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Add tee nuts to wooden_board and change initial positions of metal and wooden pegs

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This commit is contained in:
Steve Peters 2014-10-10 12:11:46 -07:00
parent 38cfc110a7
commit 3908046a3b
6 changed files with 102 additions and 4 deletions
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2
metal_peg_board/model.rsdf
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@ -11,7 +11,7 @@
<include>
<name>peg</name>
<uri>model://metal_peg</uri>
<pose>0 0.038 0 0 0 0</pose>
<pose>0 0.116 0 0 0 0</pose>
</include>
<joint name="board_peg" type="revolute">

2
metal_peg_board/model.sdf
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@ -11,7 +11,7 @@
<include>
<name>peg</name>
<uri>model://metal_peg</uri>
<pose>0 0.038 0 0 0 0</pose>
<pose>0 0.116 0 0 0 0</pose>
</include>
<joint name="board_peg" type="revolute">

32
wooden_board/model.rsdf
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@ -17,6 +17,17 @@
ixx = mass/12.0 * (dy**2 + dz**2)
iyy = mass/12.0 * (dz**2 + dx**2)
izz = mass/12.0 * (dx**2 + dy**2)
inchToMeter = 0.0254
tee_nut_diameter = 0.5 * inchToMeter
tee_nut_radius = tee_nut_diameter / 2
tee_nut_length = dz*1.01
tee_nut_pos = {
"tee_nut_1" => [0.0, -0.116, 0.0],
"tee_nut_2" => [0.0, -0.038, 0.0],
"tee_nut_3" => [0.0, 0.038, 0.0],
"tee_nut_4" => [0.0, 0.116, 0.0],
}
%>
<pose>0 0 <%= dz/2 %> 0 0 0</pose>
<inertial>
@ -60,6 +71,27 @@
</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>
</model>

66
wooden_board/model.sdf
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@ -46,6 +46,72 @@
</script>
</material>
</visual>
<visual name='tee_nut_1'>
<pose>0.0 -0.116 0.0 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.00635</radius>
<length>0.0105646</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<visual name='tee_nut_2'>
<pose>0.0 -0.038 0.0 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.00635</radius>
<length>0.0105646</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<visual name='tee_nut_3'>
<pose>0.0 0.038 0.0 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.00635</radius>
<length>0.0105646</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<visual name='tee_nut_4'>
<pose>0.0 0.116 0.0 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.00635</radius>
<length>0.0105646</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
</link>
</model>

2
wooden_peg_board/model.rsdf
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@ -11,7 +11,7 @@
<include>
<name>peg</name>
<uri>model://wooden_peg</uri>
<pose>0 0.038 0 0 0 0</pose>
<pose>0 0.116 0 0 0 0</pose>
</include>
<joint name="board_peg" type="revolute">

2
wooden_peg_board/model.sdf
View File

@ -11,7 +11,7 @@
<include>
<name>peg</name>
<uri>model://wooden_peg</uri>
<pose>0 0.038 0 0 0 0</pose>
<pose>0 0.116 0 0 0 0</pose>
</include>
<joint name="board_peg" type="revolute">