44 lines
1.1 KiB
Plaintext
44 lines
1.1 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.4">
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<model name="drill">
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<link name="link">
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<inertial>
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<pose>-0.00637 -0.008 0.13254 0 0 0</pose>
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<inertia>
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<ixx>0.01331127</ixx>
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<ixy>-0.00030365</ixy>
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<ixz>-0.00034148</ixz>
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<iyy>0.01157659</iyy>
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<iyz>0.00088073</iyz>
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<izz>0.00378028</izz>
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</inertia>
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<mass>1.50251902</mass>
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</inertial>
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<collision name="collision">
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<pose>0 0 -0.09 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://cordless_drill/meshes/cordless_drill.stl</uri>
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</mesh>
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</geometry>
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<surface>
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<contact>
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<ode>
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<max_vel>0.1</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="visual">
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<pose>0 0 -0.09 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://cordless_drill/meshes/cordless_drill.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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</model>
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</sdf>
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