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Quella777
2025-08-25 16:30:02 +08:00
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mass_on_rails/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="mass_on_rails">
<link name="base">
<inertial>
<mass>100</mass>
</inertial>
<visual name="vis_base">
<pose>0 0 0.01 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.8</radius>
<length>0.01</length>
</cylinder>
</geometry>
</visual>
<collision name="col_base">
<pose>0 0 0.01 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.8</radius>
<length>0.01</length>
</cylinder>
</geometry>
</collision>
<visual name="vis_rail1">
<pose>0 0.1 1.1 0 0 0</pose>
<geometry>
<box>
<size>0.05 0.05 2.2</size>
</box>
</geometry>
</visual>
<collision name="col_rail1">
<pose>0 0.1 1.1 0 0 0</pose>
<geometry>
<box>
<size>0.05 0.05 2.2</size>
</box>
</geometry>
</collision>
<visual name="vis_rail2">
<pose>0 -0.1 1.1 0 0 0</pose>
<geometry>
<box>
<size>0.05 0.05 2.2</size>
</box>
</geometry>
</visual>
<collision name="col_rail2">
<pose>0 -0.1 1.1 0 0 0</pose>
<geometry>
<box>
<size>0.05 0.05 2.2</size>
</box>
</geometry>
</collision>
</link>
<link name="mass">
<inertial>
<mass>0.1</mass>
<pose>0 0 0.1 0 0 0</pose>
<inertia>
<ixx>0.00067</ixx>
<ixy>0.00000</ixy>
<ixz>0.00000</ixz>
<iyy>0.00067</iyy>
<iyz>0.00000</iyz>
<izz>0.00067</izz>
</inertia>
</inertial>
<visual name="visual">
<pose>0 0 0.1 0 0 0</pose>
<geometry>
<box>
<size>0.2 0.2 0.2</size>
</box>
</geometry>
</visual>
<collision name="collision">
<pose>0 0 0.1 0 0 0</pose>
<geometry>
<box>
<size>0.2 0.2 0.2</size>
</box>
</geometry>
</collision>
</link>
<joint name="joint" type="prismatic">
<parent>base</parent>
<child>mass</child>
<axis>
<dynamics>
<damping>0.01</damping>
<friction>0.01</friction>
</dynamics>
<xyz>0 0 1</xyz>
<limit>
<lower>0</lower>
<upper>2</upper>
</limit>
</axis>
</joint>
</model>
</sdf>