100 lines
2.6 KiB
Plaintext
100 lines
2.6 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="round_tin_base">
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<link name="link">
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<inertial>
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<pose>0 0 0.014085 0 0 0</pose>
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<mass>0.0223</mass>
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<inertia>
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<ixx>1.93146783725e-05</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1.93146783725e-05</iyy>
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<iyz>0</iyz>
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<izz>3.568e-05</izz>
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</inertia>
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</inertial>
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<collision name="collision_cylinder">
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<pose>0 0 0.001 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.04</radius>
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<length>0.002</length>
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</cylinder>
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</geometry>
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<surface>
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<contact>
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<!-- tin (wikipedia) -->
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<poissons_ratio>0.36</poissons_ratio>
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<elastic_modulus>5.0e+10</elastic_modulus>
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<ode>
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<kp>100000</kp>
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<kd>100</kd>
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<max_vel>100.0</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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<friction>
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<torsional>
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<coefficient>1.0</coefficient>
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<use_patch_radius>0</use_patch_radius>
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<surface_radius>0.01</surface_radius>
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</torsional>
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</friction>
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</surface>
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</collision>
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<visual name="visual_cylinder">
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<pose>0 0 0.001 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.04</radius>
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<length>0.002</length>
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</cylinder>
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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/Grey</name>
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</script>
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</material>
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</visual>
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<collision name="collision_mesh">
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<pose>0 0 0.001 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://round_tin_base/meshes/round_tin_base.dae</uri>
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</mesh>
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</geometry>
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<surface>
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<contact>
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<ode>
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<max_vel>0.1</max_vel>
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<min_depth>0.0001</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_mesh">
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<pose>0 0 0.001 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://round_tin_base/meshes/round_tin_base.dae</uri>
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</mesh>
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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/Grey</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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