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Quella777
2025-08-25 16:30:02 +08:00
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cinder_block_wide/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="cinder_block_wide">
<link name="link">
<inertial>
<pose>0 0 0.0714375 0 0 0</pose>
<mass>5</mass>
<!-- approximate as uniform box 0.387 x 0.387 x 0.092 m -->
<inertia>
<ixx>0.06814656666666667</ixx>
<ixy>0.0000</ixy>
<iyy>0.06814656666666667</iyy>
<ixz>0.0000</ixz>
<iyz>0.0000</iyz>
<izz>0.1248075</izz>
</inertia>
</inertial>
<visual name="visual">
<geometry>
<mesh>
<uri>model://cinder_block_wide/meshes/cinder_block_wide.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="top">
<pose>0 0 0.130175 0 0 0</pose>
<geometry>
<box>
<size>0.387353556 0.387353556 0.0254</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
<friction>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
</friction>
</surface>
</collision>
<collision name="bottom">
<pose>0 0 0.0127 0 0 0</pose>
<geometry>
<box>
<size>0.387353556 0.387353556 0.0254</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
<friction>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
</friction>
</surface>
</collision>
<collision name="left">
<pose>0 -0.183355107 0.0714375 0 0 0</pose>
<geometry>
<box>
<size>0.387353556 0.020643342 0.092075</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
<friction>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
</friction>
</surface>
</collision>
<collision name="right">
<pose>0 0.183355107 0.0714375 0 0 0</pose>
<geometry>
<box>
<size>0.387353556 0.020643342 0.092075</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
<friction>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
</friction>
</surface>
</collision>
<collision name="middle">
<pose>0 0 0.0714375 0 0 0</pose>
<geometry>
<box>
<size>0.387353556 0.0254 0.092075</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
<friction>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
</friction>
</surface>
</collision>
</link>
</model>
</sdf>