109 lines
2.5 KiB
XML
109 lines
2.5 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="mass_on_rails">
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<link name="base">
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<inertial>
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<mass>100</mass>
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</inertial>
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<visual name="vis_base">
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<pose>0 0 0.01 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.8</radius>
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<length>0.01</length>
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</cylinder>
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</geometry>
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</visual>
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<collision name="col_base">
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<pose>0 0 0.01 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.8</radius>
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<length>0.01</length>
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</cylinder>
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</geometry>
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</collision>
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<visual name="vis_rail1">
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<pose>0 0.1 1.1 0 0 0</pose>
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<geometry>
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<box>
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<size>0.05 0.05 2.2</size>
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</box>
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</geometry>
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</visual>
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<collision name="col_rail1">
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<pose>0 0.1 1.1 0 0 0</pose>
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<geometry>
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<box>
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<size>0.05 0.05 2.2</size>
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</box>
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</geometry>
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</collision>
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<visual name="vis_rail2">
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<pose>0 -0.1 1.1 0 0 0</pose>
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<geometry>
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<box>
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<size>0.05 0.05 2.2</size>
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</box>
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</geometry>
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</visual>
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<collision name="col_rail2">
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<pose>0 -0.1 1.1 0 0 0</pose>
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<geometry>
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<box>
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<size>0.05 0.05 2.2</size>
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</box>
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</geometry>
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</collision>
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</link>
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<link name="mass">
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<inertial>
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<mass>0.1</mass>
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<pose>0 0 0.1 0 0 0</pose>
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<inertia>
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<ixx>0.00067</ixx>
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<ixy>0.00000</ixy>
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<ixz>0.00000</ixz>
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<iyy>0.00067</iyy>
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<iyz>0.00000</iyz>
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<izz>0.00067</izz>
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</inertia>
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</inertial>
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<visual name="visual">
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<pose>0 0 0.1 0 0 0</pose>
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<geometry>
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<box>
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<size>0.2 0.2 0.2</size>
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</box>
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</geometry>
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</visual>
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<collision name="collision">
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<pose>0 0 0.1 0 0 0</pose>
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<geometry>
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<box>
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<size>0.2 0.2 0.2</size>
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</box>
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</geometry>
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</collision>
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</link>
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<joint name="joint" type="prismatic">
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<parent>base</parent>
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<child>mass</child>
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<axis>
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<dynamics>
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<damping>0.01</damping>
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<friction>0.01</friction>
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</dynamics>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>0</lower>
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<upper>2</upper>
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</limit>
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</axis>
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</joint>
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</model>
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</sdf>
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