model.sdf
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="small box">
<pose>0 0 0.09 0 0 0</pose>
<static>false</static>
<link name="link">
<inertial>
<mass>2.0</mass>
<inertia>
<ixx>0.0008611666666666669</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0008611666666666669</iyy>
<iyz>0</iyz>
<izz>0.0008611666666666669</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.40 0.23 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">
<geometry>
<mesh>
<uri>model://small_box/meshes/small_box.dae</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>