133 lines
3.5 KiB
XML
133 lines
3.5 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="wooden_board">
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<link name="base">
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<pose>0 0 0.00523 0 0 0</pose>
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<inertial>
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<mass>0.2765</mass>
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<inertia>
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<ixx>0.0025148009472833336</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.00024037001228333334</iyy>
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<iyz>0</iyz>
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<izz>0.002750128908333333</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.1016 0.3302 0.01046</size>
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</box>
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</geometry>
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<surface>
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<contact>
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<!-- Red Pine coefficients for longitudinal axis of the wood
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according to:
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http://www.fpl.fs.fed.us/documnts/fplgtr/fplgtr113/ch04.pdf -->
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<poissons_ratio>0.347</poissons_ratio>
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<elastic_modulus>8.8e+09</elastic_modulus>
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<ode>
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<kp>100000</kp>
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<kd>100</kd>
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<max_vel>100.0</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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</contact>
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<friction>
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<torsional>
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<coefficient>1.0</coefficient>
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<use_patch_radius>0</use_patch_radius>
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<surface_radius>0.01</surface_radius>
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</torsional>
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</friction>
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</surface>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.1016 0.3302 0.01046</size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Wood</name>
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</script>
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</material>
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</visual>
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<visual name='tee_nut_1'>
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<pose>0.0 -0.116 0.0 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.00635</radius>
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<length>0.0105646</length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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<visual name='tee_nut_2'>
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<pose>0.0 -0.038 0.0 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.00635</radius>
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<length>0.0105646</length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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<visual name='tee_nut_3'>
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<pose>0.0 0.038 0.0 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.00635</radius>
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<length>0.0105646</length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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<visual name='tee_nut_4'>
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<pose>0.0 0.116 0.0 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.00635</radius>
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<length>0.0105646</length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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</link>
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</model>
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</sdf>
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