forked from xtdrone/XTDrone
41 lines
1.1 KiB
XML
Executable File
41 lines
1.1 KiB
XML
Executable File
<?xml version="1.0" ?>
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<sdf version="1.6">
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<model name="House">
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<static>1</static>
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<pose>0 0 0.036 0 0 0</pose>
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<link name="link">
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<inertial>
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<mass>1000</mass>
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<inertia> <!-- inertias are tricky to compute -->
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<ixx>1000</ixx>
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<!-- for a box: ixx = 0.083 * mass * (y*y + z*z) -->
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<ixy>0.0</ixy>
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<!-- for a box: ixy = 0 -->
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<ixz>0.0</ixz>
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<!-- for a box: ixz = 0 -->
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<iyy>1000</iyy>
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<!-- for a box: iyy = 0.083 * mass * (x*x + z*z) -->
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<iyz>0.0</iyz>
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<!-- for a box: iyz = 0 -->
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<izz>1000</izz>
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<!-- for a box: izz = 0.083 * mass * (x*x + y*y) -->
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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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<mesh>
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<uri>model://House/meshes/indoor3.dae</uri>
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</mesh>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<mesh>
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<uri>model://House/meshes/indoor3.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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</model>
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</sdf>
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