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Quella777
2025-08-25 16:30:02 +08:00
commit 32cc2a8e96
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drc_practice_2x4/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="lumber_2x4x48">
<link name="link">
<inertial>
<mass>1.4111</mass>
<inertia>
<ixx>0.0011</ixx>
<ixy>0.000</ixy>
<ixz>0.000</ixz>
<iyy>0.1771</iyy>
<iyz>0.00</iyz>
<izz>0.1763</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>1.2192 0.038 0.0888</size>
</box>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0.01</restitution_coefficient>
<threshold>5.0</threshold>
</bounce>
<friction>
<ode>
<mu>5</mu>
<mu2>5</mu2>
</ode>
</friction>
<contact>
<ode>
<soft_cfm>0.001</soft_cfm>
<!--"sponginess", 0.0=hard-->
<kp>10000.0</kp>
<kd>1000.0</kd>
<max_vel>0.01</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://drc_practice_2x4/meshes/2x4x48.dae</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>