model.sdf
943 Bytes
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
<?xml version="1.0" ?>
<sdf version="1.5">
<model name="Big box">
<pose>0 0 0.75 0 0 0</pose>
<static>false</static>
<link name="link">
<inertial>
<mass>40.0</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>1.20 0.80 1.50</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://big_box/meshes/big_box.dae</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>