Quella/gazebo_models
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

init

Browse Source
This commit is contained in:
Quella777
2025-08-25 16:30:02 +08:00
commit 32cc2a8e96
1633 changed files with 289456 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

27
plastic_cup/meshes/plastic_cup.dae Normal file
View File

File diff suppressed because one or more lines are too long

17
plastic_cup/model.config Normal file
View File

@@ -0,0 +1,17 @@
<?xml version="1.0"?>
<model>
<name>Plastic Cup</name>
<version>1.0</version>
<sdf version='1.5'>model.sdf</sdf>
<author>
<name>Jackie Kay</name>
<email>jackie@osrfoundation.org</email>
</author>
<description>
A 13cm high plastic cup.
</description>
</model>

73
plastic_cup/model.rsdf Normal file
View File

@@ -0,0 +1,73 @@
<?xml version="1.0" ?>
<%
# SI units (length in meters)
# Geometry
# Height
h = 0.13
# Base diameter
d1 = 0.055
b = d1/2.0
# Top diameter
d2 = 0.075
a = d2/2.0
# Inertia
# http://www.wolframalpha.com/input/?i=conical+frustum+moment+of+inertia+tensor+of+solid
#Need to calculate moment if bottom of frustum is closed
mass = 0.0599
ixx = ( 2.0*h**2 * (a**2 + 3*a*b + 6*b**2) + 3*(a**4 + a**3*b + a**2*b**2 + a*b**3 + b**4) ) / ( 20.0*(a**2 + a*b + b**2) )*mass
iyy = ixx
izz = 3*(a**4 + a**3*b + a**2*b**2 + a*b**3 + b**4)/( 10*(a**2 + a*b + b**2 ) )*mass
%>
<sdf version="1.5">
<model name="plastic_cup">
<link name="link">
<pose>0 0 <%= h/2 %> 0 0 0</pose>
<inertial>
<mass><%= mass %></mass>
<inertia>
<ixx><%= ixx %></ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy><%= iyy %></iyy>
<iyz>0</iyz>
<izz><%= izz %></izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<mesh>
<uri>model://plastic_cup/meshes/plastic_cup.dae</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://plastic_cup/meshes/plastic_cup.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/GreyTransparent</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>

62
plastic_cup/model.sdf Normal file
View File

@@ -0,0 +1,62 @@
<?xml version="1.0" ?>
<sdf version="1.5">
<model name="plastic_cup">
<link name="link">
<pose>0 0 0.065 0 0 0</pose>
<inertial>
<mass>0.0599</mass>
<inertia>
<ixx>0.0003028961527030333</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0003028961527030333</iyy>
<iyz>0</iyz>
<izz>3.2876352372798436e-05</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<mesh>
<uri>model://plastic_cup/meshes/plastic_cup.dae</uri>
</mesh>
</geometry>
<surface>
<contact>
<!-- typical acrylic plastic material properties -->
<poissons_ratio>0.35</poissons_ratio>
<elastic_modulus>3.102640776e+09</elastic_modulus>
<ode>
<kp>100000</kp>
<kd>100</kd>
<max_vel>100.0</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
<friction>
<torsional>
<coefficient>1.0</coefficient>
<use_patch_radius>0</use_patch_radius>
<surface_radius>0.01</surface_radius>
</torsional>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://plastic_cup/meshes/plastic_cup.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/GreyTransparent</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>