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Fix round_tin meshes, add contact properties to ball_bearing

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This commit is contained in:
Steve Peters 2014-10-23 00:46:12 -07:00
parent ea2b7cc852
commit c28d18d80a
8 changed files with 256 additions and 62 deletions
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8
ball_bearing/model.rsdf
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@ -36,6 +36,14 @@
<radius><%= r %></radius>
</sphere>
</geometry>
<surface>
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.0001</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name="visual">

9
ball_bearing/model.sdf
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@ -1,4 +1,5 @@
<?xml version="1.0" ?>
<sdf version="1.5">
<model name="ball_bearing">
<link name="link">
@ -21,6 +22,14 @@
<radius>0.003</radius>
</sphere>
</geometry>
<surface>
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.0001</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name="visual">

28
round_tin_base/meshes/round_tin_base.dae
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File diff suppressed because one or more lines are too long

6
round_tin_base/model.rsdf
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@ -9,11 +9,11 @@
height = 0.02817
# mesh height offset
mesh_dz = 0.00017
mesh_dz = 0.001
mesh_pose = "<pose>0 0 #{mesh_dz} 0 0 0</pose>"
# base cylinder height
cylinder_height = 0.001
cylinder_height = 0.002
cylinder_pose = "<pose>0 0 #{cylinder_height/2} 0 0 0</pose>"
# Inertia: approximate as a thin-walled cylindrical tube (not accurate)
@ -56,7 +56,7 @@
</surface>
</collision>
<visual name="visual_mesh">
<visual name="visual_cylinder">
<%= cylinder_pose %>
<geometry>
<cylinder>

16
round_tin_base/model.sdf
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@ -12,16 +12,16 @@
<ixz>0</ixz>
<iyy>1.93146783725e-05</iyy>
<iyz>0</iyz>
<izz>3.5680000000000004e-05</izz>
<izz>3.568e-05</izz>
</inertia>
</inertial>
<collision name="collision_cylinder">
<pose>0 0 0.0005 0 0 0</pose>
<pose>0 0 0.001 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.04</radius>
<length>0.001</length>
<length>0.002</length>
</cylinder>
</geometry>
<surface>
@ -34,12 +34,12 @@
</surface>
</collision>
<visual name="visual_mesh">
<pose>0 0 0.0005 0 0 0</pose>
<visual name="visual_cylinder">
<pose>0 0 0.001 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.04</radius>
<length>0.001</length>
<length>0.002</length>
</cylinder>
</geometry>
<material>
@ -51,7 +51,7 @@
</visual>
<collision name="collision_mesh">
<pose>0 0 0.00017 0 0 0</pose>
<pose>0 0 0.001 0 0 0</pose>
<geometry>
<mesh>
<uri>model://round_tin_base/meshes/round_tin_base.dae</uri>
@ -68,7 +68,7 @@
</collision>
<visual name="visual_mesh">
<pose>0 0 0.00017 0 0 0</pose>
<pose>0 0 0.001 0 0 0</pose>
<geometry>
<mesh>
<uri>model://round_tin_base/meshes/round_tin_base.dae</uri>

150
round_tin_top/meshes/round_tin_top.dae
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File diff suppressed because one or more lines are too long

56
round_tin_top/model.rsdf
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@ -4,21 +4,29 @@
# Geometry
d = 0.084
r = d/2.0
diameter = 0.084
radius = diameter/2.0
height = 0.0115
# mesh height offset
mesh_dz = 0.0010
mesh_pose = "<pose>0 0 #{mesh_dz} 0 0 0</pose>"
# base cylinder height
cylinder_height = 0.002
cylinder_pose = "<pose>0 0 #{cylinder_height/2} 0 0 0</pose>"
# Inertia: approximate as a thin-walled cylindrical tube (not accurate)
mass = 0.0142
ixx = mass*(r**2/2 + height**2/12)
iyy = mass*(r**2/2 + height**2/12)
izz = mass*r**2
ixx = mass*(radius**2/2 + height**2/12)
iyy = ixx
izz = mass*radius**2
%>
<sdf version="1.5">
<model name="round_tin_top">
<link name="link">
<pose>0 0 <%= height/2 %> 0 0 0</pose>
<inertial>
<pose>0 0 <%= height/2 %> 0 0 0</pose>
<mass><%= mass %></mass>
<inertia>
<ixx><%= ixx %></ixx>
@ -30,7 +38,42 @@
</inertia>
</inertial>
<collision name="collision_cylinder">
<%= cylinder_pose %>
<geometry>
<cylinder>
<radius><%= radius %></radius>
<length><%= cylinder_height %></length>
</cylinder>
</geometry>
<surface>
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.0001</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name="visual_cylinder">
<%= cylinder_pose %>
<geometry>
<cylinder>
<radius><%= radius %></radius>
<length><%= cylinder_height %></length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Gray</name>
</script>
</material>
</visual>
<collision name="collision">
<%= mesh_pose %>
<geometry>
<mesh>
<uri>model://round_tin_top/meshes/round_tin_top.dae</uri>
@ -47,6 +90,7 @@
</collision>
<visual name="visual">
<%= mesh_pose %>
<geometry>
<mesh>
<uri>model://round_tin_top/meshes/round_tin_top.dae</uri>

45
round_tin_top/model.sdf
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@ -1,21 +1,57 @@
<?xml version="1.0" ?>
<sdf version="1.5">
<model name="round_tin_top">
<link name="link">
<pose>0 0 0.00575 0 0 0</pose>
<inertial>
<pose>0 0 0.00575 0 0 0</pose>
<mass>0.0142</mass>
<inertia>
<ixx>1.2680895833333335e-05</ixx>
<ixx>1.26808958333333e-05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1.2680895833333335e-05</iyy>
<iyy>1.26808958333333e-05</iyy>
<iyz>0</iyz>
<izz>2.5048800000000003e-05</izz>
<izz>2.50488e-05</izz>
</inertia>
</inertial>
<collision name="collision_cylinder">
<pose>0 0 0.001 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.042</radius>
<length>0.002</length>
</cylinder>
</geometry>
<surface>
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.0001</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name="visual_cylinder">
<pose>0 0 0.001 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.042</radius>
<length>0.002</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Gray</name>
</script>
</material>
</visual>
<collision name="collision">
<pose>0 0 0.001 0 0 0</pose>
<geometry>
<mesh>
<uri>model://round_tin_top/meshes/round_tin_top.dae</uri>
@ -32,6 +68,7 @@
</collision>
<visual name="visual">
<pose>0 0 0.001 0 0 0</pose>
<geometry>
<mesh>
<uri>model://round_tin_top/meshes/round_tin_top.dae</uri>