model.sdf
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="parachute_small">
<pose>0 0 0 0 0 0</pose>
<static>false</static>
<link name="chute">
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.100000</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="parachute_collision">
<pose>0 0 1.25 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.35</radius>
<length>0.4</length>
</cylinder>
</geometry>
</collision>
<visual name="parachute_vis">
<pose>-0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://parachute_small/meshes/parachute_small.dae</uri>
</mesh>
</geometry>
</visual>
<velocity_decay />
</link>
<plugin name="parachute_drag" filename="libLiftDragPlugin.so">
<a0>0</a0>
<cla>0</cla>
<cda>1.114</cda> <!-- Such that Cd = 1.75 at alpha = 90deg (= upright parachute) -->
<cma>0</cma>
<alpha_stall>1.5708</alpha_stall> <!-- = upright parachute -->
<cla_stall>0</cla_stall>
<cda_stall>0.01</cda_stall>
<cma_stall>0</cma_stall>
<cp>0 0 1.25</cp> <!-- About the vertical center of the chute -->
<area>3</area> <!-- Area of a circle of diameter 1m = 0.79, 3m2 is for a better visualization -->
<air_density>1.2041</air_density>
<forward>1 0 0</forward>
<upward>0 0 1</upward>
<link_name>chute</link_name>
</plugin>
</model>
</sdf>