66 lines
1.4 KiB
Plaintext
66 lines
1.4 KiB
Plaintext
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<?xml version="1.0" ?>
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<%
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# Wood block with dimensions 10 x 10 x 10 cm
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# SI units (length in meters)
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# Geometry
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dx = 0.10
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dy = 0.10
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dz = 0.10
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# Inertia
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mass = 0.5167
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ixx = mass/12.0 * (dy**2 + dz**2)
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iyy = mass/12.0 * (dz**2 + dx**2)
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izz = mass/12.0 * (dx**2 + dy**2)
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%>
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<sdf version="1.5">
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<model name="wood_cube_10cm">
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<link name="link">
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<pose>0 0 <%= dz/2 %> 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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<box>
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<size><%= dx %> <%= dy %> <%= dz %></size>
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</box>
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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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<geometry>
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<box>
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<size><%= dx %> <%= dy %> <%= dz %></size>
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</box>
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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/Wood</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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