65 lines
1.7 KiB
Plaintext
65 lines
1.7 KiB
Plaintext
|
<?xml version="1.0" ?>
|
||
|
|
<sdf version="1.5">
|
||
|
|
<model name="wood_cube_7_5cm">
|
||
|
|
<link name="link">
|
||
|
|
<pose>0 0 0.0375 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<mass>0.2249</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.00021084374999999999</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>0.00021084374999999999</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>0.00021084374999999999</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.075 0.075 0.075</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<!-- Red Pine coefficients for longitudinal axis of the wood
|
||
|
|
according to:
|
||
|
|
http://www.fpl.fs.fed.us/documnts/fplgtr/fplgtr113/ch04.pdf -->
|
||
|
|
<poissons_ratio>0.347</poissons_ratio>
|
||
|
|
<elastic_modulus>8.8e+09</elastic_modulus>
|
||
|
|
<ode>
|
||
|
|
<kp>100000</kp>
|
||
|
|
<kd>100</kd>
|
||
|
|
<max_vel>100.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<torsional>
|
||
|
|
<coefficient>1.0</coefficient>
|
||
|
|
<use_patch_radius>0</use_patch_radius>
|
||
|
|
<surface_radius>0.01</surface_radius>
|
||
|
|
</torsional>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.075 0.075 0.075</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/Wood</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
</sdf>
|