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update customization

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This commit is contained in:
Pierre Lecomte 2024-05-17 16:47:19 +02:00
parent dd3edee858
commit 3274028762
5 changed files with 106 additions and 37 deletions
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6
cad/sma_open.scad
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@ -8,7 +8,7 @@
*/
// To visualize the whole SMA
//open_sma();
open_sma();
// To render only one attach or the support, ready to print
//ready_to_print(5);
@ -31,7 +31,9 @@ theta = [0, 109.471, 109.471, 109.471, 70.5284, 180];
// microphone azimuth coordinates (°):
phi = [0, 240, 120, 0, 180, 0];
// connection matrix : For the i-th microphone, the neighbouring microphones number are listed in the i-th row (i starts at 0).
/* Connection matrix: For the i-th microphone, the neighbouring microphones number are listed in the i-th row (i starts at 0).
*/
// connection matrix
neighbors =
[
[1, 2, 3, 4], //0

84
cad/sma_rigid.json
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@ -15,38 +15,6 @@
"screw_phi_offset": "22.5",
"theta": "[0, 109.471, 109.471, 109.471]"
},
"mclaren30": {
"angle_max": "72",
"angle_min": "65",
"d_hole": "13",
"d_screw": "3",
"dir_thread": "[-7, -9]",
"e": "5",
"hole_phi_offset": "-5",
"mics_rotate": "[-90, 0, 0]",
"n_screw": "4",
"phi": "[0, 0, 90, 180, 270, 0, 63.9988, 153.999, 243.999, 333.999, 17.1086, 107.109, 197.109, 287.109, 57.7455, 147.746, 237.746, 327.746, 32.2545, 122.254, 212.254, 302.254, 72.8914, 162.891, 252.891, 342.891, 26.0012, 116.001, 206.001, 296.001]",
"r": "75",
"res": "360",
"screw_phi_offset": "35",
"theta": "[0, 90, 90, 90, 90, 180, 35.0738, 35.0738, 35.0738, 35.0738, 58.9043, 58.9043, 58.9043, 58.9043, 75.4093, 75.4093, 75.4093, 75.4093, 104.591, 104.591, 104.591, 104.591, 121.096, 121.096, 121.096, 121.096, 144.926, 144.926, 144.926, 144.926]"
},
"lebedev14": {
"angle_max": "82",
"angle_min": "75",
"d_hole": "10",
"d_screw": "3",
"dir_thread": "[13, 0]",
"e": "6",
"hole_phi_offset": "45",
"mics_rotate": "[-90, 0, 0]",
"n_screw": "4",
"phi": "[0, 0, 90, 180, 270, 0, 45, 135, 225, 315, 45, 135, 225, 315]",
"r": "60",
"res": "360",
"screw_phi_offset": "0",
"theta": "[0, 90, 90, 90, 90, 180, 54.7356, 54.7356, 54.7356, 54.7356, 125.264, 125.264, 125.264, 125.264]"
},
"popov10": {
"angle_max": "94",
"angle_min": "86",
@ -62,6 +30,58 @@
"res": "32",
"screw_phi_offset": "0",
"theta": "[0, 180, 63.4349, 116.565, 116.565, 63.4349, 116.565, 63.4349, 63.4349, 116.565]"
},
"lebedev14": {
"angle_max": "82",
"angle_min": "75",
"d_hole": "10",
"d_screw": "3",
"dir_thread": "[13, 0]",
"e": "6",
"hole_phi_offset": "45",
"mic_type": "1\/4",
"mics_rotate": "[-90, 0, 0]",
"n_screw": "4",
"phi": "[0, 0, 90, 180, 270, 0, 45, 135, 225, 315, 45, 135, 225, 315]",
"r": "60",
"res": "32",
"screw_phi_offset": "0",
"theta": "[0, 90, 90, 90, 90, 180, 54.7356, 54.7356, 54.7356, 54.7356, 125.264, 125.264, 125.264, 125.264]",
"usb_card": "false"
},
"mclaren30": {
"angle_max": "72",
"angle_min": "65",
"d_hole": "13",
"d_screw": "3",
"dir_thread": "[-7, -9]",
"e": "5",
"hole_phi_offset": "-5",
"mics_rotate": "[-90, 0, 0]",
"n_screw": "4",
"phi": "[0, 0, 90, 180, 270, 0, 63.9988, 153.999, 243.999, 333.999, 17.1086, 107.109, 197.109, 287.109, 57.7455, 147.746, 237.746, 327.746, 32.2545, 122.254, 212.254, 302.254, 72.8914, 162.891, 252.891, 342.891, 26.0012, 116.001, 206.001, 296.001]",
"r": "75",
"res": "32",
"screw_phi_offset": "35",
"theta": "[0, 90, 90, 90, 90, 180, 35.0738, 35.0738, 35.0738, 35.0738, 58.9043, 58.9043, 58.9043, 58.9043, 75.4093, 75.4093, 75.4093, 75.4093, 104.591, 104.591, 104.591, 104.591, 121.096, 121.096, 121.096, 121.096, 144.926, 144.926, 144.926, 144.926]"
},
"popov22": {
"angle_max": "93",
"angle_min": "87",
"d_hole": "10",
"d_screw": "3",
"dir_thread": "[13, 0]",
"e": "6",
"hole_phi_offset": "45",
"mic_type": "1\/4",
"mics_rotate": "[0, 0, 0]",
"n_screw": "4",
"phi": "[0, 72, 108, 144, 180, 216, 252, 288, 324, 0, 36, 0, 252, 288, 324, 0, 36, 72, 108, 144, 180, 216]",
"r": "55",
"res": "32",
"screw_phi_offset": "0",
"theta": "[0, 46.7442, 79.9551, 46.7442, 79.9551, 46.7442, 79.9551, 46.7442, 79.9551, 46.7442, 79.9551, 180, 133.256, 100.045, 133.256, 100.045, 133.256, 100.045, 133.256, 100.045, 133.256, 100.045]",
"usb_card": "true"
}
},
"fileFormatVersion": "1"

3
cad/sma_rigid.scad
View File

@ -149,6 +149,9 @@ circle(2.6);
}
}
module tdm(){
}
module mics(type){
rotate(mics_rotate)
for (i = [0 : len(theta)-1]){

50
wx250s_custom/wx250s_custom.urdf.xacro
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@ -448,7 +448,7 @@
<axis xyz="1 0 0"/>
<origin
rpy="0 0 0"
xyz="0.128 0 0"/>
xyz="0.196 0 0"/>
<parent
link="$(arg robot_name)/sma_attach_link"/>
<child
@ -458,7 +458,7 @@
<link name="$(arg robot_name)/sma_link">
<visual>
<origin
rpy="0 0 ${pi/2}"
rpy="0 0 0"
xyz="0 0 0"/>
<geometry>
<mesh
@ -468,7 +468,7 @@
</visual>
<collision>
<origin
rpy="0 0 ${pi/2}"
rpy="0 0 0"
xyz="0 0 0"/>
<geometry>
<mesh
@ -487,6 +487,50 @@
iyz="0"/>
</inertial>
</link>
<joint name="sma2" type="fixed">
<axis xyz="1 0 0"/>
<origin
rpy="0 0 0"
xyz="0 0 0"/>
<parent
link="$(arg robot_name)/sma_link"/>
<child
link="$(arg robot_name)/sma_link2"/>
</joint>
<link name="$(arg robot_name)/sma_link2">
<visual>
<origin
rpy="0 0 0"
xyz="0 0 0"/>
<geometry>
<mesh
filename="${mesh_directory}/sma.stl"
scale="0.001 0.001 0.001"/>
</geometry>
</visual>
<collision>
<origin
rpy="0 0 0"
xyz="0 0 0"/>
<geometry>
<mesh
filename="${mesh_directory}/sma.stl"
scale="0.001 0.001 0.001"/>
</geometry>
</collision>
<inertial>
<mass value="0"/>
<inertia
ixx="0.001"
iyy="0.001"
izz="0.001"
ixy="0"
ixz="0"
iyz="0"/>
</inertial>
</link>
<xacro:if value="${hardware_type == 'gz_classic'}">
<xacro:gazebo_configs/>

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wx250s_custom/wx250s_custom_meshes/sma.stl
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