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Quella777
2025-08-25 16:30:02 +08:00
commit 32cc2a8e96
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tube_9_5mm/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="tube_9_5mm">
<link name="link">
<pose>0 0 0.08 0 0 0</pose>
<inertial>
<mass>0.0048</mass>
<inertia>
<ixx>1.0283949999999998e-05</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1.0283949999999998e-05</iyy>
<iyz>0</iyz>
<izz>8.789999999999999e-08</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<mesh>
<uri>model://tube_9_5mm/meshes/tube_9_5.dae</uri>
</mesh>
</geometry>
<surface>
<contact>
<!-- stainless steel 18-8 material properties -->
<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://tube_9_5mm/meshes/tube_9_5.dae</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>