forked from xtdrone/XTDrone
145 lines
3.8 KiB
XML
145 lines
3.8 KiB
XML
<?xml version='1.0' ?>
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<sdf version='1.4'>
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<world name='empty'>
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<!-- A global light source -->
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<include>
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<uri>model://sun</uri>
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</include>
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<!-- A ground plane -->
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<!-- Physics settings for simulation -->
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<physics type='ode'>
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1</real_time_factor>
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<real_time_update_rate>1000</real_time_update_rate>
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<gravity>0 0 -9.81</gravity>
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</physics>
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<model name='coke_can_box_model'>
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<pose frame=''>0.30 0.0 0.2165 0 0 0</pose>
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<link name='coke_can'>
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<inertial>
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<mass>0.0073</mass>
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<inertia>
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<ixx>7.604166666666669e-07</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>7.604166666666669e-07</iyy>
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<iyz>0</iyz>
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<izz>7.604166666666669e-07</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>0.025 0.025 0.025</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>0.025 0.025 0.025</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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<name>Gazebo/Green</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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</link>
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</model>
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<model name='table_box_model'>
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<static>true</static>
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<pose frame=''>0.40 0.0 0.1 0 -0 1.5707963265</pose>
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<link name='table_box_link'>
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<inertial>
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<mass>1</mass>
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<inertia>
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<ixx>0.166667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.166667</iyy>
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<iyz>0</iyz>
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<izz>0.166667</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>0.30 0.30 0.2</size>
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</box>
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</geometry>
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<max_contacts>10</max_contacts>
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<surface>
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<contact>
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<ode/>
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</contact>
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<bounce/>
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<friction>
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<ode>
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<mu>0.6</mu>
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<mu2>0.6</mu2>
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</ode>
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<torsional>
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<ode/>
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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>0.30 0.30 0.2</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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<name>Gazebo/Black</name>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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</script>
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</material>
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</visual>
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<self_collide>0</self_collide>
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<kinematic>0</kinematic>
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</link>
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</model>
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</world>
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</sdf>
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