58 lines
1.6 KiB
XML
58 lines
1.6 KiB
XML
<?xml version="1.0" ?>
|
|
<sdf version="1.4">
|
|
<model name="box1">
|
|
<pose>0 0 0.015 0 0 0</pose>
|
|
<link name="link">
|
|
<inertial>
|
|
<inertia>
|
|
<ixx>0.00004167</ixx>
|
|
<ixy>0.0</ixy>
|
|
<ixz>0.0</ixz>
|
|
<iyy>0.00004167</iyy>
|
|
<iyz>0.0</iyz>
|
|
<izz>0.00004167</izz>
|
|
</inertia>
|
|
<mass>0.1</mass>
|
|
</inertial>
|
|
<!-- <gravity>0</gravity> -->
|
|
<collision name="collision">
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 0.05 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<surface>
|
|
<contact>
|
|
<ode/>
|
|
</contact>
|
|
<bounce/>
|
|
<friction>
|
|
<torsional>
|
|
<ode>
|
|
<slip>
|
|
0.3
|
|
</slip>
|
|
</ode>
|
|
</torsional>
|
|
<ode>
|
|
<mu>0.2</mu>
|
|
<mu2>0.2</mu2>
|
|
</ode>
|
|
</friction>
|
|
</surface>
|
|
</collision>
|
|
<visual name="visual">
|
|
<geometry>
|
|
<box>
|
|
<size>0.05 0.05 0.05</size>
|
|
</box>
|
|
</geometry>
|
|
<!-- <material>
|
|
<ambient>0.8 0.8 0.8 1</ambient>
|
|
<diffuse>0.8 0.8 0.8 1</diffuse>
|
|
<specular>0.8 0.8 0.8 1</specular>
|
|
</material> -->
|
|
</visual>
|
|
</link>
|
|
</model>
|
|
</sdf>
|