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Reduce cinderblock mass

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Nate Koenig 2013-05-14 14:07:27 -07:00
parent aa7db92d85
commit a96f68c425
1 changed files with 44 additions and 4 deletions
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48
cinder_block/model.sdf
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@ -5,12 +5,12 @@
<inertial>
<pose>0 0 0.1016 0 0 0</pose>
<!-- volume about 0.0085 m^3, density 2000 kg/m^3 -->
<mass>17</mass>
<mass>5</mass>
<!-- approximate as uniform box 0.37 x 0.17 x 0.20 m -->
<inertia>
<ixx>0.0976</ixx>
<ixy>0.0000</ixy><iyy>0.2508</iyy>
<ixz>0.0000</ixz><iyz>0.0000</iyz><izz>0.2348</izz>
<ixx>0.028705</ixx>
<ixy>0.0000</ixy><iyy>0.073708</iyy>
<ixz>0.0000</ixz><iyz>0.0000</iyz><izz>0.06908</izz>
</inertia>
</inertial>
<visual name="visual">
@ -28,6 +28,14 @@
<size>0.43495 0.0339 0.2032</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
</collision>
<collision name="right">
@ -37,6 +45,14 @@
<size>0.43495 0.0339 0.2032</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
</collision>
<collision name="front">
@ -46,6 +62,14 @@
<size>0.0339 0.1354 0.203</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
</collision>
<collision name="middle">
@ -55,6 +79,14 @@
<size>0.0339 0.1354 0.203</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
</collision>
<collision name="back">
@ -64,6 +96,14 @@
<size>0.0339 0.1354 0.203</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
</collision>
</link>