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Quella777
2025-08-25 16:30:02 +08:00
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washer/meshes/washer.dae Normal file
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<?xml version="1.0"?>
<model>
<name>Washer</name>
<version>1.0</version>
<sdf version='1.5'>model.sdf</sdf>
<author>
<name>Jackie Kay</name>
<email>jackie@osrfoundation.org</email>
</author>
<description>
A 3.5 cm diameter washer.
</description>
</model>

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<?xml version="1.0" ?>
<%
# SI units (length in meters)
# Geometry
# Height
h = 0.002
# Inner diameter
d1 = 0.014
r1 = d1/2.0
# Outer diameter
d2 = 0.035
r2 = d2/2.0
# Inertia
mass = 0.0122
ixx = mass/12.0 * ( 3*(r1**2 + r2**2) + h**2 )
iyy = mass/12.0 * ( 3*(r1**2 + r2**2) + h**2 )
izz = mass/2.0 * (r1**2 + r2**2)
%>
<sdf version="1.5">
<model name="washer">
<link name="link">
<pose>0 0 <%= h/2 %> 0 0 0</pose>
<inertial>
<mass><%= mass %></mass>
<inertia>
<ixx><%= ixx %></ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy><%= iyy %></iyy>
<iyz>0</iyz>
<izz><%= izz %></izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<mesh>
<uri>model://washer/meshes/washer.dae</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://washer/meshes/washer.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>

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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="washer">
<link name="link">
<pose>0 0 0.001 0 0 0</pose>
<inertial>
<mass>0.0122</mass>
<inertia>
<ixx>1.087579166666667e-06</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1.087579166666667e-06</iyy>
<iyz>0</iyz>
<izz>2.1670250000000002e-06</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<mesh>
<uri>model://washer/meshes/washer.dae</uri>
</mesh>
</geometry>
<surface>
<contact>
<!-- stainless steel 18-8 -->
<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://washer/meshes/washer.dae</uri>
</mesh>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>