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updates per suggestion from Thomas http://www.seas.upenn.edu/~thomasko/model-1_3.sdf for cordless drill model

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This commit is contained in:
John Hsu 2013-01-30 12:13:05 -08:00
parent 456b37f4b6
commit 285ed27592
2 changed files with 20 additions and 14 deletions
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17
cordless_drill/model-1_3.sdf
View File

@ -3,17 +3,19 @@
<model name="drill"> <model name="drill">
<link name="link"> <link name="link">
<inertial> <inertial>
<pose>-0.00637 -0.008 0.13254 0 0 0</pose>
<inertia> <inertia>
<ixx>0.01</ixx> <ixx>0.01331127</ixx>
<ixy>0</ixy> <ixy>-0.00030365</ixy>
<ixz>0</ixz> <ixz>-0.00034148</ixz>
<iyy>0.01</iyy> <iyy>0.01157659</iyy>
<iyz>0</iyz> <iyz>0.00088073</iyz>
<izz>0.01</izz> <izz>0.00378028</izz>
</inertia> </inertia>
<mass>1.0</mass> <mass>1.50251902</mass>
</inertial> </inertial>
<collision name="collision"> <collision name="collision">
<pose>0 0 -0.09 0 0 0</pose>
<geometry> <geometry>
<mesh> <mesh>
<uri>model://cordless_drill/meshes/cordless_drill.stl</uri> <uri>model://cordless_drill/meshes/cordless_drill.stl</uri>
@ -21,6 +23,7 @@
</geometry> </geometry>
</collision> </collision>
<visual name="visual"> <visual name="visual">
<pose>0 0 -0.09 0 0 0</pose>
<geometry> <geometry>
<mesh> <mesh>
<uri>model://cordless_drill/meshes/cordless_drill.dae</uri> <uri>model://cordless_drill/meshes/cordless_drill.dae</uri>

17
cordless_drill/model.sdf
View File

@ -3,17 +3,19 @@
<model name="drill"> <model name="drill">
<link name="link"> <link name="link">
<inertial> <inertial>
<pose>-0.00637 -0.008 0.13254 0 0 0</pose>
<inertia> <inertia>
<ixx>0.01</ixx> <ixx>0.01331127</ixx>
<ixy>0</ixy> <ixy>-0.00030365</ixy>
<ixz>0</ixz> <ixz>-0.00034148</ixz>
<iyy>0.01</iyy> <iyy>0.01157659</iyy>
<iyz>0</iyz> <iyz>0.00088073</iyz>
<izz>0.01</izz> <izz>0.00378028</izz>
</inertia> </inertia>
<mass>1.0</mass> <mass>1.50251902</mass>
</inertial> </inertial>
<collision name="collision"> <collision name="collision">
<pose>0 0 -0.09 0 0 0</pose>
<geometry> <geometry>
<mesh> <mesh>
<uri>model://cordless_drill/meshes/cordless_drill.stl</uri> <uri>model://cordless_drill/meshes/cordless_drill.stl</uri>
@ -21,6 +23,7 @@
</geometry> </geometry>
</collision> </collision>
<visual name="visual"> <visual name="visual">
<pose>0 0 -0.09 0 0 0</pose>
<geometry> <geometry>
<mesh> <mesh>
<uri>model://cordless_drill/meshes/cordless_drill.dae</uri> <uri>model://cordless_drill/meshes/cordless_drill.dae</uri>