![]() | 1 | initial version |
Drawing from the spring_damper_test.world,
here's a model with a single prismatic
joint that has the spring_stiffness
parameter applied:
<?xml version="1.0" ?>
<sdf version="1.4">
<model name="model_6_prismatic_sdf">
<pose>0.0 1.5 0.6 0 0 0</pose>
<link name="link">
<inertial>
<inertia>
<ixx>0.01</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.01</iyy>
<iyz>0.0</iyz>
<izz>0.01</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<visual name="visual">
<geometry>
<cylinder>
<length>0.1</length>
<radius>0.1</radius>
</cylinder>
</geometry>
<material>
<script><uri>file://media/materials/scripts/gazebo.material</uri><name>Gazebo/Green</name></script>
</material>
</visual>
<collision name="collision">
<geometry>
<cylinder>
<length>0.1</length>
<radius>0.1</radius>
</cylinder>
</geometry>
</collision>
</link>
<joint name="joint" type="prismatic">
<parent>world</parent>
<child>link</child>
<pose>0.0 0.0 0.5 0 0 0</pose>
<axis>
<limit>
<lower>-1.0</lower>
<upper>1.0</upper>
</limit>
<xyz>0.0 0.0 1.0</xyz>
<dynamics>
<spring_stiffness>111.1111</spring_stiffness>
<spring_reference>0.0</spring_reference>
<damping>0.0</damping>
<friction>0.0</friction>
</dynamics>
</axis>
</joint>
</model>
</sdf>