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Mar 27th, 2012
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  1. <?xml version="1.0"?>
  2.  
  3. <robot
  4.    xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
  5.    xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
  6.    xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" name="lol">
  7.  
  8.  
  9. <macro name="wheel" params="prefix front right">
  10.         <link name="${prefix}_wheel_link">
  11.             <visual>
  12.                 <origin rpy="${pi/2} 0 0" xyz="0 0 0" />
  13.                 <geometry>
  14.                     <cylinder radius="${wheel_diameter/2}" length="${wheel_width}" />
  15.                 </geometry>
  16.                 <material name="Black" />
  17.             </visual>
  18.             <collision>
  19.                 <origin rpy="${pi/2} 0 0" xyz="0 0 0" />
  20.                 <geometry>
  21.                     <cylinder radius="${wheel_diameter/2}" length="${wheel_width}" />
  22.                 </geometry>
  23.             </collision>
  24.             <inertial>
  25.                 <mass value="${wheel_mass}" />
  26.                 <origin xyz="0 0 0" />
  27.                 <inertia  ixx="0.0109375" ixy="0.0"  ixz="0.0"  iyy="0.021125"  iyz="0.0"  izz="0.0109375" />
  28.             </inertial>
  29.         </link>
  30.  
  31.         <joint name="${prefix}_wheel_joint" type="continuous">
  32.             <axis xyz="0 1 0" />
  33.             <origin xyz="${front*(body_length-0.1)/2} ${right*(body_width+wheel_width)/2} 0" />
  34.             <anchor xyz="0 0 0" />
  35.                     <limit effort="100" velocity="100" />
  36.                     <joint_properties damping="0.0" friction="0.0" />
  37.             <parent link="base_link" />
  38.             <child link="${prefix}_wheel_link" />
  39.         </joint>
  40.  
  41.         <gazebo reference="${prefix}_wheel_link">
  42.             <mu1 value="10.0" /> <!-- Estava en tots els mu1 a 2.0 xo crec que patina massa -->
  43.             <mu2 value="1.0" />
  44.             <fdir1 value="1 0 0"/>
  45.             <kp value="1000000.0"/>
  46.             <kd value="100.0"/>
  47.             <material>Gazebo/Black</material>
  48.             <turnGravityOff>false</turnGravityOff>
  49.         </gazebo>
  50.  
  51.         <transmission type="pr2_mechanism_model/SimpleTransmission" name="${prefix}_wheel_trans">
  52.             <actuator name="${prefix}_wheel_motor" />
  53.             <joint name="${prefix}_wheel_joint" />
  54.             <mechanicalReduction>1.0</mechanicalReduction>
  55.         </transmission>
  56.  
  57. </macro>
  58. </robot>
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