init
This commit is contained in:
Quella777
4
trisphere_cycle/Readme.md
Normal file
4
trisphere_cycle/Readme.md
Normal file
@@ -0,0 +1,4 @@
|
||||
To regenerate the model.sdf from the erb template:
|
||||
~~~
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||||
erb -T 1 model.sdf.erb > model.sdf
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||||
~~~
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||||
17
trisphere_cycle/model.config
Normal file
17
trisphere_cycle/model.config
Normal file
@@ -0,0 +1,17 @@
|
||||
<?xml version="1.0"?>
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||||
|
||||
<model>
|
||||
<name>Tricycle with spherical wheels</name>
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||||
<version>1.0</version>
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<sdf version="1.6">model.sdf</sdf>
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<author>
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<name>Steve Peters</name>
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<email>scpeters@osrfoundation.org</email>
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</author>
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||||
|
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<description>
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A tricycle with spherical wheels
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and front-wheel steering.
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</description>
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</model>
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||||
387
trisphere_cycle/model.sdf
Normal file
387
trisphere_cycle/model.sdf
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@@ -0,0 +1,387 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="trisphere_cycle">
|
||||
<link name="frame">
|
||||
<pose>-0.40855911616047164 0 0.38502293110800634 0 -0.522020852957719 0</pose>
|
||||
<inertial>
|
||||
<pose>0.0 0 0 0 0 0</pose>
|
||||
<mass>10</mass>
|
||||
<inertia>
|
||||
<ixx>0.22799999999999998</ixx>
|
||||
<iyy>0.7435210984814149</iyy>
|
||||
<izz>0.9655210984814149</izz>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyz>0</iyz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="axle_collision">
|
||||
<pose>-0.4713346258704366 0 0 1.5707963267948966 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>1.0392304845413263</length>
|
||||
<radius>0.03</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="axle_visual">
|
||||
<pose>-0.4713346258704366 0 0 1.5707963267948966 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>1.0392304845413263</length>
|
||||
<radius>0.03</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="frame_left_collision">
|
||||
<pose>0 0.17155177419583564 0 0 1.5707963267948966 -0.3490658503988659</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>1.0031676644991372</length>
|
||||
<radius>0.03</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="frame_left_visual">
|
||||
<pose>0 0.17155177419583564 0 0 1.5707963267948966 -0.3490658503988659</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>1.0031676644991372</length>
|
||||
<radius>0.03</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="frame_right_collision">
|
||||
<pose>0 -0.17155177419583564 0 0 1.5707963267948966 0.3490658503988659</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>1.0031676644991372</length>
|
||||
<radius>0.03</radius>
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||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="frame_right_visual">
|
||||
<pose>0 -0.17155177419583564 0 0 1.5707963267948966 0.3490658503988659</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>1.0031676644991372</length>
|
||||
<radius>0.03</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
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||||
<link name="fork">
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||||
<pose>0.04144088383952833 0 0.38502293110800634 0 -0.17453292519943295 0</pose>
|
||||
<inertial>
|
||||
<mass>3</mass>
|
||||
<inertia>
|
||||
<ixx>0.15820312499999997</ixx>
|
||||
<iyy>0.058359374999999984</iyy>
|
||||
<izz>0.10265624999999999</izz>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyz>0</iyz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="handlebars_collision">
|
||||
<pose>0 0 0.397747564417433 1.5707963267948966 0 0</pose>
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||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.6363961030678927</length>
|
||||
<radius>0.0375</radius>
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||||
</cylinder>
|
||||
</geometry>
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||||
</collision>
|
||||
<visual name="handlebars_visual">
|
||||
<pose>0 0 0.397747564417433 1.5707963267948966 0 0</pose>
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||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.6363961030678927</length>
|
||||
<radius>0.0375</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="headtube_collision">
|
||||
<pose>0 0 0.2386485386504598 0 0 0</pose>
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||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.31819805153394637</length>
|
||||
<radius>0.0375</radius>
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||||
</cylinder>
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||||
</geometry>
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||||
</collision>
|
||||
<visual name="headtube_visual">
|
||||
<pose>0 0 0.2386485386504598 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.31819805153394637</length>
|
||||
<radius>0.0375</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="spindle_collision">
|
||||
<pose>0 0 -0.23864853865045976 1.5707963267948966 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.6363961030678927</length>
|
||||
<radius>0.015</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="spindle_visual">
|
||||
<pose>0 0 -0.23864853865045976 1.5707963267948966 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.6363961030678927</length>
|
||||
<radius>0.015</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="fork_left_collision">
|
||||
<pose>0 0.15909902576697318 -0.07954951288348658 0.7853981633974483 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.45</length>
|
||||
<radius>0.0375</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="fork_left_visual">
|
||||
<pose>0 0.15909902576697318 -0.07954951288348658 0.7853981633974483 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.45</length>
|
||||
<radius>0.0375</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name="fork_right_collision">
|
||||
<pose>0 -0.15909902576697318 -0.07954951288348658 -0.7853981633974483 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.45</length>
|
||||
<radius>0.0375</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="fork_right_visual">
|
||||
<pose>0 -0.15909902576697318 -0.07954951288348658 -0.7853981633974483 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.45</length>
|
||||
<radius>0.0375</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="wheel_front">
|
||||
<pose>0.08288176767905665 0 0.15 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.5</mass>
|
||||
<inertia>
|
||||
<ixx>0.0045</ixx>
|
||||
<iyy>0.0045</iyy>
|
||||
<izz>0.0045</izz>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyz>0</iyz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.15</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<kp>100000000.0</kp>
|
||||
<kd>1</kd>
|
||||
<min_depth>0.0005</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.15</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Black</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="wheel_front_steer" type="revolute">
|
||||
<parent>frame</parent>
|
||||
<child>fork</child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-0.9599310885968813</lower>
|
||||
<upper>0.9599310885968813</upper>
|
||||
</limit>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint name="wheel_front_spin" type="revolute">
|
||||
<parent>fork</parent>
|
||||
<child>wheel_front</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name="wheel_rear_left">
|
||||
<pose>-0.8171182323209433 0.5196152422706631 0.15 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.5</mass>
|
||||
<inertia>
|
||||
<ixx>0.0045</ixx>
|
||||
<iyy>0.0045</iyy>
|
||||
<izz>0.0045</izz>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyz>0</iyz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.15</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<kp>100000000.0</kp>
|
||||
<kd>1</kd>
|
||||
<min_depth>0.0005</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.15</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Black</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="wheel_rear_left_spin" type="revolute">
|
||||
<parent>frame</parent>
|
||||
<child>wheel_rear_left</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name="wheel_rear_right">
|
||||
<pose>-0.8171182323209433 -0.5196152422706631 0.15 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>0.5</mass>
|
||||
<inertia>
|
||||
<ixx>0.0045</ixx>
|
||||
<iyy>0.0045</iyy>
|
||||
<izz>0.0045</izz>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyz>0</iyz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.15</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<kp>100000000.0</kp>
|
||||
<kd>1</kd>
|
||||
<min_depth>0.0005</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius>0.15</radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Black</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="wheel_rear_right_spin" type="revolute">
|
||||
<parent>frame</parent>
|
||||
<child>wheel_rear_right</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
</model>
|
||||
</sdf>
|
||||
366
trisphere_cycle/model.sdf.erb
Normal file
366
trisphere_cycle/model.sdf.erb
Normal file
@@ -0,0 +1,366 @@
|
||||
<?xml version="1.0" ?>
|
||||
<%
|
||||
# Tricycle with spherical wheels and front steering
|
||||
# Consists of triangular frame with 1 steerable
|
||||
# and 2 non-steerable wheels
|
||||
# SI units (length in meters)
|
||||
|
||||
# Geometry
|
||||
wheel_radius = 0.15
|
||||
wheelbase = 6 * wheel_radius
|
||||
half_track = wheelbase * Math.tan(30 * Math::PI/180)
|
||||
caster_angle = 10 * Math::PI / 180.0
|
||||
fork_length = 1.5 * wheel_radius * Math.sqrt(2)
|
||||
headtube_length = 0.5 * fork_length
|
||||
front_steer_L = headtube_length + fork_length
|
||||
front_steer_dx = front_steer_L * Math.sin(caster_angle)
|
||||
front_steer_dz = front_steer_L * Math.cos(caster_angle)
|
||||
rear_steer_dx = wheelbase - front_steer_dx
|
||||
rear_steer_L = Math.sqrt(rear_steer_dx**2 + front_steer_dz**2)
|
||||
frame_pitch = Math.atan2(front_steer_dz, rear_steer_dx)
|
||||
frame_dx = rear_steer_L
|
||||
frame_dy = half_track
|
||||
frame_dz = 0.4*wheel_radius
|
||||
frame_z0 = wheel_radius + front_steer_dz / 2.0
|
||||
frame_angle = 20 * Math::PI/180
|
||||
fork_dx = 0.5 * wheel_radius
|
||||
fork_dy = 2*fork_length
|
||||
fork_dz = front_steer_L
|
||||
fork_offset = fork_length - 0.5*front_steer_L
|
||||
wheel_x0 = rear_steer_dx
|
||||
wheel_y0 = half_track
|
||||
steer_limit = 55 * Math::PI / 180.0
|
||||
|
||||
rear_wheel_locations = {
|
||||
"rear_left" => {:x0 => -wheel_x0, :y0 => wheel_y0 },
|
||||
"rear_right" => {:x0 => -wheel_x0, :y0 => -wheel_y0 },
|
||||
}
|
||||
|
||||
# inertia
|
||||
frame_mass = 10
|
||||
frame_ixx = frame_mass/12.0 * (frame_dy**2 + frame_dz**2)
|
||||
frame_iyy = frame_mass/12.0 * (frame_dz**2 + frame_dx**2)
|
||||
frame_izz = frame_mass/12.0 * (frame_dx**2 + frame_dy**2)
|
||||
# frame c.g. offset from center of box
|
||||
frame_cgx = frame_dx*0.0
|
||||
frame_cgy = 0
|
||||
frame_cgz = 0
|
||||
frame_mass = 10
|
||||
fork_mass = frame_mass / 3
|
||||
fork_ixx = fork_mass/12.0 * (fork_dy**2 + fork_dz**2)
|
||||
fork_iyy = fork_mass/12.0 * (fork_dz**2 + fork_dx**2)
|
||||
fork_izz = fork_mass/12.0 * (fork_dx**2 + fork_dy**2)
|
||||
wheel_mass = 0.5
|
||||
wheel_ixx = 0.4 * wheel_mass * wheel_radius**2
|
||||
wheel_iyy = wheel_ixx
|
||||
wheel_izz = wheel_ixx
|
||||
|
||||
# wheel surface properties
|
||||
wheel_kp = 1e8
|
||||
wheel_kd = 1
|
||||
wheel_min_depth = 0.0005
|
||||
%>
|
||||
<sdf version="1.6">
|
||||
<model name="trisphere_cycle">
|
||||
<link name="frame">
|
||||
<pose><%= -rear_steer_dx / 2 %> 0 <%= frame_z0 %> 0 <%= -frame_pitch %> 0</pose>
|
||||
<inertial>
|
||||
<pose><%= frame_cgx %> <%= frame_cgy %> <%= frame_cgz %> 0 0 0</pose>
|
||||
<mass><%= frame_mass %></mass>
|
||||
<inertia>
|
||||
<ixx><%= frame_ixx %></ixx>
|
||||
<iyy><%= frame_iyy %></iyy>
|
||||
<izz><%= frame_izz %></izz>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyz>0</iyz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<% ["collision", "visual"].each do |elem| %>
|
||||
<<%= elem %> name="axle_<%= elem %>">
|
||||
<pose><%= -0.5*frame_dx %> 0 0 <%= Math::PI/2 %> 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length><%= 2 * half_track %></length>
|
||||
<radius><%= 0.2 * wheel_radius %></radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<% if elem == "visual" %>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
<% end %>
|
||||
</<%= elem %>>
|
||||
<% end %>
|
||||
<% ["collision", "visual"].each do |elem| %>
|
||||
<<%= elem %> name="frame_left_<%= elem %>">
|
||||
<pose>0 <%= 0.5*frame_dx*Math.tan(frame_angle) %> 0 0 <%= Math::PI/2 %> <%= -frame_angle %></pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length><%= frame_dx / Math.cos(frame_angle) %></length>
|
||||
<radius><%= 0.2 * wheel_radius %></radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<% if elem == "visual" %>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
<% end %>
|
||||
</<%= elem %>>
|
||||
<% end %>
|
||||
<% ["collision", "visual"].each do |elem| %>
|
||||
<<%= elem %> name="frame_right_<%= elem %>">
|
||||
<pose>0 <%= -0.5*frame_dx*Math.tan(frame_angle) %> 0 0 <%= Math::PI/2 %> <%= frame_angle %></pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length><%= frame_dx / Math.cos(frame_angle) %></length>
|
||||
<radius><%= 0.2 * wheel_radius %></radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<% if elem == "visual" %>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
<% end %>
|
||||
</<%= elem %>>
|
||||
<% end %>
|
||||
</link>
|
||||
<link name="fork">
|
||||
<pose><%= front_steer_dx / 2 %> 0 <%= frame_z0 %> 0 <%= -caster_angle %> 0</pose>
|
||||
<inertial>
|
||||
<mass><%= fork_mass %></mass>
|
||||
<inertia>
|
||||
<ixx><%= fork_ixx %></ixx>
|
||||
<iyy><%= fork_iyy %></iyy>
|
||||
<izz><%= fork_izz %></izz>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyz>0</iyz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<% ["collision", "visual"].each do |elem| %>
|
||||
<<%= elem %> name="handlebars_<%= elem %>">
|
||||
<pose>0 0 <%= 2*headtube_length + fork_offset %> <%= Math::PI/2 %> 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length><%= 2*fork_length %></length>
|
||||
<radius><%= 0.5*fork_dx %></radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<% if elem == "visual" %>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
<% end %>
|
||||
</<%= elem %>>
|
||||
<% end %>
|
||||
<% ["collision", "visual"].each do |elem| %>
|
||||
<<%= elem %> name="headtube_<%= elem %>">
|
||||
<pose>0 0 <%= headtube_length + fork_offset %> 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length><%= 2*headtube_length %></length>
|
||||
<radius><%= 0.5*fork_dx %></radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<% if elem == "visual" %>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
<% end %>
|
||||
</<%= elem %>>
|
||||
<% end %>
|
||||
<% ["collision", "visual"].each do |elem| %>
|
||||
<<%= elem %> name="spindle_<%= elem %>">
|
||||
<pose>0 0 <%= -fork_length + fork_offset %> <%= Math::PI/2 %> 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length><%= 2 * fork_length %></length>
|
||||
<radius><%= 0.1 * wheel_radius %></radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<% if elem == "visual" %>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
<% end %>
|
||||
</<%= elem %>>
|
||||
<% end %>
|
||||
<% ["collision", "visual"].each do |elem| %>
|
||||
<<%= elem %> name="fork_left_<%= elem %>">
|
||||
<pose>0 <%= fork_length / 2 %> <%= -fork_length/2 + fork_offset %> <%= Math::PI/4 %> 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length><%= fork_length * Math.sqrt(2) %></length>
|
||||
<radius><%= 0.5*fork_dx %></radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<% if elem == "visual" %>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
<% end %>
|
||||
</<%= elem %>>
|
||||
<% end %>
|
||||
<% ["collision", "visual"].each do |elem| %>
|
||||
<<%= elem %> name="fork_right_<%= elem %>">
|
||||
<pose>0 <%= -fork_length / 2 %> <%= -fork_length/2 + fork_offset %> <%= -Math::PI/4 %> 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length><%= fork_length * Math.sqrt(2) %></length>
|
||||
<radius><%= 0.5*fork_dx %></radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<% if elem == "visual" %>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Grey</name>
|
||||
</script>
|
||||
</material>
|
||||
<% end %>
|
||||
</<%= elem %>>
|
||||
<% end %>
|
||||
</link>
|
||||
<link name="wheel_front">
|
||||
<pose><%= front_steer_dx %> 0 <%= wheel_radius %> 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass><%= wheel_mass %></mass>
|
||||
<inertia>
|
||||
<ixx><%= wheel_ixx %></ixx>
|
||||
<iyy><%= wheel_iyy %></iyy>
|
||||
<izz><%= wheel_izz %></izz>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyz>0</iyz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius><%= wheel_radius %></radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<kp><%= wheel_kp %></kp>
|
||||
<kd><%= wheel_kd %></kd>
|
||||
<min_depth><%= wheel_min_depth %></min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius><%= wheel_radius %></radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Black</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="wheel_front_steer" type="revolute">
|
||||
<parent>frame</parent>
|
||||
<child>fork</child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower><%= -steer_limit %></lower>
|
||||
<upper><%= steer_limit %></upper>
|
||||
</limit>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint name="wheel_front_spin" type="revolute">
|
||||
<parent>fork</parent>
|
||||
<child>wheel_front</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
<%
|
||||
rear_wheel_locations.keys.each do |k|
|
||||
x0 = rear_wheel_locations[k][:x0]
|
||||
y0 = rear_wheel_locations[k][:y0]
|
||||
%>
|
||||
<link name="wheel_<%= k %>">
|
||||
<pose><%= x0 %> <%= y0 %> <%= wheel_radius %> 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass><%= wheel_mass %></mass>
|
||||
<inertia>
|
||||
<ixx><%= wheel_ixx %></ixx>
|
||||
<iyy><%= wheel_iyy %></iyy>
|
||||
<izz><%= wheel_izz %></izz>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyz>0</iyz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius><%= wheel_radius %></radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<kp><%= wheel_kp %></kp>
|
||||
<kd><%= wheel_kd %></kd>
|
||||
<min_depth><%= wheel_min_depth %></min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<sphere>
|
||||
<radius><%= wheel_radius %></radius>
|
||||
</sphere>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||||
<name>Gazebo/Black</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</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>
|
||||
Reference in New Issue
Block a user