64 lines
1.6 KiB
Plaintext
64 lines
1.6 KiB
Plaintext
|
<?xml version="1.0" ?>
|
||
|
|
<sdf version="1.5">
|
||
|
|
<model name="washer">
|
||
|
|
<link name="link">
|
||
|
|
<pose>0 0 0.001 0 0 0</pose>
|
||
|
|
<inertial>
|
||
|
|
<mass>0.0122</mass>
|
||
|
|
<inertia>
|
||
|
|
<ixx>1.087579166666667e-06</ixx>
|
||
|
|
<ixy>0</ixy>
|
||
|
|
<ixz>0</ixz>
|
||
|
|
<iyy>1.087579166666667e-06</iyy>
|
||
|
|
<iyz>0</iyz>
|
||
|
|
<izz>2.1670250000000002e-06</izz>
|
||
|
|
</inertia>
|
||
|
|
</inertial>
|
||
|
|
|
||
|
|
<collision name="collision">
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://washer/meshes/washer.dae</uri>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<surface>
|
||
|
|
<contact>
|
||
|
|
<!-- stainless steel 18-8 -->
|
||
|
|
<poissons_ratio>0.305</poissons_ratio>
|
||
|
|
<elastic_modulus>2.0e+11</elastic_modulus>
|
||
|
|
<ode>
|
||
|
|
<kp>100000</kp>
|
||
|
|
<kd>100</kd>
|
||
|
|
<max_vel>100.0</max_vel>
|
||
|
|
<min_depth>0.001</min_depth>
|
||
|
|
</ode>
|
||
|
|
</contact>
|
||
|
|
<friction>
|
||
|
|
<torsional>
|
||
|
|
<coefficient>1.0</coefficient>
|
||
|
|
<use_patch_radius>0</use_patch_radius>
|
||
|
|
<surface_radius>0.01</surface_radius>
|
||
|
|
</torsional>
|
||
|
|
</friction>
|
||
|
|
</surface>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<visual name="visual">
|
||
|
|
<geometry>
|
||
|
|
<mesh>
|
||
|
|
<uri>model://washer/meshes/washer.dae</uri>
|
||
|
|
</mesh>
|
||
|
|
</geometry>
|
||
|
|
<material>
|
||
|
|
<script>
|
||
|
|
<uri>file://media/materials/scripts/gazebo.material</uri>
|
||
|
|
<name>Gazebo/Grey</name>
|
||
|
|
</script>
|
||
|
|
</material>
|
||
|
|
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
</sdf>
|