141 lines
3.4 KiB
XML
141 lines
3.4 KiB
XML
<?xml version="1.0" ?>
|
|
<sdf version="1.4">
|
|
<model name="cinder_block_2">
|
|
<link name="link">
|
|
<inertial>
|
|
<pose>0 0 0.0714375 0 0 0</pose>
|
|
<!-- volume about 0.0085 m^3, density 2000 kg/m^3 -->
|
|
<mass>5</mass>
|
|
<!-- approximate as uniform box 0.37 x 0.17 x 0.20 m -->
|
|
<inertia>
|
|
<ixx>0.06908</ixx>
|
|
<ixy>0.0000</ixy><iyy>0.028705</iyy>
|
|
<ixz>0.0000</ixz><iyz>0.0000</iyz><izz>0.073708</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://cinder_block_2/meshes/cinder_block.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
|
|
<collision name="top">
|
|
<pose>0 0 0.130175 0 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.19368008 0.396875 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>0.19368008 0.396875 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 -0.1857375 0.0714375 0 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.19368008 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>
|
|
|
|
<collision name="right">
|
|
<pose>0 0.1857375 0.0714375 0 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.19368008 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>
|
|
|
|
<collision name="middle">
|
|
<pose>0 0 0.0714375 0 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>0.19368008 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>
|