110 lines
2.6 KiB
Plaintext
110 lines
2.6 KiB
Plaintext
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<?xml version="1.0" ?>
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<%
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# SI units (length in meters)
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# Geometry
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diameter = 0.084
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radius = diameter/2.0
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height = 0.0115
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# mesh height offset
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mesh_dz = 0.0010
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mesh_pose = "<pose>0 0 #{mesh_dz} 0 0 0</pose>"
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# base cylinder height
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cylinder_height = 0.002
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cylinder_pose = "<pose>0 0 #{cylinder_height/2} 0 0 0</pose>"
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# Inertia: approximate as a thin-walled cylindrical tube (not accurate)
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mass = 0.0142
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ixx = mass*(radius**2/2 + height**2/12)
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iyy = ixx
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izz = mass*radius**2
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%>
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<sdf version="1.5">
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<model name="round_tin_top">
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<link name="link">
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<inertial>
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<pose>0 0 <%= height/2 %> 0 0 0</pose>
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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_cylinder">
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<%= cylinder_pose %>
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<geometry>
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<cylinder>
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<radius><%= radius %></radius>
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<length><%= cylinder_height %></length>
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</cylinder>
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</geometry>
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<surface>
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<contact>
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<ode>
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<max_vel>0.1</max_vel>
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<min_depth>0.0001</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="visual_cylinder">
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<%= cylinder_pose %>
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<geometry>
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<cylinder>
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<radius><%= radius %></radius>
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<length><%= cylinder_height %></length>
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</cylinder>
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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/Grey</name>
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</script>
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</material>
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</visual>
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<collision name="collision">
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<%= mesh_pose %>
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<geometry>
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<mesh>
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<uri>model://round_tin_top/meshes/round_tin_top.dae</uri>
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</mesh>
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</geometry>
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<surface>
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<contact>
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<ode>
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<max_vel>0.1</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="visual">
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<%= mesh_pose %>
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<geometry>
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<mesh>
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<uri>model://round_tin_top/meshes/round_tin_top.dae</uri>
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</mesh>
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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/Grey</name>
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</script>
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</material>
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</visual>
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</link>
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</model>
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</sdf>
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