61 lines
1.3 KiB
Plaintext
61 lines
1.3 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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# Height
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h = 0.062
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# diameter
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d = 0.0066
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r = d/2.0
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# Inertia
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mass = 0.0121
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ixx = mass/12.0 * (3*r**2 + h**2 )
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iyy = mass/12.0 * (3*r**2 + h**2 )
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izz = mass/2.0 * r**2
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%>
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<sdf version="1.5">
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<model name="metal_peg">
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<link name="link">
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<pose>0 0 <%= h/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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<cylinder>
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<radius> <%= r %> </radius>
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<length> <%= h %> </length>
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</cylinder>
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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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<cylinder>
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<radius> <%= r %> </radius>
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<length> <%= h %> </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/Chrome</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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