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Quella777
2025-08-25 16:30:02 +08:00
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wooden_case/model.rsdf Normal file
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<?xml version="1.0" ?>
<%
# Wooden case for ARAT models
# SI units (length in meters)
# Geometry
inchToMeter = 0.0254
width = 23 * inchToMeter
height = 14 * inchToMeter
depth = 5 * inchToMeter
thickness = 0.75 * inchToMeter
d = depth
h = height
t = thickness
w = width
# blocks on bottom of case
block_size = [0.108, 0.050, 0.024]
block_dx = 0.5*(depth - block_size[0])
block_dy = 0.5*(w - block_size[1]) - 0.052
block_dz = -0.5 * block_size[2]
base_pieces = {
"back" => {:size => [t, w-2*t, h-2*t], :pos => [-0.5*(d-t), 0, h/2]},
"bottom" => {:size => [d, w, t], :pos => [0, 0, t / 2.0]},
"top" => {:size => [d, w, t], :pos => [0, 0, h - t / 2.0]},
"left" => {:size => [d, t, h - 2*t], :pos => [0, -0.5*(w-t), 0.5*h]},
"right" => {:size => [d, t, h - 2*t], :pos => [0, 0.5*(w-t), 0.5*h]},
"block_left" => {:size => block_size, :pos => [block_dx, -block_dy, block_dz]},
"block_right" => {:size => block_size, :pos => [block_dx, block_dy, block_dz]},
}
# Material
# Assume soft wood with density of 500 kg / m^3
density = 500
# Surface parameters
surface = "
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>"
%>
<sdf version="1.5">
<model name="wooden_case">
<link name="base">
<%
# Compute inertia
# Compute mass of each component
# mass: total mass
mass = 0
base_pieces.keys.each do |k|
dx = base_pieces[k][:size][0]
dy = base_pieces[k][:size][1]
dz = base_pieces[k][:size][2]
m = density * dx * dy * dz
mass += m
base_pieces[k][:mass] = m
ixx = m/12.0 * (dy**2 + dz**2)
iyy = m/12.0 * (dz**2 + dx**2)
izz = m/12.0 * (dx**2 + dy**2)
base_pieces[k][:ixx] = ixx
base_pieces[k][:iyy] = iyy
base_pieces[k][:izz] = izz
end
# Compute lumped center of mass
cx_sum = 0.0
cy_sum = 0.0
cz_sum = 0.0
base_pieces.keys.each do |k|
m = base_pieces[k][:mass]
pos = base_pieces[k][:pos]
cx_sum += m * pos[0]
cy_sum += m * pos[1]
cz_sum += m * pos[2]
end
c = [cx_sum / mass, cy_sum / mass, cz_sum / mass]
# Compute lumped moments of inertia with respect to center of mass
lumped_ixx = 0.0
lumped_iyy = 0.0
lumped_izz = 0.0
lumped_ixy = 0.0
lumped_ixz = 0.0
lumped_iyz = 0.0
base_pieces.keys.each do |k|
m = base_pieces[k][:mass]
pos = base_pieces[k][:pos]
ixx = base_pieces[k][:ixx]
iyy = base_pieces[k][:iyy]
izz = base_pieces[k][:izz]
cx = pos[0] - c[0]
cy = pos[1] - c[1]
cz = pos[2] - c[2]
lumped_ixx += ixx + m*(cy*cy + cz*cz)
lumped_iyy += iyy + m*(cz*cz + cx*cx)
lumped_izz += izz + m*(cx*cx + cy*cy)
lumped_ixy -= m*cx*cy
lumped_ixz -= m*cx*cz
lumped_iyz -= m*cy*cz
end
ixx = lumped_ixx
iyy = lumped_iyy
izz = lumped_izz
ixy = lumped_ixy
ixz = lumped_ixz
iyz = lumped_iyz
%>
<pose>0 0 <%= block_size[2] %> 0 0 0</pose>
<inertial>
<pose><%= c.join(' ') %> 0 0 0</pose>
<mass><%= mass %></mass>
<inertia>
<ixx><%= ixx %></ixx>
<ixy><%= ixy %></ixy>
<ixz><%= ixz %></ixz>
<iyy><%= iyy %></iyy>
<iyz><%= iyz %></iyz>
<izz><%= izz %></izz>
</inertia>
</inertial>
<% base_pieces.keys.each do |k|
name = k
dx = base_pieces[k][:size][0]
dy = base_pieces[k][:size][1]
dz = base_pieces[k][:size][2]
pose = base_pieces[k][:pos].join(' ') + " 0 0 0"
%>
<%= "<collision name='collision_#{name}'>" %>
<pose><%= pose %></pose>
<geometry>
<box>
<size><%= dx %> <%= dy %> <%= dz %></size>
</box>
</geometry>
<surface>
<%= surface %>
</surface>
</collision>
<%= "<visual name='visual_#{name}'>" %>
<pose><%= pose %></pose>
<geometry>
<box>
<size><%= dx %> <%= dy %> <%= dz %></size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<% end %>
</link>
<link name="lid">
<% # Size and inertia of box lid
dx = height
dy = width
dz = t
pos = [(dx+depth + block_size[2]-t)/2, 0, t/2]
mass = density * dx * dy * dz
ixx = mass/12.0 * (dy**2 + dz**2)
iyy = mass/12.0 * (dz**2 + dx**2)
izz = mass/12.0 * (dx**2 + dy**2)
tee_nut_diameter = 0.5 * inchToMeter
tee_nut_radius = tee_nut_diameter / 2
tee_nut_length = t*1.01
tee_nut_pos = {
"tee_nut_1" => [0.122, -0.216, 0.0],
"tee_nut_2" => [0.122, -0.088, 0.0],
"tee_nut_3" => [0.122, 0.088, 0.0],
"tee_nut_4" => [0.122, 0.216, 0.0],
}
%>
<pose><%= pos.join(' ') %> 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>
<box>
<size><%= dx %> <%= dy %> <%= dz %></size>
</box>
</geometry>
<surface>
<%= surface %>
</surface>
</collision>
<visual name='visual'>
<geometry>
<box>
<size><%= dx %> <%= dy %> <%= dz %></size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Wood</name>
</script>
</material>
</visual>
<% tee_nut_pos.keys.each do |k|
name = k
pos = tee_nut_pos[k]
%>
<%= "<visual name='#{name}'>" %>
<pose><%= pos.join(' ') %> 0 0 0</pose>
<geometry>
<cylinder>
<radius><%= tee_nut_radius %></radius>
<length><%= tee_nut_length %></length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<% end %>
</link>
<joint name="lid_hinge" type="revolute">
<pose><%= -h/2 %> 0 <%= t %> 0 0 0</pose>
<parent>base</parent>
<child>lid</child>
<axis>
<xyz>0 1 0</xyz>
<limit>
<upper><%= Math::PI/6 %></upper>
<lower><%= -Math::PI/2 %></lower>
</limit>
</axis>
</joint>
</model>
</sdf>