61 lines
1.3 KiB
Plaintext
61 lines
1.3 KiB
Plaintext
|
<?xml version="1.0" ?>
|
||
|
|
<%
|
||
|
|
# SI units (length in meters)
|
||
|
|
|
||
|
|
# Geometry
|
||
|
|
# Height
|
||
|
|
h = 0.08
|
||
|
|
# diameter
|
||
|
|
d = 0.0195
|
||
|
|
r = d/2.0
|
||
|
|
|
||
|
|
# Inertia
|
||
|
|
mass = 0.0175
|
||
|
|
ixx = mass/12.0 * (3*r**2 + h**2 )
|
||
|
|
iyy = mass/12.0 * (3*r**2 + h**2 )
|
||
|
|
izz = mass/2.0 * r**2
|
||
|
|
%>
|
||
|
|
<sdf version="1.5">
|
||
|
|
<model name="wooden_peg">
|
||
|
|
<link name="link">
|
||
|
|
<pose>0 0 <%= h/2 %> 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<mass><%= mass %></mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx><%= ixx %></ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy><%= iyy %></iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz><%= izz %></izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius> <%= r %> </radius>
|
||
|
|
<length> <%= h %> </length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius> <%= r %> </radius>
|
||
|
|
<length> <%= h %> </length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/Wood</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
</sdf>
|