55 lines
1.3 KiB
Plaintext
55 lines
1.3 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="lumber_2x4x48">
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<link name="link">
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<inertial>
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<mass>1.4111</mass>
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<inertia>
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<ixx>0.0011</ixx>
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<ixy>0.000</ixy>
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<ixz>0.000</ixz>
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<iyy>0.1771</iyy>
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<iyz>0.00</iyz>
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<izz>0.1763</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<box>
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<size>1.2192 0.038 0.0888</size>
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</box>
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</geometry>
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<surface>
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<bounce>
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<restitution_coefficient>0.01</restitution_coefficient>
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<threshold>5.0</threshold>
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</bounce>
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<friction>
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<ode>
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<mu>5</mu>
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<mu2>5</mu2>
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</ode>
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</friction>
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<contact>
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<ode>
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<soft_cfm>0.001</soft_cfm>
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<!--"sponginess", 0.0=hard-->
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<kp>10000.0</kp>
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<kd>1000.0</kd>
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<max_vel>0.01</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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<geometry>
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<mesh>
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<uri>model://drc_practice_2x4/meshes/2x4x48.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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