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2025-08-25 16:30:02 +08:00
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<?xml version="1.0"?>
<model>
<name>Demo Joint Stiffness</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 stiffness parameters.</description>
</model>

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<?xml version='1.0'?>
<sdf version='1.6'>
<model name='demo_joint_stiffness'>
<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_stiffness/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_stiffness'>
<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_stiffness'>
<pose>0 0 -0.15 0 0 0</pose>
<geometry>
<mesh>
<uri>model://demo_joint_stiffness/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_stiffness' type='revolute'>
<parent>link_base</parent>
<child>link_high_stiffness</child>
<pose>0 0 0 -0.15 0 0</pose>
<axis>
<xyz>1 0 0</xyz>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<!-- Position where the link is vertical -->
<spring_reference>-0.7853981633974483</spring_reference>
<!--
Spring stiffness coefficient
The stiffness coefficient causes a torque (force for prismatic
joints) to be applied based on the current joint position.
At the spring_reference position no torque is applied.
At any other position a torque is applied to the joint with a
direction towards the spring_reference position.
torque = spring_stiffness * (spring_reference - current_position)
-->
<spring_stiffness>7</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name='link_medium_stiffness'>
<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_stiffness'>
<pose>0 0 -0.15 0 0 0</pose>
<geometry>
<mesh>
<uri>model://demo_joint_stiffness/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_stiffness' type='revolute'>
<parent>link_base</parent>
<child>link_medium_stiffness</child>
<pose>0 0 0 -0.15 0 0</pose>
<axis>
<xyz>1 0 0</xyz>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>-0.7853981633974483</spring_reference>
<spring_stiffness>0.7</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name='link_low_stiffness'>
<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_stiffness'>
<pose>0 0 -0.15 0 0 0</pose>
<geometry>
<mesh>
<uri>model://demo_joint_stiffness/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_stiffness' type='revolute'>
<parent>link_base</parent>
<child>link_low_stiffness</child>
<pose>0 0 0 -0.15 0 0</pose>
<axis>
<xyz>1 0 0</xyz>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>-0.7853981633974483</spring_reference>
<spring_stiffness>0.07</spring_stiffness>
</dynamics>
</axis>
</joint>
<allow_auto_disable>1</allow_auto_disable>
</model>
</sdf>

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