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Quella777
2025-08-25 16:30:02 +08:00
commit 32cc2a8e96
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coke_can/model-1_4.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.4">
<model name="coke_can">
<link name="link">
<inertial>
<pose>0 0 0.06 0 0 0</pose>
<mass>0.390</mass>
<inertia>
<ixx>0.00055575</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00055575</iyy>
<iyz>0</iyz>
<izz>0.0001755</izz>
</inertia>
</inertial>
<collision name="collision">
<pose>0.003937 0.0047244 -0.18 0 0 0</pose>
<geometry>
<mesh>
<uri>model://coke_can/meshes/coke_can.dae</uri>
</mesh>
</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>0.003937 0.0047244 -0.18 0 0 0</pose>
<geometry>
<mesh>
<uri>model://coke_can/meshes/coke_can.dae</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>