You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
201 lines
4.0 KiB
201 lines
4.0 KiB
<?xml version="1.0" ?>
|
|
<sdf version="1.5">
|
|
<model name="EuroPallet">
|
|
<!-- Rises the pallet above the ground -->
|
|
<pose>0 0 0.0635 0 0 0</pose>
|
|
|
|
<static>false</static>
|
|
<link name="link">
|
|
<inertial>
|
|
<mass>25.0</mass>
|
|
<inertia>
|
|
<ixx>1</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1</iyy>
|
|
<iyz>0</iyz>
|
|
<izz>1</izz>
|
|
</inertia>
|
|
</inertial>
|
|
|
|
<collision name="top">
|
|
<pose>0 0 0.0625 0 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.20 0.80 0.042</size>
|
|
</box>
|
|
</geometry>
|
|
|
|
<!-- <surface>
|
|
<friction>
|
|
<ode>
|
|
<mu>1.0</mu>
|
|
<mu2>1.0</mu2>
|
|
<fdir1>0 0 1</fdir1>
|
|
<slip1>0.0</slip1>
|
|
<slip2>0.0</slip2>
|
|
</ode>
|
|
</friction>
|
|
<contact>
|
|
<ode>
|
|
<min_depth>0.005</min_depth>
|
|
<kp>1e8</kp>
|
|
</ode>
|
|
</contact>
|
|
</surface> -->
|
|
|
|
</collision>
|
|
|
|
<!--
|
|
Column positions:
|
|
|
|
_______________
|
|
| 1 2 3 | ^
|
|
| | | Forward
|
|
| |
|
|
| 4 5 6 |
|
|
| |
|
|
| |
|
|
| 7 8 9 |
|
|
|_____________|
|
|
|
|
|
|
|
|
-->
|
|
|
|
<collision name="colum_1">
|
|
<pose>0.5275 -0.35 0 0 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>.145 0.10 0.085</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
|
|
<collision name="colum_2">
|
|
<pose>0.5275 0 0 0 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>.145 0.145 0.085</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
|
|
<collision name="colum_3">
|
|
<pose>0.5275 0.35 0 0 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>.145 0.10 0.085</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
|
|
<collision name="colum_4">
|
|
<pose>0 -0.35 0 0 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>.145 0.10 0.085</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
|
|
<collision name="colum_5">
|
|
<pose>0 0 0 0 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>.145 0.145 0.085</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
|
|
<collision name="colum_6">
|
|
<pose>0 0.35 0 0 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>.145 0.10 0.085</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
|
|
<collision name="colum_7">
|
|
<pose>-0.5275 -0.35 0 0 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>.145 0.10 0.085</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
|
|
<collision name="colum_8">
|
|
<pose>-0.5275 0 0 0 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>.145 0.145 0.085</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
|
|
<collision name="colum_9">
|
|
<pose>-0.5275 0.35 0 0 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>.145 0.10 0.085</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
|
|
|
|
<!--
|
|
Bottom positions:
|
|
|
|
______________
|
|
|1| |2 | |3| ^
|
|
| | | | | | | Forward
|
|
| | | | | |
|
|
| | | | | |
|
|
| | | | | |
|
|
| | | | | |
|
|
| | | | | |
|
|
|_| |__| |_|
|
|
|
|
-->
|
|
|
|
|
|
<collision name="bottom_1">
|
|
<pose>0 -0.35 -0.053 0 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.20 0.10 0.021</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
|
|
<collision name="bottom_2">
|
|
<pose>0 0 -0.053 0 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.20 0.145 0.021</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
|
|
<collision name="bottom_3">
|
|
<pose>0 0.35 -0.053 0 0 0</pose>
|
|
<geometry>
|
|
<box>
|
|
<size>1.20 0.10 0.021</size>
|
|
</box>
|
|
</geometry>
|
|
</collision>
|
|
|
|
|
|
<visual name="visual">
|
|
<geometry>
|
|
<mesh>
|
|
<uri>model://europallet/meshes/europallet.dae</uri>
|
|
</mesh>
|
|
</geometry>
|
|
</visual>
|
|
</link>
|
|
</model>
|
|
</sdf>
|
|
|