gazebo_models/drc_practice_weighted_door/model.sdf

<?xml version="1.0" ?>
<sdf version="1.4">
  <model name="drc_practice_weighted_door">

    <link name="frame">

    
      <pose>0.06 -0.0005 0 0 0 0</pose>

      <inertial>
        <pose> -0.025145 -0.03429 1.0541 0 0 0</pose>
        <mass>19</mass>
        
        <inertia>
          <ixx>7.044583222633334</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>7.041140846491667</iyy>
          <iyz>0</iyz>
          <izz>0.011451142458333334</izz>
        </inertia>

      </inertial>

      <collision name="collision_2">
        <pose> -0.025145 -0.03429 1.0541 0 0 0</pose>
        <geometry>
          <box>
            <size>0.05029 0.06858 2.1082</size>
          </box>
        </geometry>
      </collision>

      <visual name="visual">
        <pose>-0.025145 -0.03429 1.0541 0 0 0</pose>
        <geometry>
          <box>
            <size>0.05029 0.06858 2.1082</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/White</name>
          </script>
        </material>
      </visual>

    </link>
    <link name="door">
      <pose>-0.0 0.000 2.040 3.14159 0 0</pose>

      

      <inertial>
        <mass>41.3256</mass>
        <pose>0.4569 0.0349 1.016 0 0 0</pose>
        <inertia>
          
          <ixx>14.226337119849498</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>17.098988253568</iyy>
          <iyz>0</iyz>
          <izz>2.8862596710175</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <pose>0.4569 0.0349 1.016 0 0 0</pose>
        <geometry>
          <box>
            <size>0.9144 0.04445 2.032</size>
          </box>
        </geometry>
      </collision>
      <visual name="visual">
        <pose>0 -0.06858 0 0 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://hinged_door/meshes/door.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>

    <link name="handles">
      
      <pose>0.8144 -0.07 1.05 0 0 3.141592653589793</pose>

      <inertial>
        <pose>0 -0.035 0 0 0 0</pose>
        
        <mass>2</mass>
        <inertia>
          <ixx>0.011011481198666666</ixx>
          <ixy>-0.0</ixy>
          <ixz>-0.006470568</ixz>
          <iyy>0.019018105065333336</iyy>
          <iyz>0.0</iyz>
          <izz>0.008243720166666666</izz>
        </inertia>
      </inertial>

      <collision name="handle1_collision">
        <pose>0.015 -0.015 0 -1.57 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://door_handle/meshes/handle.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name="handle1_visual">
        <pose>0.015 -0.015 0 -1.57 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://door_handle/meshes/handle.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <collision name="handle2_collision">
        <pose>0.015 -0.055 0 1.57 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://door_handle/meshes/handle.dae</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name="handle2_visual">
        <pose>0.015 -0.055 0 1.57 0 0</pose>
        <geometry>
          <mesh>
            <uri>model://door_handle/meshes/handle.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>

    <joint name="handle" type="revolute">
      <parent>door</parent>
      <child>handles</child>
      <pose>0.015 0 0 0 0 0</pose>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1.58</lower>
          <upper>0</upper>
        </limit>
        <dynamics>
          <damping>1.0</damping>
          <friction>10</friction>
        </dynamics>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
      <physics>
        <ode>
          <cfm_damping>1</cfm_damping>
        </ode>
      </physics>
    </joint>

    
    <joint name="hinge" type="revolute">
      <parent>frame</parent>
      <child>door</child>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-1.58</lower>
          <upper>0</upper>
        </limit>
        <dynamics>
          <damping>15.53652360379284</damping>
          <friction>15.53652360379284</friction>
        </dynamics>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
      <physics>
        <ode>
          <cfm_damping>1</cfm_damping>
        </ode>
      </physics>
    </joint>
    <joint name="world_joint" type="revolute">
      <child>frame</child>
      <parent>world</parent>
      <axis>
        <limit>
          <lower>0</lower>
          <upper>0</upper>
        </limit>
        <xyz>0 1 0</xyz>
        <dynamics>
          <damping>1.0</damping>
        </dynamics>
        <use_parent_model_frame>true</use_parent_model_frame>
      </axis>
      <physics>
        <ode>
          <cfm_damping>1</cfm_damping>
        </ode>
      </physics>
    </joint>
  </model>
</sdf>