476 lines
15 KiB
Plaintext
476 lines
15 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="wooden_case">
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<link name="base">
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<pose>0 0 0.024 0 0 0</pose>
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<inertial>
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<pose>-0.02218446808213116 0.0 0.17159249678128843 0 0 0</pose>
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<mass>3.9626366887499986</mass>
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<inertia>
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<ixx>0.2135364168029657</ixx>
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<ixy>0.0</ixy>
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<ixz>0.0007793770806417083</ixz>
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<iyy>0.07089428398599372</iyy>
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<iyz>0.0</iyz>
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<izz>0.15460392299497075</izz>
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</inertia>
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</inertial>
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<collision name='collision_back'>
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<pose>-0.053975 0 0.17779999999999999 0 0 0</pose>
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<geometry>
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<box>
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<size>0.019049999999999997 0.5460999999999999 0.3175</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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<!-- Red Pine coefficients for longitudinal axis of the wood
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according to:
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http://www.fpl.fs.fed.us/documnts/fplgtr/fplgtr113/ch04.pdf -->
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<poissons_ratio>0.347</poissons_ratio>
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<elastic_modulus>8.8e+09</elastic_modulus>
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<ode>
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<kp>100000</kp>
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<kd>100</kd>
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<max_vel>100.0</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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<friction>
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<torsional>
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<coefficient>1.0</coefficient>
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<use_patch_radius>0</use_patch_radius>
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<surface_radius>0.01</surface_radius>
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</torsional>
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</friction>
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</surface>
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</collision>
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<visual name='visual_back'>
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<pose>-0.053975 0 0.17779999999999999 0 0 0</pose>
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<geometry>
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<box>
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<size>0.019049999999999997 0.5460999999999999 0.3175</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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<collision name='collision_bottom'>
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<pose>0 0 0.009524999999999999 0 0 0</pose>
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<geometry>
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<box>
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<size>0.127 0.5841999999999999 0.019049999999999997</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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<!-- Red Pine coefficients for longitudinal axis of the wood
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according to:
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http://www.fpl.fs.fed.us/documnts/fplgtr/fplgtr113/ch04.pdf -->
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<poissons_ratio>0.347</poissons_ratio>
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<elastic_modulus>8.8e+09</elastic_modulus>
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<ode>
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<kp>100000</kp>
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<kd>100</kd>
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<max_vel>100.0</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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<friction>
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<torsional>
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<coefficient>1.0</coefficient>
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<use_patch_radius>0</use_patch_radius>
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<surface_radius>0.01</surface_radius>
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</torsional>
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</friction>
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</surface>
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</collision>
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<visual name='visual_bottom'>
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<pose>0 0 0.009524999999999999 0 0 0</pose>
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<geometry>
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<box>
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<size>0.127 0.5841999999999999 0.019049999999999997</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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<collision name='collision_top'>
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<pose>0 0 0.34607499999999997 0 0 0</pose>
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<geometry>
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<box>
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<size>0.127 0.5841999999999999 0.019049999999999997</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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<!-- Red Pine coefficients for longitudinal axis of the wood
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according to:
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http://www.fpl.fs.fed.us/documnts/fplgtr/fplgtr113/ch04.pdf -->
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<poissons_ratio>0.347</poissons_ratio>
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<elastic_modulus>8.8e+09</elastic_modulus>
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<ode>
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<kp>100000</kp>
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<kd>100</kd>
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<max_vel>100.0</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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<friction>
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<torsional>
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<coefficient>1.0</coefficient>
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<use_patch_radius>0</use_patch_radius>
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<surface_radius>0.01</surface_radius>
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</torsional>
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</friction>
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</surface>
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</collision>
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<visual name='visual_top'>
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<pose>0 0 0.34607499999999997 0 0 0</pose>
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<geometry>
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<box>
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<size>0.127 0.5841999999999999 0.019049999999999997</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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<collision name='collision_left'>
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<pose>0 -0.28257499999999997 0.17779999999999999 0 0 0</pose>
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<geometry>
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<box>
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<size>0.127 0.019049999999999997 0.3175</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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<!-- Red Pine coefficients for longitudinal axis of the wood
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according to:
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http://www.fpl.fs.fed.us/documnts/fplgtr/fplgtr113/ch04.pdf -->
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<poissons_ratio>0.347</poissons_ratio>
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<elastic_modulus>8.8e+09</elastic_modulus>
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<ode>
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<kp>100000</kp>
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<kd>100</kd>
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<max_vel>100.0</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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<friction>
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<torsional>
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<coefficient>1.0</coefficient>
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<use_patch_radius>0</use_patch_radius>
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<surface_radius>0.01</surface_radius>
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</torsional>
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</friction>
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</surface>
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</collision>
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<visual name='visual_left'>
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<pose>0 -0.28257499999999997 0.17779999999999999 0 0 0</pose>
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<geometry>
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<box>
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<size>0.127 0.019049999999999997 0.3175</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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<collision name='collision_right'>
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||
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<pose>0 0.28257499999999997 0.17779999999999999 0 0 0</pose>
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||
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<geometry>
|
||
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<box>
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||
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<size>0.127 0.019049999999999997 0.3175</size>
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</box>
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</geometry>
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<surface>
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||
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<contact>
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||
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<!-- Red Pine coefficients for longitudinal axis of the wood
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||
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according to:
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|
http://www.fpl.fs.fed.us/documnts/fplgtr/fplgtr113/ch04.pdf -->
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||
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<poissons_ratio>0.347</poissons_ratio>
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||
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<elastic_modulus>8.8e+09</elastic_modulus>
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||
|
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<ode>
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||
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<kp>100000</kp>
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<kd>100</kd>
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<max_vel>100.0</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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<friction>
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<torsional>
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<coefficient>1.0</coefficient>
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<use_patch_radius>0</use_patch_radius>
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<surface_radius>0.01</surface_radius>
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</torsional>
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</friction>
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</surface>
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</collision>
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||
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<visual name='visual_right'>
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||
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<pose>0 0.28257499999999997 0.17779999999999999 0 0 0</pose>
|
||
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<geometry>
|
||
|
|
<box>
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||
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<size>0.127 0.019049999999999997 0.3175</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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||
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</visual>
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||
|
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|
||
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<collision name='collision_block_left'>
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||
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<pose>0.009500000000000001 -0.21509999999999996 -0.012 0 0 0</pose>
|
||
|
|
<geometry>
|
||
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<box>
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||
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<size>0.108 0.05 0.024</size>
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</box>
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</geometry>
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||
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<surface>
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||
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<contact>
|
||
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<!-- Red Pine coefficients for longitudinal axis of the wood
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according to:
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http://www.fpl.fs.fed.us/documnts/fplgtr/fplgtr113/ch04.pdf -->
|
||
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<poissons_ratio>0.347</poissons_ratio>
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||
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<elastic_modulus>8.8e+09</elastic_modulus>
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||
|
|
<ode>
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||
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<kp>100000</kp>
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<kd>100</kd>
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<max_vel>100.0</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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<friction>
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<torsional>
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<coefficient>1.0</coefficient>
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<use_patch_radius>0</use_patch_radius>
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<surface_radius>0.01</surface_radius>
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</torsional>
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</friction>
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</surface>
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||
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</collision>
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||
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|
<visual name='visual_block_left'>
|
||
|
|
<pose>0.009500000000000001 -0.21509999999999996 -0.012 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
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||
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<size>0.108 0.05 0.024</size>
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||
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</box>
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</geometry>
|
||
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<material>
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||
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<script>
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||
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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>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<collision name='collision_block_right'>
|
||
|
|
<pose>0.009500000000000001 0.21509999999999996 -0.012 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.108 0.05 0.024</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<!-- Red Pine coefficients for longitudinal axis of the wood
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||
|
|
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>
|
||
|
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<max_vel>100.0</max_vel>
|
||
|
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<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
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|
<torsional>
|
||
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|
<coefficient>1.0</coefficient>
|
||
|
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<use_patch_radius>0</use_patch_radius>
|
||
|
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<surface_radius>0.01</surface_radius>
|
||
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</torsional>
|
||
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</friction>
|
||
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|
</surface>
|
||
|
|
</collision>
|
||
|
|
<visual name='visual_block_right'>
|
||
|
|
<pose>0.009500000000000001 0.21509999999999996 -0.012 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.108 0.05 0.024</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
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|
<uri>file://media/materials/scripts/gazebo.material</uri>
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||
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|
<name>Gazebo/Wood</name>
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||
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</script>
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||
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</material>
|
||
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|
</visual>
|
||
|
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|
||
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|
</link>
|
||
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|
||
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|
<link name="lid">
|
||
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|
||
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<pose>0.24377499999999996 0 0.009524999999999999 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<mass>1.9787379779999992</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>0.05633673842708405</ixx>
|
||
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<ixy>0</ixy>
|
||
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<ixz>0</ixz>
|
||
|
|
<iyy>0.020911016446734258</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>0.07712807338064145</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
<collision name='collision'>
|
||
|
|
<geometry>
|
||
|
|
<box>
|
||
|
|
<size>0.35559999999999997 0.5841999999999999 0.019049999999999997</size>
|
||
|
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</box>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<!-- Red Pine coefficients for longitudinal axis of the wood
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||
|
|
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>0.35559999999999997 0.5841999999999999 0.019049999999999997</size>
|
||
|
|
</box>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/Wood</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<visual name='tee_nut_1'>
|
||
|
|
<pose>0.122 -0.216 0.0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.00635</radius>
|
||
|
|
<length>0.019240499999999997</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/Grey</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<visual name='tee_nut_2'>
|
||
|
|
<pose>0.122 -0.088 0.0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.00635</radius>
|
||
|
|
<length>0.019240499999999997</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/Grey</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<visual name='tee_nut_3'>
|
||
|
|
<pose>0.122 0.088 0.0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.00635</radius>
|
||
|
|
<length>0.019240499999999997</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/Grey</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<visual name='tee_nut_4'>
|
||
|
|
<pose>0.122 0.216 0.0 0 0 0</pose>
|
||
|
|
<geometry>
|
||
|
|
<cylinder>
|
||
|
|
<radius>0.00635</radius>
|
||
|
|
<length>0.019240499999999997</length>
|
||
|
|
</cylinder>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/Grey</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="lid_hinge" type="revolute">
|
||
|
|
<pose>-0.17779999999999999 0 0.019049999999999997 0 0 0</pose>
|
||
|
|
<parent>base</parent>
|
||
|
|
<child>lid</child>
|
||
|
|
<axis>
|
||
|
|
<xyz>0 1 0</xyz>
|
||
|
|
<limit>
|
||
|
|
<upper>0.5235987755982988</upper>
|
||
|
|
<lower>-1.5707963267948966</lower>
|
||
|
|
</limit>
|
||
|
|
</axis>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
</model>
|
||
|
|
</sdf>
|