Block a user