init

wooden_board/model.rsdf

@@ -0,0 +1,98 @@
+<?xml version="1.0" ?>
+
+<sdf version="1.5">
+  <model name="wooden_board">
+    <link name="base">
+      <%
+        # Wood block with dimensions 33 x 10 x 1 cm
+        # SI units (length in meters)
+
+        # Geometry
+        dx = 0.1016
+        dy = 0.3302
+        dz = 0.01046
+
+        # Inertia
+        mass = 0.2765
+        ixx  = mass/12.0 * (dy**2 + dz**2)
+        iyy  = mass/12.0 * (dz**2 + dx**2)
+        izz  = mass/12.0 * (dx**2 + dy**2)
+
+        inchToMeter = 0.0254
+        tee_nut_diameter = 0.5 * inchToMeter 
+        tee_nut_radius = tee_nut_diameter / 2
+        tee_nut_length = dz*1.01
+        tee_nut_pos = {
+          "tee_nut_1" => [0.0, -0.116, 0.0],
+          "tee_nut_2" => [0.0, -0.038, 0.0],
+          "tee_nut_3" => [0.0,  0.038, 0.0],
+          "tee_nut_4" => [0.0,  0.116, 0.0],
+        }
+      %>
+      <pose>0 0 <%= dz/2 %> 0 0 0</pose>
+      <inertial>
+        <mass><%= mass %></mass>
+        <inertia>
+          <ixx><%= ixx %></ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy><%= iyy %></iyy>
+          <iyz>0</iyz>
+          <izz><%= izz %></izz>
+        </inertia>
+      </inertial>
+
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size><%= dx %> <%= dy %> <%= dz %></size>
+          </box>
+        </geometry>
+        <surface>
+          <contact>
+            <ode>
+              <max_vel>0.1</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
+          </contact>
+        </surface>
+      </collision>
+
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size><%= dx %> <%= dy %> <%= dz %></size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+        </material>
+      </visual>
+
+      <% tee_nut_pos.keys.each do |k|
+          name = k
+          pos  = tee_nut_pos[k]
+      %>
+      <%= "<visual name='#{name}'>" %>
+        <pose><%= pos.join(' ') %>  0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius><%= tee_nut_radius %></radius>
+            <length><%= tee_nut_length %></length>
+          </cylinder>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+        </material>
+      </visual>
+      <% end %>
+    </link>
+
+  </model>
+</sdf>