mirror of
https://github.com/bjoernellens1/cps_rmp220_support.git
synced 2024-12-17 18:54:01 +00:00
40 lines
1.5 KiB
Plaintext
40 lines
1.5 KiB
Plaintext
|
<?xml version="1.0"?>
|
||
|
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
|
||
|
|
|
||
|
|
<!-- Specify some standard inertial calculations https://en.wikipedia.org/wiki/List_of_moments_of_inertia -->
|
||
|
|
<!-- These make use of xacro's mathematical functionality -->
|
||
|
|
|
||
|
|
<xacro:macro name="inertial_sphere" params="mass radius *origin">
|
||
|
|
<inertial>
|
||
|
|
<xacro:insert_block name="origin"/>
|
||
|
|
<mass value="${mass}" />
|
||
|
|
<inertia ixx="${(2/5) * mass * (radius*radius)}" ixy="0.0" ixz="0.0"
|
||
|
|
iyy="${(2/5) * mass * (radius*radius)}" iyz="0.0"
|
||
|
|
izz="${(2/5) * mass * (radius*radius)}" />
|
||
|
|
</inertial>
|
||
|
|
</xacro:macro>
|
||
|
|
|
||
|
|
|
||
|
|
<xacro:macro name="inertial_box" params="mass x y z *origin">
|
||
|
|
<inertial>
|
||
|
|
<xacro:insert_block name="origin"/>
|
||
|
|
<mass value="${mass}" />
|
||
|
|
<inertia ixx="${(1/12) * mass * (y*y+z*z)}" ixy="0.0" ixz="0.0"
|
||
|
|
iyy="${(1/12) * mass * (x*x+z*z)}" iyz="0.0"
|
||
|
|
izz="${(1/12) * mass * (x*x+y*y)}" />
|
||
|
|
</inertial>
|
||
|
|
</xacro:macro>
|
||
|
|
|
||
|
|
|
||
|
|
<xacro:macro name="inertial_cylinder" params="mass length radius *origin">
|
||
|
|
<inertial>
|
||
|
|
<xacro:insert_block name="origin"/>
|
||
|
|
<mass value="${mass}" />
|
||
|
|
<inertia ixx="${(1/12) * mass * (3*radius*radius + length*length)}" ixy="0.0" ixz="0.0"
|
||
|
|
iyy="${(1/12) * mass * (3*radius*radius + length*length)}" iyz="0.0"
|
||
|
|
izz="${(1/2) * mass * (radius*radius)}" />
|
||
|
|
</inertial>
|
||
|
|
</xacro:macro>
|
||
|
|
|
||
|
|
|
||
|
|
</robot>
|