78 lines
2.1 KiB
Plaintext
78 lines
2.1 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="hand_wheel_valve">
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<link name="handle">
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<pose>0 0 0.04445 0 0 0</pose>
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<inertial>
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<mass>0.0644</mass>
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<inertia>
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<ixx>0.000031</ixx>
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<ixy>0.0000</ixy>
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<ixz>0.0000</ixz>
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<iyy>0.000031</iyy>
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<iyz>0.0000</iyz>
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<izz>0.000059</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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<mesh>
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<uri>model://drc_practice_hand_wheel_valve/meshes/hand_wheel_valve.dae</uri>
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</mesh>
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</geometry>
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<surface>
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<bounce>
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<restitution_coefficient>0.01</restitution_coefficient>
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<threshold>5.0</threshold>
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</bounce>
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<friction>
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<ode>
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<mu>5</mu>
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<mu2>5</mu2>
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</ode>
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</friction>
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<contact>
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<ode>
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<soft_cfm>0.01</soft_cfm>
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<kp>1000000.0</kp>
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<kd>100000.0</kd>
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<max_vel>0.01</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="visual">
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<geometry>
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<mesh>
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<uri>model://drc_practice_hand_wheel_valve/meshes/hand_wheel_valve.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<joint name="joint" type="revolute">
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<parent>world</parent>
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<child>handle</child>
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<axis>
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<xyz>0 1 0</xyz>
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<limit>
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<lower>-12.56</lower>
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<upper>12.56</upper>
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</limit>
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<dynamics>
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<!--velocity dependent viscous damping coefficient of the joint-->
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<damping>10</damping>
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<!--default 0, static friction value of the joint-->
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<friction>10</friction>
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</dynamics>
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<use_parent_model_frame>true</use_parent_model_frame>
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</axis>
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<physics>
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<ode>
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<cfm_damping>1</cfm_damping>
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</ode>
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</physics>
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</joint>
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</model>
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</sdf>
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