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Quella777
2025-08-25 16:30:02 +08:00
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round_tin_base/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="round_tin_base">
<link name="link">
<inertial>
<pose>0 0 0.014085 0 0 0</pose>
<mass>0.0223</mass>
<inertia>
<ixx>1.93146783725e-05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1.93146783725e-05</iyy>
<iyz>0</iyz>
<izz>3.568e-05</izz>
</inertia>
</inertial>
<collision name="collision_cylinder">
<pose>0 0 0.001 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.04</radius>
<length>0.002</length>
</cylinder>
</geometry>
<surface>
<contact>
<!-- tin (wikipedia) -->
<poissons_ratio>0.36</poissons_ratio>
<elastic_modulus>5.0e+10</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_cylinder">
<pose>0 0 0.001 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.04</radius>
<length>0.002</length>
</cylinder>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
<collision name="collision_mesh">
<pose>0 0 0.001 0 0 0</pose>
<geometry>
<mesh>
<uri>model://round_tin_base/meshes/round_tin_base.dae</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.0001</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name="visual_mesh">
<pose>0 0 0.001 0 0 0</pose>
<geometry>
<mesh>
<uri>model://round_tin_base/meshes/round_tin_base.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>