71 lines
1.5 KiB
Plaintext
71 lines
1.5 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 = 0.002
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# Inner diameter
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d1 = 0.014
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r1 = d1/2.0
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# Outer diameter
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d2 = 0.035
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r2 = d2/2.0
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# Inertia
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mass = 0.0122
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ixx = mass/12.0 * ( 3*(r1**2 + r2**2) + h**2 )
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iyy = mass/12.0 * ( 3*(r1**2 + r2**2) + h**2 )
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izz = mass/2.0 * (r1**2 + r2**2)
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%>
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<sdf version="1.5">
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<model name="washer">
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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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<mesh>
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<uri>model://washer/meshes/washer.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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<geometry>
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<mesh>
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<uri>model://washer/meshes/washer.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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