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Quella777
2025-08-25 16:30:02 +08:00
commit 32cc2a8e96
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drc_practice_ball_valve/materials/textures/Metal_Rough.png Normal file
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drc_practice_ball_valve/meshes/attachment.dae Normal file
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drc_practice_ball_valve/meshes/ball_valve.dae Normal file
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drc_practice_ball_valve/model-1_4.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.4">
<model name="ball_valve">
<link name="handle">
<pose>0 0.0275 0.02222 -1.5708 3.1415 0</pose>
<inertial>
<mass>0.0802</mass>
<pose>0.0 0.0435 0.0055 0 0 0</pose>
<inertia>
<ixx>0.000038</ixx>
<iyy>0.000004</iyy>
<izz>0.00004</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<mesh>
<uri>model://drc_practice_ball_valve/meshes/ball_valve.dae</uri>
</mesh>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0.01</restitution_coefficient>
<threshold>5.0</threshold>
</bounce>
<friction>
<ode>
<mu>5</mu>
<mu2>5</mu2>
</ode>
</friction>
<contact>
<ode>
<soft_cfm>0.01</soft_cfm><!--"sponginess", 0.0=hard-->
<kp>10000.0</kp>
<kd>1000.0</kd>
<max_vel>0.01</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://drc_practice_ball_valve/meshes/ball_valve.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<!--
This is just a visual until SDF collide_bitmask is implemented.
Without collide_bitmask, the "attachment" will collide with a
wall that separates the handle from the attachment causing jitter
-->
<!--
<link name="attachment">
<pose>0 0 0.02222 0 0 0</pose>
<inertial>
<mass>0.802</mass>
<inertia>
<ixx>0.00017</ixx>
<iyy>0.00017</iyy>
<izz>0.00007</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<mesh>
<uri>model://drc_practice_ball_valve/meshes/attachment.dae</uri>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://drc_practice_ball_valve/meshes/attachment.dae</uri>
</mesh>
</geometry>
</visual>
</link>
-->
<joint name="ball" type="revolute">
<parent>world</parent>
<child>handle</child>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>0</lower>
<upper>1.58</upper>
</limit>
<dynamics>
<!--velocity dependent viscous damping coefficient of the joint-->
<damping>0.3</damping>
<!--default 0, static friction value of the joint-->
<friction>10</friction>
</dynamics>
</axis>
<physics>
<ode>
<cfm_damping>1</cfm_damping>
</ode>
</physics>
</joint>
</model>
</sdf>

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drc_practice_ball_valve/model.config Normal file
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<?xml version='1.0'?>
<model>
<name>DRC Practice: Ball Valve</name>
<version>0.1.0</version>
<sdf version='1.4'>model-1_4.sdf</sdf>
<sdf version='1.5'>model.sdf</sdf>
<author>
<name>Christina Gomez</name>
<email>cgomez@swri.org</email>
</author>
<description>
This model approximates a ball valve for the DRC Trials Task 7 which involves locating and closing a valve.
</description>
</model>

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drc_practice_ball_valve/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="ball_valve">
<link name="handle">
<pose>0 0.0275 0.02222 -1.5708 3.1415 0</pose>
<inertial>
<mass>0.0802</mass>
<pose>0.0 0.0435 0.0055 0 0 0</pose>
<inertia>
<ixx>0.000038</ixx>
<iyy>0.000004</iyy>
<izz>0.00004</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<mesh>
<uri>model://drc_practice_ball_valve/meshes/ball_valve.dae</uri>
</mesh>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0.01</restitution_coefficient>
<threshold>5.0</threshold>
</bounce>
<friction>
<ode>
<mu>5</mu>
<mu2>5</mu2>
</ode>
</friction>
<contact>
<ode>
<soft_cfm>0.01</soft_cfm>
<!--"sponginess", 0.0=hard-->
<kp>10000.0</kp>
<kd>1000.0</kd>
<max_vel>0.01</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://drc_practice_ball_valve/meshes/ball_valve.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<!--
This is just a visual until SDF collide_bitmask is implemented.
Without collide_bitmask, the "attachment" will collide with a
wall that separates the handle from the attachment causing jitter
-->
<!--
<link name="attachment">
<pose>0 0 0.02222 0 0 0</pose>
<inertial>
<mass>0.802</mass>
<inertia>
<ixx>0.00017</ixx>
<iyy>0.00017</iyy>
<izz>0.00007</izz>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<mesh>
<uri>model://drc_practice_ball_valve/meshes/attachment.dae</uri>
</mesh>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://drc_practice_ball_valve/meshes/attachment.dae</uri>
</mesh>
</geometry>
</visual>
</link>
-->
<joint name="ball" type="revolute">
<parent>world</parent>
<child>handle</child>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>0</lower>
<upper>1.58</upper>
</limit>
<dynamics>
<!--velocity dependent viscous damping coefficient of the joint-->
<damping>0.3</damping>
<!--default 0, static friction value of the joint-->
<friction>10</friction>
</dynamics>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
<physics>
<ode>
<cfm_damping>1</cfm_damping>
</ode>
</physics>
</joint>
</model>
</sdf>