forked from xtdrone/XTDrone
83 lines
2.3 KiB
XML
83 lines
2.3 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.6">
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<model name="blue_totem">
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<link name="link">
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<inertial>
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<pose>0 0 -2 0 0 0</pose>
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<!-- Mass determined based on buoyancy geometry so object
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floats at mid-point of sphere -->
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<mass>25</mass>
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<!-- Mark only - based on cylinder -->
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<inertia>
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<ixx>1.0</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1.0</iyy>
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<iyz>0</iyz>
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<izz>0.1</izz>
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</inertia>
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</inertial>
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<collision name="collision_inner">
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<pose>0 0 0.367 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.13</radius>
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<length>1.25</length>
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</cylinder>
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</geometry>
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</collision>
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<collision name="collision_outer">
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<pose>0 0 -0.075 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.23</radius>
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<length>0.16</length>
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</cylinder>
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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><uri>model://surmark46104/mesh/surmark46104.dae</uri></mesh>
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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/White</name>
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</script>
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</material>
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</visual>
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<visual name="cover_visual">
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<pose>0 0 0.492 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.131</radius>
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<length>1</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/Blue</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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<plugin name="BuoyancyPlugin" filename="libbuoyancy_gazebo_plugin.so">
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<wave_model>ocean_waves</wave_model>
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<fluid_density>1000</fluid_density>
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<fluid_level>0.0</fluid_level>
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<linear_drag>25.0</linear_drag>
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<angular_drag>2.0</angular_drag>
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<buoyancy name="buoyancy_sphere">
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<link_name>link</link_name>
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<pose>0 0 -0.08 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.23</radius>
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</sphere>
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</geometry>
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</buoyancy>
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</plugin>
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</model>
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</sdf>
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