Quella/gazebo_models
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Quella777
2025-08-25 16:30:02 +08:00
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cardboard_box/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="cardboard_box">
<pose>0 0 0.15 0 0 0</pose>
<link name="link">
<inertial>
<mass>2</mass>
<inertia>
<ixx>0.041666667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.056666667</iyy>
<iyz>0</iyz>
<izz>0.068333333</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.5 0.4 0.3</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
</friction>
<contact>
<ode>
<kp>10000000.0</kp>
<kd>1.0</kd>
<min_depth>0.001</min_depth>
<max_vel>0.1</max_vel>
</ode>
</contact>
</surface>
</collision>
<visual name="visual">
<pose>0 0 -0.15 0 0 0</pose>
<geometry>
<mesh>
<uri>model://cardboard_box/meshes/cardboard_box.dae</uri>
<scale>1.25931896 1.007455168 0.755591376</scale>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>