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