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Quella777
2025-08-25 16:30:02 +08:00
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<?xml version="1.0"?>
<model>
<name>Demo Joint Friction</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>Shane Loretz</name>
<email>sloretz@openrobotics.org</email>
</author>
<description>An demo of joints with varying friction parameters.</description>
</model>

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<?xml version='1.0'?>
<sdf version='1.6'>
<model name='demo_joint_friction'>
<pose>0 0 0.06 0 0 0</pose>
<link name='link_base'>
<inertial>
<mass>100</mass>
<inertia>
<ixx>1.2</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>3.64</iyy>
<iyz>0</iyz>
<izz>4.6</izz>
</inertia>
</inertial>
<gravity>1</gravity>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<enable_wind>0</enable_wind>
<visual name='visual_base'>
<geometry>
<mesh>
<uri>model://demo_joint_friction/meshes/base_model.dae</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
<cast_shadows>1</cast_shadows>
</visual>
<collision name='collision_base'>
<geometry>
<box>
<size>0.65 0.36 0.12</size>
</box>
</geometry>
</collision>
</link>
<link name='link_high_friction'>
<gravity>0</gravity>
<pose>0.12 0 0.15 0.7853981633974483 0 0</pose>
<inertial>
<pose>0 0 0.12 0 0 0</pose>
<mass>1</mass>
<inertia>
<ixx>0.0051</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0051</iyy>
<iyz>0</iyz>
<izz>0.0006</izz>
</inertia>
</inertial>
<visual name='visual_high_friction'>
<pose>0 0 -0.15 0 0 0</pose>
<geometry>
<mesh>
<uri>model://demo_joint_friction/meshes/arm.stl</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Orange</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
</visual>
</link>
<joint name='joint_high_friction' type='revolute'>
<parent>link_base</parent>
<child>link_high_friction</child>
<pose>0 0 0 -0.15 0 0</pose>
<axis>
<xyz>1 0 0</xyz>
<dynamics>
<damping>0</damping>
<!--
Joint friction
Joint friction applies a torque (force for prismatic joints)
that resists motion of the joint.
Friction is the maximum torque to apply.
The joint will not move if any torque less than friction is
applied.
When a torque larger than friction is applied, the net torque
is the larger torque reduced by friction.
|net_torque| = |torque_applied| - min(|torque_applied|, friction)
-->
<friction>2</friction>
<!-- Spring stiffess and reference set to add movement to demonstration -->
<spring_reference>-0.7853981633974483</spring_reference>
<spring_stiffness>7</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name='link_medium_friction'>
<gravity>0</gravity>
<pose>0 0 0.15 0.7853981633974483 0 0</pose>
<inertial>
<pose>0 0 0.12 0 0 0</pose>
<mass>1</mass>
<inertia>
<ixx>0.0051</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0051</iyy>
<iyz>0</iyz>
<izz>0.0006</izz>
</inertia>
</inertial>
<visual name='visual_medium_friction'>
<pose>0 0 -0.15 0 0 0</pose>
<geometry>
<mesh>
<uri>model://demo_joint_friction/meshes/arm.stl</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Orange</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
</visual>
</link>
<joint name='joint_medium_friction' type='revolute'>
<parent>link_base</parent>
<child>link_medium_friction</child>
<pose>0 0 0 -0.15 0 0</pose>
<axis>
<xyz>1 0 0</xyz>
<dynamics>
<damping>0</damping>
<friction>0.5</friction>
<spring_reference>-0.7853981633974483</spring_reference>
<spring_stiffness>7</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name='link_low_friction'>
<gravity>0</gravity>
<pose>-0.12 0 0.15 0.7853981633974483 0 0</pose>
<inertial>
<pose>0 0 0.12 0 0 0</pose>
<mass>1</mass>
<inertia>
<ixx>0.0051</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0051</iyy>
<iyz>0</iyz>
<izz>0.0006</izz>
</inertia>
</inertial>
<visual name='visual_low_friction'>
<pose>0 0 -0.15 0 0 0</pose>
<geometry>
<mesh>
<uri>model://demo_joint_friction/meshes/arm.stl</uri>
<scale>0.001 0.001 0.001</scale>
</mesh>
</geometry>
<material>
<lighting>1</lighting>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Orange</name>
</script>
</material>
<cast_shadows>1</cast_shadows>
</visual>
</link>
<joint name='joint_low_friction' type='revolute'>
<parent>link_base</parent>
<child>link_low_friction</child>
<pose>0 0 0 -0.15 0 0</pose>
<axis>
<xyz>1 0 0</xyz>
<dynamics>
<damping>0</damping>
<friction>0.1</friction>
<spring_reference>-0.7853981633974483</spring_reference>
<spring_stiffness>7</spring_stiffness>
</dynamics>
</axis>
</joint>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>

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