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40 lines
1.5 KiB
Plaintext
40 lines
1.5 KiB
Plaintext
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
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<!-- Specify some standard inertial calculations https://en.wikipedia.org/wiki/List_of_moments_of_inertia -->
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<!-- These make use of xacro's mathematical functionality -->
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<xacro:macro name="inertial_sphere" params="mass radius *origin">
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<inertial>
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<xacro:insert_block name="origin"/>
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<mass value="${mass}" />
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<inertia ixx="${(2/5) * mass * (radius*radius)}" ixy="0.0" ixz="0.0"
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iyy="${(2/5) * mass * (radius*radius)}" iyz="0.0"
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izz="${(2/5) * mass * (radius*radius)}" />
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</inertial>
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</xacro:macro>
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<xacro:macro name="inertial_box" params="mass x y z *origin">
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<inertial>
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<xacro:insert_block name="origin"/>
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<mass value="${mass}" />
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<inertia ixx="${(1/12) * mass * (y*y+z*z)}" ixy="0.0" ixz="0.0"
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iyy="${(1/12) * mass * (x*x+z*z)}" iyz="0.0"
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izz="${(1/12) * mass * (x*x+y*y)}" />
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</inertial>
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</xacro:macro>
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<xacro:macro name="inertial_cylinder" params="mass length radius *origin">
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<inertial>
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<xacro:insert_block name="origin"/>
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<mass value="${mass}" />
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<inertia ixx="${(1/12) * mass * (3*radius*radius + length*length)}" ixy="0.0" ixz="0.0"
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iyy="${(1/12) * mass * (3*radius*radius + length*length)}" iyz="0.0"
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izz="${(1/2) * mass * (radius*radius)}" />
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</inertial>
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</xacro:macro>
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</robot>
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