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Updated mesh for round_tin_base

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This commit is contained in:
Steve Peters 2014-10-21 15:52:14 -07:00
parent 31803162a7
commit ea2b7cc852
3 changed files with 217 additions and 40 deletions
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150
round_tin_base/meshes/round_tin_base.dae
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File diff suppressed because one or more lines are too long

62
round_tin_base/model.rsdf
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@ -4,21 +4,29 @@
# Geometry
d = 0.08
r = d/2.0
diameter = 0.08
radius = diameter/2.0
height = 0.02817
# mesh height offset
mesh_dz = 0.00017
mesh_pose = "<pose>0 0 #{mesh_dz} 0 0 0</pose>"
# base cylinder height
cylinder_height = 0.001
cylinder_pose = "<pose>0 0 #{cylinder_height/2} 0 0 0</pose>"
# Inertia: approximate as a thin-walled cylindrical tube (not accurate)
mass = 0.0223
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_base">
<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">
<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_mesh">
<%= 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">
<%= mesh_pose %>
<geometry>
<mesh>
<uri>model://round_tin_base/meshes/round_tin_base.dae</uri>
@ -40,13 +83,14 @@
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
<min_depth>0.0001</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name="visual">
<visual name="visual_mesh">
<%= mesh_pose %>
<geometry>
<mesh>
<uri>model://round_tin_base/meshes/round_tin_base.dae</uri>

45
round_tin_base/model.sdf
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@ -1,9 +1,10 @@
<?xml version="1.0" ?>
<sdf version="1.5">
<model name="round_tin_base">
<link name="link">
<pose>0 0 0.014085 0 0 0</pose>
<inertial>
<pose>0 0 0.014085 0 0 0</pose>
<mass>0.0223</mass>
<inertia>
<ixx>1.93146783725e-05</ixx>
@ -15,7 +16,42 @@
</inertia>
</inertial>
<collision name="collision">
<collision name="collision_cylinder">
<pose>0 0 0.0005 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.04</radius>
<length>0.001</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_mesh">
<pose>0 0 0.0005 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.04</radius>
<length>0.001</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>0 0 0.00017 0 0 0</pose>
<geometry>
<mesh>
<uri>model://round_tin_base/meshes/round_tin_base.dae</uri>
@ -25,13 +61,14 @@
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
<min_depth>0.0001</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name="visual">
<visual name="visual_mesh">
<pose>0 0 0.00017 0 0 0</pose>
<geometry>
<mesh>
<uri>model://round_tin_base/meshes/round_tin_base.dae</uri>