mirror of
https://github.com/osrf/gazebo_models.git
synced 2025-09-15 12:58:56 +08:00
Add erb model templates for wood blocks with wood density of 500 kg/m^3
This commit is contained in:
Steve Peters
parent
176ffaa41e
commit
f6da4739f8
@ -1,7 +1,7 @@
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<?xml version="1.0"?>
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<model>
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<name>Wood block 10x2.5x1cm</name>
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<name>Wood block 10 x 2.5 x 1 cm</name>
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<version>1.0</version>
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<sdf version='1.5'>model.sdf</sdf>
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@ -11,6 +11,6 @@
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</author>
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<description>
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A 10x2.5x1 cm wooden block.
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A 10 x 2.5 x 1 cm wooden block.
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</description>
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</model>
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61
wood_block_10_2_1cm/model.rsdf
Normal file
61
wood_block_10_2_1cm/model.rsdf
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@ -0,0 +1,61 @@
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<?xml version="1.0" ?>
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<%
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# Wood block with dimensions 10 x 2.5 x 1 cm
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# SI units (length in meters)
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# Geometry
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dx = 0.1
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dy = 0.025
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dz = 0.01
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# Material
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# Assume soft wood with density of 500 kg / m^3
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density = 500
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# Inertia
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mass = density * dx * dy * dz
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ixx = mass/12.0 * (dy**2 + dz**2)
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iyy = mass/12.0 * (dz**2 + dx**2)
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izz = mass/12.0 * (dx**2 + dy**2)
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%>
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<sdf version="1.5">
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<model name="wood_block_10_2_1cm">
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<link name="link">
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<pose>0 0 <%= dz/2 %> 0 0 0</pose>
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<inertial>
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<mass><%= mass %></mass>
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<inertia>
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<ixx><%= ixx %></ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy><%= iyy %></iyy>
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<iyz>0</iyz>
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<izz><%= izz %></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><%= dx %> <%= dy %> <%= dz %></size>
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</box>
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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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<box>
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<size><%= dx %> <%= dy %> <%= dz %></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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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Wood</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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</model>
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</sdf>
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@ -1,17 +1,18 @@
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="wood_block_10_2_1_cm">
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<model name="wood_block_10_2_1cm">
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<link name="link">
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<pose>0 0 0.005 0 0 0</pose>
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<inertial>
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<mass>0.5</mass>
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<mass>0.0125</mass>
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<inertia>
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<ixx>0.000030208</ixx>
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<ixx>7.552083333333335e-07</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.000420833</iyy>
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<iyy>1.0520833333333334e-05</iyy>
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<iyz>0</iyz>
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<izz>0.000442708</izz>
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<izz>1.1067708333333336e-05</izz>
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</inertia>
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</inertial>
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61
wood_cube_10cm/model.rsdf
Normal file
61
wood_cube_10cm/model.rsdf
Normal file
@ -0,0 +1,61 @@
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<?xml version="1.0" ?>
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<%
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# Wood block with dimensions 10 x 10 x 10 cm
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# SI units (length in meters)
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# Geometry
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dx = 0.10
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dy = 0.10
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dz = 0.10
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# Material
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# Assume soft wood with density of 500 kg / m^3
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density = 500
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# Inertia
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mass = density * dx * dy * dz
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ixx = mass/12.0 * (dy**2 + dz**2)
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iyy = mass/12.0 * (dz**2 + dx**2)
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izz = mass/12.0 * (dx**2 + dy**2)
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%>
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<sdf version="1.5">
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<model name="wood_cube_10cm">
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<link name="link">
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<pose>0 0 <%= dz/2 %> 0 0 0</pose>
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<inertial>
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<mass><%= mass %></mass>
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<inertia>
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<ixx><%= ixx %></ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy><%= iyy %></iyy>
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<iyz>0</iyz>
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<izz><%= izz %></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><%= dx %> <%= dy %> <%= dz %></size>
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</box>
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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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<box>
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<size><%= dx %> <%= dy %> <%= dz %></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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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Wood</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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</model>
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</sdf>
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@ -1,4 +1,5 @@
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="wood_cube_10cm">
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<link name="link">
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@ -6,12 +7,12 @@
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<inertial>
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<mass>0.5</mass>
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<inertia>
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<ixx>0.00083333</ixx>
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<ixx>0.0008333333333333335</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.00083333</iyy>
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<iyy>0.0008333333333333335</iyy>
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<iyz>0</iyz>
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<izz>0.00083333</izz>
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<izz>0.0008333333333333335</izz>
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</inertia>
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</inertial>
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@ -11,6 +11,6 @@
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</author>
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<description>
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A 2.5x2.5x2.5 cm wooden cube.
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A 2.5 x 2.5 x 2.5 cm wooden cube.
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</description>
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</model>
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61
wood_cube_2_5cm/model.rsdf
Normal file
61
wood_cube_2_5cm/model.rsdf
Normal file
@ -0,0 +1,61 @@
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<?xml version="1.0" ?>
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<%
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# Wood block with dimensions 2.5 x 2.5 x 2.5 cm
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# SI units (length in meters)
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# Geometry
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dx = 0.025
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dy = 0.025
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dz = 0.025
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# Material
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# Assume soft wood with density of 500 kg / m^3
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density = 500
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# Inertia
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mass = density * dx * dy * dz
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ixx = mass/12.0 * (dy**2 + dz**2)
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iyy = mass/12.0 * (dz**2 + dx**2)
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izz = mass/12.0 * (dx**2 + dy**2)
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%>
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<sdf version="1.5">
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<model name="wood_cube_2_5cm">
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<link name="link">
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<pose>0 0 <%= dz/2 %> 0 0 0</pose>
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<inertial>
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<mass><%= mass %></mass>
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<inertia>
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<ixx><%= ixx %></ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy><%= iyy %></iyy>
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<iyz>0</iyz>
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<izz><%= izz %></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><%= dx %> <%= dy %> <%= dz %></size>
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</box>
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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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<box>
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<size><%= dx %> <%= dy %> <%= dz %></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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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Wood</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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</model>
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</sdf>
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@ -1,17 +1,18 @@
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="wood_cube_2x5 cm">
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<model name="wood_cube_2_5cm">
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<link name="link">
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<pose>0 0 0.0125 0 0 0</pose>
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<inertial>
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<mass>0.125</mass>
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<mass>0.0078125</mass>
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<inertia>
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<ixx>0.000013021</ixx>
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<ixx>8.138020833333335e-07</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.000013021</iyy>
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<iyy>8.138020833333335e-07</iyy>
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<iyz>0</iyz>
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<izz>0.000013021</izz>
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<izz>8.138020833333335e-07</izz>
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</inertia>
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</inertial>
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61
wood_cube_5cm/model.rsdf
Normal file
61
wood_cube_5cm/model.rsdf
Normal file
@ -0,0 +1,61 @@
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<?xml version="1.0" ?>
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<%
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# Wood block with dimensions 5 x 5 x 5 cm
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# SI units (length in meters)
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# Geometry
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dx = 0.05
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dy = 0.05
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dz = 0.05
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# Material
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# Assume soft wood with density of 500 kg / m^3
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density = 500
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# Inertia
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mass = density * dx * dy * dz
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ixx = mass/12.0 * (dy**2 + dz**2)
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iyy = mass/12.0 * (dz**2 + dx**2)
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izz = mass/12.0 * (dx**2 + dy**2)
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%>
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<sdf version="1.5">
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<model name="wood_cube_5cm">
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<link name="link">
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<pose>0 0 <%= dz/2 %> 0 0 0</pose>
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<inertial>
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<mass><%= mass %></mass>
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<inertia>
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<ixx><%= ixx %></ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy><%= iyy %></iyy>
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<iyz>0</iyz>
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<izz><%= izz %></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><%= dx %> <%= dy %> <%= dz %></size>
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</box>
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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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<box>
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<size><%= dx %> <%= dy %> <%= dz %></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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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Wood</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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</model>
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</sdf>
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@ -1,17 +1,18 @@
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="wood_cube_5cm">
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<link name="link">
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<pose>0 0 0.025 0 0 0</pose>
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<inertial>
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<mass>0.25</mass>
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<mass>0.0625</mass>
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<inertia>
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<ixx>0.000104167</ixx>
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<ixx>2.6041666666666672e-05</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.000104167</iyy>
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<iyy>2.6041666666666672e-05</iyy>
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<iyz>0</iyz>
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<izz>0.000104167</izz>
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<izz>2.6041666666666672e-05</izz>
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</inertia>
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</inertial>
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@ -11,6 +11,6 @@
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</author>
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<description>
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A 7.5x7.5x7.5 cm wooden cube.
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A 7.5 x 7.5 x 7.5 cm wooden cube.
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</description>
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</model>
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61
wood_cube_7_5cm/model.rsdf
Normal file
61
wood_cube_7_5cm/model.rsdf
Normal file
@ -0,0 +1,61 @@
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<?xml version="1.0" ?>
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<%
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# Wood block with dimensions 7.5 x 7.5 x 7.5 cm
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# SI units (length in meters)
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# Geometry
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dx = 0.075
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dy = 0.075
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dz = 0.075
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# Material
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# Assume soft wood with density of 500 kg / m^3
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density = 500
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# Inertia
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mass = density * dx * dy * dz
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ixx = mass/12.0 * (dy**2 + dz**2)
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iyy = mass/12.0 * (dz**2 + dx**2)
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izz = mass/12.0 * (dx**2 + dy**2)
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%>
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<sdf version="1.5">
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<model name="wood_cube_7_5cm">
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<link name="link">
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<pose>0 0 <%= dz/2 %> 0 0 0</pose>
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<inertial>
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<mass><%= mass %></mass>
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<inertia>
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<ixx><%= ixx %></ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy><%= iyy %></iyy>
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<iyz>0</iyz>
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<izz><%= izz %></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><%= dx %> <%= dy %> <%= dz %></size>
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</box>
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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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<box>
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<size><%= dx %> <%= dy %> <%= dz %></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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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Wood</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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</model>
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</sdf>
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@ -1,17 +1,18 @@
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="wood_cube_7_5_cm">
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<model name="wood_cube_7_5cm">
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<link name="link">
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<pose>0 0 0.0375 0 0 0</pose>
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<inertial>
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<mass>0.375</mass>
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<mass>0.2109375</mass>
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<inertia>
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<ixx>0.000351563</ixx>
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<ixx>0.00019775390624999999</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.000351563</iyy>
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<iyy>0.00019775390624999999</iyy>
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<iyz>0</iyz>
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<izz>0.000351563</izz>
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<izz>0.00019775390624999999</izz>
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</inertia>
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</inertial>
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