63 lines
1.3 KiB
Plaintext
63 lines
1.3 KiB
Plaintext
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<?xml version="1.0" ?>
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<%
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# Marble with diameter 1.5 cm
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# SI units (length in meters)
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# Geometry
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d = 0.015
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r = d/2
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# Inertia
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mass = 0.0062
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ixx = 2.0*mass*r**2/5.0
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iyy = 2.0*mass*r**2/5.0
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izz = 2.0*mass*r**2/5.0
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%>
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<sdf version="1.5">
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<model name="marble_1_5cm">
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<link name="link">
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<pose>0 0 <%= r %> 0 0 0</pose>
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<inertial>
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<mass><%= mass %></mass>
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<inertia>
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<ixx><%= ixx %></ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy><%= iyy %></iyy>
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<iyz>0</iyz>
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<izz><%= izz %></izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<sphere>
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<radius><%= r %></radius>
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</sphere>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<sphere>
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<radius><%= r %></radius>
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</sphere>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Blue</name>
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</script>
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</material>
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</visual>
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<!-- approximate rolling friction -->
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<velocity_decay>
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<linear>0.00</linear>
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<angular>0.005</angular>
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</velocity_decay>
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</link>
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</model>
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</sdf>
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