model.sdf
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="parachute_package">
<include>
<uri>model://parachute_small</uri>
<pose>0 0 0.2 0 0 0</pose>
</include>
<link name="base_link">
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>1.00</mass>
<inertia>
<ixx>0.010000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>0.010000</iyy>
<iyz>0.000000</iyz>
<izz>0.010000</izz>
</inertia>
</inertial>
<collision name="collision">
<pose>0 0 0.3 0 0 0</pose>
<geometry>
<box>
<size>0.15 0.1 0.18</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name="visual">
<pose>0 0 0.3 0 0 0</pose>
<geometry>
<mesh>
<scale>0.125 0.125 0.125</scale>
<uri>model://big_box/meshes/big_box.dae</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='parachute_joint' type='revolute'>
<child>base_link</child>
<parent>parachute_small::chute</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
<effort>0</effort>
<velocity>0</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
</model>
</sdf>